| 13 | |
| 14 | |
| 15 | class TCPServer: |
| 16 | def __init__(self, host='0.0.0.0', port=9999): |
| 17 | self.server_address = (host, port) |
| 18 | self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) |
| 19 | self.server_socket.bind(self.server_address) |
| 20 | self.server_socket.listen(1) |
| 21 | print(f"Listening on {host}:{port}") |
| 22 | |
| 23 | def accept_connection(self): |
| 24 | conn, addr = self.server_socket.accept() |
| 25 | print(f"Connected by {addr}") |
| 26 | return conn |
| 27 | |
| 28 | def receive_pose(self, conn): |
| 29 | |
| 30 | data = conn.recv(1024).decode() |
| 31 | return data |
| 32 | |
| 33 | |
| 34 | def load_config(config_file="config.yaml"): |