Added TcpRequest tool (ask a running find_object to process an image and wait results over TCP)

Refactored CameraTcpClient to CameraTcpServer (to send images we connect to find_object, instead of connecting find_object to an image server), removed parameter CameraIP

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@364 620bd6b2-0a58-f614-fd9a-1bd335dccda9

tools/CMakeLists.txt

@@ -1,3 +1,4 @@
 ADD_SUBDIRECTORY( tcpObjectsClient )
 ADD_SUBDIRECTORY( tcpImagesServer )
+ADD_SUBDIRECTORY( tcpRequest )
 ADD_SUBDIRECTORY( similarity )

tools/tcpImagesServer/ImagesTcpServer.cpp

@@ -15,17 +15,17 @@
 #include <QtGui/QTransform>
 
 ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
-	QTcpServer(parent)
+	QTcpSocket(parent)
 {
 	// Set camera parameters
 	Settings::setCamera_4imageRate(hz);
 	Settings::setCamera_5mediaPath(path);
 
-	connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
 	connect(&camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(publishImage(const cv::Mat &)));
+	connect(this, SIGNAL(connected()), this, SLOT(startCamera()));
 }
 
-QHostAddress ImagesTcpServer::getHostAddress() const
+QHostAddress ImagesTcpServer::getHostAddress()
 {
 	QHostAddress hostAddress;
 
@@ -49,21 +49,21 @@ QHostAddress ImagesTcpServer::getHostAddress() const
 	return hostAddress;
 }
 
-quint16 ImagesTcpServer::getPort() const
-{
-	return this->serverPort();
-}
-
 void ImagesTcpServer::publishImage(const cv::Mat & image)
 {
-	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
-	if(clients.size())
+	if(image.empty())
 	{
-		std::vector<unsigned char> buf;
-		cv::imencode(".png", image, buf);
-
-		for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter)
+		printf("No more images...\n");
+		camera_.pause();
+		Q_EMIT connectionLost();
+	}
+	else
+	{
+		if(this->waitForConnected())
 		{
+			std::vector<unsigned char> buf;
+			cv::imencode(".png", image, buf);
+
 			QByteArray block;
 			QDataStream out(&block, QIODevice::WriteOnly);
 			out.setVersion(QDataStream::Qt_4_0);
@@ -71,20 +71,20 @@ void ImagesTcpServer::publishImage(const cv::Mat & image)
 			out.writeRawData((char*)buf.data(), (int)buf.size());
 			out.device()->seek(0);
 			out << (quint64)(block.size() - sizeof(quint64));
-			(*iter)->write(block);
+			this->write(block);
+
+		}
+		else
+		{
+			printf("Lost connection...\n");
+			camera_.pause();
+			Q_EMIT connectionLost();
 		}
-	}
-	else
-	{
-		printf("Paused...\n");
-		camera_.pause();
 	}
 }
 
-void ImagesTcpServer::addClient()
+void ImagesTcpServer::startCamera()
 {
-	QTcpSocket * client = this->nextPendingConnection();
-	connect(client, SIGNAL(disconnected()), client, SLOT(deleteLater()));
 	if(!camera_.isRunning())
 	{
 		printf("Start...\n");

tools/tcpImagesServer/ImagesTcpServer.h

@@ -5,27 +5,29 @@
  *      Author: mathieu
  */
 
-#ifndef TCPCLIENT_H_
-#define TCPCLIENT_H_
+#ifndef IMAGESTCPSERVER_H_
+#define IMAGESTCPSERVER_H_
 
 #include "find_object/Camera.h"
-#include <QtNetwork/QTcpServer>
+#include <QtNetwork/QTcpSocket>
 
-class ImagesTcpServer : public QTcpServer
+class ImagesTcpServer : public QTcpSocket
 {
 	Q_OBJECT
 
+public:
+	static QHostAddress getHostAddress();
+
 public:
 	ImagesTcpServer(float hz = 10.0f, const QString & path = "", QObject * parent = 0);
 
-	QHostAddress getHostAddress() const;
-	quint16 getPort() const;
-
-
 private Q_SLOTS:
-	void addClient();
+	void startCamera();
 	void publishImage(const cv::Mat & image);
 
+Q_SIGNALS:
+	void connectionLost();
+
 private:
 	Camera camera_;
 };

tools/tcpImagesServer/main.cpp

@@ -11,11 +11,11 @@
 
 void showUsage()
 {
-	printf("imagesTcpServer [options]\n"
+	printf("\ntcpImagesServer [options] port\n"
 			"  Options:\n"
-			"    -hz #.#          Image rate (default 10 Hz).\n"
-			"    -p #             Set manually a port to which the clients will connect.\n"
-			"    -path \"\"       Set a path of a directory of images or a video file.\n");
+			"    --hz #.#          Image rate (default 10 Hz).\n"
+			"    --host #.#.#.#    Set host address.\n"
+			"    --path \"\"       Set a path of a directory of images or a video file.\n");
 	exit(-1);
 }
 
@@ -23,15 +23,19 @@ int main(int argc, char * argv[])
 {
 	QString ipAddress;
 	float hz = 10.0f;
-	quint16 port = 0;
 	QString path;
 
-	for(int i=1; i<argc; ++i)
+	if(argc < 2)
 	{
-		if(strcmp(argv[i], "-hz") == 0)
+		showUsage();
+	}
+
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(strcmp(argv[i], "-hz") == 0 || strcmp(argv[i], "--hz") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
 				hz = std::atof(argv[i]);
 				if(hz < 0.0f)
@@ -46,18 +50,12 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
-		if(strcmp(argv[i], "-p") == 0)
+		if(strcmp(argv[i], "-host") == 0 || strcmp(argv[i], "--host") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
-				int v = std::atoi(argv[i]);
-				if(v < 0)
-				{
-					printf("[ERROR] Port not valid : %s\n", argv[i]);
-					showUsage();
-				}
-				port = v;
+				ipAddress = argv[i];
 			}
 			else
 			{
@@ -65,10 +63,10 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
-		if(strcmp(argv[i], "-path") == 0)
+		if(strcmp(argv[i], "-path") == 0 || strcmp(argv[i], "--path") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
 				path = argv[i];
 			}
@@ -83,24 +81,29 @@ int main(int argc, char * argv[])
 		showUsage();
 	}
 
+	quint16 port = std::atoi(argv[argc-1]);
+
 	if(!path.isEmpty())
 	{
 		printf("Using images from path \"%s\"\n", path.toStdString().c_str());
 	}
 
 	QCoreApplication app(argc, argv);
-
 	ImagesTcpServer server(hz, path);
 
-	if (!server.listen(QHostAddress::Any, port))
+	QObject::connect(&server, SIGNAL(connectionLost()), &app, SLOT(quit()));
+
+	if(ipAddress.isEmpty())
 	{
-		printf("ERROR: Unable to start the TCP server: %s\n", server.errorString().toStdString().c_str());
+		ipAddress = server.getHostAddress().toString();
+	}
+	server.connectToHost(ipAddress, port);
+
+	if(!server.waitForConnected())
+	{
+		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), port);
 		return -1;
 	}
-
-	printf("Images server waiting on \"%s:%d\"...\n",
-			server.getHostAddress().toString().toStdString().c_str(), server.getPort());
-
 	return app.exec();
 }
 

tools/tcpObjectsClient/TcpClient.cpp

@@ -12,15 +12,13 @@
 #include <QtCore/QPointF>
 #include <QtCore/QTime>
 
-TcpClient::TcpClient(const QString & hostname, quint16 port, QObject *parent) :
+TcpClient::TcpClient(QObject *parent) :
 	QTcpSocket(parent),
     blockSize_(0)
 {
 	connect(this, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
 	connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
 	connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
-
-	this->connectToHost(hostname, port);
 }
 
 void TcpClient::readReceivedData()

tools/tcpObjectsClient/TcpClient.h

@@ -14,7 +14,7 @@ class TcpClient : public QTcpSocket
 {
 	Q_OBJECT;
 public:
-	TcpClient(const QString & hostname, quint16 port, QObject * parent = 0);
+	TcpClient(QObject * parent = 0);
 
 private Q_SLOTS:
 	void readReceivedData();

tools/tcpObjectsClient/main.cpp

@@ -11,7 +11,7 @@
 
 void showUsage()
 {
-	printf("tcpClient [hostname] port\n");
+	printf("\ntcpObjectsClient [hostname] port\n");
 	exit(-1);
 }
 
@@ -37,30 +37,16 @@ int main(int argc, char * argv[])
 
 	if(ipAddress.isEmpty())
 	{
-		// find out which IP to connect to
-		 QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
-		 // use the first non-localhost IPv4 address
-		 for (int i = 0; i < ipAddressesList.size(); ++i)
-		 {
-			 if (ipAddressesList.at(i) != QHostAddress::LocalHost &&
-				 ipAddressesList.at(i).toIPv4Address())
-			 {
-				 ipAddress = ipAddressesList.at(i).toString();
-				 break;
-			 }
-		 }
-		 // if we did not find one, use IPv4 localhost
-		 if (ipAddress.isEmpty())
-		 {
-			 ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
-		 }
+		 ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
 	}
 
 	QCoreApplication app(argc, argv);
 
 	printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
 
-	TcpClient client(ipAddress, port);
+	TcpClient client;
+
+	client.connectToHost(ipAddress, port);
 
 	if(client.waitForConnected())
 	{