292 lines
8.0 KiB
C++
292 lines
8.0 KiB
C++
#include "image.hpp"
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#include "state.hpp"
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#ifdef __APPLE__
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#include <OpenGL/gl.h>
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#include <OpenGL/gl3.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glew.h>
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#include <GL/glut.h>
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#endif
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#include <chrono>
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#include <cstdlib>
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#include <iostream>
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#include <string>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <mutex>
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#include <thread>
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#include <condition_variable>
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using namespace std;
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const uint16_t PORT = 8081;
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const uint16_t BUFFER_SIZE = 2048;
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GLuint imageTexture;
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GLuint blankTexture;
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GLint screenWidth = 0;
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GLint screenHeight = 0;
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Image img;
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State state;
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void actionDisplay () {
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}
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void actionLoad () {
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string imagePath = state.getImage();
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vector<uint64_t> position = state.getPosition();
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Mat image = img.loadImage(imagePath, position[0], position[1], position[2], position[3]);
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glGenTextures(2, &imageTexture);
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glBindTexture(GL_TEXTURE_2D, imageTexture);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
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glTexImage2D(GL_TEXTURE_2D, // Type of texture
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0, // Pyramid level (for mip-mapping) - 0 is the top level
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GL_RGB, // Internal colour format to convert to
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image.cols, // Image width i.e. 640 for Kinect in standard mode
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image.rows, // Image height i.e. 480 for Kinect in standard mode
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0, // Border width in pixels (can either be 1 or 0)
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GL_RGB, // Input image format (i.e. GL_RGB, GL_RGBA, GL_BGR etc.)
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GL_UNSIGNED_BYTE, // Image data type
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image.ptr()); // The actual image data itself
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}
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void actionStop () {
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}
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void loadBlank () {
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Mat blank = img.getBlank();
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glGenTextures(1, &blankTexture);
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glBindTexture(GL_TEXTURE_2D, blankTexture);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
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glTexImage2D(GL_TEXTURE_2D, // Type of texture
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0, // Pyramid level (for mip-mapping) - 0 is the top level
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GL_RGB, // Internal colour format to convert to
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blank.cols, // Image width i.e. 640 for Kinect in standard mode
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blank.rows, // Image height i.e. 480 for Kinect in standard mode
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0, // Border width in pixels (can either be 1 or 0)
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GL_RGB, // Input image format (i.e. GL_RGB, GL_RGBA, GL_BGR etc.)
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GL_UNSIGNED_BYTE, // Image data type
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blank.ptr()); // The actual image data itself
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}
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void display () {
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glClear(GL_COLOR_BUFFER_BIT);
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glEnable(GL_TEXTURE_2D);
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glViewport(0, 0, screenWidth, screenHeight);
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
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glBindTexture(GL_TEXTURE_2D, imageTexture);
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glBegin(GL_QUADS); // front face
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glTexCoord2f(1.0f, 0.0f); glVertex3f( 1.0f, -1.0f, 0.0f); //bottom right
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glTexCoord2f(1.0f, 1.0f); glVertex3f( 1.0f, 1.0f, 0.0f); //top right
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glTexCoord2f(0.0f, 1.0f); glVertex3f(-1.0f, 1.0f, 0.0f); //top left
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glTexCoord2f(0.0f, 0.0f); glVertex3f(-1.0f, -1.0f, 0.0f); //bottom left
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glEnd();
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glDisable(GL_TEXTURE_2D);
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glBindTexture(GL_TEXTURE_2D, 0);
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glutSwapBuffers();
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//glFlush();
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}
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/**
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* State Message Variables
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**/
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bool receivedMessage = false;
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bool sendMessage = false;
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string incomingMessage;
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string outgoingMessage;
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mutex receivedMutex;
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condition_variable receivedCondVar;
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mutex sendMutex;
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condition_variable sendCondVar;
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/**
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*
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**/
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void processMessage () {
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if (receivedMessage) {
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cout << "RECEIVED" << endl;
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state.receiveMessage(incomingMessage);
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receivedMessage = false;
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while (state.isActive()) {
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if (state.getAction() == LOAD) {
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actionLoad();
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} else if (state.getAction() == DISPLAY) {
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actionDisplay();
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} else if (state.getAction() == STOP) {
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actionStop();
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}
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}
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if (state.isError()) {
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outgoingMessage = state.createMessage(false);
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} else {
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outgoingMessage = state.createMessage(true);
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}
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sendMessage = true;
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}
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}
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void handleTCPConnection(int clientSocket) {
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char buffer[BUFFER_SIZE];
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memset(buffer, 0, BUFFER_SIZE);
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while (true) {
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int bytesRead = recv(clientSocket, buffer, BUFFER_SIZE - 1, 0);
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if (bytesRead <= 0) {
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cerr << "Client disconnected or errored out" << endl;
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break;
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}
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string localIncomingMessage(buffer, bytesRead);
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{
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lock_guard<mutex> lock(receivedMutex);
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receivedMessage = true;
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sendMessage = false;
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incomingMessage = localIncomingMessage;
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receivedCondVar.notify_all();
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}
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processMessage();
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bool localSendMessage;
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string localOutgoingMessage;
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{
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unique_lock<mutex> lock(sendMutex);
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sendCondVar.wait(lock, [&] { return sendMessage; });
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localSendMessage = sendMessage;
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localOutgoingMessage = outgoingMessage;
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}
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if (localSendMessage) {
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const char* msg = localOutgoingMessage.c_str();
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int bytesSent = send(clientSocket, msg, strlen(msg), 0);
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if (bytesSent < 0) {
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cerr << "Error sending ACK to client" << endl;
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break;
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}
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}
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memset(buffer, 0, BUFFER_SIZE);
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}
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}
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void runTCPServer (int serverSocket) {
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while (true) {
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struct sockaddr_in clientAddr;
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socklen_t clientAddrLen = sizeof(clientAddr);
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int clientSocket = accept(serverSocket, (struct sockaddr*)&clientAddr, &clientAddrLen);
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if (clientSocket < 0) {
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cerr << "Error accepting client connection" << endl;
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continue;
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}
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cout << "New client connected" << endl;
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handleTCPConnection(clientSocket);
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}
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}
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uint8_t handleArgs (int argc, char** argv) {
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if (argc > 1) {
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screenWidth = atoi(argv[1]);
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cout << "Set width: " << screenWidth << endl;
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} else {
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cerr << "Please provide screen width as first argument" << endl;
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return 1;
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}
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if (argc > 2) {
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screenHeight = atoi(argv[2]);
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cout << "Set height: " << screenHeight << endl;
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} else {
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cerr << "Please provide screen height as second argument" << endl;
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return 2;
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}
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return 0;
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}
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int main (int argc, char** argv) {
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uint8_t argsRet = handleArgs(argc, argv);
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if (argsRet > 0) {
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return argsRet;
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}
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img.setDimensions( (uint16_t) screenWidth, (uint16_t) screenHeight);
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loadBlank();
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glutInit(&argc, argv);
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glutInitDisplayMode(GLUT_SINGLE);
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glutCreateWindow("opengl_opencv_example");
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glutSetCursor(GLUT_CURSOR_NONE);
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glutFullScreen();
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glutDisplayFunc(display);
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glutMainLoop();
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int serverSocket = socket(AF_INET, SOCK_STREAM, 0);
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if (serverSocket < 0) {
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cerr << "Error creating socket" << endl;
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return 1;
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}
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struct sockaddr_in serverAddr;
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serverAddr.sin_family = AF_INET;
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serverAddr.sin_addr.s_addr = INADDR_ANY;
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serverAddr.sin_port = htons(PORT);
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int bindResult = ::bind(serverSocket, reinterpret_cast<struct sockaddr*>(&serverAddr), sizeof(serverAddr));
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if (bindResult < 0) {
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cerr << "Error binding socket" << endl;
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close(serverSocket);
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return 1;
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}
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if (listen(serverSocket, 5) < 0) {
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cerr << "Error listening on socket" << endl;
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return 1;
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}
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cout << "TCP server listening on port " << PORT << endl;
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thread serverThread(runTCPServer, serverSocket);
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serverThread.join();
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close(serverSocket);
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return 0;
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} |