tta-uds-streamer/uds_postprocessing.py

import socket, struct, sys, json, asyncio, threading
import websockets
import time
import numpy as np
from threading import Lock
from collections import deque
from crowd_risk import distance_risk, motion_risk_and_path
from trackers.ocsort_tracker.ocsort import OCSort
import time
import cv2, base64


crowd_tracker = OCSort(det_thresh=0.3, iou_threshold=0.3, max_age=30, min_hits=1, delta_t=1)
face_tracker = OCSort(det_thresh=0.3, iou_threshold=0.3, max_age=30, min_hits=1, delta_t=1)
car_tracker = OCSort(det_thresh=0.3, iou_threshold=0.3, max_age=30, min_hits=1, delta_t=1)
anomy_tracker = OCSort(det_thresh=0.3, iou_threshold=0.3, max_age=30, min_hits=1, delta_t=1)
vip_tracker = OCSort(det_thresh=0.3, iou_threshold=0.3, max_age=30, min_hits=1, delta_t=1)

encode_queue = deque()
encode_lock = Lock()

MAX_ENC_QUEUE = 4

frames_buffer = {}
id_card_state = {}

CARD_SEND_INTERVAL = 1.0
CARD_TIMEOUT = 0.0

SOCK_PATH = sys.argv[1] if len(sys.argv) > 1 else "/tmp/cam.sock"

# ----- UDS 포맷 -----
FRAME_MAGIC = b"FRA\x00"
FRAME_HDR_FMT = "<4s6I2Q"   # magic, ver, ch, w, h, stride, pixfmt, bytes, ts_us
FRAME_HDR_SIZE = struct.calcsize(FRAME_HDR_FMT)

DET_MAGIC = b"UDSD"
DET_HDR_FMT = "<4sIIIQI"    # magic, ver, ch, seq, ts_us, count
DET_HDR_SIZE = struct.calcsize(DET_HDR_FMT)

ENTRY_FMT = "<fffffHHH"      # prob, x, y, w, h, cls, tid, resv
ENTRY_SIZE = struct.calcsize(ENTRY_FMT)

WS_PIXFMT_RGB24 = 1
WS_PIXFMT_JPEG = 3

UDS_TAG_DET = 1
UDS_TAG_FIRE = 2
UDS_TAG_FACE = 3
UDS_TAG_LPR = 4
UDS_TAG_ABNORMAL = 5

FEAT_OBJDET = 0
FEAT_ABNORM = 1
FEAT_CROWD = 2
FEAT_FIRE = 3
FEAT_LPR = 4
FEAT_FACEATTR = 5
FEAT_VIPTRACK = 6

pre_feat_idx = None

W = 1080
H = 720


uds_cnt_lock = Lock()
uds_frames_total = 0
uds_dets_total = 0
uds_frames_sec = 0
uds_dets_sec = 0

# ws debug stats
ws_frames_total = 0
ws_frames_sec   = 0
ws_frames_lock  = Lock()


ws_clients = set()
last_frame_ts = {}

loop_main = None

ws_bytes_total = 0
ws_bytes_lock = Lock()
frame_queue = deque(maxlen=5)


def ws_add_bytes(n: int):
    global ws_bytes_total
    with ws_bytes_lock:
        ws_bytes_total += n


def read_exact(sock, n: int) -> bytes:
    buf = bytearray(n)
    mv = memoryview(buf)
    got = 0
    while got < n:
        r = sock.recv_into(mv[got:], n - got)
        if r == 0:
            raise ConnectionError("peer closed")
        got += r
    return buf


def uds_dec_tag(c: int) -> int:
    return (c >> 12) & 0xF  # 상위 4비트


def uds_dec_local(c: int) -> int:
    return c & 0x0FFF       # 하위 12비트


async def ws_handler(ws):
    ws_clients.add(ws)
    print(f"[WS] client connected ({len(ws_clients)})")
    try:
        async for _ in ws:
            # 클라이언트 → 서버 메시지는 현재 사용 안 함
            pass
    finally:
        ws_clients.discard(ws)
        print(f"[WS] client disconnected ({len(ws_clients)})")


async def ws_broadcast_text(text: str):
    if not ws_clients:
        return

    try:
        meta = json.loads(text)
        if meta.get("type") == "card":
            print(f"[WS][TEXT] send card -> clients={len(ws_clients)}")
    except Exception:
        pass

    targets = list(ws_clients)
    coros = [ws.send(text) for ws in targets]
    results = await asyncio.gather(*coros, return_exceptions=True)

    ok_count = 0
    for ws, r in zip(targets, results):
        if isinstance(r, Exception):
            ws_clients.discard(ws)
        else:
            ok_count += 1

    if ok_count > 0:
        ws_add_bytes(len(text.encode("utf-8")) * ok_count)


async def ws_broadcast_binary(data: bytes):
    if not ws_clients:
        return

    targets = list(ws_clients)
    coros = [ws.send(data) for ws in targets]
    results = await asyncio.gather(*coros, return_exceptions=True)

    ok_count = 0
    for ws, r in zip(targets, results):
        if isinstance(r, Exception):
            ws_clients.discard(ws)
        else:
            ok_count += 1

    if ok_count > 0:
        ws_add_bytes(len(data) * ok_count)


def ws_broadcast_frame(ch, ts_us, w, h, rgb_bytes, stride):
    if loop_main is None or not ws_clients:
        return
    with encode_lock:
        if len(encode_queue) >= MAX_ENC_QUEUE:
            while len(encode_queue) >= MAX_ENC_QUEUE:
                encode_queue.popleft()
        encode_queue.append((ch, ts_us, w, h, bytes(rgb_bytes), int(stride)))


def ws_broadcast_det(ch, seq, ts_us, items, crowd_count=None):
    """UDS 스레드에서 호출: 디텍션 메타 텍스트 JSON 전송 예약"""
    if loop_main is None or not ws_clients:
        return

    meta = {
        "type": "det",
        "ch": int(ch),
        "seq": int(seq),
        "ts_us": int(ts_us),
        "items": items,
    }
    if crowd_count is not None:
        meta["crowd_count"] = int(crowd_count)

    text = json.dumps(meta)
    asyncio.run_coroutine_threadsafe(ws_broadcast_text(text), loop_main)


def decode_reserved(resv):
    md8 = resv & 0xFF   # low = feature
    fm8 = (resv >> 8) & 0xFF   # high = model
    return fm8, md8


def fm8_to_feature_index(fm8):
    if fm8 is None:
        return None
    if fm8 == 0:
        return None
    return (fm8 & -fm8).bit_length() - 1


def iou(a, b):
    ax1, ay1, ax2, ay2 = a
    bx1, by1, bx2, by2 = b

    inter_x1 = max(ax1, bx1)
    inter_y1 = max(ay1, by1)
    inter_x2 = min(ax2, bx2)
    inter_y2 = min(ay2, by2)

    inter_w = max(0, inter_x2 - inter_x1)
    inter_h = max(0, inter_y2 - inter_y1)
    inter_area = inter_w * inter_h

    area_a = (ax2 - ax1) * (ay2 - ay1)
    area_b = (bx2 - bx1) * (by2 - by1)

    union_area = area_a + area_b - inter_area
    if union_area <= 0:
        return 0.0

    return inter_area / union_area


def sanitize_dets_xyxy_score(
        dets_xyxy_score: np.ndarray, W: int, H: int, min_wh: float = 1.0
) -> np.ndarray:
    """
    dets_xyxy_score: (N,5) = [x1,y1,x2,y2,score]
    """
    if dets_xyxy_score is None or len(dets_xyxy_score) == 0:
        return np.empty((0, 5), dtype=np.float32)

    d = dets_xyxy_score.astype(np.float32, copy=True)

    finite_mask = np.all(np.isfinite(d[:, :5]), axis=1)
    d = d[finite_mask]
    if d.shape[0] == 0:
        return np.empty((0, 5), dtype=np.float32)

    d[:, [0, 2]] = np.clip(d[:, [0, 2]], 0, W - 1)
    d[:, [1, 3]] = np.clip(d[:, [1, 3]], 0, H - 1)

    x1, y1, x2, y2 = d[:, 0], d[:, 1], d[:, 2], d[:, 3]
    d[:, 0], d[:, 1], d[:, 2], d[:, 3] = (
        np.minimum(x1, x2),
        np.minimum(y1, y2),
        np.maximum(x1, x2),
        np.maximum(y1, y2),
    )

    w = d[:, 2] - d[:, 0]
    h = d[:, 3] - d[:, 1]
    size_mask = (w >= min_wh) & (h >= min_wh)
    d = d[size_mask]

    if d.shape[0] > 0:
        d = d[d[:, 4] > 0.0]

    return d


def handle_frame(hdr, sock):
    magic, ver, ch, w, h, stride, pixfmt, bytes_len, ts_us = hdr

    if bytes_len <= 0 or bytes_len > 20 * 1024 * 1024:
        raise ConnectionError("invalid bytes_len")

    buf = read_exact(sock, bytes_len)

    global uds_frames_total, uds_frames_sec
    with uds_cnt_lock:
        uds_frames_total += 1
        uds_frames_sec += 1

    if pixfmt != WS_PIXFMT_JPEG:
        return

    frames_buffer[ts_us] = bytes(buf)

    if len(frames_buffer) > 6:
        old_keys = sorted(frames_buffer.keys())[:-3]
        for k in old_keys:
            frames_buffer.pop(k, None)


def handle_det(hdr, sock):
    magic, ver, ch, seq, ts_us, count = hdr

    need_bytes = count * ENTRY_SIZE
    entries_raw = read_exact(sock, need_bytes) if count > 0 else b""

    items = []
    det_rows = []
    det_face = []
    det_car = []
    off = 0

    if count > 0:
        _, _, _, _, _, _, _, first_resv = struct.unpack_from(
            ENTRY_FMT, entries_raw, 0)
        fm8, md8 = decode_reserved(first_resv)
        feat_idx = fm8_to_feature_index(fm8)

    else:
        fm8, md8 = None, None
        feat_idx = None

    for _ in range(count):
        prob, x, y, w, h, cls, tid, resv = struct.unpack_from(
            ENTRY_FMT, entries_raw, off)
        off += ENTRY_SIZE

        x1, y1, x2, y2 = x, y, x+w, y+h

        tag = uds_dec_tag(cls)
        local_cls = uds_dec_local(cls)

        if tag == UDS_TAG_DET and local_cls == 0 and feat_idx == FEAT_CROWD:
            det_rows.append([x1, y1, x2, y2, prob, int(local_cls)])
        elif tag == UDS_TAG_DET and local_cls == 0 and feat_idx == FEAT_FACEATTR:
            det_rows.append([x1, y1, x2, y2, prob, int(local_cls)])
        elif tag == UDS_TAG_LPR and local_cls == 0 and feat_idx == FEAT_LPR:
            det_rows.append([x1, y1, x2, y2, prob, int(local_cls)])
        elif tag == UDS_TAG_ABNORMAL and local_cls == 0 and feat_idx == FEAT_ABNORM:
            det_rows.append([x1, y1, x2, y2, prob, int(local_cls)])
        elif tag == UDS_TAG_DET and local_cls == 0 and feat_idx == FEAT_VIPTRACK:
            det_rows.append([x1, y1, x2, y2, prob, int(local_cls)])
        else:
            if feat_idx == FEAT_FACEATTR and tag == UDS_TAG_FACE:
                det_face.append([x1, y1, x2, y2])

            if feat_idx == FEAT_LPR and tag == UDS_TAG_DET and local_cls == 2:
                det_car.append([x1, y1, x2, y2])

            items.append({
                "x1": float(x1),
                "y1": float(y1),
                "x2": float(x2),
                "y2": float(y2),
                "cls": int(local_cls),
                "tag": int(tag),
                "tid": int(tid)
            })

    if det_rows:
        arr = np.asarray(det_rows, dtype=np.float32)
        dets_xyxy_score = arr[:, :5]
        track_cls = 0
        tag = int(UDS_TAG_DET)

        dets_for_tracker = sanitize_dets_xyxy_score(dets_xyxy_score, W, H, min_wh=1.0)

        if feat_idx == FEAT_CROWD:
            tracks = crowd_tracker.update(dets_for_tracker, img_info=(H, W), img_size=(H, W))

        if feat_idx == FEAT_FACEATTR:
            tracks = face_tracker.update(dets_for_tracker, img_info=(H, W), img_size=(H, W))

        if feat_idx == FEAT_LPR:
            tracks = car_tracker.update(dets_for_tracker, img_info=(H, W), img_size=(H, W))
            tag = UDS_TAG_LPR

        if feat_idx == FEAT_ABNORM:
            tracks = anomy_tracker.update(dets_for_tracker, img_info=(H, W), img_size=(H, W))
            tag = UDS_TAG_ABNORMAL

        if feat_idx == FEAT_VIPTRACK:
            tracks = vip_tracker.update(dets_for_tracker, img_info=(H, W), img_size=(H, W))

        if tracks is not None and len(tracks) > 0:
            for t in tracks:
                if t.shape[0] < 5:
                    continue
                tx1, ty1, tx2, ty2, tid = float(t[0]), float(t[1]), float(t[2]), float(t[3]), int(t[4])

                items.append({
                    "x1": tx1, "y1": ty1,
                    "x2": tx2, "y2": ty2,
                    "tid": tid,
                    "cls": track_cls,
                    "tag": tag,
                })

    if not frames_buffer:
        return

    candidate_ts = min(frames_buffer.keys(), key=lambda t: abs(t - ts_us))

    if abs(candidate_ts - ts_us) > 200000:
        now_fail = time.time()
        for it in items:
            tid2 = it["tid"]
            st = id_card_state.get(tid2)
            if not st:
                continue

            if now_fail - st["last_update"] > CARD_TIMEOUT:
                id_card_state.pop(tid2, None)

        return

    jpeg_bytes = frames_buffer.pop(candidate_ts, None)
    if jpeg_bytes is None:
        return

    now = time.time()

    if feat_idx == FEAT_FACEATTR:
        for it in items:
            if it["tag"] != UDS_TAG_DET:
                continue

            if it["cls"] != 0:
                continue

            tid2 = it["tid"]
            x1 = it["x1"]
            y1 = it["y1"]
            x2 = it["x2"]
            y2 = it["y2"]

            id_card_state["frame"] = jpeg_bytes
            id_card_state["feat_idx"] = feat_idx

            id_card_state[tid2] = {
                "bbox": [x1, y1, x2, y2],
                "last_update": now,
            }

            best_face = None
            best_iou = 0.0
            person_bbox = [x1, y1, x2, y2]

            for fx1, fy1, fx2, fy2 in det_face:
                face_bbox = [fx1, fy1, fx2, fy2]
                i = iou(person_bbox, face_bbox)
                if i > best_iou:
                    best_iou = i
                    best_face = face_bbox

            if best_face is not None:
                id_card_state[tid2]["face"] = best_face

    if feat_idx == FEAT_ABNORM:
        for it in items:
            if it["tag"] != UDS_TAG_ABNORMAL:
                continue

            if it["cls"] != 0:
                continue

            tid2 = it["tid"]
            x1 = it["x1"]
            y1 = it["y1"]
            x2 = it["x2"]
            y2 = it["y2"]

            id_card_state["frame"] = jpeg_bytes
            id_card_state["feat_idx"] = feat_idx

            id_card_state[tid2] = {
                "bbox": [x1, y1, x2, y2],
                "last_update": now,
            }

    if feat_idx == FEAT_LPR:
        for it in items:
            if it["tag"] != UDS_TAG_LPR:
                continue

            if it["cls"] != 0:
                continue

            tid2 = it["tid"]
            x1 = it["x1"]
            y1 = it["y1"]
            x2 = it["x2"]
            y2 = it["y2"]

            id_card_state["frame"] = jpeg_bytes
            id_card_state["feat_idx"] = feat_idx

            id_card_state[tid2] = {
                "bbox": [x1, y1, x2, y2],
                "last_update": now,
            }

            best_car = None
            best_iou = 0.0
            lp_bbox = [x1, y1, x2, y2]

            for fx1, fy1, fx2, fy2 in det_car:
                print("det_car:", fx1, fy1, fx2, fy2)
                car_bbox = [fx1, fy1, fx2, fy2]
                i = iou(lp_bbox, car_bbox)
                if i > best_iou:
                    best_iou = i
                    best_car = car_bbox

            if best_car is not None:
                print("best_car:", best_car)
                id_card_state[tid2]["car"] = best_car

    if feat_idx == FEAT_VIPTRACK:
        persons = []
        for it in items:
            if it.get("tag") == UDS_TAG_DET and it.get("cls") == 0:
                persons.append(it)

        if persons:
            for it in items:
                if it.get("tag") != UDS_TAG_FACE:
                    continue

                face_bbox = [it["x1"], it["y1"], it["x2"], it["y2"]]

                best_iou = 0.0
                best_person_tid = None

                for p in persons:
                    person_bbox = [p["x1"], p["y1"], p["x2"], p["y2"]]
                    i = iou(person_bbox, face_bbox)
                    if i > best_iou:
                        best_iou = i
                        best_person_tid = p["tid"]

                if best_person_tid is not None:
                    it["tid"] = int(best_person_tid)

    meta = {
        "type": "frame",
        "ch": int(ch),
        "ts_us": int(candidate_ts),
        "w": int(W),
        "h": int(H),
        "items": items,
    }

    if feat_idx == FEAT_CROWD:
        dist_val = distance_risk(items)
        motion_val, traj = motion_risk_and_path(items)

        risk_info = {
            "dist_risk": dist_val,
            "motion_risk": motion_val,
            "risk_total": max(dist_val, motion_val)
        }

        trajectory = traj

        if risk_info is not None:
            meta["risk"] = risk_info

        if trajectory is not None:
            meta["trajectory"] = {tid: list(path) for tid, path in trajectory.items()}

    def push():
        if len(frame_queue) >= 5:
            frame_queue.popleft()
        frame_queue.append((meta, jpeg_bytes))

    loop_main.call_soon_threadsafe(push)


def uds_stats_printer_loop():
    global uds_frames_sec, uds_dets_sec, uds_frames_total, uds_dets_total
    while True:
        time.sleep(1)
        with uds_cnt_lock:
            f_sec = uds_frames_sec
            d_sec = uds_dets_sec
            uds_frames_sec = 0
            uds_dets_sec = 0
            f_tot = uds_frames_total
            d_tot = uds_dets_total
        print(f"[UDS][RATE] {f_sec} fps, {d_sec} dps  | total frames={f_tot}, dets={d_tot}")


def uds_loop():
    while True:
        try:
            sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
            sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 4*1024*1024)
            sock.connect(SOCK_PATH)
            print(f"[UDS] connected to {SOCK_PATH}")

            try:
                while True:
                    magic = read_exact(sock, 4)

                    if magic == FRAME_MAGIC:
                        rest = read_exact(sock, FRAME_HDR_SIZE - 4)
                        hdr = struct.unpack(FRAME_HDR_FMT, magic + rest)
                        try:
                            handle_frame(hdr, sock)
                        except ConnectionError as e:
                            print(f"[UDS][ERR] handle_frame ConnectionError: {e}")
                            raise
                        except Exception as e:
                            print(f"[UDS][ERR] handle_frame EXC: {e}")
                            break

                    elif magic == DET_MAGIC:
                        rest = read_exact(sock, DET_HDR_SIZE - 4)
                        hdr = struct.unpack(DET_HDR_FMT, magic + rest)

                        try:
                            handle_det(hdr, sock)
                        except ConnectionError as e:
                            print(f"[UDS][ERR] handle_det ConnectionError: {e}")
                            raise
                        except Exception as e:
                            print(f"[UDS][ERR] handle_det EXC: {e}")
                            break

                    else:
                        print(f"[UDS][WARN] unknown magic={magic!r} hex={magic.hex()}")
                        break

            finally:
                sock.close()
                print("[UDS] disconnected")

        except FileNotFoundError:
            print(f"[UDS][ERR] {SOCK_PATH} not found, retry...")
        except ConnectionError as e:
            print(f"[UDS][ERR] connection closed, retry... ({e})")
        except Exception as e:
            print(f"[UDS][ERR] uds_loop outer EXC: {e}, retry...")

        time.sleep(1)


import asyncio

async def ws_frame_sender():
    global ws_frames_total, ws_frames_sec

    while True:
        try:
            if not frame_queue or not ws_clients:
                await asyncio.sleep(0.005)
                continue

            # deque.pop() 빈 경우는 IndexError가 일반적
            try:
                meta, jpeg_bytes = frame_queue.pop()
            except IndexError:
                await asyncio.sleep(0.002)
                continue

            text = json.dumps(meta)

            await asyncio.wait_for(ws_broadcast_text(text), timeout=0.3)
            await asyncio.wait_for(ws_broadcast_binary(jpeg_bytes), timeout=0.3)

            with ws_frames_lock:
                ws_frames_total += 1
                ws_frames_sec += 1

        except asyncio.TimeoutError:
            print("[WS][FRAME_SENDER][TIMEOUT] broadcast stalled (slow client?)")
            await asyncio.sleep(0.05)

        except Exception as e:
            print(f"[WS][FRAME_SENDER][ERR] {type(e).__name__}: {e}")
            await asyncio.sleep(0.05)

        await asyncio.sleep(0.001)



def card_sender_loop():
    while True:

        global pre_feat_idx

        now = time.time()
        send_list = []

        remove = []
        frame_bytes = id_card_state.get("frame")
        feat_idx = id_card_state.get("feat_idx")

        if pre_feat_idx != feat_idx:
            pre_feat_idx = feat_idx
            continue

        for tid, info in list(id_card_state.items()):
            if not isinstance(tid, int):
                continue
            if now - info["last_update"] > CARD_TIMEOUT:
                remove.append(tid)

        for tid in remove:
            id_card_state.pop(tid, None)

        if frame_bytes is None:
            time.sleep(0.1)
            continue

        try:
            np_frame = np.frombuffer(frame_bytes, dtype=np.uint8)
            frame = cv2.imdecode(np_frame, cv2.IMREAD_COLOR)
        except:
            time.sleep(0.1)
            continue

        for tid, info in list(id_card_state.items()):
            if not isinstance(tid, int):
                continue
            face_b64 = None
            car_b64 = None

            x1, y1, x2, y2 = map(int, info["bbox"])
            crop = frame[y1:y2, x1:x2]
            if crop.size == 0:
                continue

            ok, buf = cv2.imencode(".jpg", crop, [cv2.IMWRITE_JPEG_QUALITY, 80])
            if not ok:
                continue

            b64 = base64.b64encode(buf).decode("utf-8")

            if feat_idx == FEAT_FACEATTR:
                if "face" in info:
                    fx1, fy1, fx2, fy2 = map(int, info["face"])
                    face_crop = frame[fy1:fy2, fx1:fx2]
                    if face_crop.size != 0:
                        ok2, buf2 = cv2.imencode(".jpg", face_crop, [cv2.IMWRITE_JPEG_QUALITY, 80])
                        if ok2:
                            face_b64 = base64.b64encode(buf2).decode("utf-8")
                entry = {
                    "tid": tid,
                    "person": b64,
                    "appear": "jacket, pants, bag"
                }

                if face_b64 is not None:
                    entry["face"] = face_b64

            if feat_idx == FEAT_LPR:
                if "car" in info:
                    fx1, fy1, fx2, fy2 = map(int, info["car"])
                    lp_crop = frame[fy1:fy2, fx1:fx2]
                    if lp_crop.size != 0:
                        ok2, buf2 = cv2.imencode(".jpg", lp_crop, [cv2.IMWRITE_JPEG_QUALITY, 80])
                        if ok2:
                            car_b64 = base64.b64encode(buf2).decode("utf-8")
                entry = {
                    "tid": tid,
                    "lp": b64,
                    "ocr": "12머 3532"
                }

                if car_b64 is not None:
                    entry["car"] = car_b64

            if feat_idx == FEAT_ABNORM:
                entry = {
                    "tid": tid,
                    "fallen": b64
                }

            send_list.append(entry)

        if send_list:
            meta = {
                "type": "card",
                "timestamp": int(now * 1000),
                "items": send_list,
            }
            if loop_main:
                asyncio.run_coroutine_threadsafe(
                    ws_broadcast_text(json.dumps(meta)),
                    loop_main
                )

        time.sleep(1.0)


async def main_async():

    global loop_main
    loop_main = asyncio.get_running_loop()

    server = await websockets.serve(
        ws_handler,
        "0.0.0.0",
        8765,
        max_queue=None,
        write_limit=2**20,
        ping_interval=30,
        ping_timeout=30,
        compression=None
    )
    print("[WS] listening on 0.0.0.0:8765")

    asyncio.create_task(ws_frame_sender())

    t_uds = threading.Thread(target=uds_loop, daemon=True)
    t_uds.start()

    t_card = threading.Thread(target=card_sender_loop, daemon=True)
    t_card.start()

    t2 = threading.Thread(target=uds_stats_printer_loop, daemon=True)
    t2.start()

    await server.wait_closed()

if __name__ == "__main__":
    asyncio.run(main_async())