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authorFlorian Jung <flo@windfisch.org>2015-01-07 14:00:04 +0100
committerFlorian Jung <flo@windfisch.org>2015-01-07 14:00:04 +0100
commite2fc7e5f9701777652fc6a18d0e42cf23e84ecae (patch)
tree34a383470dfefe0fda6d4a25880c6d554b340358 /lib.cpp
parent7a51b8103dc6b6a5ee4689dc93cad40b6e866d06 (diff)
client lib
Diffstat (limited to 'lib.cpp')
-rw-r--r--lib.cpp68
1 files changed, 68 insertions, 0 deletions
diff --git a/lib.cpp b/lib.cpp
new file mode 100644
index 0000000..fbbf338
--- /dev/null
+++ b/lib.cpp
@@ -0,0 +1,68 @@
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/socket.h>
+#include <string.h>
+#include <sys/un.h>
+#include <time.h>
+
+#include "lib.h"
+
+using namespace cv;
+
+#define BUFSIZE 67108864
+
+static void die(const char* msg){perror(msg); exit(1);}
+static void suicide(const char* msg){ fprintf(stderr, "%s\n", msg); exit(1); }
+
+static int read_completely(int fd, void* buf, size_t len)
+{
+ size_t n_read;
+ for (n_read = 0; n_read < len;)
+ {
+ size_t tmp = read(fd, buf, len-n_read);
+ n_read+=tmp;
+ buf = ((char*)buf)+tmp;
+ }
+ return n_read;
+}
+
+
+DroneConnection::DroneConnection(const char* sockpath)
+{
+ struct sockaddr_un my_sockaddr;
+ buffer = new unsigned char[BUFSIZE];
+
+ my_sockaddr.sun_family=AF_UNIX;
+ strcpy(my_sockaddr.sun_path, sockpath);
+ int sockaddrlen = strlen(my_sockaddr.sun_path) + sizeof(my_sockaddr.sun_family);
+
+ sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
+ if (sockfd == -1) die("socket");
+
+
+ if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1)
+ die("connect");
+}
+
+DroneConnection::~DroneConnection()
+{
+ close(sockfd);
+ delete [] buffer;
+}
+
+void DroneConnection::get(Mat& frame, navdata_t* nav)
+{
+ write(sockfd,"get\n",4);
+
+ read_completely(sockfd, buffer, 4);
+ int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3];
+ if (framelen + sizeof(navdata_t) > BUFSIZE) suicide("buffer too small");
+
+ read_completely(sockfd, buffer, framelen+sizeof(navdata_t));
+
+ const navdata_t* navdata = (navdata_t*)(buffer + framelen);
+ memcpy(nav, navdata, sizeof(*navdata));
+
+ frame = Mat(768,1280,CV_8UC3, buffer);
+}