int main(int argc, char *argv[])
{
int src_GUID = -1, dst_GUID = -1;
/* parameter parsing */
while(1) {
int option_index = 0, c = 0;
static struct option long_options[] =
{
{"h", no_argument, 0, 0},
{"help", no_argument, 0, 0},
{"v", no_argument, 0, 0},
{"version", no_argument, 0, 0},
{"orbit", no_argument, 0, 0},
{"d", no_argument, 0, 0},
{"m", required_argument, 0, 0},
{"o", required_argument, 0, 0},
{0, 0, 0, 0}
};
c = getopt_long_only(argc, argv, "", long_options, &option_index);
/* no more options to parse */
if(c == -1) break;
/* unrecognized option */
if(c == '?')
{
help();
return 0;
}
switch(option_index)
{
/* h, help */
case 0:
case 1:
help();
return 0;
break;
/* v, version */
case 2:
case 3:
printf("Real-Time CPS Server Version: 0.1\n" \
"Compilation Date.....: unknown\n" \
"Compilation Time.....: unknown\n");
return 0;
break;
/* orbit, run in orbit mode */
case 4:
orbit = 1;
break;
/* debug mode */
case 5:
debug = 1;
break;
/* mine GUID */
case 6:
src_GUID = strtol(optarg, NULL, 10);
break;
/* other's GUID */
case 7:
dst_GUID = strtol(optarg, NULL, 10);
break;
default:
help();
return 0;
}
}
/* register signal handler for <CTRL>+C in order to clean up */
// if(signal(SIGINT, signal_handler) == SIG_ERR)
// {
// printf("could not register signal handler\n");
// exit(EXIT_FAILURE);
// }
// init the mutex lock
if (pthread_mutex_init(&user_map_lock, NULL) != 0
|| pthread_mutex_init(&queue_map_lock, NULL) != 0
|| pthread_mutex_init(&sem_map_lock, NULL) != 0)
{
printf("\n mutex init failed\n");
return 1;
}
if (orbit)
{
if (src_GUID != -1 && dst_GUID != -1)
{
if (debug) printf("src_GUID: %d, dst_GUID: %d\n", src_GUID, dst_GUID);
/* init new Message Distributor */
MsgD.init(src_GUID, dst_GUID, debug);
}
else
{
printf("ERROR: please enter src_GUID and dst_GUID with flags -m & -o\n");
exit(1);
}
}
// imgM.init_DB(100,"./imgDB/","./indexImgTable","ImgIndex.yml");
imgM.init_matchImg("./indexImgTable", "ImgIndex.yml", "./infoDB/");
server_run();
return 0;
}
/******************************************************************************
Description.: this is the transmit child thread
it is responsible to send out one frame
Input Value.:
Return Value:
******************************************************************************/
void *result_child(void *arg)
{
if (debug) printf("result child thread\n");
struct arg_result *args = (struct arg_result *)arg;
int sock = args->sock;
char *file_name = args->file_name;
int matchedIndex;
char defMsg[] = "none";
char sendInfo[200];
vector<float> coord;
ImgMatch imgM;
// start matching the image
imgM.matchImg(file_name);
matchedIndex = imgM.getMatchedImgIndex();
if (matchedIndex == 0)
{
// write none to client
if (!orbit) {
if (write(sock, defMsg, sizeof(defMsg)) < 0)
{
errorSocket("ERROR writting to socket", sock);
}
printf("Not match.\n\n");
}
else
{
MsgD.send(sock, defMsg, sizeof(defMsg));
printf("Not match.\n\n");
}
// if (debug) printf("not match\n");
}
else
{
// send result to client
coord = imgM.calLocation();
string info = imgM.getInfo();
sprintf(sendInfo, "%s,%f,%f,%f,%f,%f,%f,%f,%f", info.c_str(), coord.at(0), coord.at(1), coord.at(2), coord.at(3), coord.at(4), coord.at(5), coord.at(6), coord.at(7));
printf("Matched Index: %d\n\n", matchedIndex);
if (debug) printf("sendInfo: %s\n", sendInfo);
if (!orbit)
{
if (write(sock, sendInfo, sizeof(sendInfo)) < 0)
{
errorSocket("ERROR writting to socket", sock);
}
}
else
{
MsgD.send(sock, sendInfo, sizeof(sendInfo));
}
// if (debug) printf("matched image index: %d\n", matchedIndex);
}
if (debug) printf("------------- end matching -------------\n");
return NULL;
}
/******************************************************************************
Description: function for sending back the result
Input Value.:
Return Value:
******************************************************************************/
void server_result (int sock, string userID)
{
// printf("result thread\n\n");
int n;
char response[BUFFER_SIZE] = "ok";
char defMsg[BUFFER_SIZE] = "none";
int matchedIndex;
char sendInfo[BUFFER_SIZE];
vector<float> coord;
sem_t *sem_match = new sem_t(); // create a new semaphore in heap
queue<string> *imgQueue = 0; // queue storing the file names
// Init semaphore and put the address of semaphore into map
if (sem_init(sem_match, 0, 0) != 0)
{
errorSocket("ERROR semaphore init failed", sock);
}
// grap the lock
pthread_mutex_lock(&sem_map_lock);
sem_map[userID] = sem_match;
pthread_mutex_unlock(&sem_map_lock);
// reponse to the client
if (!orbit)
{
n = write(sock, response, sizeof(response));
if (n < 0)
{
error("ERROR writting to socket");
}
}
else
{
MsgD.send(sock, response, BUFFER_SIZE);
}
while(!global_stop)
{
sem_wait(sem_match);
// get the address of image queue
if (imgQueue == 0)
{
imgQueue = queue_map[userID];
}
// check if the queue is empty
if (imgQueue->empty())
{
sem_map.erase(userID);
queue_map.erase(userID);
user_map.erase(userID);
delete(sem_match);
delete(imgQueue);
sem_destroy(sem_match);
MsgD.close(sock, 0);
printf("[server] client disconnectted\n");
pthread_exit(NULL); //terminate calling thread!
}
if (debug) printf("\n----------- start matching -------------\n");
string file_name = imgQueue->front();
if (debug) printf("file name: %s\n", file_name.c_str());
imgQueue->pop();
// start matching the image
imgM.matchImg(file_name);
matchedIndex = imgM.getMatchedImgIndex();
if (matchedIndex == 0)
{
// write none to client
if (!orbit) {
if (write(sock, defMsg, sizeof(defMsg)) < 0)
{
errorSocket("ERROR writting to socket", sock);
}
}
else
{
MsgD.send(sock, defMsg, BUFFER_SIZE);
}
if (debug) printf("not match\n");
}
else
{
// write index to client
coord = imgM.calLocation();
sprintf(sendInfo, "%d,%f,%f,%f,%f,%f,%f,%f,%f", matchedIndex, coord.at(0), coord.at(1), coord.at(2), coord.at(3), coord.at(4), coord.at(5), coord.at(6), coord.at(7));
if (debug) printf("sendInfo: %s\n", sendInfo);
if (!orbit)
{
if (write(sock, sendInfo, sizeof(sendInfo)) < 0)
{
errorSocket("ERROR writting to socket", sock);
}
}
else
{
MsgD.send(sock, sendInfo, BUFFER_SIZE);
}
if (debug) printf("matched image index: %d\n", matchedIndex);
}
if (debug) printf("------------- end matching -------------\n");
}
if (!orbit)
{
close(sock);
}
printf("[server] Connection closed. --- result\n\n");
delete(sem_match);
pthread_exit(NULL); //terminate calling thread!
}