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|
/******************************************************************************
* 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/size.h>
#include <libalx/base/errno/error.h>
#include <libalx/base/linux/membarrier.h>
#include <libalx/base/signal/sigpipe.h>
#include <libalx/base/signal/sigterm.h>
#include <libalx/base/socket/tcp/client.h>
#include <libalx/base/stdio/printf/sbprintf.h>
#include <libalx/base/stdlib/getenv/getenv_i.h>
#include <libalx/base/stdlib/getenv/getenv_s.h>
#include <libalx/base/string/strcpy/strlcpys.h>
#include <libalx/base/sys/types.h>
#include <libalx/extra/cv/core/array.h>
#include <libalx/extra/cv/core/img.h>
#include <libalx/extra/cv/core/pixel.h>
#include <libalx/extra/cv/videoio/cam.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 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;
for (int i = 0; mb(), !sigterm; i++) {
if (sigpipe) {
if (rob_reinit())
goto err;
}
status = session(i, img);
if (status)
goto err;
usleep(delay_us);
}
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_alloc_img(img))
goto err0;
status--;
if (alx_cv_init_img(*img, 1, 1))
goto err1;
return 0;
err1:
alx_cv_free_img(*img);
err0:
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);
alx_cv_free_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;
n = recv(rob, buf, ARRAY_SIZE(cam_data) - 1, 0);
if (n < 0)
goto err;
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 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_BLUE))
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 **********************************************************
******************************************************************************/
|
