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#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);
}
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