The vision server accepts TCP connections and serves a vision stream. The stream is specially encoded using protobuf to be handled by the vision client. See Vision Protocol for more information.

Components

Explanations for different objects in the __init__.py file.

FrameType

Indicator for a stream's type. PLAIN is just the raw images, and PROCESSED is the fully analyzed images. PLAIN is typically faster, even if by a small factor.

CaptureServer

The heart of the whole operation. Implements TCPServer as a single-threaded server. Continually sends frames to any open connections, and then reads packets containing commands for switching feeds or frame types.