96 lines
2.2 KiB
C++
96 lines
2.2 KiB
C++
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/*
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* CameraTcpClient.cpp
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*
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* Created on: 2014-07-31
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* Author: mathieu
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*/
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#include "CameraTcpClient.h"
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#include "Settings.h"
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#include "utilite/ULogger.h"
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CameraTcpClient::CameraTcpClient(QObject *parent) :
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QTcpSocket(parent),
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blockSize_(0)
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{
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connect(this, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
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connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
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connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
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}
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cv::Mat CameraTcpClient::getImage()
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{
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cv::Mat img;
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if(images_.size())
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{
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// if queue changed after tcp connection ended with images still in the buffer
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int queue = Settings::getCamera_9queueSize();
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while(queue > 0 && images_.size() > queue)
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{
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images_.pop_front();
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}
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img = images_.front();
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images_.pop_front();
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}
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return img;
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}
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void CameraTcpClient::readReceivedData()
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{
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QDataStream in(this);
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in.setVersion(QDataStream::Qt_4_0);
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if (blockSize_ == 0)
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{
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if (this->bytesAvailable() < (int)sizeof(quint64))
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{
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return;
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}
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in >> blockSize_;
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}
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if (this->bytesAvailable() < (int)blockSize_)
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{
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return;
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}
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std::vector<unsigned char> buf(blockSize_);
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in.readRawData((char*)buf.data(), blockSize_);
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images_.push_back(cv::imdecode(buf, cv::IMREAD_UNCHANGED));
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int queue = Settings::getCamera_9queueSize();
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while(queue > 0 && images_.size() > queue)
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{
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images_.pop_front();
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}
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blockSize_ = 0;
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}
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void CameraTcpClient::displayError(QAbstractSocket::SocketError socketError)
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{
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switch (socketError)
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{
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case QAbstractSocket::RemoteHostClosedError:
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break;
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case QAbstractSocket::HostNotFoundError:
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UWARN("CameraTcp: Tcp error: The host was not found. Please "
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"check the host name and port settings.\n");
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break;
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case QAbstractSocket::ConnectionRefusedError:
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UWARN("CameraTcp: The connection was refused by the peer. "
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"Make sure your images server is running, "
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"and check that the host name and port "
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"settings are correct.");
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break;
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default:
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UERROR("The following error occurred: %s.", this->errorString().toStdString().c_str());
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break;
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}
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}
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void CameraTcpClient::connectionLost()
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{
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//printf("[WARNING] CameraTcp: Connection lost!\n");
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}
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