working version

camera_streaming/camera_stream.py

@@ -66,7 +66,7 @@ class CameraStream(Node, MissionExecutor):
             qos_profile=CUSTOM_QOS,
             # qos_profile=QoSPresetProfiles.get_from_short_key('SYSTEM_DEFAULT')
         )
-        self.timer_period = 0.25
+        self.timer_period = 0.33
         self.timer = None
         self.cam_fps = 90
         self.cam = cv2.VideoCapture(0)
@@ -111,7 +111,7 @@ class CameraStream(Node, MissionExecutor):
                 # )
                 'msg_num': create_msgnum_constraint_violations(
                     msgnum=3,
-                    timeslot=0.5,
+                    timeslot=0.4,
                 )
 
             },
@@ -148,9 +148,10 @@ class CameraStream(Node, MissionExecutor):
         self.timer_period = 1 / float(params.get('fps', 2))
 
     def timer_callback(self):
-        if abs((datetime.now().timestamp() - self.t_start)%self.timer_period - self.offset) > 0.02:
+        if abs((datetime.now().timestamp() - self.t_start - 0.01)%self.timer_period - self.offset) > 0.02:
             print("skipping")
             return
+        all_start = datetime.now().timestamp()
         for i in range(16):
             start = datetime.now()
             self.cam.grab()
@@ -159,7 +160,7 @@ class CameraStream(Node, MissionExecutor):
                 break
         frame = self.cam.retrieve()[1]
         now = self.get_clock().now()
-        frame = cv2.resize(frame, (320, 240))
+        # frame = cv2.resize(frame, (320, 240))
         mask = detect_red(frame)
         red = np.round(np.sum(mask) / mask.size / 255, 5)
         jpg = bytearray(cv2.imencode('.jpg', frame)[1])
@@ -195,10 +196,13 @@ class CameraStream(Node, MissionExecutor):
                 msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9
             ) - self.t_start
         )
+        msg_generated = datetime.now().timestamp()
         try:
             self.agent.generated(native_message)
         except Exception as e:
             print(e)
+        end = datetime.now().timestamp()
+        print(f'generated: {msg_generated-all_start}, agent: {end-msg_generated}')
 
 
 def main():

camera_streaming/mission.py

@@ -22,7 +22,7 @@ def generate_mission_context(agents, data_types, t_end, T):
                     'receivers': ['base_station'],
                     'T': T,
                     'sender': f'{agent}',
-                    'initial_t_start': T/8 * i,
+                    'initial_t_start': T/8 * i + 0.01,
                 },
                 weight=1
             )

camera_streaming/utility.py

@@ -92,7 +92,7 @@ class UtilityVideo(Utility):
         t_rcv = m.t_rcv if m.t_rcv else m.t_gen
         t_s = max(t_rcv, t_start)
 
-        t_l = t_rcv + 0.25
+        t_l = t_rcv + 0.33
 
         red = m.data.red
         log_part = 0
@@ -104,20 +104,22 @@ class UtilityVideo(Utility):
             # logarithmic part
             t = t_l
             t0 = t_l - t_rcv
-            t1 = t_end - t_rcv
-            fmax = 4
-            f1 = 2
-            S = 2
+            fmax = 3
+            f1 = 1.5
+            S = 0.2
             base = 2
             ln2 = math.log(base)
             k = S / (1 - f1 / (2 * fmax * ln2))
             m = 1 + math.log(1 / fmax, base) * k
+            t1 = t0 + 1
+            t1 = min(t_end - t_rcv, base**(1/k)/fmax)
             log_part = max(0, (
                 (t1 * (1 - math.log(t1)) - t0 * (1 - math.log(t0))) / ln2 * k +
                 (t1 - t0) * m
             ))
+            # print("######log#### ", log_part)
         else:
             t = t_end
-        result = (t - t_s + log_part) * (1 + 1 * red)
+        result = (t - t_s + log_part) * (0.5 + 5 * red)
         # print('!!!!', t_start, t_end, t_s, t_l, result)
         return result