heart

.pylintrc

@@ -0,0 +1 @@
+extension-pkg-whitelist=cv2

quick run.bat

@@ -0,0 +1 @@
+py src

src/groundstation/client.py

@@ -6,6 +6,7 @@
 import time
 
 from .logging import logger as log
+from .utilities import PeriodicTimer
 
 
 class Client:
@@ -19,7 +20,7 @@ class Client:
     listen: bool = True
 
     thread_listening: t.Thread
-    heartbeat_timer: t.Timer = None
+    heartbeat_timer: PeriodicTimer = None
 
     # How much time after client will be disconnected from the moment that heartbeat stopped (second).
     heartbeat_timeout = 5
@@ -50,12 +51,13 @@ def check_heartbeat(self) -> None:
         """
         Checks if client is still connected.
         """
-
-        if self.listen + self.heartbeat_timeout > time.time():
-            self.heartbeat_timer = t.Timer(
+        if self.heartbeat_last + self.heartbeat_timeout > time.time():
+            self.heartbeat_timer = PeriodicTimer(
                 float(self.heartbeat_check_frequency),
+                0.1,
                 self.check_heartbeat
             )
+            self.heartbeat_timer.start()
             return
 
         self.kick()
@@ -71,7 +73,8 @@ def handle_tcp(self) -> None:
             try:
                 data = self.socket.recv(512)
                 if b"heartbeat" in data:
-                    log().info(f"Heartbeat received: {self.socket.getsockname()[0]}:{self.socket.getsockname()[1]}")
+                    addr, port = self.socket.getsockname()
+                    log().info(f"Heartbeat received: {addr}:{port}")
                     self.heartbeat_last = time.time()
             except OSError:
                 self.cb_disconnected(self.socket, self.addr)
@@ -82,7 +85,6 @@ def kick(self) -> None:
         """
         Terminate connection.
         """
-
         self.listen = False
         self.socket.close()
         if self.heartbeat_timer is not None:

src/groundstation/gui/window.py

@@ -107,4 +107,4 @@ def get_stream(self) -> None:
             self.label_image.imgtk = image_tk
             self.label_image.configure(image=image_tk)
 
-        self.after(5, self.get_stream)
+        self.after(int(1000 / 30), self.get_stream)

src/groundstation/server.py

@@ -3,6 +3,7 @@
 
 import threading as t
 import socket as s
+import time
 
 from .logging import logger as log
 from .client import Client
@@ -68,7 +69,7 @@ def handle_tcp(self) -> None:
                 self.on_disconnected
             )
             self.on_connected()
-
+            
             # Wait until connection broke
             self.client.thread_listening.join()
 
@@ -79,6 +80,7 @@ def handle_udp(self) -> None:
 
         while self.running:
             if self.client is None:
+                time.sleep(0.1)
                 continue
 
             # Listen for packets

src/groundstation/utilities.py

@@ -0,0 +1,48 @@
+import threading
+import time
+
+
+class PeriodicTimer:
+    """
+    Periodic timer can be cancelled without waiting through the cooldown
+    thanks to its algorithm which is sleeping in specified periods. 
+    """
+    __cancel: bool = False
+
+    def __init__(
+            self, 
+            delay: float, 
+            period: float, 
+            callback: callable
+        ) -> None:
+
+        self.delay = delay
+        self.period = period
+        self.callback = callback
+
+    def loop(self) -> None:
+        """
+        Call the callback function when wait ends.
+        """
+
+        while self.delay > 0:
+            self.delay = self.delay - self.period
+            time.sleep(self.period)
+            if self.__cancel:
+                return
+
+        self.callback()
+
+    def start(self) -> None:
+        """
+        Start waiting.
+        """
+
+        self.thread = threading.Thread(target=self.loop)
+        self.thread.start()
+
+    def cancel(self) -> None:
+        """
+        Cancel the callback.
+        """
+        self.__cancel = True