Vehicle-cpp/hkpc/STIP/client_1.15.py

import socket
import json
import time
from ultralytics import YOLO
import random
import logging
from logging.handlers import TimedRotatingFileHandler
import os
from datetime import datetime

classify_model = YOLO('models/classify/best.pt')
detection_model = YOLO('models/detection/best.pt')

server_address = "127.0.0.1"
server_port = 29989

client_socket = None
def connect_server():
    global client_socket
    client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    if client_socket.connect_ex((server_address, server_port)) == 0:
        print("Connection established.")
    else:
        print("Connection failed.")

response_data = {
    "front": {"mist": 0, "slag_truck": -1, "person": -1},
    "back": {"mist": 0, "slag_truck": -1, "person": -1},
    "left": {"mist": 0, "slag_truck": -1, "person": -1},
    "right": {"mist": 0, "slag_truck": -1, "person": -1}
}

def init_response_data():
    global response_data
    response_data = {
        "front": {"mist": 0, "slag_truck": -1, "person": -1},
        "back": {"mist": 0, "slag_truck": -1, "person": -1},
        "left": {"mist": 0, "slag_truck": -1, "person": -1},
        "right": {"mist": 0, "slag_truck": -1, "person": -1}
    }

def detection_result_process(index, result_list):
    for sublist in result_list:
        conf = sublist[4]
        if conf > 0.5:
            classify = sublist[5]
            print("classify = "+ str(classify))
            logging.info("classify = "+ str(classify))
            width = sublist[2] - sublist[0]
            hight = sublist[3] - sublist[1]
            print("width = " + str(width))
            print("hight = " + str(hight))
            logging.info("width = " + str(width))
            logging.info("hight = " + str(hight))

            if classify == 0 and index == 0:
                dist = round(150 - 0.8*hight, 2)
                print(dist)
                current_dist = response_data["front"]["slag_truck"]
                if current_dist == -1 or dist < float(current_dist) :
                    response_data["front"]["slag_truck"] = dist
            elif classify == 0 and index == 1:
                dist = round(150 - 0.8*hight, 2)
                current_dist = response_data["back"]["slag_truck"]
                if current_dist == -1 or dist < float(current_dist) :
                    response_data["back"]["slag_truck"] = dist
            elif classify == 1 and index == 0:
                dist = round(150 - 3.5*width, 2)
                current_dist = response_data["front"]["person"]
                if current_dist == -1 or dist < current_dist :
                    response_data["front"]["person"] = dist
            elif classify == 1 and index == 1:
                dist = round(150 - 3.5*width, 2)
                current_dist = response_data["back"]["person"]
                if current_dist == -1 or dist < float(current_dist) :
                    response_data["back"]["person"] = dist

fold = '/home/nvidia/newdisk/hkpc/'
def start():
    while 1:
        init_response_data()
        start_time = time.time()

        # random_numbers = random.sample(range(1, 12), 4)
        # print(random_numbers)
        classify_results = classify_model([fold+'1.jpg', fold+'2.jpg'])

        # import pdb; pdb.set_trace()
        for index, result in enumerate(classify_results):
            # print(result.names)
            probs_list = result.probs.data.tolist()
            max_value = max(probs_list)
            # print(max_value)
            max_index = probs_list.index(max_value)
            # print(max_index)
            if index == 0:
                response_data["front"]["mist"] = max_index
            if index == 1:
                response_data["back"]["mist"] = max_index

        detection_results = detection_model([fold+'1.jpg',fold+'2.jpg', fold+'4.jpg',fold+'4.jpg'])
        for index, result in enumerate(detection_results):
            print(result.names)
            boxes_list = result.boxes.data.tolist()
            if len(boxes_list) > 0:
                detection_result_process(index, boxes_list)

        logging.info(response_data)
        end_time = time.time()
        elapsed_time = end_time - start_time
        print(f"代码运行时间: {elapsed_time} 秒")

        # Convert the message to JSON
        json_message = json.dumps(response_data)

        try:
            client_socket.send(json_message.encode('utf-8'))
            response = client_socket.recv(1024).decode('utf-8')
            logging.info(f"Server response: {response}")
        except BrokenPipeError:
            logging.error("Broken pipe error. Reconnecting to the server.")
            connect_server()
            time.sleep(2)

        time.sleep(0.2)

        # break

    # Close the connection after the loop
    client_socket.close()

def setup_logging():
    log_dir = "logs"
    if not os.path.exists(log_dir):
        os.makedirs(log_dir)

    # Include the current date in the log file name
    current_date = datetime.now().strftime("%Y-%m-%d")
    log_filename = os.path.join(log_dir, f"stip_log_{current_date}.log")

    # 设置日志格式
    log_format = "%(asctime)s - %(levelname)s - %(message)s"
    logging.basicConfig(format=log_format, level=logging.INFO)

    # 创建 TimedRotatingFileHandler
    handler = TimedRotatingFileHandler(
        log_filename, when="midnight", interval=1, backupCount=7
    )

    # 设置日志格式
    handler.setFormatter(logging.Formatter(log_format))

    # 添加 handler 到 root logger
    logging.getLogger().addHandler(handler)

if __name__ == "__main__":
    setup_logging()
    connect_server()
    start()