Earlier this week I was able to restructure the code that we previously used for testing and merged it into the new framework. It still needs a little more robust testing and the new servo motor control still needs to be added back in since right now the motors that do work are just the stepper motors. I also finally defined the final messages that will be sent to motors and that are expected by each of the programs. If the messages that are being passed around are too long I am also considering doing a translation of the instructions into a numerical format to lower the time it takes to send the bytes over. I feel like that will lead to small speedup so I won’t spend the time now and consider it in the future.
After that I then worked with Heather to figure out the video passthrough. We were initially trying to have the program we wrote send the video and audio feed over but we realized that the video passthrough is the biggest concern so we focused on that. We tried doing a video stream using a udp connection in Gstreamer but ran into many problems. We spent 5 hours together and finally got them connecting over the connection but the actual video feed wasn’t being received properly. We think that with some more time we can get the feed over and with initial research it seems that we may need to pipe it through an encoder and decoder so that will be our number one priority for the week.