void main(void)
{
int Time_Gap=0,Clock_Time,Clock_Time_last,i;
int TimeS = 0;
char key=0;
image area;
image cur_img,bkg_img,ept_img;
image cur_middlewin_img,bkg_middlewin_img,ert_smallwin_img;
int x_lable = 0,y_lable = 0;
//int x_lable_ = 0,y_lable = 0;
int X0,Y0;
int x_ofs,y_ofs;
int wind_flag = 0;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
unsigned char *linebuffer;
int sendbuf[5];
sockaddr_in laddr, raddr;
unsigned sock, listensock;
unsigned error;
uint_16 rlen;
int result;
int ms1,kms;
char receivedata[RECEIVE_BYTES];
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
init_licence("T2237AE5748");
// ====================================================================================
// ====================================================================================
mem_init();
// -----------------------------------------
//开始程序前，拍下空的背景图片,并调节亮度
Brightness_Adjust();
//====================================================================================
OvlClearAll;
print("Press any key to start\n");
print("Press 'q' to quit\n");
print("Press 'c' to clear screen\n");
getchar();
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/* server services port */
laddr.sin_family = AF_INET;
laddr.sin_port = SERVER_PORT; /* server listen at port SERVER_PORT (2002) */
laddr.sin_addr.s_addr = INADDR_ANY; /* every IP addr can connect to the camera */
/* use TCP/IP protocoll and search for a free port */
sock = socket_stream();
if (sock == VCRT_HANDLE_ERROR)
{
print("\nCreate stream socket failed");
return;
}
/* connection between free port and selected SERVER_PORT. Now SERVER_PORT is free again for new connections. */
error = bind(sock, &laddr, sizeof(laddr));
if (error != VCRT_OK)
{
print("\nStream bind failed - 0x%x", error);
return;
}
/* activate sock for TCP/IP connections */
error = listen(sock, 0);
if (error != VCRT_OK)
{
print("\nListen failed - 0x%x", error);
return;
}
listensock = sock;
print("\n\nFast Ethernet port %d\n",laddr.sin_port);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
while(1)
{
/* Are there connections at any port? The number 0 means: Wait until connection */
sock = VCRT_selectall(0);
/* Is there one who wants to connect to port SERVER_PORT */
if (sock == listensock)
{
/* Connection requested; accept it */
rlen = sizeof(raddr);
/* accept connection */
print("\nwait for accept");
sock = accept(listensock, &raddr, &rlen);
if (sock == VCRT_HANDLE_ERROR)
{
print("\nAccept failed, error 0x%x",VCRT_geterror(listensock));
continue;
}
else
{
print("\naccept ready");
}
print("\nConnection from %d.%d.%d.%d, port %d",
(raddr.sin_addr.s_addr >> 24) & 0xFF,
(raddr.sin_addr.s_addr >> 16) & 0xFF,
(raddr.sin_addr.s_addr >> 8) & 0xFF,
raddr.sin_addr.s_addr & 0xFF,
raddr.sin_port);
do
{
if (kbhit())
{
key = rs232rcv();
if(key == 'c')OvlClearAll;
}
sendbuf[0] = 0;
sendbuf[1] = 0;
sendbuf[2] = 0;
sendbuf[3] = 0;
sendbuf[4] = 0;
recv(sock, (char *)receivedata, RECEIVE_BYTES, 0);
/* measure time */
/* take next Screen (mode=0) */
ScreenBuffer(NextScreen,&area);
// ms1=Clock_Time;
Clock_Time = getvar(MSEC);
Time_Gap = Clock_Time - Clock_Time_last;
if(Clock_Time<0)Clock_Time += 1000;
Clock_Time_last = Clock_Time;
/*
if(Clock_Time<ms1)
{
kms=ms1/1000;
if((Clock_Time+kms*1000)>ms1)
Clock_Time+=kms*1000;
else
Clock_Time+=(kms+1)*1000;
}
*/
// print("Clock_Time = %d\n",Clock_Time);
//wind_flag = 0;
ImageAssign(&cur_img, (long)Screen[Cur_index] , BigWinColumns, BigWinRows, ScrGetPitch);
ImageAssign(&bkg_img, (long)Screen[BackGrand_index] , BigWinColumns, BigWinRows, ScrGetPitch);
ImageAssign(&ept_img, (long)EptBckPage , BigWinColumns, BigWinRows, ScrGetPitch);
#ifdef _USE_SMALL_WINDOW_
if(wind_flag == 1 )//上次找到了乒乓球
{
//预测新的窗口位置
x_ofs = x_lable_his[his_near_pos] - x_lable_his[his_far_pos];
if(x_ofs > dx_win_max)x_ofs = dx_win_max;
else if( x_ofs < -dx_win_max)x_ofs = - dx_win_max;
y_ofs = y_lable_his[his_near_pos] - y_lable_his[his_far_pos];
if(y_ofs > dx_win_max)y_ofs = dx_win_max;
else if( y_ofs < -dx_win_max)y_ofs = - dx_win_max;
X0 = x_lable + x_ofs - MiddleWinColumns/2;
Y0 = y_lable + y_ofs - MiddleWinRows/2;
if(X0<0)X0=0;
else if(X0 + MiddleWinColumns >= BigWinColumns)X0=BigWinColumns-1-MiddleWinColumns;
if(Y0<0)Y0=0;
else if(Y0 + MiddleWinRows >= BigWinRows)Y0 = BigWinRows-1-MiddleWinRows;
//===============================================================
ImageAssign(&cur_middlewin_img, (cur_img.st + X0 + Y0 * ScrGetPitch), MiddleWinColumns, MiddleWinRows, ScrGetPitch);
ImageAssign(&bkg_middlewin_img, (bkg_img.st + X0 + Y0 * ScrGetPitch), MiddleWinColumns, MiddleWinRows, ScrGetPitch);
ImageAssign(&ert_smallwin_img , (ept_img.st + X0 + Y0 * ScrGetPitch), MiddleWinColumns, MiddleWinRows, ScrGetPitch);
if( 1 == Find_pp_pos(cur_middlewin_img,bkg_middlewin_img,ert_smallwin_img,&x_lable,&y_lable,DCUR_TH) )
{
wind_flag = 1;
x_lable += X0;
y_lable += Y0;
upload_lable_his(x_lable,y_lable);
mark(x_lable,y_lable,"*");
sendbuf[0] = 1;
sendbuf[1] = x_lable*10;
sendbuf[2] = y_lable*10;
sendbuf[3] = Clock_Time;
sendbuf[4] = TimeS;
}
else wind_flag = 0;
/* else
{
x_lable = x_lable_his[his_near_pos];
y_lable = y_lable_his[his_near_pos];
wind_flag = GSP(cur_img,&x_lable,&y_lable);
if(wind_flag)
{
mark(x_lable,y_lable,"*");
upload_lable_his(x_lable,y_lable);
}
sendbuf[0] = 1;
sendbuf[1] = x_lable;
sendbuf[2] = y_lable;
sendbuf[3] = 2;
sendbuf[4] = 3;
// else
// mark(x_lable,y_lable,"O");
}*/
/* calculation time */
}
if( wind_flag == 0 )//上次没找到乒乓球，或者这次在小窗口和中等窗口都没找到乒乓球,则在大窗口找
#endif//_USE_SMALL_WINDOW_
{
//-------------------------------------------------------------------
wind_flag = Find_pp_pos(cur_img,bkg_img,ept_img,&x_lable,&y_lable,dimg_threshold);
//这样赋值以确保x_ofs和y_ofs为0
x_lable_his[his_near_pos] = x_lable;
y_lable_his[his_near_pos] = y_lable;
x_lable_his[his_far_pos ] = x_lable;
y_lable_his[his_far_pos ] = y_lable;
// mark(x_lable,y_lable,"s");
}
sendbuf[3] = Time_Gap;
linebuffer = (unsigned char*)sendbuf;
result=send(sock, (char *)linebuffer, 20, 0);
if(result==VCRT_ERROR)
{
print("\nSend VCRT_ERROR=%lx",VCRT_geterror(sock));
}
}while(key != 'q');
shutdown(sock, FLAG_CLOSE_TX);
print("\nshutdown\n");
}
print("\nidle\n");
shutdown(listensock, FLAG_CLOSE_TX);
break;
}
bool CTCPSocket::Send(const void *pData, int nBytes)
{
if (m_socket == -1 || m_bListening)
return false;
#ifdef WIN32
SOCKET sock = (SOCKET)m_socket;
int size = 0;
unsigned char *ptr = (unsigned char*) pData;
while (true)
{
int s = send(sock, (const char *) ptr, nBytes, 0);
if (s == SOCKET_ERROR)
{
int errnum = WSAGetLastError();
if (errnum == WSAEWOULDBLOCK)
continue;
return false;
}
size += s;
ptr += s;
nBytes -= s;
if (nBytes == 0)
break;
}
#elif defined(__TI_COMPILER_VERSION__)
char *ptr = (char *) pData;
while (nBytes>0)
{
// as OPT_SEND_NOWAIT is set above, this blocks until data is buffered
// but does not wait for data to be send and acknowledged.
// Send() therefore blocks until all data is passed on to the OS.
int_32 count = send(m_socket, ptr, nBytes, 0);
if (count==VCRT_ERROR)
{
printf("Error in Send(): send failed, error code 0x%x\n", VCRT_geterror(m_socket));
return false;
}
ptr += count;
nBytes -= count;
}
#else
int size = 0;
unsigned char *ptr = (unsigned char *) pData;
while (true)
{
int s = write(m_socket, ptr, nBytes);
if (s == -1)
{
int errnum = errno;
if (errnum == EAGAIN)
continue;
return false;
}
size += s;
ptr += s;
nBytes -= s;
if (nBytes == 0)
break;
}
#endif
return true;
}
int CTCPSocket::Recv(void *pData, int nMaxBytes, bool bWait)
{
if (m_socket == -1 || m_bListening)
return -1;
#ifdef WIN32
SOCKET sock = (SOCKET) m_socket;
if (bWait)
{
int size = 0;
unsigned char *ptr = (unsigned char*) pData;
while (true)
{
int s = recv(sock, (char *) ptr, nMaxBytes, 0);
if (s == SOCKET_ERROR)
{
int errnum = WSAGetLastError();
if (errnum == WSAEWOULDBLOCK)
continue;
// this is really bad, the connection is probably dead
return -1;
}
ptr += s;
size += s;
nMaxBytes -= s;
if (nMaxBytes == 0)
return size;
}
}
else
{
int size = recv(sock, (char *) pData, nMaxBytes, 0);
if (size == SOCKET_ERROR)
{
int errnum = WSAGetLastError();
if (errnum == WSAEWOULDBLOCK)
return 0;
// this is really bad, the connection is probably dead
return -1;
}
else if (size == 0)
{
return -1;
}
return size;
}
#elif defined(__TI_COMPILER_VERSION__)
//set OPT_RECV_NOWAIT depending on bWait
// if bWait==false: behaves like a non-blocking socket on other platforms
// else: recv() blocks, avoiding polling with busy waiting.
// recv() may non the less return early in case of a PUSH flag.
uint_32 opt_value = bWait? FALSE : TRUE;
uint_32 error = setsockopt(m_socket, SOL_TCP, OPT_RECEIVE_NOWAIT, &opt_value, sizeof(opt_value));
if (error != VCRT_OK)
{
printf("Error in Recv(), setsockopt(OPT_RECEIVE_NOWAIT) failed with error code 0x%x\n", error);
return -1;
}
if (bWait)
{
int size = 0;
char *ptr = (char *) pData;
while (nMaxBytes>0)
{
int_32 count = recv(m_socket, ptr, nMaxBytes, 0); //is set to blocking above
if (count == VCRT_ERROR)
{
printf("Error in Recv(): recv failed, error code 0x%x\n", VCRT_geterror(m_socket));
// this is really bad, the connection is probably dead
return -1;
}
ptr += count;
size += count;
nMaxBytes -= count;
}
return size;
}
else
{
//receive whatever data is available and return immediately
int_32 count = recv(m_socket, (char*)pData, nMaxBytes, 0); //is set to non-blocking above
if (count == VCRT_ERROR)
{
printf("Error in Recv(): recv failed, error code 0x%x\n", VCRT_geterror(m_socket));
// this is really bad, the connection is probably dead
return -1;
}
// on vcrt, count==0 means zero bytes received and not connection closed by peer.
// so in this case 0 is returned and not -1.
return count;
}
#else
if (bWait)
{
int size = 0;
unsigned char *ptr = (unsigned char *) pData;
while (true)
{
int s = (int) recv(m_socket, ptr, nMaxBytes, 0);
if (s == -1)
{
int errnum = errno;
if (errnum == EAGAIN)
continue;
// this is really bad, the connection is probably dead
return -1;
}
ptr += s;
size += s;
nMaxBytes -= s;
if (nMaxBytes == 0)
return size;
}
}
else
{
int size = (int) recv(m_socket, pData, nMaxBytes, 0);
if (size == -1)
{
int errnum = errno;
if (errnum == EAGAIN)
return 0;
// this is really bad, the connection is probably dead
return -1;
}
else if (size == 0)
{
return -1;
}
return size;
}
#endif
return -1;
}
CTCPSocket* CTCPSocket::Accept(unsigned char *ip)
{
if (m_socket == -1 || !m_bListening)
return NULL;
#ifdef WIN32
SOCKET sock = (SOCKET)m_socket;
struct sockaddr_in cli_addr;
int clilen = sizeof(cli_addr);
SOCKET new_socket = accept(sock, (struct sockaddr *) &cli_addr, &clilen);
if (new_socket == INVALID_SOCKET)
{
return NULL;
}
// set non blocking
u_long v = 1;
if (ioctlsocket(new_socket, FIONBIO, &v) == SOCKET_ERROR)
{
printf("setting non-blocking option failed\n");
Close();
return false;
}
// set no delay for sending
int v2 = 1;
if (setsockopt(new_socket, IPPROTO_TCP, TCP_NODELAY, (const char*)&v2, sizeof(v2)) == -1)
{
printf("newly accepted socket couldn't be set to no delay mode\n");
}
if (ip != NULL)
{
memcpy(ip, (char *) &cli_addr.sin_addr.s_addr, 4);
}
CTCPSocket *s = new CTCPSocket();
s->m_socket = (int) new_socket;
return s;
#elif defined(__TI_COMPILER_VERSION__)
uint_32 error;
// acccept is always blocking on vcrt, so we need to test for activity first
// which is not blocking
error = VCRT_selectset(&m_socket, 1, (uint_32)-1);
if (error==0) //no new connections, nothing to do
{
return NULL;
}
if (error==VCRT_SOCKET_ERROR) //an error occured
{
printf("Error in accept(): VCRT_selectset failed, error code 0x%x\n", VCRT_geterror(m_socket));
return NULL;
}
if (error!=m_socket) //should never happen as we check only this socket.
{
printf("Error in accept(): VCRT_selectset returned invalid socket");
return NULL;
}
sockaddr_in cli_addr;
uint_16 clilen = sizeof(cli_addr);
int new_socket = accept(m_socket, &cli_addr, &clilen);
if (new_socket == VCRT_SOCKET_ERROR)
{
error = VCRT_geterror(m_socket);
if (error == VCRT_OK)
{
printf("\nAccept: Connection reset by peer");
}
else
{
printf("Error, accept() failed with error code 0x%x\n", error);
}
return NULL;
}
// set non blocking
// there is no socket-global (non-)blocking flag on VCRT
// - accept() is always blocking and therefore guarded by VCRT_selectset().
// - recv() behavior is set during Recv() depending on bWait flag
// - send(): don't wait for data to be transmitted, return after buffering. this resembles behavior of Send() on other platforms
uint_32 opt_value;
opt_value = TRUE;
error = setsockopt(m_socket, SOL_TCP, OPT_SEND_NOWAIT, &opt_value, sizeof(opt_value));
if (error != VCRT_OK)
{
printf("Error, setsockopt(OPT_SEND_NOWAIT) failed with error code 0x%x\n", error);
}
// set no delay for sending
// OPT_NO_NAGLE_ALGORITHM is the VCRT equivalent to TCP_NODELAY
opt_value = TRUE;
error = setsockopt(m_socket, SOL_TCP, OPT_NO_NAGLE_ALGORITHM, &opt_value, sizeof(opt_value));
if (error != VCRT_OK)
{
printf("Error, setsockopt(OPT_NO_NAGLE_ALGORITHM) failed with error code 0x%x\n", error);
}
if (ip != NULL)
{
// vcrt expects inverse order of ip chars
// than provided by RemoteApplicationHandler.cpp
cli_addr.sin_addr.s_addr = revert_byte_order(cli_addr.sin_addr.s_addr);
//never cast ip to an int pointer! this would imply 4byte alignment.
memcpy( ip, &cli_addr.sin_addr.s_addr, 4);
}
CTCPSocket *sock = new CTCPSocket();
sock->m_socket = new_socket;
return sock;
#else
struct sockaddr_in cli_addr;
socklen_t clilen = sizeof(cli_addr);
int new_socket = accept(m_socket, (struct sockaddr *) &cli_addr, &clilen);
if (new_socket < 0)
{
return NULL;
}
// set non blocking
if (fcntl(new_socket, F_SETFL, O_NONBLOCK) == -1)
{
printf("newly accepted socket couldn't be set to non blocking mode\n");
}
// set no delay for sending
int v = 1;
if (setsockopt(new_socket, IPPROTO_TCP, TCP_NODELAY, &v, sizeof(v)) == -1)
{
printf("newly accepted socket couldn't be set to no delay mode\n");
}
if (ip != NULL)
{
bcopy((char *)&cli_addr.sin_addr.s_addr, ip, 4);
}
CTCPSocket *sock = new CTCPSocket();
sock->m_socket = new_socket;
return sock;
#endif
}
