vision_receiver.py 文件源码

def __init__(self, server_address):

        self.server_address = server_address

        self.logger = logging.getLogger('VisionReceiver')

        self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.socket.bind(server_address)

        if ip_address(server_address[0]).is_multicast:
            self.socket.setsockopt(socket.IPPROTO_IP,
                                   socket.IP_ADD_MEMBERSHIP,
                                   struct.pack("=4sl", socket.inet_aton(server_address[0]), socket.INADDR_ANY))

        self.field = Field()
        self._detection_frame_queue = queue.Queue()

        self._thread = threading.Thread(target=self.receive_packet, daemon=True)