int main()
{
// The string to send to the server.
const char *strToSend="Hello Server";
// The buffer in which to recieve the hello from the server
char buff[100];
// The size of the string the server sent
size_t strSize;
// The socket object
ArSocket sock;
// Initialize Aria. It is especially important to do
// this on Windows, because it will initialize Window's
// sockets system.
Aria::init();
// Connect to the server
ArLog::log(ArLog::Normal, "socketClientExample: Connecting to localhost TCP port 7777...");
if (sock.connect("localhost", 7777, ArSocket::TCP))
ArLog::log(ArLog::Normal, "socketClientExample: Connected to server at localhost TCP port 7777.");
else
{
ArLog::log(ArLog::Terse, "socketClientExample: Error connecting to server at localhost TCP port 7777: %s", sock.getErrorStr().c_str());
return(-1);
}
// Read data from the socket. read() will block until
// data is received.
strSize=sock.read(buff, sizeof(buff));
// If the amount read is 0 or less, its an error condition.
if (strSize > 0)
{
buff[strSize]='\0'; // Terminate the string with a NULL character:
ArLog::log(ArLog::Normal, "socketClientExample: Server said: \"%s\"", buff);
}
else
{
ArLog::log(ArLog::Terse, "socketClientExample: Error in waiting/reading from the server.");
Aria::exit(-1);
return(-1);
}
// Send the string 'Hello Server' to the server. write() should
// return the same number of bytes that we told it to write. Otherwise,
// its an error condition.
if (sock.write(strToSend, strlen(strToSend)) == strlen(strToSend))
ArLog::log(ArLog::Normal, "socketClientExample: Said hello to the server.");
else
{
ArLog::log(ArLog::Terse, "socketClientExample: Error sending hello string to the server.");
Aria::exit(-1);
return(-1);
}
// Now close the connection to the server
sock.close();
ArLog::log(ArLog::Normal, "socketClientExample: Socket to server closed.");
// Uninitialize Aria and exit
Aria::exit(0);
return(0);
}
void* runThread(void*)
{
size_t strSize;
// The socket objects: one for accepting new client connections,
// and another for communicating with a client after it connects.
// Open the server socket
if (serverSock.open(VIDEO_PORT, ArSocket::TCP))
ArLog::log(ArLog::Normal, " Opened the server port %d.", VIDEO_PORT);
else
ArLog::log(ArLog::Normal, " Failed to open the server port: %s.", serverSock.getErrorStr().c_str());
if (serverSock.accept(&clientSock))
ArLog::log(ArLog::Normal, " Client has connected.");
else
ArLog::log(ArLog::Terse, " Error in accepting a connection from the client: %s.", serverSock.getErrorStr().c_str());
//.setCloseCallback(new ArGlobalFunctor1<ArNetPacket*>(&clientCloseCallback));
//serverSock.setCloseCallback(new ArGlobalFunctor1<ArNetPacket*>(&clientCloseCallback));
while(1)
{
//int clinetSocketStatus = serverSock.accept(&clientSock); // MODIFIED By Yang, Try to accept new client.
//
//if (clinetSocketStatus > 0){
// char buf[1024] = {0};
// int recievedInt = clientSock.read(buf, 1024, 0);
// cout << recievedInt << endl;
// while(true)
// {
/* send the grayscaled frame, thread safe */
mutex_video.lock();
if (is_data_ready)
{
int grayImgSize=gray_img.rows*gray_img.cols;
//cout <<" Sending image to the client.grayImgSize= " << grayImgSize;
if ((strSize = clientSock.write(gray_img.data, grayImgSize))==grayImgSize )
;//ArLog::log(ArLog::Normal, " Sent image to the client.grayImgSize= %d", grayImgSize);
// else
// ArLog::log(ArLog::Normal, " Error in sending hello string to the client.");
//ArLog::log(ArLog::Normal, " String Size: \"%d\"", strSize);
is_data_ready = 0;
}
mutex_video.unlock();
//if(!clientSock.isOpen())
//{
// clientSock.close();
// ArLog::log(ArLog::Normal, " Socket to client closed.");
// if (serverSock.accept(&clientSock))
// ArLog::log(ArLog::Normal, " Client has connected.");
// else
// ArLog::log(ArLog::Terse, " Error in accepting a connection from the client: %s.", serverSock.getErrorStr().c_str());
//}
}
//}
//}
// Now lets close the connection to the client
clientSock.close();
ArLog::log(ArLog::Normal, " Socket to client closed.");
// And lets close the server port
//serverSock.close();
//ArLog::log(ArLog::Normal, " Server socket closed.");
// Uninitialize Aria and exit the program
//Aria::exit(0);
} //end of runThread
void* RobotVideo::runThread(void* arg)
{
cvNamedWindow("Robot", CV_WINDOW_AUTOSIZE);
moveWindow("Robot", 0, 0);
// The buffer in which to receive the hello from the server
//unsigned char buff[12];
unsigned char imgBuff[480*640];
//Mat imgRecieve(480,640,CV_8UC1);
// The size of the string the server sent
size_t strSize;
// The socket object
ArSocket sock;
unsigned char *ptr;
// Initialize Aria. It is especially important to do
// this on Windows, because it will initialize Window's
// sockets system.
// Aria::init();
// Connect to the server
//ArLog::log(ArLog::Normal, "socketClientExample: Connecting to localhost TCP port 7777...");
if (sock.connect(server_ip, ROBOT_VIDEO_PORT, ArSocket::TCP))
ArLog::log(ArLog::Normal, "Connected to server at %s TCP port 11000.", server_ip);
else
{
ArLog::log(ArLog::Terse, "Error connecting to server at %s TCP port 11000: %s",server_ip, sock.getErrorStr().c_str());
//return(-1);
}
//---------------------------VideoWriter---------------------------------------
robotVideo.open("robot.avi" , CV_FOURCC('M','J','P','G') /* CV_FOURCC('P','I','M','1') */, 20/*inputVideo.get(CV_CAP_PROP_FPS)*/,Size(640, 480), false);
if (!robotVideo.isOpened())
{
cout << "Could not open the output video for write: " /*<< source*/ << endl;
}
while(1)
{
ptr = &imgBuff[0];
strSize = 0;
while (strSize < 640 * 480)
{
//ArLog::log(ArLog::Normal, "socketClientExample: String Size: \"%d\"", strSize);
strSize += sock.read(ptr, 2);
ptr += 2;
}
ptr=robot_img.datastart;
//ArLog::log(ArLog::Normal, "socketClientExample: String Size: \"%d\"", strSize);
mutex_robotVideo.lock();
for (int i = 0,k = 0; i < robot_img.rows*robot_img.cols; i++)
{
*(ptr++) = imgBuff[k++];
}
imshow("Robot", robot_img);
robotVideo << robot_img;
mutex_robotVideo.unlock();
waitKey(1);/*0)==27) break;*/
}
sock.close();
//outputVideo.release();
// Now close the connection to the server
ArLog::log(ArLog::Normal, "Socket to server closed.");
destroyWindow("Robot");
// Uninitialize Aria and exit
//Aria::exit(0);
return NULL;
}
