97 lines
2.1 KiB
C++
97 lines
2.1 KiB
C++
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/*
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* TcpResponse.cpp
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*
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* Created on: 2014-05-05
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* Author: mathieu
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*/
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#include "TcpResponse.h"
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#include <opencv2/opencv.hpp>
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#include <QtGui/QTransform>
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#include <QtCore/QPointF>
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#include <QtCore/QTime>
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TcpResponse::TcpResponse(QObject *parent) :
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QTcpSocket(parent),
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blockSize_(0),
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dataReceived_(false)
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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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void TcpResponse::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(quint16))
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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() < blockSize_)
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{
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return;
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}
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blockSize_ = 0;
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QVector<float> data;
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in >> data;
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objectsDetected_.clear();
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for(int i=0; i<data.size(); i+=12)
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{
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// get data
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int id = (int)data[i];
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float width = data[i+1];
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float height = data[i+2];
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// Find corners Qt
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QTransform homography(data[i+3], data[i+4], data[i+5],
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data[i+6], data[i+7], data[i+8],
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data[i+9], data[i+10], data[i+11]);
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objectsDetected_.insert(id, QPair<QRect, QTransform>(QRect(0,0,width, height), homography));
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}
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dataReceived_ = true;
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Q_EMIT detectionReceived();
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}
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void TcpResponse::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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printf("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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printf("The connection was refused by the peer. "
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"Make sure Find-Object is running, "
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"and check that the host name and port "
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"settings are correct.\n");
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break;
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default:
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printf("The following error occurred: %s.\n", this->errorString().toStdString().c_str());
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break;
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}
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}
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void TcpResponse::connectionLost()
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{
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printf("Connection lost!\n");
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}
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