41 lines
1 KiB
Python
41 lines
1 KiB
Python
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from dataclasses import dataclass
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from multiprocessing import Process
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import tyro
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from gello.cameras.realsense_camera import RealSenseCamera, get_device_ids
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from gello.zmq_core.camera_node import ZMQServerCamera
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@dataclass
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class Args:
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# hostname: str = "127.0.0.1"
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hostname: str = "128.32.175.167"
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def launch_server(port: int, camera_id: int, args: Args):
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camera = RealSenseCamera(camera_id)
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server = ZMQServerCamera(camera, port=port, host=args.hostname)
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print(f"Starting camera server on port {port}")
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server.serve()
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def main(args):
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ids = get_device_ids()
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camera_port = 5000
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camera_servers = []
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for camera_id in ids:
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# start a python process for each camera
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print(f"Launching camera {camera_id} on port {camera_port}")
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camera_servers.append(
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Process(target=launch_server, args=(camera_port, camera_id, args))
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)
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camera_port += 1
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for server in camera_servers:
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server.start()
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if __name__ == "__main__":
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main(tyro.cli(Args))
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