Colony

#include <cv.h>

#include <highgui.h>

#include <stdio.h>

#define CAPTURE

#ifdef CAPTURE

static CvCapture *capture;

#endif

#include <sys/types.h>

#include <sys/shm.h>

#include <string.h>

#include <stdlib.h>

#include "php_sysvsem.h"

#include <errno.h>

int write_JPEG_to_mem (unsigned char *storage, int length, IplImage *_img, int quality);

static sysvsem *sem;

static int shm_id;

int sendImage(IplImage *image)

{

  printf("Send image\n");

        if (sem->sem_acquire())

        {

                printf("Semaphore acquired\n");

                unsigned char *p = (unsigned char *)shmat(shm_id, NULL, 0);

                if (p!=(void *)-1)

                {

                        printf("Memory mapped at %p\n", p);

                        int len = write_JPEG_to_mem (p+4, 150000-4, image, 30);

                        int i;

                        int length = len;

                        printf("%d\n", length);

                        for(i=0; i < 4; i++)

                        {

                                char digit = (char)(length & 0xff);

                                length >>= 8;

                                memcpy(p+i, &digit, sizeof(char));

                        }

                        printf("Memory copied\n");

                        sem->sem_release();

                        printf("Semaphore released\n");

                        shmdt(p);

                  printf("Memory detached\n");

                }

        }

  if (errno!=0)

  {

    int errnum = errno;

    errno = 0;

    fprintf(stderr, "error %d %s\n", errnum, strerror(errnum));

    return errnum;

  }

  return 0;

}

void openShM()

{

        shm_id = shmget(0x40305163, 150000, IPC_CREAT | 0666);

        if (shm_id > 0)

                printf("Shared memory opened\n");

        else

        {

                fprintf(stderr, "Error opening shared memory\n");

                exit(-2);

        }

  sem = new (std::nothrow)sysvsem(0x40309999);

  if (sem)

                printf("Semaphore opened\n");

        else

        {

                fprintf(stderr, "Error opening semaphore\n");

                exit(-1);

        }

}

void releaseShM()

{

  sem->sem_remove();

        delete sem;

        printf("Semaphore deleted\n");

  shmctl(shm_id, IPC_RMID, NULL);

  printf("Memory marked for deletion\n");

}

int main(int argc, char *argv[])

{

#ifdef CAPTURE

  capture = cvCaptureFromCAM( 0 );

  if( !capture ) {

    fprintf( stderr, "ERROR: capture is NULL \n" );

    return -1;         

  }

#endif

        openShM();

  // Create a window in which the captured images will be presented

  //cvNamedWindow( "mywindow1", CV_WINDOW_AUTOSIZE );

  // Show the image captured from the camera in the window and repeat

  while((cvWaitKey(10) & 255) != 27)

  {

    usleep(15000);

#ifdef CAPTURE

    if(!cvGrabFrame(capture)){              // capture a frame

      printf("Could not grab a frame\n\7");

      return -1;

    }

    IplImage *image03=cvRetrieveFrame(capture);

#else

    IplImage *image03;

    // load image and force it to be grayscale

    if ((image03 = cvLoadImage(argv[1], 0)) == 0) {

      fprintf(stderr, "Failed to load image.\n");

      return -1;

    }

#endif

    //cvShowImage( "mywindow1", image03 );

    sendImage(image03);

#ifndef CAPTURE

    cvReleaseImage(&image03);

#endif

    //If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),

    //remove higher bits using AND operator

  }

#ifdef CAPTURE

  // Release the capture device housekeeping

  cvReleaseCapture( &capture );

#endif

  releaseShM();

  cvDestroyWindow( "mywindow1" );

  return 0;

}