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-rw-r--r--Makefile4
-rw-r--r--client2.c62
-rw-r--r--lib.cpp68
-rw-r--r--lib.h28
4 files changed, 104 insertions, 58 deletions
diff --git a/Makefile b/Makefile
index 9f87474..a917452 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-client2: client2.c
- g++ client2.c `pkg-config --libs opencv` -lm -o client2
+client2: client2.c lib.cpp
+ g++ client2.c lib.cpp `pkg-config --libs opencv` -lm -o client2
client: client.c
gcc client.c -lX11 -lXi -lXmu -lglut -lGL -lGLU -lm -o client
diff --git a/client2.c b/client2.c
index 1e04755..1066739 100644
--- a/client2.c
+++ b/client2.c
@@ -7,63 +7,20 @@
#include <time.h>
#include <opencv2/opencv.hpp>
+#include "lib.h"
using namespace cv;
#define SOCKETPATH "/home/flo/uds_socket"
-void die(const char* msg){perror(msg); exit(1);}
-void suicide(const char* msg){ fprintf(stderr, "%s\n", msg); exit(1); }
-
-
-
-unsigned char buffer[67108864]; // must be unsigned. because reasons -_-
-
-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;
-}
-
int main(int argc, const char** argv)
{
- struct sockaddr_un my_sockaddr;
- struct navdata_t
- {
- double phi;
- double theta;
- double psi;
- double batt;
- };
-
- my_sockaddr.sun_family=AF_UNIX;
- strcpy(my_sockaddr.sun_path, SOCKETPATH);
- int sockaddrlen = strlen(my_sockaddr.sun_path) + sizeof(my_sockaddr.sun_family);
-
- int sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
- if (sockfd == -1) die("socket");
-
-
- if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1)
- die("connect");
+ DroneConnection drone(SOCKETPATH);
printf("GO!!\n");
time_t t = time(NULL);
int nframes=0;
- 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) > sizeof(buffer)) suicide("buffer too small");
- read_completely(sockfd, buffer, framelen+sizeof(navdata_t));
- const navdata_t* navdata = (navdata_t*)(buffer + framelen);
- printf("%lf\t%lf\t%lf\t%lf\n", navdata->phi, navdata->theta, navdata->psi, navdata->batt);
char key;
bool go=true;
bool new_vals=true;
@@ -93,6 +50,8 @@ int main(int argc, const char** argv)
//col[0]=-0.01;
//col[1]=0.0;
//col[2]=0.01;
+
+ Mat dingens;
while ((key = waitKey(1)) != 'x')
{
@@ -146,18 +105,10 @@ int main(int argc, const char** argv)
}
if (go) {
- 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) > sizeof(buffer)) suicide("buffer too small");
- read_completely(sockfd, buffer, framelen+sizeof(navdata_t));
-
- const navdata_t* navdata = (navdata_t*)(buffer + framelen);
- printf("%lf\t%lf\t%lf\t%lf\n", navdata->phi, navdata->theta, navdata->psi, navdata->batt);
+ navdata_t navdata;
+ drone.get(dingens, &navdata);
}
- //Mat dingens=Mat::eye(100,100,CV_8UC1) * 244;
- Mat dingens(768,1280,CV_8UC3, buffer);
for (int i=0; i< 1280; i+=50)
dingens.col(i)=Vec3b(255,192,128);
for (int i=0; i< 768; i+=50)
@@ -197,6 +148,5 @@ int main(int argc, const char** argv)
nframes++;
}
- close(sockfd);
return 0;
}
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);
+}
diff --git a/lib.h b/lib.h
new file mode 100644
index 0000000..da622ed
--- /dev/null
+++ b/lib.h
@@ -0,0 +1,28 @@
+#ifndef __LIB_H__
+#define __LIB_H__
+
+#include <opencv2/opencv.hpp>
+
+struct navdata_t
+{
+ double phi;
+ double theta;
+ double psi;
+ double batt;
+};
+
+
+class DroneConnection
+{
+ public:
+ DroneConnection(const char* sockpath);
+ ~DroneConnection();
+ void get(cv::Mat& frame, navdata_t* navdata);
+
+ private:
+ unsigned char* buffer;
+ int sockfd = -1;
+
+};
+
+#endif