void cameraTest(SmartCar * smartCar) {
AIData data[2];
int16_t pos[2];
while (1) {
AIData_init(&data[0], &smartCar->camera[0]);
AIData_init(&data[1], &smartCar->camera[1]);
binarization(&data[0]);
binarization(&data[1]);
dumpData(data[0].arr, &smartCar->barLED[0]);
dumpData(data[1].arr, &smartCar->barLED[1]);
pos[0] = findIndexRL(&data[0]);
pos[1] = findIndexLR(&data[1]);
Segment_print(&smartCar->segment[0], (smartCar->camera[1].average + smartCar->camera[0].average)/2);
Segment_print(&smartCar->segment[1], handling(pos[0], pos[1],smartCar->motor.targetSpeed));
Segment_print(&smartCar->segment[2], Camera_getInterval() / 100);
switch (board.button.check()) {
case 4:
Segment_print(&smartCar->segment[0], 0);
Segment_print(&smartCar->segment[1], 0);
Segment_print(&smartCar->segment[2], 0);
return;
}
}
}
/**
* dissect/print packet
*/
void
got_packet(u_char *args, const struct pcap_pkthdr *header, const u_char *packetReceived)
{
static int count = 1; /* packet counter */
u_char *packet; /* Packet Pointer */
printf("\nPacket number %d:\n", count);
count++;
if (header->caplen != header->len)
{
printf("Snaplen value is not enough to capture the whole packet as it is on wire \n");
exit(1);
}
packet= (u_char *) malloc(header->caplen);
memcpy(packet,packetReceived,header->caplen);
//Insert( packet, L, P );
handling(packet);
free(packet);
return;
} // end of the function got_packet
int main(int argc, char *argv[])
{
int s, c, cli_size;
struct sockaddr_in srv, cli;
if (argc != 2)
{
fprintf(stderr, "usage: %s port\n", argv[0]);
return 1;
}
s = socket(AF_INET, SOCK_STREAM, 0);
if (s == -1)
{
perror("socket() failed");
return 2;
}
srv.sin_addr.s_addr = INADDR_ANY;
srv.sin_port = htons( (unsigned short int) atol(argv[1]));
srv.sin_family = AF_INET;
if (bind(s, &srv, sizeof(srv)) == -1)
{
perror("bind() failed");
return 3;
}
if (listen(s, 3) == -1)
{
perror("listen() failed");
return 4;
}
for(;;)
{
c = accept(s, &cli, &cli_size);
if (c == -1)
{
perror("accept() failed");
return 5;
}
printf("client from %s", inet_ntoa(cli.sin_addr));
if (handling(c) == -1) fprintf(stderr, "%s: handling() failed", argv[0]);
close(c);
}
return 0;
}
