int main(void)
{
/* receive image */
struct{
int w, h;
} temp;
int sd;
struct sockaddr_in name, cli_name;
// int sock_opt_val = 1;
if((sd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0) {
printf("socket() error!\n");
exit(-1);
}
/*
if(setsockopt(sd, SOL_SOCKET, SO_REUSEADDR, (char *) &sock_opt_val,
sizeof(sock_opt_val)) < 0) {
fprintf(stderr, "Failed to set SO_REUSEADDR on INET socket!\n");
exit(-1);
}
*/
int port = 54000;
bzero(&name, sizeof(name));
name.sin_family = AF_INET;
name.sin_port = htons(port);
name.sin_addr.s_addr = htonl(INADDR_ANY);
if(bind(sd, (struct sockaddr *)&name, sizeof(name)) < 0){
printf("bind() fails!\n");
exit(-1);
}
int slen = sizeof(cli_name);
printf("listening on port %d\n", port);
if(recvfrom(sd, &temp, sizeof(temp), 0, (struct sockaddr *) &cli_name, &slen) < 0){
printf("receive h/w fails!\n");
exit(-1);
}
printf("size received: %d, %d\n", temp.w, temp.h);
int width = temp.w, height = temp.h;
//int length = sizeof(char) * width * height * 3;
int length = WIDTH * HEIGHT * 3;
//char *buf = (char *)malloc(length), *ptr = buf;
unsigned char *ptr = buf;
int ttt = length;
while(ttt > 0){
if(recvfrom(sd, ptr, ttt < PACK_SIZE ? ttt : PACK_SIZE, 0,
(struct sockaddr *) &cli_name, &slen) < 0){
printf("receive pixels fails!\n");
exit(-1);
}
ttt -= PACK_SIZE;
ptr += PACK_SIZE;
}
printf("data received\n");
/* image processing */
Image img;
I_init(&img, width, height, TYPE_3BYTE_BGR);
int i, j, index;
/*
unsigned char a1, a2, a3;
for(i = 0; i < height; i++){
for(j = 0; j < width; j++){
index = (i * width + j) * 3;
a1 = buf[index];
a2 = buf[index + 1];
a3 = buf[index + 2];
img.data[index] = a1;
img.data[index + 1] = a2;
img.data[index + 2] = a3;
}
}
printf("after loop\n");
*/
CEDetector detect;
C_init(&detect);
detect.lowThreshold = 4.0;
detect.highThreshold = 7.5;
detect.sourceImage = &img;
i = 0;
struct sched_param param;
for (;;) {
C_process(&detect);
if (++i % 30 == 0) {
printf ("30 frame mark\n");
}
time ();
if (i == 240) {
param.affinity = 1;
sched_setparam (-1, ¶m);
}
}
/* convert from BGRA to RGB */
for(i = 0; i < height; i++){
for(j = 0; j < width; j++){
index = i * width + j;
buf[index * 3] = detect.edgesImage->data[index * 4 + 2];
buf[index * 3 + 1] = detect.edgesImage->data[index * 4 + 1];
buf[index * 3 + 2] = detect.edgesImage->data[index * 4];
}
}
#if 0
/* send result */
ttt = length;
ptr = buf;
while(ttt > 0){
if(sendto(sd, ptr, ttt < PACK_SIZE ? ttt : PACK_SIZE, 0, (struct sockaddr *)&cli_name, sizeof(cli_name)) < 0){
printf("sendto() fails!\n");
exit(-1);
}
ttt -= PACK_SIZE;
ptr += PACK_SIZE;
}
#endif
/* clean up */
C_deinit(&detect);
I_deinit(&img);
//free(buf);
close(sd);
return 0;
}
static PyObject *init(PyObject *self, PyObject *args) {
I_init();
Py_RETURN_NONE;
}
