void Image_Handler(FCGIContext * context, char * params)
{
int num = 0, width = 800, height = 600;
FCGIValue val[] = {
{"num", &num, FCGI_INT_T},
{"width", &width, FCGI_INT_T},
{"height", &height, FCGI_INT_T}
};
if (!FCGI_ParseRequest(context, params, val, 3))
return;
else if (num < 0 || num > 1) {
FCGI_RejectJSON(context, "Invalid capture number");
return;
} else if (width <= 0 || height <= 0) {
FCGI_RejectJSON(context, "Invalid width/height");
return;
}
if (captureID != num) {
if (captureID >= 0) {
cvReleaseCapture(&capture);
}
capture = cvCreateCameraCapture(num);
captureID = num;
}
cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width);
cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height);
static int p[] = {CV_IMWRITE_JPEG_QUALITY, 100, 0};
IplImage * frame = cvQueryFrame(capture);
assert(frame != NULL);
// CvMat stub;
// CvMat * background = cvGetMat(frame, &stub, 0, 0);
// CvMat *cv8u = cvCreateMat(frame->width, frame->height, CV_8U);
// double min, max;
// CvPoint a,b;
// cvMinMaxLoc(background, &min, &max, &a, &b, 0);
// double ccscale = 255.0/(max-min);
// double ccshift = -min;
//cvCvtScale(frame, cv8u, ccscale, ccshift);
CvMat * jpg = cvEncodeImage(".jpg", frame, p);
// Will this work?
Log(LOGNOTE, "Sending image!");
FCGI_PrintRaw("Content-type: image/jpg\r\n");
FCGI_PrintRaw("Cache-Control: no-cache, no-store, must-revalidate\r\n\r\n");
//FCGI_PrintRaw("Content-Length: %d", jpg->rows*jpg->cols);
FCGI_WriteBinary(jpg->data.ptr,1,jpg->rows*jpg->cols);
cvReleaseMat(&jpg);
cvReleaseImageHeader(&frame);
}
/**
* Handle a request for an Actuator
* @param context - FCGI context
* @param params - Parameters passed
*/
void Actuator_Handler(FCGIContext * context, char * params)
{
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
char * name = "";
char * set = "";
double start_time = 0;
double end_time = current_time;
char * fmt_str;
// key/value pairs
FCGIValue values[] = {
{"id", &id, FCGI_INT_T},
{"name", &name, FCGI_STRING_T},
{"set", &set, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
{"format", &fmt_str, FCGI_STRING_T}
};
// enum to avoid the use of magic numbers
typedef enum {
ID,
NAME,
SET,
START_TIME,
END_TIME,
FORMAT
} ActuatorParams;
// Fill values appropriately
if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
{
// Error occured; FCGI_RejectJSON already called
return;
}
// Get the Actuator identified
Actuator * a = NULL;
if (FCGI_RECEIVED(values[NAME].flags))
{
if (FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "Can't supply both id and name");
return;
}
a = Actuator_Identify(name);
if (a == NULL)
{
FCGI_RejectJSON(context, "Unknown actuator name");
return;
}
}
else if (!FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "No id or name supplied");
return;
}
else if (id < 0 || id >= g_num_actuators)
{
FCGI_RejectJSON(context, "Invalid Actuator id");
return;
}
else
{
a = &(g_actuators[id]);
}
DataFormat format = Data_GetFormat(&(values[FORMAT]));
if (FCGI_RECEIVED(values[SET].flags))
{
ActuatorControl c = {0.0, 0.0, 0.0, 0}; // Need to set default values (since we don't require them all)
// sscanf returns the number of fields successfully read...
int n = sscanf(set, "%lf,%lf,%lf,%d", &(c.start), &(c.stepwait), &(c.stepsize), &(c.steps)); // Set provided values in order
if (n != 4)
{
// If the user doesn't provide all 4 values, the Actuator will get set *once* using the first of the provided values
// (see Actuator_Loop)
// Not really a problem if n = 1, but maybe generate a warning for 2 <= n < 4 ?
Log(LOGDEBUG, "Only provided %d values (expect %d) for Actuator setting", n, 4);
}
// SANITY CHECKS
if (c.stepwait < 0 || c.steps < 0 || (a->sanity != NULL && !a->sanity(a->user_id, c.start)))
{
FCGI_RejectJSON(context, "Bad Actuator setting");
return;
}
Actuator_SetControl(a, &c);
}
// Begin response
Actuator_BeginResponse(context, a, format);
if (format == JSON)
FCGI_JSONPair("set", set);
// Print Data
Data_Handler(&(a->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Actuator_EndResponse(context, a, format);
}
/**
* Handle a request to the sensor module
* @param context - The context to work in
* @param params - Parameters passed
*/
void Sensor_Handler(FCGIContext *context, char * params)
{
struct timespec now;
clock_gettime(CLOCK_MONOTONIC, &now);
double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
const char * name = "";
double start_time = 0;
double end_time = current_time;
const char * fmt_str;
double sample_s = 0;
// key/value pairs
FCGIValue values[] = {
{"id", &id, FCGI_INT_T},
{"name", &name, FCGI_STRING_T},
{"format", &fmt_str, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
{"sample_s", &sample_s, FCGI_DOUBLE_T}
};
// enum to avoid the use of magic numbers
typedef enum {
ID,
NAME,
FORMAT,
START_TIME,
END_TIME,
SAMPLE_S
} SensorParams;
// Fill values appropriately
if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
{
// Error occured; FCGI_RejectJSON already called
return;
}
Sensor * s = NULL;
if (FCGI_RECEIVED(values[NAME].flags))
{
if (FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "Can't supply both sensor id and name");
return;
}
s = Sensor_Identify(name);
if (s == NULL)
{
FCGI_RejectJSON(context, "Unknown sensor name");
return;
}
}
else if (!FCGI_RECEIVED(values[ID].flags))
{
FCGI_RejectJSON(context, "No sensor id or name supplied");
return;
}
else if (id < 0 || id >= g_num_sensors)
{
FCGI_RejectJSON(context, "Invalid sensor id");
return;
}
else
{
s = &(g_sensors[id]);
}
// Adjust sample rate if necessary
if (FCGI_RECEIVED(values[SAMPLE_S].flags))
{
if (sample_s < 0)
{
FCGI_RejectJSON(context, "Negative sampling speed!");
return;
}
DOUBLE_TO_TIMEVAL(sample_s, &(s->sample_time));
}
DataFormat format = Data_GetFormat(&(values[FORMAT]));
// Begin response
Sensor_BeginResponse(context, s, format);
// Print Data
Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Sensor_EndResponse(context, s, format);
}
