int main(int argc, char *argv[]) {
pthread_t thread;
/* init threads */
g_thread_init (NULL);
gdk_threads_init ();
gdk_threads_enter ();
gtk_init(&argc, &argv);
initApp();
appdata->program = HILDON_PROGRAM(hildon_program_get_instance());
g_set_application_name("Webview");
appdata->window = HILDON_WINDOW(hildon_window_new());
hildon_program_add_window(appdata->program, appdata->window);
create_menu(appdata->window);
build_interface(appdata->window);
/* Connect signal to X in the upper corner */
g_signal_connect(G_OBJECT(appdata->window), "delete_event", G_CALLBACK(destroy), NULL);
update_image();
load_settings();
gtk_widget_show_all(GTK_WIDGET(appdata->window));
if(! start_camera(appdata->window))
{
g_warning("Unable to start camera\n");
GtkWidget *failDialog = gtk_message_dialog_new(NULL,
GTK_DIALOG_MODAL, GTK_MESSAGE_ERROR,
GTK_BUTTONS_OK,
"Unable to start camera\n");
gtk_dialog_run (GTK_DIALOG (failDialog));
gtk_widget_destroy (failDialog);
}
if(! start_webserver())
{
GtkWidget *failDialog = gtk_message_dialog_new(NULL,
GTK_DIALOG_MODAL, GTK_MESSAGE_ERROR,
GTK_BUTTONS_OK,
"Unable to start web server.\nCheck server port is not already in use.\n");
gtk_dialog_run (GTK_DIALOG (failDialog));
gtk_widget_destroy (failDialog);
}
sleep(1);
pthread_create(&thread, NULL, count_down_thread, NULL);
gtk_main();
gdk_threads_leave ();
return( 0 );
}
CalibrationDialog::CalibrationDialog(QWidget *parent, Qt::WindowFlags flags):
QDialog(parent, flags),
_projector(),
_cancel(false),
_video_toget(this),
_i(0),//可删
timer(),//可删
_success_open_camera(false),
_success_read_pattern(false),
_patterns_to_corner(),
_num_pictrue(0),//第几张拍下的照片，第一张需要剔除
_num_position(0),//一共多少个摆姿
_current_positon(0),//初始化为第一个摆放位置
_sum_pattern_to_corner(0)//存储所有摆放位置的图
{
setupUi(this);
//_patterns_to_corner.resize(42);//设置容器大小为42
update_screen_combo();//更新所用的屏幕为哪一个，是配置文件保存的，还是所选的
//update projector view
_projector.set_screen(screen_combo->currentIndex());//设置要投影在第几屏幕,设置_screen变量的值（索引值：0 or 1 or 2 ...）
position_spinBox->setValue(1);
//初始化buf对应的image大小；可修改#######这里采集图片的大小是768*576
_buf_image=cv::Mat(576,768,CV_8UC3);
//start video preview
_success_read_pattern=read_pattern();
_projector.start();//将widget全屏显示，并且根据此时的屏幕设置bit数###################关键
_success_open_camera=start_camera();//开启相机预览#####改写//可删
}
void VideoToGet::run()
{
_init = false;
_stop = false;
bool success = start_camera();
_init=true;
if (!success)
{
return;
}
LPBYTE lpbuf;
short height,width;
long stride;
long no=0;
int _is_new_picture;
lpbuf=(unsigned char *)okGetTargetInfo(hBoard,BUFFER,no,&width,&height,&stride);
//int i=0;ceshi
// QTime t;
// t.start();
// cv::Mat _buf_image(576,768,CV_8UC3);
// int _i=0;
while(!_stop)
{
while(_can_capture)
{
qDebug()<<"capture"<<timer.currentTime();
_is_new_picture=okCaptureTo(hBoard,BUFFER,0,0);//第四个参数是0；代表连续采集，即是实时采集，无回调支持
if(_is_new_picture>0)
{
emit new_image(lpbuf);
_is_new_picture=0;
_can_capture=false;
}
}
}
}
static int
k4w2_v4l2_start(k4w2_t ctx)
{
k4w2_v4l2 * v4l2 = (k4w2_v4l2 *)ctx;
CHANNEL ch;
if (v4l2->thread)
return K4W2_ERROR;
v4l2->shutdown = 0;
if (THREAD_CREATE(&v4l2->thread, k4w2_v4l2_thread_loop, ctx)) {
VERBOSE("THREAD_CREATE() failed.");
return K4W2_ERROR;
}
for (ch = ctx->begin; ch <= ctx->end; ++ch) {
start_camera(&v4l2->cam[ch]);
}
return K4W2_SUCCESS;
}
void VideoInput::run()
{
_init = false;
_stop = false;
bool success = start_camera();
_init = true;
if (!success)
{
return;
}
int error = 0;
int max_error = 10;
int warmup = 10000;
QTime timer;
timer.start();
while(_video_capture && !_stop && error<max_error)
{
IplImage * frame = cvQueryFrame(_video_capture);
if (frame)
{ //ok
error = 0;
emit new_image(cv::Mat(frame));
}
else
{ //error
if (timer.elapsed()>warmup) {error++;}
}
}
//clean up
stop_camera();
QApplication::processEvents();
}
void VideoInput::run()
{
_init = false;
_stop = false;
bool success = start_camera();
_init=true;
if (!success)
{
return;
}
LPBYTE lpbuf;
short height,width;
long stride;
long no=0;
int _is_new_picture;
lpbuf=(unsigned char *)okGetTargetInfo(hBoard,BUFFER,no,&width,&height,&stride);
//int i=0;ceshi
// QTime t;
// t.start();
// cv::Mat _buf_image(576,768,CV_8UC3);
// int _i=0;
while(!_stop)
{
_is_new_picture=okCaptureTo(hBoard,BUFFER,0,0);//第四个参数是0；代表连续采集，即是实时采集，无回调支持
//if(_is_new_picture>0)
//QString ii=(QString("[%1]").arg(i));
//QString str="C:/Users/Administrator/Desktop/111/1123"+ii+".jpg";
//LPSTR strc=(char*)str.toStdString().data();
if(_is_new_picture>0)
{
//okSaveImageFile(hBoard,strc,0,BUFFER,0,1);
emit new_image(lpbuf);
_is_new_picture=0;
//ceshi
// _i++;
// QString ii=(QString("[%1]").arg(_i));
// QString str="C:/Users/Administrator/Desktop/111/1"+ii+".jpg";
// cv::imwrite(str.toStdString(),_buf_image);//写文件耗时45ms
// int bufnum=0;
// int row_num=_buf_image.rows;
// int col_num=_buf_image.cols*_buf_image.channels();//此循环耗时6-7ms
// for(int j=0;j<row_num;j++){
// unsigned char * data = _buf_image.ptr<uchar>(j);
// for(int i=0;i<col_num;i++){
// data[i]=*(lpbuf+bufnum);
// bufnum++;
// }
// }
//cv::imwrite(str.toStdString(),_buf_image);//写文件耗时45ms
// i++;
}
//qDebug()<<lpbuf;
//qDebug( "%d\n", t.elapsed() );
}
//qDebug( "%d\n", t.elapsed() );
}
//int main(int argc,char *argv[])
int server_socket_init(void)
{
struct sockaddr_in server_addr;
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
server_addr.sin_port = htons(PORT);
int client_sockfd =0;
int on = 1;
int need_connect = 1;
int size;
char buffer[MAX_BUFFER + 1];
struct sockaddr_in client_addr;
socklen_t len = sizeof(client_addr);
//reigster ctrl+c /ctrl+z signal.
signal(SIGINT, signalHandler);
signal(SIGTSTP, signalHandler);
server_sockfd = socket(AF_INET, SOCK_STREAM, 0);
if((setsockopt(server_sockfd,SOL_SOCKET,SO_REUSEADDR,&on,sizeof(on))) < 0) {
perror("setsockopt failed");
exit(EXIT_FAILURE);
}
bind(server_sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr));
/* listen */
listen(server_sockfd, 5);
#ifndef UBUNTU_HOST
mini_car_gpio_init();
#endif
while(1)
{
if(need_connect) {
printf("waiting connection...\n");
client_sockfd = accept(server_sockfd, (struct sockaddr *)&client_addr, &len);
need_connect = 0;
printf("connect client ok!\n");
start_camera();
}
memset(buffer, 0, MAX_BUFFER);
size = read(client_sockfd, buffer, 4);
// printf("Got %d bytes: %s\n", size, buffer);
if(size == 0) {
continue;
}
do_action(buffer, NULL);
if(atoi(buffer) == MSG_STOP) {
printf("disconnect client !\n");
close(client_sockfd);
client_sockfd = 0;
need_connect = 1;
//send_signal_to_proc(SIGINT, "mjpg_streamer");
}
}
close(server_sockfd);
return 0;
}
