コード例 #1
0
    VisionSTCam(ros::NodeHandle _nh):nh(_nh),it(_nh)
    {
        startingOffset = 3*(FRAME_WIDTH*(FRAME_HEIGHT-270));
        checkSize = 3*640;
        endingOffset = startingOffset + checkSize;
        avgIntensity, lastAvgIntensity = 0;
        lastAccumVal = 0;
        curExposure, calcExposure, curGlobalGain;
        gainStep = 1;
        intensityDiff = 0, lastIntensityDiff = 1;
        dividingFactor = DEFAULT_DIVIDING_FACTOR;

        left_pub    = it.advertise("stereo/left/image_raw", 1);
        right_pub   = it.advertise("stereo/right/image_raw", 1);
        disparity_pub = it.advertise("stereo/disparity/image_raw",1);

        //Control Panel
        cv::namedWindow("Control Intensity", CV_WINDOW_AUTOSIZE);
        cv::resizeWindow("Control Intensity", 480, 400);
        cv::createTrackbar("Global Gain", "Control Intensity", &m_cScrollBarGlobalGain, 200);
        cv::createTrackbar("Exposure", "Control Intensity", &m_cScrollBarExposure, 100);
        m_cScrollBarGlobalGain = DEFAULT_GLOBAL_GAIN;
        m_cScrollBarExposure = DEFAULT_EXPOSURE;

        leftImg = cv::Mat(FRAME_HEIGHT, FRAME_WIDTH, CV_8UC3);
        rightImg = cv::Mat(FRAME_HEIGHT, FRAME_WIDTH, CV_8UC3);
        disparityImg = cv::Mat(FRAME_HEIGHT, FRAME_WIDTH, CV_8UC1);
        m_sockUdpForFindingCameras = boost::shared_ptr<CVcUdp>(new CVcUdp());

        if(!GetMyIpAddr()){
            ROS_ERROR("check your NIC. found IP is 127.0.0.1");
            isInit=false;
        }
        m_bMyConfigIsReady = m_clMyConfigInfo.ReadConfigInfo(m_szMyIpAddr);
            if(!m_bMyConfigIsReady)		// CONFIG file 정보가 제대로 읽혀지지 않았으면
            {
                ROS_WARN("Configuration Info Err.!");
                ROS_WARN("Default Value set.!");
            }
        if(!CreateSocketUDP()){
            ROS_ERROR("error occured when creating UDP socket");
            isInit = false;
        }

        isInit=true;
        m_clCmdProc = boost::shared_ptr<CCmdPacket>(new CCmdPacket(&m_sockSendCmdUdp, m_sockResponseUdp.get()));
        m_clCmdProc->VstCmdGetStatus_IsStarted(m_clMyConfigInfo.m_strCameraIpAddr);

        usleep(200000);

        if(m_sockResponseUdp->m_nIsCamStatusRun == STATUS_STOP)  // 받은 메시지가 Stop 상태이면
        {
            ROS_INFO("m_sockResponseUdp STATUS:STOP %s",m_clMyConfigInfo.m_strCameraIpAddr);
            int rtn = m_clCmdProc->VstCmdInitialize(m_clMyConfigInfo.m_strCameraIpAddr);
            if(rtn == CMD_ERROR)
            {
                ROS_ERROR("Init Command Error!");

            }
            else
            {
                ROS_ERROR("Init Command OK!");
            }

            m_sockResponseUdp->m_nIsCamStatusRun = STATUS_NO_RESPONSE;
            m_clCmdProc->VstCmdGetStatus_IsStarted(m_clMyConfigInfo.m_strCameraIpAddr);
            usleep(100000); // 기다렸다가...
            ///OnBnClickedRun();
            m_bForcedStop = false;

            // TODO: 여기에 컨트롤 알림 처리기 코드를 추가합니다.

            rtn = m_clCmdProc->VstCmdStart(m_clMyConfigInfo.m_strCameraIpAddr);
            if(rtn == CMD_ERROR)
            {
                ROS_ERROR("Run Command Error!");
            }
            else
            {
                ROS_INFO("Run Command OK!");
            }

            m_sockResponseUdp->m_nIsCamStatusRun = STATUS_NO_RESPONSE;
            m_clCmdProc->VstCmdGetStatus_IsStarted(m_clMyConfigInfo.m_strCameraIpAddr);

            // 표시 화면 생성
            ///SetTimer(TIMER_IMG_DISPLAY, msec_IMAGE_DISPLAY_CYCLE, NULL);
            ///SetTimer(TIMER_DISPLAY_IMG_DATA_COMM_STATUS, 1000, NULL);
            usleep(100000); // 기다렸다가...

            SetGlobalGain(m_cScrollBarGlobalGain);
            SetExposure(m_cScrollBarExposure);
        }
        else if(m_sockResponseUdp->m_nIsCamStatusRun == STATUS_RUN) // 현재 메시지를 송출 중이라면
        {
            ROS_INFO("m_sockResponseUdp STATUS:RUN");
            ///OnBnClickedRun();
            m_bForcedStop = false;

             //TODO: 여기에 컨트롤 알림 처리기 코드를 추가합니다.
            int rtn = m_clCmdProc->VstCmdStart(m_clMyConfigInfo.m_strCameraIpAddr);
            if(rtn == CMD_ERROR)
            {
                ROS_ERROR("Run Command Error!");
            }
            else
            {
                ROS_INFO("Run Command OK!");
            }

            m_sockResponseUdp->m_nIsCamStatusRun = STATUS_NO_RESPONSE;
            m_clCmdProc->VstCmdGetStatus_IsStarted(m_clMyConfigInfo.m_strCameraIpAddr);

            // 표시 화면 생성
            ///SetTimer(TIMER_IMG_DISPLAY, msec_IMAGE_DISPLAY_CYCLE, NULL);
            ///SetTimer(TIMER_DISPLAY_IMG_DATA_COMM_STATUS, 1000, NULL);
            //usleep(100000); // 기다렸다가...
            SetGlobalGain(DEFAULT_GLOBAL_GAIN);
            SetExposure(DEFAULT_EXPOSURE);
            ///SetTimer(TIMER_UDP_DATA_COMM_DISPLAY, msec_IMAGE_DISPLAY_CYCLE, NULL);
        }
    }
コード例 #2
0
ファイル: main.c プロジェクト: yuichib/gnutella
int
main(int argc,char *argv[],char *envp[])
{

	if(argc != 3 && argc != 4){
		fprintf(stderr,"%%./gnutella.exe gport hport or %%./gnutella.exe gport hport env\n");
		fprintf(stderr, "gport is the gnutella connection port number.\n");
		fprintf(stderr, "hport is the http connection port number.\n");
		fprintf(stderr, "env is your environment.\n");
		fprintf(stderr, "    0: Mac OS X with wired LAN(Default).\n");
		fprintf(stderr, "    1: Mac OS X with wireless LAN.\n");
		fprintf(stderr, "    2: Linux.\n");
		fprintf(stderr, "    3: Windows.\n");
		exit(-1);
	}
	/******************************************var****************************************/
	//net
	int gnufd;
	int httpfd;
	int newfd;
	//select
	fd_set rdfds;
	//tmp_aadr
	struct sockaddr_in myskt,peerskt;
	struct in_addr tmp;
	//socklen_t my_sktlen = sizeof(myskt);
	socklen_t peer_sktlen = sizeof(peerskt);
	//analyze
	char cmd[CMD_SIZE];
	Cmd_tbl *pcmd;
	char *p;
	int myargc;
	char *myargv[ARGV_SIZE];
	/******************************************var end****************************************/

	/*****************************************set addr*********************************/
	char *os = MAC_WIRED;
	if(argc >= 4){
		int env = atoi(argv[3]);
		if(env == 0) os = MAC_WIRED;
		if(env == 1) os = MAC_WIRELESS;
		if(env == 2) os = LINUX;
		if(env == 3) os = WIN;
	}
	myip = tmp.s_addr = GetMyIpAddr(os);
	memset(&myskt,0,sizeof(myskt));
	myskt.sin_addr.s_addr = Get_Myip();
	myskt.sin_family = AF_INET;
	//default
	myportg = GNU_PORT;
	myskt.sin_port = htons(GNU_PORT);//GNU port 6346(Big)
	if(argc >= 3){//%a.out port1 port2
		myportg = atoi(argv[1]);
		myskt.sin_port = htons(myportg);
	}

	if((gnufd = Gnutella_Create_Waitfd(myskt)) < 0){//Create Gnutella socket
		fprintf(stderr,"Cnutella_Create_Waitfd() error!\n");
		exit(-1);
	}
	//default
	myporth = HTTP_PORT;
	myskt.sin_port = htons(HTTP_PORT);//HTTP port 10010(Big)
	if(argc >= 3){//%a.out port1 port2
		myporth = atoi(argv[2]);
		myskt.sin_port = htons(myporth);
	}
	if((httpfd = Gnutella_Create_Waitfd(myskt)) < 0){//Create HTTP socket
		fprintf(stderr,"Cnutella_Create_Waitfd() error!\n");
		exit(-1);
	}
	//default
	share_dir = DEFAULT_DIR;
	/*****************************************set addr end*********************************/


	//init
	Init_Local_Sharelist(Get_Share_Dir());
	Init_Net_Sharelist();
	Init_Thtbl();
	Init_Ping_List();
	Init_Query_List();
	myspeed = DEFAULT_MYSPEED;

	//print
	printf("+++IP+++ %s\n",inet_ntoa(tmp));
	printf("+++gnuport+++ %d\n",Get_Myportg());
	printf("+++httpport+++ %d\n",Get_Myporth());
	printf("+++shared dir+++ %s\n",Get_Share_Dir());
	printf("+++shared file num+++ %d\n",Get_Local_Share_Num());
//	printf("+++responding speed+++ %d\n",Get_Myspeed());
	Print_Local_Sharelist();





	/*****************************while start*************************/
	while(1){
		fflush(stdin);
		fprintf(stderr,"[gnutella]%%");//prompt
		FD_ZERO(&rdfds);//init
		FD_SET(STDIN_FD,&rdfds);//keyboard
		FD_SET(gnufd,&rdfds);//gnutella
		FD_SET(httpfd,&rdfds);//http
		if(select(httpfd+1,&rdfds,NULL,NULL,NULL) < 0){//monitor & block
			perror("select");
			continue;
		}

		if(FD_ISSET(STDIN_FD,&rdfds)){//from keyboard,input cmd
			//analyze
			if(fgets(cmd,sizeof(cmd),stdin) == NULL){
				if(feof(stdin))
					fprintf(stderr,"EOF pushed\n");
				else
					fprintf(stderr,"fgets() error!\n");
				continue;
			}
			if((p = Search_Char(cmd,'\n',sizeof(cmd))) == NULL){
				fprintf(stderr,"Search_Char() error!\n");
				continue;
			}
			*p = '\0';
			getargs(cmd,&myargc,myargv);
			if(myargc <= 0)
				continue;
			//analyze end
			for(pcmd = cmdtbl; pcmd->cmd != NULL; pcmd++){
				if(strcmp(myargv[0],pcmd->cmd) == 0){
					if( (*pcmd->pf)(myargc,myargv) < 0){//cmd handler
						fprintf(stderr,"cmd %s error\n",pcmd->cmd);
					}
					break;
				}
			}
			if(pcmd->cmd == NULL)
				fprintf(stderr,"Unknown Command\n");

		}
		if(FD_ISSET(gnufd,&rdfds)){//from gnutella socket
			memset(&peerskt,0,sizeof(peerskt));
			peer_sktlen = sizeof(peerskt);
			if((newfd = accept(gnufd,(struct sockaddr *)&peerskt,&peer_sktlen)) < 0){
				perror("accept");
				continue;
			}
			if(Gnutella_Accept(newfd) < 0){//bad msg or timeout
				fprintf(stderr,"gnutella accept fail!!\n");
				close(newfd);
				continue;
			}
			printf("gnutella accept OK!!\n");
			/* create thread */
			if(Create_Thread(newfd,TYPE_GNU) < 0){//thread create error
				fprintf(stderr,"Create_Gnu_Thread() error!\n");
				close(newfd);
				continue;
			}
			printf("create thread success!!\n");

		}
		if(FD_ISSET(httpfd,&rdfds)){//from http socket
			printf("coming http port!\n");
			memset(&peerskt,0,sizeof(peerskt));
			peer_sktlen = sizeof(peerskt);
			if((newfd = accept(httpfd,(struct sockaddr *)&peerskt,&peer_sktlen)) < 0){
				perror("accept");
				continue;
			}
			/* create thread */
			if(Create_Thread(newfd,TYPE_HTTP) < 0){//thread create error
				fprintf(stderr,"Create_Http_Thread() error!\n");
				close(newfd);
				continue;
			}
			printf("create thread success!!\n");
		}
	}
	/*****************************while end*************************/




}