diff options
Diffstat (limited to 'client2.c')
| -rw-r--r-- | client2.c | 62 |
1 files changed, 6 insertions, 56 deletions
@@ -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; } |