[opticflow] cleanup

sw/airborne/modules/computer_vision/cv/opticflow/optic_flow_ardrone.c

@@ -34,8 +34,8 @@
 #include <stdio.h>
 #include <math.h>
 #include <string.h>
-#include "optic_flow_gdc.h"
+#include "optic_flow_ardrone.h"
-#include "../../modules/OpticFlow/opticflow_module.h"
+#include "../opticflow_module.h"
 
 #define int_index(x,y) (y * IMG_WIDTH + x)
 #define uint_index(xx, yy) (((yy * IMG_WIDTH + xx) * 2) & 0xFFFFFFFC)

sw/airborne/modules/computer_vision/lib/tcp/socket.c

@@ -1,139 +0,0 @@
-#include "socket.h"
-#include <sys/socket.h>       /*  socket definitions        */
-#include <sys/types.h>        /*  socket types              */
-#include <arpa/inet.h>        /*  inet (3) funtions         */
-#include <unistd.h>           /*  misc. UNIX functions      */
-#include <errno.h>
-#include <string.h>     /* memset */
-
-#include <stdlib.h>
-#include <stdio.h>
-
-
-
-
-/*  Global constants  */
-
-#define ECHO_PORT          (2002)
-#define MAX_LINE           (1000)
-
-/*  Global variables  */
-int       list_s;                /*  listening socket          */
-int       conn_s;                /*  connection socket         */
-struct    sockaddr_in servaddr;  /*  socket address structure  */
-char      buffer[MAX_LINE];      /*  character buffer          */
-char     *endptr;                /*  for strtol()              */
-
-int closeSocket(void)
-{
-  return close(conn_s);
-}
-
-int initSocket(void)
-{
-
-  /*  Create the listening socket  */
-
-  if ((list_s = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
-    fprintf(stderr, "ECHOSERV: Error creating listening socket.\n");
-    return -1;
-  }
-
-
-  /*  Set all bytes in socket address structure to
-        zero, and fill in the relevant data members   */
-
-  memset(&servaddr, 0, sizeof(servaddr));
-  servaddr.sin_family      = AF_INET;
-  servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
-  servaddr.sin_port        = htons(ECHO_PORT);
-
-  /*  Bind our socket addresss to the
-  listening socket, and call listen()  */
-
-  if (bind(list_s, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0) {
-    fprintf(stderr, "ECHOSERV: Error calling bind()\n");
-    exit(EXIT_FAILURE);
-  }
-
-  if (listen(list_s, LISTENQ) < 0) {
-    fprintf(stderr, "ECHOSERV: Error calling listen()\n");
-    exit(EXIT_FAILURE);
-  }
-
-
-
-  /*  Wait for a connection, then accept() it  */
-  if ((conn_s = accept(list_s, NULL, NULL)) < 0) {
-    fprintf(stderr, "ECHOSERV: Error calling function accept()\n");
-    return -1;
-  }
-  printf("Connected!\n");
-  return 1;
-}
-
-/*  Read a line from a socket  */
-
-ssize_t Readline_socket(void *vptr, size_t maxlen)
-{
-  ssize_t n, rc;
-  char    c, *buffer;
-
-  buffer = vptr;
-
-  for (n = 1; n < maxlen; n++) {
-
-    if ((rc = read(conn_s, &c, 1)) == 1) {
-      *buffer++ = c;
-      if (c == '\n') {
-        break;
-      }
-    } else if (rc == 0) {
-      if (n == 1) {
-        return 0;
-      } else {
-        break;
-      }
-    } else {
-      if (errno == EINTR) {
-        continue;
-      }
-      return -1;
-    }
-  }
-
-  *buffer = 0;
-  return n;
-}
-
-
-/*  Write a line to a socket  */
-
-ssize_t Writeline_socket(struct img_struct *img, size_t n)
-{
-  size_t      nleft;
-  ssize_t     nwritten;
-  unsigned char *buf1 = img->buf;
-  nleft  = n;
-
-  //printf("socket buf1 %d, %d, %d, %d, %d, %d\n",buf1[0],buf1[1],buf1[2],buf1[3],buf1[4],buf1[5]);
-
-  while (nleft > 0) {
-    if ((nwritten = write(conn_s, buf1, nleft)) <= 0) {
-      if (errno == EINTR) {
-        nwritten = 0;
-      } else {
-        return -1;
-      }
-    }
-    nleft  -= nwritten;
-    buf1 += nwritten;
-  }
-
-  return n;
-
-}
-
-
-
-

sw/airborne/modules/computer_vision/lib/tcp/socket.h

@@ -1,17 +0,0 @@
-#ifndef SOCKET_H
-#define SOCKET_H
-
-#include <unistd.h>             /*  for ssize_t data type  */
-#include "./video/video.h"
-
-#define LISTENQ        (1024)   /*  Backlog for listen()   */
-
-
-/*  Function declarations  */
-int initSocket(void) ;
-ssize_t Readline(void *vptr, size_t maxlen);
-ssize_t Writeline(struct img_struct *img, size_t maxlen);
-int closeSocket(void);
-
-#endif  /*  SOCKET_H  */
-

sw/airborne/modules/computer_vision/opticflow/video_message_structs.h

@@ -1,30 +0,0 @@
-#ifndef VMSTRTS_H
-#define VMSTRTS_H
-
-/***
-      an exact copy of this file to exist in ppz
-      this files keeps the structs that are serialized and streamed over tcp/ip through localhost
- */
-
-#define N_BINS  10
-
-struct gst2ppz_message_struct {
-  unsigned int ID;                // Keep different modules for using each others data
-  unsigned int counter;           // counter to keep track of data
-  unsigned int obstacle_bins[N_BINS];     // optical flow output, shift in x direction
-  unsigned int uncertainty_bins[N_BINS];    //optical flow output, shift in y direction
-};
-extern struct gst2ppz_message_struct gst2ppz;
-
-struct ppz2gst_message_struct {
-  unsigned int ID;                // Keep different modules for using each others data
-  unsigned int counter;           //counter to keep track of data
-  int pitch;
-  int roll;
-  int alt;
-  int adjust_factor;              // 0-10 :adjust brightness
-};
-extern struct ppz2gst_message_struct ppz2gst;
-
-#endif  /*  VMSTRTS_H  */
-