mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-26 08:22:43 +08:00
[opticflow] cleanup
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dewagter
@@ -34,8 +34,8 @@
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#include <stdio.h>
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#include <math.h>
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#include <string.h>
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#include "optic_flow_gdc.h"
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#include "../../modules/OpticFlow/opticflow_module.h"
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#include "optic_flow_ardrone.h"
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#include "../opticflow_module.h"
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#define int_index(x,y) (y * IMG_WIDTH + x)
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#define uint_index(xx, yy) (((yy * IMG_WIDTH + xx) * 2) & 0xFFFFFFFC)
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@@ -1,139 +0,0 @@
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#include "socket.h"
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#include <sys/socket.h> /* socket definitions */
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#include <sys/types.h> /* socket types */
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#include <arpa/inet.h> /* inet (3) funtions */
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#include <unistd.h> /* misc. UNIX functions */
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#include <errno.h>
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#include <string.h> /* memset */
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#include <stdlib.h>
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#include <stdio.h>
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/* Global constants */
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#define ECHO_PORT (2002)
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#define MAX_LINE (1000)
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/* Global variables */
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int list_s; /* listening socket */
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int conn_s; /* connection socket */
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struct sockaddr_in servaddr; /* socket address structure */
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char buffer[MAX_LINE]; /* character buffer */
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char *endptr; /* for strtol() */
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int closeSocket(void)
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{
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return close(conn_s);
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}
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int initSocket(void)
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{
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/* Create the listening socket */
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if ((list_s = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
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fprintf(stderr, "ECHOSERV: Error creating listening socket.\n");
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return -1;
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}
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/* Set all bytes in socket address structure to
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zero, and fill in the relevant data members */
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memset(&servaddr, 0, sizeof(servaddr));
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servaddr.sin_family = AF_INET;
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servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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servaddr.sin_port = htons(ECHO_PORT);
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/* Bind our socket addresss to the
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listening socket, and call listen() */
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if (bind(list_s, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0) {
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fprintf(stderr, "ECHOSERV: Error calling bind()\n");
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exit(EXIT_FAILURE);
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}
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if (listen(list_s, LISTENQ) < 0) {
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fprintf(stderr, "ECHOSERV: Error calling listen()\n");
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exit(EXIT_FAILURE);
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}
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/* Wait for a connection, then accept() it */
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if ((conn_s = accept(list_s, NULL, NULL)) < 0) {
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fprintf(stderr, "ECHOSERV: Error calling function accept()\n");
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return -1;
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}
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printf("Connected!\n");
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return 1;
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}
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/* Read a line from a socket */
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ssize_t Readline_socket(void *vptr, size_t maxlen)
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{
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ssize_t n, rc;
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char c, *buffer;
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buffer = vptr;
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for (n = 1; n < maxlen; n++) {
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if ((rc = read(conn_s, &c, 1)) == 1) {
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*buffer++ = c;
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if (c == '\n') {
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break;
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}
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} else if (rc == 0) {
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if (n == 1) {
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return 0;
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} else {
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break;
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}
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} else {
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if (errno == EINTR) {
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continue;
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}
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return -1;
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}
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}
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*buffer = 0;
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return n;
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}
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/* Write a line to a socket */
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ssize_t Writeline_socket(struct img_struct *img, size_t n)
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{
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size_t nleft;
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ssize_t nwritten;
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unsigned char *buf1 = img->buf;
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nleft = n;
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//printf("socket buf1 %d, %d, %d, %d, %d, %d\n",buf1[0],buf1[1],buf1[2],buf1[3],buf1[4],buf1[5]);
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while (nleft > 0) {
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if ((nwritten = write(conn_s, buf1, nleft)) <= 0) {
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if (errno == EINTR) {
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nwritten = 0;
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} else {
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return -1;
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}
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}
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nleft -= nwritten;
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buf1 += nwritten;
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}
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return n;
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}
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@@ -1,17 +0,0 @@
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#ifndef SOCKET_H
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#define SOCKET_H
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#include <unistd.h> /* for ssize_t data type */
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#include "./video/video.h"
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#define LISTENQ (1024) /* Backlog for listen() */
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/* Function declarations */
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int initSocket(void) ;
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ssize_t Readline(void *vptr, size_t maxlen);
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ssize_t Writeline(struct img_struct *img, size_t maxlen);
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int closeSocket(void);
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#endif /* SOCKET_H */
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@@ -1,30 +0,0 @@
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#ifndef VMSTRTS_H
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#define VMSTRTS_H
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/***
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an exact copy of this file to exist in ppz
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this files keeps the structs that are serialized and streamed over tcp/ip through localhost
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*/
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#define N_BINS 10
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struct gst2ppz_message_struct {
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unsigned int ID; // Keep different modules for using each others data
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unsigned int counter; // counter to keep track of data
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unsigned int obstacle_bins[N_BINS]; // optical flow output, shift in x direction
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unsigned int uncertainty_bins[N_BINS]; //optical flow output, shift in y direction
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};
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extern struct gst2ppz_message_struct gst2ppz;
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struct ppz2gst_message_struct {
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unsigned int ID; // Keep different modules for using each others data
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unsigned int counter; //counter to keep track of data
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int pitch;
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int roll;
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int alt;
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int adjust_factor; // 0-10 :adjust brightness
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};
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extern struct ppz2gst_message_struct ppz2gst;
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#endif /* VMSTRTS_H */
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