Sebi/Sim-Tello-KI-fun
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Update to socket based solution

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This commit is contained in:
Andrew Johnson
2025-11-09 13:22:41 +01:00
parent 73454a03c8
commit fb44f33bea
4 changed files with 70 additions and 12 deletions
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22
tello_sim/command_server.py
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@@ -244,13 +244,25 @@ class CommandServer:
conn.send(state.encode())
elif data == "get_latest_frame":
# Save the frame to disk first
frame_path = os.path.join(self._recording_folder, "latest_frame.png")
# Send frame data directly over TCP instead of using filesystem
if self._ursina_adapter.latest_frame is not None:
cv2.imwrite(frame_path, self._ursina_adapter.latest_frame)
conn.send(frame_path.encode())
# Encode frame as PNG in memory
success, buffer = cv2.imencode('.png', self._ursina_adapter.latest_frame)
if success:
# Send frame size first (4 bytes)
frame_data = buffer.tobytes()
frame_size = len(frame_data)
conn.send(frame_size.to_bytes(4, byteorder='big'))
# Then send the actual frame data
conn.send(frame_data)
print(f"[Frame Transfer] Sent {frame_size} bytes over TCP")
else:
# Send 0 size to indicate no frame
conn.send((0).to_bytes(4, byteorder='big'))
else:
conn.send(b"N/A")
# Send 0 size to indicate no frame available
conn.send((0).to_bytes(4, byteorder='big'))
elif data == "capture_frame":
self._ursina_adapter.capture_frame()
elif data.startswith("set_speed"):