feat: data send example

example/go2/CMakeLists.txt

@@ -2,7 +2,13 @@ find_package(OpenCV REQUIRED)
 
 add_executable(go2_video_client_custom go2_video_client_custom.cpp)
 target_include_directories(go2_video_client_custom PRIVATE ${OpenCV_INCLUDE_DIRS})
-target_link_libraries(go2_video_client_custom unitree_sdk2 ${OpenCV_LIBS})
+# target_link_libraries(go2_video_client_custom unitree_sdk2 ${OpenCV_LIBS})
+target_link_libraries(go2_video_client_custom
+    unitree_sdk2
+    ${OpenCV_LIBS}
+    curl  
+)
+
 
 # add_executable(go2_trajectory_follow go2_trajectory_follow.cpp)
 # target_link_libraries(go2_trajectory_follow unitree_sdk2)
@@ -24,4 +30,4 @@ target_link_libraries(go2_video_client_custom unitree_sdk2 ${OpenCV_LIBS})
 # target_link_libraries(go2_video_client unitree_sdk2)
 
 # add_executable(go2_vui_client go2_vui_client.cpp)
-# target_link_libraries(go2_vui_client unitree_sdk2)
+# target_link_libraries(go2_vui_client unitree_sdk2)

example/go2/go2_video_client_custom.cpp

@@ -4,6 +4,7 @@
 #include <chrono>
 
 #include <opencv2/opencv.hpp>  // OpenCV for image processing
+#include <curl/curl.h> // HTTP request
 
 #include <unitree/robot/go2/video/video_client.hpp>
 #include <unitree/robot/channel/channel_subscriber.hpp>
@@ -20,6 +21,57 @@ void state_callback(const void* message)
     g_state = *(unitree_go::msg::dds_::SportModeState_*)message;
 }
 
+void send_to_vllm_server(const std::string& image_path,
+    const std::array<float, 3>& pos,
+    const std::array<float, 3>& rpy)
+{
+    CURL *curl;
+    CURLcode res;
+    curl_mime *form = nullptr;
+    curl_mimepart *field = nullptr;
+
+    curl_global_init(CURL_GLOBAL_ALL);
+    curl = curl_easy_init();
+    if (curl) {
+        form = curl_mime_init(curl);
+
+        // 이미지 전송
+        field = curl_mime_addpart(form);
+        curl_mime_name(field, "image");
+        curl_mime_filedata(field, image_path.c_str());
+
+        // 위치 (position)
+        std::string pos_json = "{\"x\":" + std::to_string(pos[0]) +
+          ",\"y\":" + std::to_string(pos[1]) +
+          ",\"z\":" + std::to_string(pos[2]) + "}";
+        field = curl_mime_addpart(form);
+        curl_mime_name(field, "position");
+        curl_mime_data(field, pos_json.c_str(), CURL_ZERO_TERMINATED);
+
+        // RPY (roll/pitch/yaw)
+        std::string rpy_json = "{\"roll\":" + std::to_string(rpy[0]) +
+          ",\"pitch\":" + std::to_string(rpy[1]) +
+          ",\"yaw\":" + std::to_string(rpy[2]) + "}";
+        field = curl_mime_addpart(form);
+        curl_mime_name(field, "rpy");
+        curl_mime_data(field, rpy_json.c_str(), CURL_ZERO_TERMINATED);
+
+        // 전송 URL 설정 (VLLM 서버 주소)
+        curl_easy_setopt(curl, CURLOPT_URL, "http://127.0.0.1:5000/analyze");  // IP:PORT 수정
+        curl_easy_setopt(curl, CURLOPT_MIMEPOST, form);
+
+        res = curl_easy_perform(curl);
+        if (res != CURLE_OK) {
+            std::cerr << "[curl error] " << curl_easy_strerror(res) << std::endl;
+        }
+
+        curl_mime_free(form);
+        curl_easy_cleanup(curl);
+    }
+    curl_global_cleanup();
+}
+
+
 int main()
 {
     // Init SDK
@@ -93,6 +145,11 @@ int main()
             auto end_time = std::chrono::steady_clock::now();
             auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time).count();
             std::cout << "Elapsed time: " << elapsed_time << " ms" << std::endl;
+
+            // 전송
+            std::array<float, 3> pos_arr = {pos[0], pos[1], pos[2]};
+            std::array<float, 3> rpy_arr = {rpy[0], rpy[1], rpy[2]};
+            send_to_vllm_server(processed_name, pos_arr, rpy_arr);
         }
 
         usleep(50000);  // 0.05 seconds

server_test.py

@@ -0,0 +1,70 @@
+from flask import Flask, request, send_file, jsonify, render_template_string
+import json
+import os
+
+app = Flask(__name__)
+
+UPLOAD_PATH = "received.jpg"
+POSE_PATH = "pose.json"  # 위치 + 자세 값 저장용
+
+@app.route("/analyze", methods=["POST"])
+def analyze():
+    image = request.files["image"]
+    pos = json.loads(request.form["position"])
+    rpy = json.loads(request.form["rpy"])
+
+    print("Received image:", image.filename)
+    print("Position:", pos)
+    print("RPY:", rpy)
+
+    # 이미지 저장
+    image.save(UPLOAD_PATH)
+
+    # 값 저장
+    with open(POSE_PATH, "w") as f:
+        json.dump({"position": pos, "rpy": rpy}, f)
+
+    return {"result": "ok"}
+
+@app.route("/view", methods=["GET"])
+def view():
+    if not os.path.exists(UPLOAD_PATH) or not os.path.exists(POSE_PATH):
+        return "No image or pose data found."
+
+    with open(POSE_PATH, "r") as f:
+        data = json.load(f)
+
+    html = """
+    <html>
+    <head>
+        <title>Latest Image and Pose</title>
+        <style>
+            body { font-family: Arial; text-align: center; padding: 30px; }
+            img { max-width: 400px; border: 1px solid #ccc; margin-bottom: 20px; }
+            .info { font-size: 18px; }
+        </style>
+    </head>
+    <body>
+        <h1>Latest Image</h1>
+        <img src="/latest_image" alt="Latest Image"/>
+        <div class="info">
+            <h2>Position</h2>
+            <p>x = {{ pos['x'] }}, y = {{ pos['y'] }}, z = {{ pos['z'] }}</p>
+            <h2>RPY</h2>
+            <p>roll = {{ rpy['roll'] }}, pitch = {{ rpy['pitch'] }}, yaw = {{ rpy['yaw'] }}</p>
+        </div>
+    </body>
+    </html>
+    """
+
+    return render_template_string(html, pos=data["position"], rpy=data["rpy"])
+
+@app.route("/latest_image", methods=["GET"])
+def latest_image():
+    if os.path.exists(UPLOAD_PATH):
+        return send_file(UPLOAD_PATH, mimetype="image/jpeg")
+    else:
+        return jsonify({"error": "No image found"}), 404
+
+if __name__ == "__main__":
+    app.run(host="0.0.0.0", port=5000)