Added "--tcp_threads" argument for multi-threaded detections (on multiple ports)

app/CMakeLists.txt

@@ -1,4 +1,14 @@
 
+SET(headers_ui 
+	TcpServerPool.h
+)
+
+IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+    QT4_WRAP_CPP(moc_srcs ${headers_ui})
+ELSE()
+    QT5_WRAP_CPP(moc_srcs ${headers_ui})
+ENDIF()
+
 SET(INCLUDE_DIRS
 	${CMAKE_CURRENT_SOURCE_DIR}/../include
 	${CMAKE_CURRENT_SOURCE_DIR}
@@ -17,7 +27,7 @@ SET(LIBRARIES
 #include files
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
-SET(SRC_FILES main.cpp)
+SET(SRC_FILES main.cpp ${moc_srcs} )
 
 # For Apple set the icns file containing icons
 IF(APPLE AND BUILD_AS_BUNDLE)

app/TcpServerPool.h

@@ -0,0 +1,130 @@
+/*
+ * TcpServerPool.h
+ *
+ *  Created on: Nov 29, 2015
+ *      Author: mathieu
+ */
+
+#ifndef TCPSERVERPOOL_H_
+#define TCPSERVERPOOL_H_
+
+#include <find_object/FindObject.h>
+#include <find_object/TcpServer.h>
+#include <find_object/utilite/ULogger.h>
+#include <QtCore/QThread>
+#include <QtCore/QSemaphore>
+
+class FindObjectWorker : public QObject
+{
+	Q_OBJECT;
+
+public:
+	FindObjectWorker(
+			find_object::FindObject * sharedFindObject,
+			QSemaphore * sharedSemaphore,
+			int maxSemaphoreResources,
+			QObject * parent = 0) :
+		QObject(parent),
+		sharedFindObject_(sharedFindObject),
+		sharedSemaphore_(sharedSemaphore),
+		maxSemaphoreResources_(maxSemaphoreResources)
+	{
+		UASSERT(sharedFindObject != 0);
+		UASSERT(sharedSemaphore != 0);
+		UASSERT(maxSemaphoreResources > 0);
+	}
+
+public Q_SLOTS:
+	void detect(const cv::Mat & image)
+	{
+		sharedSemaphore_->acquire(1);
+		UINFO("Thread %p detecting...", (void *)this->thread());
+		find_object::DetectionInfo info;
+		sharedFindObject_->detect(image, info);
+		Q_EMIT objectsFound(info);
+		sharedSemaphore_->release(1);
+	}
+
+	void addObjectAndUpdate(const cv::Mat & image, int id, const QString & filePath)
+	{
+		//block everyone!
+		sharedSemaphore_->acquire(maxSemaphoreResources_);
+		UINFO("Thread %p adding object %d (%s)...", (void *)this->thread(), id, filePath.toStdString().c_str());
+		sharedFindObject_->addObjectAndUpdate(image, id, filePath);
+		sharedSemaphore_->release(maxSemaphoreResources_);
+	}
+	void removeObjectAndUpdate(int id)
+	{
+		//block everyone!
+		sharedSemaphore_->acquire(maxSemaphoreResources_);
+		UINFO("Thread %p removing object %d...", (void *)this->thread(), id);
+		sharedFindObject_->removeObjectAndUpdate(id);
+		sharedSemaphore_->release(maxSemaphoreResources_);
+	}
+
+Q_SIGNALS:
+	void objectsFound(const find_object::DetectionInfo &);
+
+private:
+	find_object::FindObject * sharedFindObject_; //shared findobject
+	QSemaphore * sharedSemaphore_;
+	int maxSemaphoreResources_;
+};
+
+class TcpServerPool : public QObject
+{
+	Q_OBJECT;
+public:
+	TcpServerPool(find_object::FindObject * sharedFindObject, int threads, int port) :
+		sharedFindObject_(sharedFindObject),
+		sharedSemaphore_(threads)
+	{
+		UASSERT(sharedFindObject != 0);
+		UASSERT(port!=0);
+		UASSERT(threads>=1);
+
+		qRegisterMetaType<cv::Mat>("cv::Mat");
+
+		threadPool_.resize(threads);
+		for(int i=0; i<threads; ++i)
+		{
+			find_object::TcpServer * tcpServer =  new find_object::TcpServer(port++);
+			UINFO("TcpServer set on port: %d (IP=%s)",
+					tcpServer->getPort(),
+					tcpServer->getHostAddress().toString().toStdString().c_str());
+
+			threadPool_[i] = new QThread(this);
+			FindObjectWorker * worker = new FindObjectWorker(sharedFindObject, &sharedSemaphore_, threads);
+
+			tcpServer->moveToThread(threadPool_[i]);
+			 worker->moveToThread(threadPool_[i]);
+			 connect(threadPool_[i], SIGNAL(finished()), tcpServer, SLOT(deleteLater()));
+			connect(threadPool_[i], SIGNAL(finished()), worker, SLOT(deleteLater()));
+
+			// connect stuff:
+			QObject::connect(worker, SIGNAL(objectsFound(find_object::DetectionInfo)), tcpServer, SLOT(publishDetectionInfo(find_object::DetectionInfo)));
+			QObject::connect(tcpServer, SIGNAL(detectObject(const cv::Mat &)), worker, SLOT(detect(const cv::Mat &)));
+			QObject::connect(tcpServer, SIGNAL(addObject(const cv::Mat &, int, const QString &)), worker, SLOT(addObjectAndUpdate(const cv::Mat &, int, const QString &)));
+			QObject::connect(tcpServer, SIGNAL(removeObject(int)), worker, SLOT(removeObjectAndUpdate(int)));
+			threadPool_[i]->start();
+		}
+	}
+
+	virtual ~TcpServerPool()
+	{
+		for(int i=0; i<threadPool_.size(); ++i)
+		{
+			threadPool_[i]->quit();
+			threadPool_[i]->wait();
+		}
+	}
+
+private:
+	find_object::FindObject * sharedFindObject_;
+	QVector<QThread*> threadPool_;
+	QSemaphore sharedSemaphore_;
+};
+
+
+
+#endif /* TCPSERVERPOOL_H_ */

app/main.cpp

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "find_object/TcpServer.h"
 #include "find_object/JsonWriter.h"
 #include "find_object/utilite/ULogger.h"
+#include "TcpServerPool.h"
 
 bool running = true;
 
@@ -112,8 +113,13 @@ void showUsage()
 			"                           and \"General/vocabularyFixed\" will be also enabled. Ignored if \"--session\" is set.\n"
 			"  --images_not_saved     Don't keep images in RAM after the features are extracted (only\n"
 			"                           in console mode). Images won't be saved if an output session is set.\n"
+			"  --tcp_threads #        Number of TCP threads (default 1, only in --console mode). \"--General/port\" parameter should not be 0.\n"
+			"                           Port numbers start from \"General/port\" value. \"Detect\" TCP service can be\n"
+			"                           executed at the same time by multiple threads. \"Add/Remove\" TCP services\n"
+			"                           cannot be called by multiple threads, so calling these services on a port\n "
+			"                          will block all other threads on the other ports.\n"
 			"  --debug                Show debug log.\n"
-			"  --debug-time           Show debug log with time.\n"
+			"  --log-time             Show log with time.\n"
 			"  --params               Show all parameters.\n"
 			"  --defaults             Use default parameters (--config is ignored).\n"
 			"  --My/Parameter \"value\" Set find-Object's parameter (look --params for parameters' name).\n"
@@ -146,6 +152,7 @@ int main(int argc, char* argv[])
 	QString jsonPath;
 	find_object::ParametersMap customParameters;
 	bool imagesSaved = true;
+	int tcpThreads = 1;
 
 	for(int i=1; i<argc; ++i)
 	{
@@ -322,11 +329,10 @@ int main(int argc, char* argv[])
 			ULogger::setLevel(ULogger::kDebug);
 			continue;
 		}
-		if(strcmp(argv[i], "-debug-time") == 0 ||
+		if(strcmp(argv[i], "-log-time") == 0 ||
-		   strcmp(argv[i], "--debug-time") == 0)
+		   strcmp(argv[i], "--log-time") == 0)
 		{
 			ULogger::setPrintWhere(true);
-			ULogger::setLevel(ULogger::kDebug);
 			ULogger::setPrintTime(true);
 			continue;
 		}
@@ -353,6 +359,25 @@ int main(int argc, char* argv[])
 			}
 			continue;
 		}
+		if(strcmp(argv[i], "-tcp_threads") == 0 ||
+		   strcmp(argv[i], "--tcp_threads") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				tcpThreads = atoi(argv[i]);
+				if(tcpThreads < 1)
+				{
+					printf("tcp_threads should be >= 1!\n");
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
 		if(strcmp(argv[i], "--params") == 0)
 		{
 			find_object::ParametersMap parameters = find_object::Settings::getDefaultParameters();
@@ -578,31 +603,28 @@ int main(int argc, char* argv[])
 		}
 		else
 		{
-			find_object::Camera camera;
+			TcpServerPool tcpServerPool(findObject, tcpThreads, find_object::Settings::getGeneral_port());
-			find_object::TcpServer tcpServer(find_object::Settings::getGeneral_port());
-			UINFO("Detection sent on port: %d (IP=%s)", tcpServer.getPort(), tcpServer.getHostAddress().toString().toStdString().c_str());
 
-			// connect stuff:
-			// [FindObject] ---ObjectsDetected---> [TcpServer]
-			QObject::connect(findObject, SIGNAL(objectsFound(find_object::DetectionInfo)), &tcpServer, SLOT(publishDetectionInfo(find_object::DetectionInfo)));
-
-			// [Camera] ---Image---> [FindObject]
-			QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
-			QObject::connect(&camera, SIGNAL(finished()), &app, SLOT(quit()));
-
-			//connect services
-			QObject::connect(&tcpServer, SIGNAL(addObject(const cv::Mat &, int, const QString &)), findObject, SLOT(addObjectAndUpdate(const cv::Mat &, int, const QString &)));
-			QObject::connect(&tcpServer, SIGNAL(removeObject(int)), findObject, SLOT(removeObjectAndUpdate(int)));
-
-			//use camera in settings
 			setupQuitSignal();
 
-			// start processing!
+			//If TCP camera is used
-			while(running && !camera.start())
+			find_object::Camera * camera = 0;
+			if(find_object::Settings::getCamera_6useTcpCamera())
 			{
-				UERROR("Camera initialization failed!");
+				camera = new find_object::Camera();
-				running = false;
+
+				// [Camera] ---Image---> [FindObject]
+				QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
+				QObject::connect(camera, SIGNAL(finished()), &app, SLOT(quit()));
+
+				if(!camera->start())
+				{
+					UERROR("Camera initialization failed!");
+					running = false;
+				}
 			}
+
+			// start processing!
 			if(running)
 			{
 				app.exec();
@@ -626,8 +648,11 @@ int main(int argc, char* argv[])
 			}
 
 			// cleanup
-			camera.stop();
+			if(camera)
-			tcpServer.close();
+			{
+				camera->stop();
+				delete camera;
+			}
 		}
 
 		delete findObject;

include/find_object/FindObject.h

@@ -78,7 +78,7 @@ public:
 	void removeObject(int id);
 	void removeAllObjects();
 
-	bool detect(const cv::Mat & image, find_object::DetectionInfo & info);
+	bool detect(const cv::Mat & image, find_object::DetectionInfo & info) const;
 
 	void updateDetectorExtractor();
 	void updateObjects(const QList<int> & ids = QList<int>());

include/find_object/TcpServer.h

@@ -45,8 +45,9 @@ class FINDOBJECT_EXP TcpServer : public QTcpServer
 
 public:
 	enum Service {
-		kAddObject,   // id fileName imageSize image
+		kAddObject,    // id fileName imageSize image
-		kRemoveObject // id
+		kRemoveObject, // id
+		kDetectObject  // image
 	};
 
 public:
@@ -67,6 +68,7 @@ private Q_SLOTS:
 Q_SIGNALS:
 	void addObject(const cv::Mat &, int, const QString &);
 	void removeObject(int);
+	void detectObject(const cv::Mat &);
 
 private:
 	QMap<int, quint64> blockSizes_;

src/FindObject.cpp

@@ -1250,10 +1250,6 @@ void FindObject::detect(const cv::Mat & image)
 	time.start();
 	DetectionInfo info;
 	this->detect(image, info);
-	if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
-	{
-		Q_EMIT objectsFound(info);
-	}
 
 	if(info.objDetected_.size() > 1)
 	{
@@ -1275,9 +1271,14 @@ void FindObject::detect(const cv::Mat & image)
 				QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
 				time.elapsed());
 	}
+
+	if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
+	{
+		Q_EMIT objectsFound(info);
+	}
 }
 
-bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info)
+bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info) const
 {
 	QTime totalTime;
 	totalTime.start();
@@ -1348,7 +1349,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 				info.sceneWords_ = words;
 			}
 
-			for(QMap<int, ObjSignature*>::iterator iter=objects_.begin(); iter!=objects_.end(); ++iter)
+			for(QMap<int, ObjSignature*>::const_iterator iter=objects_.begin(); iter!=objects_.end(); ++iter)
 			{
 				info.matches_.insert(iter.key(), QMultiMap<int, int>());
 			}
@@ -1434,7 +1435,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 						}
 						else
 						{
-							QMap<int, int>::iterator iter = dataRange_.lowerBound(i);
+							QMap<int, int>::const_iterator iter = dataRange_.lowerBound(i);
 							int objectId = iter.value();
 							int fisrtObjectDescriptorIndex = (iter == dataRange_.begin())?0:(--iter).key()+1;
 							int objectDescriptorIndex = i - fisrtObjectDescriptorIndex;

src/TcpServer.cpp

@@ -80,6 +80,7 @@ void TcpServer::publishDetectionInfo(const DetectionInfo & info)
 	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
 	if(clients.size())
 	{
+		UINFO("TCP server: Publish detected objects");
 		QByteArray block;
 		QDataStream out(&block, QIODevice::WriteOnly);
 		out.setVersion(QDataStream::Qt_4_0);
@@ -156,6 +157,15 @@ void TcpServer::readReceivedData()
 		UINFO("TCP service: Remove %d", id);
 		Q_EMIT removeObject(id);
 	}
+	else if(serviceType == kDetectObject)
+	{
+		std::vector<unsigned char> buf(blockSizes_[client->socketDescriptor()]);
+		in.readRawData((char*)buf.data(), blockSizes_[client->socketDescriptor()]-sizeof(quint32));
+		cv::Mat image = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
+
+		UINFO("TCP service: Detect object");
+		Q_EMIT detectObject(image);
+	}
 	else
 	{
 		UERROR("Unknown service type called %d", serviceType);

tools/tcpClient/CMakeLists.txt

@@ -4,9 +4,7 @@ SET(headers_ui
 )
 
 IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
-    #This will generate moc_* for Qt
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
-    ### Qt Gui stuff  end###
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
 ENDIF()

tools/tcpImagesServer/CMakeLists.txt

@@ -4,9 +4,7 @@ SET(headers_ui
 )
 
 IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
-    #This will generate moc_* for Qt
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
-    ### Qt Gui stuff  end###
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
 ENDIF()

tools/tcpRequest/CMakeLists.txt

@@ -4,9 +4,7 @@ SET(headers_ui
 )
 
 IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
-    #This will generate moc_* for Qt
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
-    ### Qt Gui stuff  end###
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
 ENDIF()

tools/tcpRequest/main.cpp

@@ -30,14 +30,17 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QFile>
 #include <QtCore/QTime>
 #include <opencv2/opencv.hpp>
+#include <find_object/TcpServer.h>
 #include "TcpResponse.h"
 #include "find_object/JsonWriter.h"
 
 void showUsage()
 {
 	printf("\ntcpRequest [options] --scene image.png --out # --in #\n"
+		   "\ntcpRequest [options] --scene image.png --port #\n"
 			"  \"out\" is the port to which the image is sent.\n"
 			"  \"in\" is the port from which the detection is received.\n"
+			"  \"port\" is the bidirectional port from which the image is sent AND the detection is received.\n"
 			"  Options:\n"
 			"    --host #.#.#.#       Set host address.\n"
 			"    --json \"path\"        Path to an output JSON file.\n"
@@ -52,6 +55,7 @@ int main(int argc, char * argv[])
 	QString jsonPath;
 	quint16 portOut = 0;
 	quint16 portIn = 0;
+	quint16 bidrectionalPort = 0;
 
 	for(int i=1; i<argc; ++i)
 	{
@@ -111,6 +115,20 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
+		if(strcmp(argv[i], "--port") == 0 || strcmp(argv[i], "-port") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				bidrectionalPort = std::atoi(argv[i]);
+			}
+			else
+			{
+				printf("error parsing --port\n");
+				showUsage();
+			}
+			continue;
+		}
 
 		if(strcmp(argv[i], "--json") == 0 || strcmp(argv[i], "-json") == 0)
 		{
@@ -137,18 +155,25 @@ int main(int argc, char * argv[])
 		showUsage();
 	}
 
-	if(portOut == 0)
+	if(bidrectionalPort == 0 && portOut == 0 && portIn == 0)
+	{
+		printf("Arguments --port or [--in and --out] should be set.\n");
+		showUsage();
+	}
+	else if(portOut == 0 && bidrectionalPort == 0)
 	{
 		printf("Argument --out should be set.\n");
 		showUsage();
 	}
-	else if(portIn == 0)
+	else if(portIn == 0 && bidrectionalPort == 0)
 	{
 		printf("Argument --in should be set.\n");
+		showUsage();
 	}
 	else if(scenePath.isEmpty())
 	{
 		printf("Argument --scene should be set.\n");
+		showUsage();
 	}
 
 	if(ipAddress.isEmpty())
@@ -169,22 +194,34 @@ int main(int argc, char * argv[])
 
 	QObject::connect(&response, SIGNAL(detectionReceived()), &app, SLOT(quit()));
 	QObject::connect(&response, SIGNAL(disconnected()), &app, SLOT(quit()));
-	QObject::connect(&request, SIGNAL(disconnected()), &app, SLOT(quit()));
 	QObject::connect(&response, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
-	QObject::connect(&request, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
 
-	request.connectToHost(ipAddress, portOut);
+	QTcpSocket * requestPtr = &request;
-	response.connectToHost(ipAddress, portIn);
+	if(bidrectionalPort == 0)
-
-	if(!request.waitForConnected())
 	{
-		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portOut);
+		QObject::connect(&request, SIGNAL(disconnected()), &app, SLOT(quit()));
-		return -1;
+		QObject::connect(&request, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
+
+		request.connectToHost(ipAddress, portOut);
+		response.connectToHost(ipAddress, portIn);
+
+		if(!request.waitForConnected())
+		{
+			printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portOut);
+			return -1;
+		}
 	}
+	else
+	{
+		printf("Using bidirectional port\n");
+		requestPtr = &response;
+		response.connectToHost(ipAddress, bidrectionalPort);
+	}
+
 
 	if(!response.waitForConnected())
 	{
-		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portIn);
+		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), bidrectionalPort?bidrectionalPort:portIn);
 		return -1;
 	}
 
@@ -196,60 +233,65 @@ int main(int argc, char * argv[])
 	QDataStream out(&block, QIODevice::WriteOnly);
 	out.setVersion(QDataStream::Qt_4_0);
 	out << (quint64)0;
+	if(bidrectionalPort)
+	{
+		out << (quint32)find_object::TcpServer::kDetectObject;
+	}
 	out.writeRawData((char*)buf.data(), (int)buf.size());
 	out.device()->seek(0);
 	out << (quint64)(block.size() - sizeof(quint64));
 
-	if(request.waitForReadyRead())
+	qint64 bytes = requestPtr->write(block);
+	printf("Image published (%d bytes), waiting for response...\n", (int)bytes);
+
+	QTime time;
+	time.start();
+
+	// wait for response
+	if(bidrectionalPort)
+	{
+		requestPtr->waitForBytesWritten();
+		response.waitForReadyRead();
+	}
+	else
 	{
-		qint64 bytes = request.write(block);
-		printf("Image published (%d bytes), waiting for response...\n", (int)bytes);
-		QTime time;
-		time.start();
-
-		// wait for response
 		app.exec();
+	}
 
-		if(response.dataReceived())
+	if(response.dataReceived())
+	{
+		printf("Response received! (%d ms)\n", time.elapsed());
+		// print detected objects
+		if(response.info().objDetected_.size())
 		{
-			printf("Response received! (%d ms)\n", time.elapsed());
+			QList<int> ids = response.info().objDetected_.uniqueKeys();
-			// print detected objects
+			for(int i=0; i<ids.size(); ++i)
-			if(response.info().objDetected_.size())
 			{
-				QList<int> ids = response.info().objDetected_.uniqueKeys();
+				int count = response.info().objDetected_.count(ids[i]);
-				for(int i=0; i<ids.size(); ++i)
+				if(count == 1)
 				{
-					int count = response.info().objDetected_.count(ids[i]);
+					printf("Object %d detected.\n", ids[i]);
-					if(count == 1)
+				}
-					{
+				else
-						printf("Object %d detected.\n", ids[i]);
+				{
-					}
+					printf("Object %d detected %d times.\n", ids[i], count);
-					else
-					{
-						printf("Object %d detected %d times.\n", ids[i], count);
-					}
 				}
-			}
-			else
-			{
-				printf("No objects detected.\n");
-			}
-			// write json
-			if(!jsonPath.isEmpty())
-			{
-				find_object::JsonWriter::write(response.info(), jsonPath);
-				printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
 			}
 		}
 		else
 		{
-			printf("Failed to receive a response...\n");
+			printf("No objects detected.\n");
-			return -1;
+		}
+		// write json
+		if(!jsonPath.isEmpty())
+		{
+			find_object::JsonWriter::write(response.info(), jsonPath);
+			printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
 		}
 	}
 	else
 	{
-		printf("Server is busy...\n");
+		printf("Failed to receive a response...\n");
 		return -1;
 	}
 

tools/tcpService/main.cpp

@@ -155,7 +155,6 @@ int main(int argc, char * argv[])
 
 	QObject::connect(&request, SIGNAL(disconnected()), &app, SLOT(quit()));
 	QObject::connect(&request, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
-	QObject::connect(&request, SIGNAL(bytesWritten(quint64)), &app, SLOT(quit()));
 
 	printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
 	request.connectToHost(ipAddress, port);
@@ -201,6 +200,7 @@ int main(int argc, char * argv[])
 
 	qint64 bytes = request.write(block);
 	printf("Service published (%d bytes)!\n", (int)bytes);
+	request.waitForBytesWritten();
 	request.waitForReadyRead();
 
 	return 0;