Added acknowledge to CameraTcpServer (a client must wait a response before sending images)

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@378 620bd6b2-0a58-f614-fd9a-1bd335dccda9

src/CameraTcpServer.cpp

@@ -17,14 +17,11 @@ CameraTcpServer::CameraTcpServer(quint16 port, QObject *parent) :
 	QTcpServer(parent),
     blockSize_(0)
 {
-	this->setMaxPendingConnections(1);
 	if (!this->listen(QHostAddress::Any, port))
 	{
 		UERROR("Unable to start the Camera TCP server: %s", this->errorString().toStdString().c_str());
 		return;
 	}
-
-	connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
 }
 
 cv::Mat CameraTcpServer::getImage()
@@ -83,22 +80,23 @@ quint16 CameraTcpServer::getPort() const
 	return this->serverPort();
 }
 
-void CameraTcpServer::addClient()
+void CameraTcpServer::incomingConnection(int socketDescriptor)
 {
-	QTcpSocket * client = this->nextPendingConnection();
-
 	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
-	if(clients.size() > 1)
+	if(clients.size() >= 1)
 	{
 		UWARN("A client is already connected. Only one connection allowed at the same time.");
-		client->close();
+		QTcpSocket socket;
-		client->deleteLater();
+		socket.setSocketDescriptor(socketDescriptor);
 	}
 	else
 	{
-		connect(client, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
+		QTcpSocket * socket = new QTcpSocket(this);
-		connect(client, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
+		connect(socket, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
-		connect(client, SIGNAL(disconnected()), this, SLOT(connectionLost()));
+		connect(socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
+		connect(socket, SIGNAL(disconnected()), this, SLOT(connectionLost()));
+		socket->setSocketDescriptor(socketDescriptor);
+		socket->write(QByteArray("1"));
 	}
 }
 

src/CameraTcpServer.h

@@ -23,14 +23,14 @@ public:
 	QHostAddress getHostAddress() const;
 	quint16 getPort() const;
 
+protected:
+	virtual void incomingConnection ( int socketDescriptor );
+
 private Q_SLOTS:
 	void readReceivedData();
 	void displayError(QAbstractSocket::SocketError socketError);
 	void connectionLost();
 
-private Q_SLOTS:
-	void addClient();
-
 private:
 	quint64 blockSize_;
 	QVector<cv::Mat> images_;

tools/tcpImagesServer/main.cpp

@@ -99,7 +99,7 @@ int main(int argc, char * argv[])
 	}
 	server.connectToHost(ipAddress, port);
 
-	if(!server.waitForConnected())
+	if(!server.waitForReadyRead())
 	{
 		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), port);
 		return -1;

tools/tcpRequest/main.cpp

@@ -148,6 +148,9 @@ 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);
 	response.connectToHost(ipAddress, portIn);
@@ -164,7 +167,6 @@ int main(int argc, char * argv[])
 		return -1;
 	}
 
-
 	// publish image
 	std::vector<unsigned char> buf;
 	cv::imencode(".png", image, buf);
@@ -176,48 +178,58 @@ int main(int argc, char * argv[])
 	out.writeRawData((char*)buf.data(), (int)buf.size());
 	out.device()->seek(0);
 	out << (quint64)(block.size() - sizeof(quint64));
-	request.write(block);
-	printf("Image published, waiting for response...\n");
-	QTime time;
-	time.start();
 
-	// wait for response
+	if(request.waitForReadyRead())
-	app.exec();
-
-	if(response.dataReceived())
 	{
-		printf("Response received! (%d ms)\n", time.elapsed());
+		qint64 bytes = request.write(block);
-		// print detected objects
+		printf("Image published (%d bytes), waiting for response...\n", (int)bytes);
-		if(response.info().objDetected_.size())
+		QTime time;
+		time.start();
+
+		// wait for response
+		app.exec();
+
+		if(response.dataReceived())
 		{
-			QList<int> ids = response.info().objDetected_.uniqueKeys();
+			printf("Response received! (%d ms)\n", time.elapsed());
-			for(int i=0; i<ids.size(); ++i)
+			// print detected objects
+			if(response.info().objDetected_.size())
 			{
-				int count = response.info().objDetected_.count(ids[i]);
+				QList<int> ids = response.info().objDetected_.uniqueKeys();
-				if(count == 1)
+				for(int i=0; i<ids.size(); ++i)
 				{
-					printf("Object %d detected.\n", ids[i]);
+					int count = response.info().objDetected_.count(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() && JsonWriter::available())
+			{
+				JsonWriter::write(response.info(), jsonPath);
+				printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
+			}
 		}
 		else
 		{
-			printf("No objects detected.\n");
+			printf("Failed to receive a response...\n");
-		}
+			return -1;
-		// write json
-		if(!jsonPath.isEmpty() && JsonWriter::available())
-		{
-			JsonWriter::write(response.info(), jsonPath);
-			printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
 		}
 	}
 	else
 	{
-		printf("Failed to receive a response...\n");
+		printf("Server is busy...\n");
+		return -1;
 	}
 
 	return 0;