Ejemplo n.º 1
0
int main(int argc, char **argv) {
    openni::Device &device = __device;
    openni::VideoStream &depth = __depth, &color = __color;
    openni::Status rc;

    char *prefix = strrchr(argv[0], '/')+1;
    char *cfgfile = new char[prefix-argv[0]+strlen(rgbdsend::config_file_name)+1];

    strncpy(cfgfile, argv[0], prefix-argv[0]+1);
    strcpy(cfgfile+(prefix-argv[0]), rgbdsend::config_file_name);

    Config conf;
    if(conf.read(cfgfile) != 1) {
        printf("Config: Falling back to builtin presets.\n");
        conf.setDefaults();
    }

    delete[] cfgfile;

    CURL *curl = init_curl();

    Daemon daemon;
    daemon.init(conf.daemon_port, conf.daemon_timeout);

    atexit(atexit_handler);

    init_openni(&device, &depth, &color, conf);

    int dw, dh, cw, ch;
    int tmp1, tmp2;

    if(!depth.getCropping(&tmp1, &tmp2, &dw, &dh)) {
        dw = depth.getVideoMode().getResolutionX();
        dh = depth.getVideoMode().getResolutionY();
    }

    if(!color.getCropping(&tmp1, &tmp2, &cw, &ch)) {
        cw = color.getVideoMode().getResolutionX();
        ch = color.getVideoMode().getResolutionY();
    }

    printf("Resolution:\nDepth: %dx%d @ %d fps\nColor: %dx%d @ %d fps\n",
           dw, dh, depth.getVideoMode().getFps(),
           cw, ch, color.getVideoMode().getFps());

    std::queue<char *> onilist;

    Command cmd;
    while(1) {
        timeval t;
        t.tv_sec = conf.daemon_timeout;
        t.tv_usec = 0;

        fd_set fds;
        FD_ZERO(&fds);
        FD_SET(daemon.sock, &fds);
        FD_SET(daemon.csock, &fds);

        int in = select((daemon.csock > daemon.sock ? daemon.csock : daemon.sock)+1, &fds, 0, 0, &t);

        if(FD_ISSET(daemon.sock, &fds))
            daemon.acceptConnection();

        if(FD_ISSET(daemon.csock, &fds)) {
            char b[5];
            int r = daemon.receiveCommand(&cmd);

            if(r == 0) {
                printf("Daemon Error: Could not receive command.\n");

                daemon.closeConnection();
                continue;
            }

            if(r == 2) // keep alive
                continue;

            if(strncmp(cmd.header, "capt", 4) == 0) {
                printf("Received capture command.\n");

                char *newfile = new char[rgbdsend::filename_bufsize];
                if(record_oni(newfile, rgbdsend::filename_bufsize, depth, color, conf) == true) {
                    onilist.push(newfile);
                } else {
                    delete[] newfile;
                }
                daemon.sendCommand("okay", 0, 0);
            } else if(strncmp(cmd.header, "thmb", 4) == 0) {
                printf("Received thumbnail command.\n");
                unsigned char *thumbbuf = NULL;
                long unsigned int size = 0;
                capture_thumbnail(&thumbbuf, &size, color);
                printf("Captured thumbnail. %ld bytes\n", size);

                daemon.sendCommand("stmb", thumbbuf, size);

//				delete[] thumbbuf; seems like libjpeg handles this. but I'm not sure.
            } else if(strncmp(cmd.header, "quit", 4) == 0) {
                daemon.closeConnection();
            } else {
                printf("Daemon Error: Received undefined command.\n");
            }
        }

        if(daemon.csock != -1 && in <= 0) {
            daemon.closeConnection();
        }

        if(daemon.csock == -1 && !onilist.empty())
            process_onis(onilist, curl, conf);
    }

    cleanup_curl(curl);
    cleanup_openni(device, depth, color);
}