working windows-pipe duplex communication

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
 
@@ -20,35 +21,22 @@ classNames = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "trai
 
 
 def handle_connection(pipe):
+    # Load YOLO model
+    model = YOLO('yolov8s.pt')  # Load an official Detect model
+
     print("Pipe connected!")
+    try:
+        while True:
             data = win32file.ReadFile(pipe, 640*480*3)[1]
 
             if not data:
                 return
 
-    nparr = np.frombuffer(data, np.uint8)
+            nparr = np.frombuffer(data, np.uint8).reshape((480, 640, 3))
-
-    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)
-
-    while cap.isOpened():
-        ret, frame = cap.read()
-        frame = cv2.resize(frame, (640, 480))
-        if not ret:
-            break
-
             # Perform object detection
             results = model.track(frame, persist=True)
 
@@ -59,32 +47,44 @@ def handle_connection(pipe):
                     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 = box.xyxy[0]
-                    x1, y1, x2, y2 = int(x1), int(y1), int(x2), int(y2) # convert to int values
+                        # #  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
 
-                    # put box in cam
+                        # x1, x2, y1, y2 = int(x1), int(x2), int(y1), int(y2)
-                    cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)
 
-                    # class name
+                        # # put box in cam
-                    cls = int(box.cls[0])
+                        # cv2.rectangle(frame, (x1, y1), (x2, y2), (255, 0, 255), 3)
 
-                    # object details
+                        # # class name
-                    org = [x1, y1]
+                        # cls = int(box.cls[0])
-                    org2 = [x1, y1+50]
-                    font = cv2.FONT_HERSHEY_SIMPLEX
-                    fontScale = 1
-                    color = (255, 0, 0)
-                    color_w = (255, 255, 255)
-                    thickness = 2
 
-                    cv2.putText(frame, classNames[cls], org, font, fontScale, color, thickness)
+                        # # object details
-                    cv2.putText(frame, str(id), org2, font, fontScale, color_w, thickness)
+                        # 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
 
+                        # 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)
+                # cv2.imshow('Webcam', frame)
-        if cv2.waitKey(1) == ord('q'):
+                # if cv2.waitKey(1) == ord('q'):
-            break
+                #     break
 
-    cap.release()
+            ret = lines.encode('utf-8')
-    cv2.destroyAllWindows()
+            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()

joystick-controller-client

@@ -1 +1 @@
-Subproject commit 506ebde9f5a96aef440b98ffe214446827ba381c
+Subproject commit 3cb560093c6de5794cb654a46fb6dd12c8377042