void Camera::run()
{
BlobTracking *bt = new BlobTracking(display);
cout << "Connected to camera" << endl;
Easysocket *socket = NULL;
try {
if (display) {
cout << "Starting display " << endl;
while (1) { // bt->isVisible()) {
bt->update();
bt->display();
if (cvWaitKey(10) == 27) break;
//boost::this_thread::interruption_point();
}
}
else {
// create socket for Java connection
socket = new Easysocket("localhost", port, SERVER_TYPE_PARALLEL);
while (1) {
int fd = socket->wait_on_socket();
socket->setFD(fd);
char buffer[1024];
cout << "Starting to send camera data " << endl;
while (1) {
bt->update();
boost::this_thread::interruption_point();
string s = bt->getData();
sprintf(buffer, "%s\n", s.c_str());
socket->writen( buffer, strlen(buffer));
}
socket->close_socket();
cout << "Restarting" << endl;
}
}
} catch (const boost::thread_interrupted& ex) {
if (bt)
delete bt;
bt = NULL;
if (socket)
socket->close_socket();
socket = NULL;
}
if (bt != NULL)
delete bt;
cout << "..Camera exit.." << endl;;
}
