1 files changed, 372 insertions, 0 deletions
diff --git a/src/cam/cam.c b/src/cam/cam.c
new file mode 100644
index 0000000..2bcd946
--- /dev/null
+++ b/src/cam/cam.c
@@ -0,0 +1,372 @@
+/******************************************************************************
+ *	Copyright (C) 2020	Alejandro Colomar Andrés		      *
+ *	SPDX-License-Identifier:	GPL-2.0-only			      *
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* include **************************************************************
+ ******************************************************************************/
+#include <inttypes.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#define ALX_NO_PREFIX
+#include <libalx/base/compiler.h>
+#include <libalx/base/errno.h>
+#include <libalx/base/linux.h>
+#include <libalx/base/signal.h>
+#include <libalx/base/stdio.h>
+#include <libalx/base/stdlib.h>
+#include <libalx/base/sys.h>
+#include <libalx/extra/cv/cv.h>
+
+
+/******************************************************************************
+ ******* define ***************************************************************
+ ******************************************************************************/
+#define ENV_ROB_ADDR		"ROB_ADDR"
+#define ENV_ROB_PORT		"ROB_PORT"
+#define ENV_CAMERA_IDX		"CAMERA_IDX"
+#define ENV_DELAY_US		"DELAY_US"
+
+
+
+/******************************************************************************
+ ******* enum *****************************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* struct / union *******************************************************
+ ******************************************************************************/
+
+
+/******************************************************************************
+ ******* static variables *****************************************************
+ ******************************************************************************/
+/* environment variables */
+static	char			rob_addr[_POSIX_ARG_MAX];
+static	char			rob_port[_POSIX_ARG_MAX];
+static	int			camera_idx;
+static	int			delay_us;
+/* pid */
+static	pid_t			pid;
+/* camera */
+static	cam_s			*camera;
+/* rob */
+static	int			rob;
+
+
+/******************************************************************************
+ ******* static functions (prototypes) ****************************************
+ ******************************************************************************/
+static
+int	cam_init	(img_s **img);
+static
+int	cam_deinit	(img_s *img);
+
+static
+int	env_init	(void);
+static
+int	rob_init	(void);
+static
+int	rob_deinit	(void);
+static
+int	rob_reinit	(void);
+static
+int	camera_init	(void);
+static
+void	camera_deinit	(void);
+static
+int	cv_init		(img_s **img);
+static
+void	cv_deinit	(img_s *img);
+
+static
+int	session		(int i, img_s *img);
+static
+int	wait_rob	(void);
+static
+int	proc_cv		(uint8_t *restrict blue11, img_s *restrict img);
+
+
+/******************************************************************************
+ ******* main *****************************************************************
+ ******************************************************************************/
+int	main	(void)
+{
+	img_s	*img;
+	int	status;
+
+	status	= 1;
+	if (cam_init(&img))
+		goto err0;
+
+	mb();
+	for (int i = 0; !sigterm; i++) {
+		if (sigpipe) {
+			if (rob_reinit())
+				goto err;
+		}
+		status	= session(i, img);
+		if (status)
+			goto err;
+		usleep(delay_us);
+		mb();
+	}
+
+	status	= 0;
+err:
+	cam_deinit(img);
+err0:
+	fprintf(stderr, "cam#%"PRIpid": OUT: %i\n", pid, status);
+	perrorx(NULL);
+
+	return	status;
+}
+
+
+/******************************************************************************
+ ******* static functions (definitions) ***************************************
+ ******************************************************************************/
+static
+int	cam_init	(img_s **img)
+{
+	int	status;
+
+	pid	= getpid();
+	status	= -1;
+	if (sigpipe_init())
+		goto err0;
+	status--;
+	if (sigterm_init())
+		goto err0;
+	status--;
+	if (env_init())
+		goto err0;
+	status--;
+	if (rob_init())
+		goto err0;
+	status--;
+	if (camera_init())
+		goto err1;
+	status--;
+	if (cv_init(img))
+		goto err2;
+	return	0;
+err2:
+	camera_deinit();
+err1:
+	rob_deinit();
+err0:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: cam_init(): %i\n", pid, status);
+	return	status;
+}
+
+static
+int	cam_deinit	(img_s *img)
+{
+	int	status;
+
+	status	= 0;
+	cv_deinit(img);
+	camera_deinit();
+	if (rob_deinit())
+		status -= 4;
+
+	return	status;
+}
+
+
+static
+int	env_init	(void)
+{
+	int	status;
+
+	status	= -1;
+	if (getenv_s(rob_addr, ARRAY_SIZE(rob_addr), ENV_ROB_ADDR))
+		goto err;
+	status--;
+	if (getenv_s(rob_port, ARRAY_SIZE(rob_port), ENV_ROB_PORT))
+		goto err;
+	status--;
+	if (getenv_i32(&camera_idx, ENV_CAMERA_IDX))
+		goto err;
+	status--;
+	if (getenv_i32(&delay_us, ENV_DELAY_US))
+		goto err;
+
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: env_init(): %i\n", pid, status);
+	return	status;
+}
+
+static
+int	rob_init	(void)
+{
+
+	rob	= tcp_client_open(rob_addr, rob_port);
+	return	rob < 0;
+}
+
+static
+int	rob_deinit	(void)
+{
+	return	close(rob);
+}
+
+static
+int	rob_reinit	(void)
+{
+
+	rob_deinit();
+	return	rob_init();
+}
+
+static
+int	camera_init	(void)
+{
+	int	status;
+
+	status	= -1;
+	if (alx_cv_alloc_cam(&camera))
+		goto err;
+	alx_cv_init_cam(camera, NULL, camera_idx, 0);
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: camera_init(): %i\n",pid,status);
+	return	status;
+}
+
+static
+void	camera_deinit	(void)
+{
+
+	alx_cv_deinit_cam(camera);
+	alx_cv_free_cam(camera);
+}
+
+static
+int	cv_init		(img_s **img)
+{
+	int	status;
+
+	status	= -1;
+	if (alx_cv_init_img(img))
+		goto err;
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: cv_init(): %i\n", pid, status);
+	return	status;
+}
+
+static
+void	cv_deinit	(img_s *img)
+{
+
+	alx_cv_deinit_img(img);
+}
+
+
+static
+int	session		(int i, img_s *img)
+{
+	uint8_t		blue11;
+	char		buf[BUFSIZ];
+	ptrdiff_t	len;
+	ssize_t		n;
+	int		status;
+	clock_t		time_0;
+	clock_t		time_1;
+	double		time_tot;
+
+	time_0 = clock();
+
+	status	= -1;
+	if (wait_rob())
+		goto err;
+	status--;
+	if (proc_cv(&blue11, img))
+		goto err;
+	status--;
+	if (sbprintf(buf, &len, "cam#%"PRIpid":session#%i:  img[B][1][1] = %"PRIu8"",
+							pid, i, blue11))
+		goto err;
+	printf("%s\n", buf);
+	status--;
+	n	= send(rob, buf, len, 0);
+	if (n < 0)
+		goto err;
+
+	time_1 = clock();
+	time_tot = ((double) time_1 - time_0) / CLOCKS_PER_SEC;
+	printf("session time:	%5.3lf s;\n", time_tot);
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: session(): %i\n", pid, status);
+	return	status;
+}
+
+static
+int	wait_rob	(void)
+{
+	char	buf[BUFSIZ];
+	ssize_t	n;
+	int	status;
+
+	status	= -1;
+	n	= recv(rob, buf, ARRAY_SIZE(buf) - 1, 0);
+	if (n < 0)
+		goto err;
+	status--;
+	if (!n)
+		goto err;
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: wait_rob(): %i\n", pid, status);
+	return	status;
+}
+
+static
+int	proc_cv		(uint8_t *restrict blue11, img_s *restrict img)
+{
+	clock_t	time_0;
+	clock_t	time_1;
+	double	time_tot;
+	int	status;
+
+	time_0 = clock();
+
+	status	= -1;
+	if (alx_cv_cam_read(img, camera))
+		goto err;
+	status--;
+	if (alx_cv_component(img, ALX_CV_CMP_BGR_B))
+		goto err;
+	status--;
+	if (alx_cv_pixel_get_u8(img, blue11, 1, 1))
+		goto err;
+
+	time_1 = clock();
+	time_tot = ((double) time_1 - time_0) / CLOCKS_PER_SEC;
+	printf("cv time:	%5.3lf s;\n", time_tot);
+
+	return	0;
+err:
+	fprintf(stderr, "cam#%"PRIpid": ERROR: proc_cv(): %i\n", pid, status);
+	return	status;
+}
+
+
+/******************************************************************************
+ ******* end of file **********************************************************
+ ******************************************************************************/
+