t1_receiver.py

from processModule.serverConnect import connect_mqtt
import cv2
import os
import sys
import datetime as dt
import yaml
import subprocess
from processModule.camera_process import process_frames

"""
Receiver client as subscriber of both device clients for logging and processing
received published data. Runs subprocesses in parallel automatically.
"""

with open("config.yaml", "r") as f:
    config = yaml.safe_load(f)

LOG_FILE = sys.argv[1] if len(sys.argv) > 1 else "log.txt"

if os.path.exists(LOG_FILE):
    # if the file already exists, create a separate file with a unique name - avoid overwriting
    base, ext = os.path.splitext(LOG_FILE)
    idx = 1
    while os.path.exists(f"{base}_{idx}{ext}"):
        idx += 1
    log_file_path = f"{base}_{idx}{ext}"


def subscribe(client, topic):
    def on_message(client, userdata, msg):
        if msg.topic == "data/camera/frame":
            print(f"Received {len(msg.payload)} bytes from topic {msg.topic}")
            process_frames(msg.payload)  # display frames in cv2 window
            msg_decode = str(bytearray(msg.payload))
        else:
            print(f"Received {msg.payload.decode()} from topic {msg.topic}")
            msg_decode = msg.payload.decode()
        if config["write_log"]:
            with open(LOG_FILE, "a") as f:
                f.write(
                    f"{dt.datetime.now().isoformat()}: Received {msg_decode} from {msg.topic}\n"
                )

    client.subscribe(topic)
    client.on_message = on_message


def main():
    camera_process = subprocess.Popen(["python", "cam_client.py"])
    radar_process = subprocess.Popen(["python", "radar_client.py"])
    client = connect_mqtt("PC")
    subscribe(client, topic="data/radar")
    subscribe(client, topic="data/camera/frame")
    # subscribe(client, topic = "data/camera/ts")

    def exit_handler(client):
        camera_process.kill()
        print("Camera process killed.")
        radar_process.kill()
        print("Radar process killed.")  # RIP my friends
        client.disconnect()
        cv2.destroyAllWindows()

    try:
        client.loop_forever()
    except KeyboardInterrupt:
        print("Process Terminated. Exiting Receiver...")
        exit_handler(client)
    except Exception as e:
        print("Something went wrong. Exiting Receiver...")
        print(e)
        exit_handler(client)


if __name__ == "__main__":
    main()