Revision 938
OpenCV now works directly with firewire, coriander is not needed
New vision algorithm integrated, a few issues left with algorithm that
tracks the movement of a specific robot
Removed experimental interface to send images over commands socket
--plan to use php in webserver instead
Separated processing of client requests into a separate thread
Fixed bugs updating UI of java client
| Command.cpp | ||
|---|---|---|
| 278 | 278 |
return -1; |
| 279 | 279 |
} |
| 280 | 280 |
break; |
| 281 |
|
|
| 282 |
case CLIENT_REQUEST_IMAGE: |
|
| 283 |
if (parse_request_image(pool_index)) {
|
|
| 284 |
return -1; |
|
| 285 |
} |
|
| 286 |
break; |
|
| 287 | 281 |
|
| 288 | 282 |
case CLIENT_REQUEST_ROBOT_POSITIONS: |
| 289 | 283 |
if (parse_request_robot_positions(pool_index)) {
|
| ... | ... | |
| 372 | 366 |
} |
| 373 | 367 |
|
| 374 | 368 |
/** |
| 375 |
* @brief This function parses a client's request for an image from the over head camera |
|
| 376 |
* |
|
| 377 |
* @param pool_index The index in the connection pool of the client that sent this command |
|
| 378 |
* |
|
| 379 |
* @return 0 on success, negative error code on failure |
|
| 380 |
*/ |
|
| 381 |
int Command::parse_request_image(int pool_index) {
|
|
| 382 |
//printf("*****parse_request_image\n");
|
|
| 383 |
|
|
| 384 |
unsigned char buffer[150000]; |
|
| 385 |
int length; |
|
| 386 |
|
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| 387 |
//get the latest image data from the vision module |
|
| 388 |
length = getImageBytes(buffer, 150000); |
|
| 389 |
|
|
| 390 |
if (length > 0) |
|
| 391 |
connection_pool->write_to_client(pool_index, (char *)buffer, length); |
|
| 392 |
else |
|
| 393 |
return -1; |
|
| 394 |
|
|
| 395 |
return 0; |
|
| 396 |
} |
|
| 397 |
|
|
| 398 |
/** |
|
| 399 | 369 |
* @brief This functions parses a client's request for the positions of robots |
| 400 | 370 |
* |
| 401 | 371 |
* @param pool_index The index in the connection pool of the client that sent this command |
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