From fc73f8e0a396b8d224dee8f91c57c063645d14a1 Mon Sep 17 00:00:00 2001
From: Nickiel12 <35903114+Nickiel12@users.noreply.github.com>
Date: Sat, 27 Apr 2024 22:37:06 -0700
Subject: [PATCH] working windows-pipe duplex communication

---
 Server/PipeServer/handle_connection.py | 110 ++++++++++++-------------
 joystick-controller-client             |   2 +-
 2 files changed, 56 insertions(+), 56 deletions(-)

diff --git a/Server/PipeServer/handle_connection.py b/Server/PipeServer/handle_connection.py
index c1eb688..8d056ac 100644
--- a/Server/PipeServer/handle_connection.py
+++ b/Server/PipeServer/handle_connection.py
@@ -2,6 +2,7 @@
 import cv2
 from websocket import create_connection
 import win32file
+import struct
 import numpy as np
 from ultralytics import YOLO
 
@@ -20,71 +21,70 @@ classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "trai
 
 
 def handle_connection(pipe):
-    print("Pipe connected!")
-    data = win32file.ReadFile(pipe, 640*480*3)[1]
-
-    if not data:
-        return
-
-    nparr = np.frombuffer(data, np.uint8)
-
-    nparr = nparr.reshape((480, 640, 3))
-
-    # frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
-    frame = cv2.cvtColor(nparr, cv2.COLOR_BGR2RGB)
-
-    raise ValueError("There is no value running this application further")
-
     # Load YOLO model
     model = YOLO('yolov8s.pt')  # Load an official Detect model
 
-    # Open webcam
-    cap = cv2.VideoCapture(0)
-    cap.set(3, 640)
-    cap.set(4, 480)
+    print("Pipe connected!")
+    try:
+        while True:
+            data = win32file.ReadFile(pipe, 640*480*3)[1]
 
-    while cap.isOpened():
-        ret, frame = cap.read()
-        frame = cv2.resize(frame, (640, 480))
-        if not ret:
-            break
+            if not data:
+                return
 
-        # Perform object detection
-        results = model.track(frame, persist=True)
+            nparr = np.frombuffer(data, np.uint8).reshape((480, 640, 3))
 
-        for r in results:
-            lines = ""
-            boxes = r.boxes
-            for box in boxes:
-                if box.cls[0].item() == 0 and not box.id is None:
-                    # bounding box
-                    id = box.id.int().cpu().tolist()
-                    x1, y1, x2, y2 = box.xyxy[0]
-                    x1, y1, x2, y2 = int(x1), int(y1), int(x2), int(y2) # convert to int values
+            # frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+            frame = cv2.cvtColor(nparr, cv2.COLOR_BGR2RGB)
 
-                    # put box in cam
-                    cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)
+            # Perform object detection
+            results = model.track(frame, persist=True)
 
-                    # class name
-                    cls = int(box.cls[0])
+            for r in results:
+                lines = ""
+                boxes = r.boxes
+                for box in boxes:
+                    if box.cls[0].item() == 0 and not box.id is None:
+                        # bounding box
+                        id = box.id.int().cpu().tolist()
+                        # x1, y1, x2, y2 = box.xyxy[0]
+                        # #  2.08333 = 1/480 * 1000 or normalize, then save 4 sig-figures and cast to int
+                        # #  1.5625 = 1/640 * 1000 or normalize, then save 4 sig-figures and cast to int
 
-                    # object details
-                    org = [x1, y1]
-                    org2 = [x1, y1+50]
-                    font = cv2.FONT_HERSHEY_SIMPLEX
-                    fontScale = 1
-                    color = (255, 0, 0)
-                    color_w = (255, 255, 255)
-                    thickness = 2
+                        # x1, x2, y1, y2 = int(x1), int(x2), int(y1), int(y2)
 
-                    cv2.putText(frame, classNames[cls], org, font, fontScale, color, thickness)
-                    cv2.putText(frame, str(id), org2, font, fontScale, color_w, thickness)
+                        # # put box in cam
+                        # cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)
 
-                    lines += f"{id} {x1}:{y1} {x2}:{y2}\n"
+                        # # class name
+                        # cls = int(box.cls[0])
 
-        cv2.imshow('Webcam', frame)
-        if cv2.waitKey(1) == ord('q'):
-            break
+                        # # object details
+                        # org = [x1, y1]
+                        # org2 = [x1, y1+50]
+                        # font = cv2.FONT_HERSHEY_SIMPLEX
+                        # fontScale = 1
+                        # color = (255, 0, 0)
+                        # color_w = (255, 255, 255)
+                        # thickness = 2
 
-    cap.release()
-    cv2.destroyAllWindows()
\ No newline at end of file
+                        # cv2.putText(frame, classNames[cls], org, font, fontScale, color, thickness)
+                        # cv2.putText(frame, str(id), org2, font, fontScale, color_w, thickness)
+
+                        x1, y1, x2, y2 = box.xyxyn[0]
+                        x1, y1, x2, y2 = int(x1 * 1000), int(y1 * 1000), int(x2 * 1000), int(y2 * 1000)
+                        lines += f"{id} {x1}:{y1} {x2}:{y2}\n"
+
+                # cv2.imshow('Webcam', frame)
+                # if cv2.waitKey(1) == ord('q'):
+                #     break
+
+            ret = lines.encode('utf-8')
+            length_prefix = struct.pack('I', len(ret))
+
+            win32file.WriteFile(pipe, length_prefix+ret)
+    except Exception as e:
+        print("Pipe closed with error: " + str(e))
+        return
+    # finally:
+    #     cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/joystick-controller-client b/joystick-controller-client
index 506ebde..3cb5600 160000
--- a/joystick-controller-client
+++ b/joystick-controller-client
@@ -1 +1 @@
-Subproject commit 506ebde9f5a96aef440b98ffe214446827ba381c
+Subproject commit 3cb560093c6de5794cb654a46fb6dd12c8377042