Revision 436
started adding support for getting position data
updated the makefile to support the position data stuff
removed a sleep in ColonetServer that didn't need to be there
| trunk/code/projects/colonet/ColonetServer/includes/PositionMonitor.h | ||
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/** |
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* @file PositionMonitor.h |
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* |
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* @author Jason Knichel |
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* |
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* @date 2/4/08 |
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*/ |
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#ifndef POSITIONMONITOR_H |
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#define POSITIONMONITOR_H |
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#include <vision.h> |
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#define MAX_POSITIONS 20 |
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class PositionMonitor {
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public: |
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PositionMonitor(); |
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~PositionMonitor(); |
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int startMonitoring(); |
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int stopMonitoring(); |
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int getPositions(); |
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private: |
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VisionPosition * positions; |
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}; |
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#endif |
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| trunk/code/projects/colonet/ColonetServer/ColonetServer.cpp | ||
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| 104 | 104 |
} |
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while(1) {
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usleep(10000); |
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connection_pool.perform_select(listen_socket); |
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| trunk/code/projects/colonet/ColonetServer/Makefile | ||
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# ColonetServer makefile |
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CC = g++ |
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CFLAGS = -Wall -Wshadow -Wextra -g -pg
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CFLAGS = -Wall -Wshadow -Wextra -g |
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COLONETCPPFILES = Main.cpp ColonetServer.cpp ConnectionPool.cpp Command.cpp colonet_wireless.cpp includes/*.h
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COLONETCPPFILES = Main.cpp ColonetServer.cpp ConnectionPool.cpp Command.cpp colonet_wireless.cpp PositionMonitor.cpp
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COLONETCPPOBJECTS = $(COLONETCPPFILES:.cpp=.o) |
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COLONETFILES = options.c |
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COLONETOBJECTS = $(COLONETFILES:.c=.o) |
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LOGGINGFILES = Log.cpp |
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LOGGINGOBJECTS = $(LOGGINGFILES:.cpp=.o) |
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9 |
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VPATH = ../lib:../lib/colonet_wireless |
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INCLUDE_DIRS = ../lib/colonet_wireless ../lib ../../libwireless/lib ../lib/colonet_wireless includes |
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LIBRARY_DIRS = ../lib ../../libwireless/lib ../lib/colonet_wireless |
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COLONETHEADERFILES = includes/*.h |
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VPATH = ../lib:../lib/colonet_wireless:../vision |
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INCLUDE_DIRS = ../lib/colonet_wireless ../lib ../../libwireless/lib ../lib/colonet_wireless includes ../vision |
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LIBRARY_DIRS = ../lib ../../libwireless/lib ../lib/colonet_wireless ../vision |
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#this takes the include directory and puts a -I in front of each directory name before being used in a gcc statement |
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INCLUDE_DIRS_FOR_GCC = $(patsubst %, -I %, $(INCLUDE_DIRS)) |
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#this takes the library directory and puts a -L in front of each directory name so it can be used in a gcc statement |
| ... | ... | |
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../../libwireless/lib/libwireless_colonet.a: ../../libwireless/lib/*.c ../../libwireless/lib/*.h |
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cd ../../libwireless/lib; make colonet |
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ColonetServer: ../../libwireless/lib/libwireless_colonet.a $(COLONETCPPFILES) $(COLONETFILES) $(LOGGINGFILES) |
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ColonetServer: ../../libwireless/lib/libwireless_colonet.a $(COLONETCPPFILES) $(COLONETFILES) $(LOGGINGFILES) $(COLONETHEADERFILES)
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@echo "---begin compilation---" |
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@echo "" |
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@echo "---create object files---" |
| ... | ... | |
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@echo "---finish creating object files---" |
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@echo "" |
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@echo "---link files---" |
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$(CC) $(CFLAGS) $(COLONETOBJECTS) $(COLONETCPPOBJECTS) $(LOGGINGOBJECTS) $(LIBRARY_DIRS_FOR_GCC) -lpthread -lwireless_colonet $(INCLUDE_DIRS_FOR_GCC) -o $@ |
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$(CC) $(CFLAGS) $(COLONETOBJECTS) $(COLONETCPPOBJECTS) $(LOGGINGOBJECTS) $(LIBRARY_DIRS_FOR_GCC) -ggdb `pkg-config opencv --cflags --libs` ../vision/vision.o -lpthread -lwireless_colonet $(INCLUDE_DIRS_FOR_GCC) -o $@
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@echo "---finish linking files---" |
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@echo "" |
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@echo "---finish compilation---" |
| trunk/code/projects/colonet/ColonetServer/PositionMonitor.cpp | ||
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/** |
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* @file PositionMonitor.cpp |
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* |
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* @author Jason Knichel |
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* |
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* @date 2/4/08 |
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*/ |
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//TODO: make this file asynchronous |
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#include "includes/PositionMonitor.h" |
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#include <stdlib.h> |
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#include <vision.h> |
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PositionMonitor::PositionMonitor() {
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//TODO: don't hardcode this file name |
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//TODO: check for error returned from init |
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vision_init("/var/www/colonet.jpg");
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positions = NULL; |
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} |
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PositionMonitor::~PositionMonitor() {
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} |
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int PositionMonitor::startMonitoring() {
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return 0; |
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} |
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int PositionMonitor::stopMonitoring() {
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return 0; |
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} |
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int PositionMonitor::getPositions() {
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if (positions) |
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free(positions); |
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//TODO: check for error returned |
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vision_get_robot_positions(&positions); |
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return 0; |
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} |
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