// ******************************************************************
void GameManager::requestNetworkPing()
{
SystemPingRequest ping_request(PlayerInterface::getLocalPlayerIndex());
NetworkState::ping_time_stamp = now();
CLIENT->sendMessage( &ping_request, sizeof(SystemPingRequest));
}
static void send_cb(mrp_timer_t *t, void *user_data)
{
context_t *c = (context_t *)user_data;
MRP_UNUSED(t);
ping_request(c);
}
// ------------------------------------------------
// Function: ping()
// ------------------------------------------------
// Input: Destination IP
// Network interface ID
// Output: TRUE if server alive
// ------------------------------------------------
// Description: Computers ICMP message checksum
// ------------------------------------------------
BOOL ping(IPV4 ip, BYTE interface)
{
BYTE retry;
retry = 0;
while(retry < MAX_PING) {
ping_request(ip, interface);
os_set_timeout(TIMEOUT_PING);
if(os_wait(SIG_ICMP)) return TRUE;
retry++;
}
return FALSE;
}
int main(int argc, char **argv) {
// Prepare log file and check argument count
FILE* log_file = fopen("track_results.log","a");
if(argc != 4) {
fprintf(log_file, "Incorrect number of arguments.\n");
return 1;
}
int desired_fps = atoi(argv[3]);
if(desired_fps > 60 || desired_fps < 1) {
fprintf(log_file, "Invalid FPS: please select a value in the range [1-60].\n");
return 1;
}
////////// GROUND TRUTH SETUP AND PROCESSING //////////
// Open and extract bounding rect info from gt file
char buffer[100];
memset(buffer, 0, sizeof(buffer));
int gt_rect[4];
FILE* gt_file = fopen(argv[2], "r");
fgets(buffer, 100, gt_file);
char* token = strtok(buffer, ",");
gt_rect[0] = atoi(token);
int i = 1;
while(i < 4) {
token = strtok(NULL, ",");
gt_rect[i] = atoi(token);
i++;
}
fclose(gt_file);
// Load image and compress to a reasonable size
IplImage* gt = cvLoadImage(argv[1]);
IplImage* gt_resized = cvCreateImage(cvSize(320, 240), gt->depth, gt->nChannels); //1280,720
cvResize(gt, gt_resized, CV_INTER_NN);
// Show bounding rect
CvPoint corner1 = cvPoint(gt_rect[0], gt_rect[1]);
CvPoint corner2 = cvPoint(gt_rect[0] + gt_rect[2], gt_rect[1] + gt_rect[3]);
CvScalar rect_color = CV_RGB(255,0,0);
cvRectangle(gt_resized, corner1, corner2, rect_color, 2);
cvNamedWindow( "Ground Truth Reference", CV_WINDOW_AUTOSIZE );
cvShowImage( "Ground Truth Reference", gt_resized );
// Set ROI for ground truth
CvRect quarter = cvRect(gt_rect[0], gt_rect[1], gt_rect[2], gt_rect[3]);
cvSetImageROI(gt_resized, quarter);
////////// PREPARE GOPRO FOR VIDEO CAPTURE //////////
// Basic connectivity tests
HINTERNET hSession = WinHttpOpen( L"GoPro HTTP Transfer/1.1",
WINHTTP_ACCESS_TYPE_DEFAULT_PROXY,
WINHTTP_NO_PROXY_NAME,
WINHTTP_NO_PROXY_BYPASS, 0 );
if(hSession == NULL) {
printf("Error %u in WinHttpOpen.\n", GetLastError());
std::cin.get();
return 1;
}
if( !WinHttpSetTimeouts( hSession, 10000, 10000, 10000, 10000 )) {
printf( "Error %u in WinHttpSetTimeouts.\n", GetLastError());
std::cin.get();
return 1;
}
HINTERNET hConnect = WinHttpConnect( hSession, L"10.5.5.9", 80, 0);
if(hConnect == NULL) {
printf("Error %u in WinHttpConnect.\n", GetLastError());
std::cin.get();
return 1;
}
// Power on
bool error = ping_request(hConnect, L"/bacpac/PW?t=goprohero&p=%01");
if(error) {
return 1;
}
Sleep(5000); //give time to boot up
//Clear memory
error = ping_request(hConnect, L"/camera/DA?t=goprohero");
if(error) {
return 1;
}
Sleep(5000); //give time to delete files
// Set to video mode
error = ping_request(hConnect, L"/camera/CM?t=goprohero&p=%00");
if(error) {
return 1;
}
Sleep(1000);
// Set video resolution to 720p, 30FPS
error = ping_request(hConnect, L"/camera/VR?t=goprohero&p=%00");
if(error) {
return 1;
}
Sleep(1000);
WinHttpCloseHandle(hConnect);
WinHttpCloseHandle(hSession);
////////// PREPARE TIMING & VIDEO RESOURCES //////////
// Prepare timing instrumentation (for FPS control)
__int64 last_time = 0;
__int64 current_time = 0;
__int64 freq = 0;
int frame_time = 1000 / desired_fps;
// Play video
cvNamedWindow( "MOV Window", CV_WINDOW_AUTOSIZE );
CvCapture* track_video = cvCreateFileCapture( "tags.mov" );
IplImage* current_frame;
// Record annotated video
CvSize write_size = cvSize(
(int)cvGetCaptureProperty( track_video, CV_CAP_PROP_FRAME_WIDTH),
(int)cvGetCaptureProperty( track_video, CV_CAP_PROP_FRAME_HEIGHT)
);
CvVideoWriter *writer = cvCreateVideoWriter( "output.avi", CV_FOURCC('M','J','P','G'), 20, write_size, 1);
// Start timer
QueryPerformanceCounter((LARGE_INTEGER*) &last_time);
////////// MAIN PROCESSING LOOP //////////
bool to_search = true;
bool next = true;
CvRect est = quarter;
while(1) {
// Read in current frame
current_frame = cvQueryFrame(track_video);
if(current_frame == NULL) {
break;
}
if(to_search == false) {
est = process_frame(gt_resized, current_frame, quarter, &next, log_file);
rect_color = CV_RGB(0,255,0);
} else {
est = search(gt_resized, current_frame, quarter, &next, log_file);
rect_color = CV_RGB(255,0,0);
}
fprintf(log_file, "Coordinates: %d , %d\t\t", est.x, est.y);
if(to_search) {
fprintf(log_file, "Recommended Action: Search\n");
} else {
// X direction flight planning
if(est.x < ((current_frame->width / 2) - 10)) {
fprintf(log_file, "Recommended Action: Move Right , ");
}
else if(est.x > ((current_frame->width / 2) + 10)) {
fprintf(log_file, "Recommended Action: Move Left, ");
}
else {
fprintf(log_file, "Recommended Action: Hover, ");
}
// Y direction flight planning
if(est.y < ((current_frame->height / 2) - 10)) {
fprintf(log_file, "Move Backwards\n");
}
else if(est.y > ((current_frame->width / 2) + 10)) {
fprintf(log_file, "Move Forwards\n");
}
else {
fprintf(log_file, "Hover\n");
}
}
to_search = next;
// Swap frames
quarter = est;
CvPoint corner1 = cvPoint(est.x, est.y);
CvPoint corner2 = cvPoint(est.x + est.width, est.y + est.height);
cvRectangle(current_frame, corner1, corner2, rect_color, 2);
// Display frame
cvShowImage( "MOV Window", current_frame );
cvWriteFrame( writer, current_frame );
// FPS Control
QueryPerformanceCounter((LARGE_INTEGER*) ¤t_time);
QueryPerformanceFrequency((LARGE_INTEGER*) &freq);
int elapsed_time = (int)((current_time - last_time) / freq);
int wait_time = frame_time - (elapsed_time / 1000);
if(wait_time < 0) {
continue;
}
char ext_key = cvWaitKey(wait_time);
if(ext_key == 27) {
break;
}
}
////////// CLEAN-UP //////////
cvReleaseCapture( &track_video );
cvReleaseVideoWriter( &writer );
cvDestroyWindow( "MOV Window" );
cvReleaseImage( > );
cvReleaseImage( >_resized );
cvDestroyWindow( "Ground Truth Reference" );
fclose(log_file);
return 0;
}
