lots of vision stuff from Ben
diff --git a/vision/BinaryServer.cpp b/vision/BinaryServer.cpp
new file mode 100644
index 0000000..094b719
--- /dev/null
+++ b/vision/BinaryServer.cpp
@@ -0,0 +1,130 @@
+#include "vision/BinaryServer.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <errno.h>
+#include <string.h>
+#include <vector>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+#include "aos/externals/libjpeg/include/jpeglib.h"
+
+#include "aos/atom_code/camera/Buffers.h"
+#include "aos/common/time.h"
+#include "opencv2/opencv.hpp"
+
+
+
+
+namespace frc971 {
+namespace vision {
+
+
+
+static void echo_read_cb(struct bufferevent *bev, void * /*ctx*/){
+ struct evbuffer *input = bufferevent_get_input(bev);
+ struct evbuffer *output = bufferevent_get_output(bev);
+
+ size_t len = evbuffer_get_length(input);
+ char *data;
+ data = (char *)malloc(len);
+ evbuffer_copyout(input, data, len);
+
+ printf("we got some data: %s\n", data);
+
+ evbuffer_add_buffer(output, input);
+}
+
+void BinaryServer::ErrorEvent(struct bufferevent *bev, short events){
+ if (events & BEV_EVENT_ERROR)
+ perror("Error from bufferevent");
+ if (events & (BEV_EVENT_EOF | BEV_EVENT_ERROR)) {
+ have_id = false;
+ bufferevent_free(bev);
+ }
+}
+
+void BinaryServer::Accept(struct evconnlistener *listener,
+ evutil_socket_t fd, struct sockaddr * /*address*/, int /*socklen*/){
+ struct event_base *base = evconnlistener_get_base(listener);
+ if(!have_id){
+ struct bufferevent *bev = bufferevent_socket_new(base, fd, BEV_OPT_CLOSE_ON_FREE);
+ _output = bufferevent_get_output(bev);
+ _bufev = bev;
+ have_id = true;
+ int no_delay_flag = 1;
+ setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &no_delay_flag, sizeof(no_delay_flag));
+
+ bufferevent_setcb(bev, echo_read_cb, NULL, StaticErrorEvent, this);
+
+ bufferevent_enable(bev, EV_READ | EV_WRITE);
+ }
+}
+static void accept_error_cb(struct evconnlistener *listener, void * /*ctx*/)
+{
+ struct event_base *base = evconnlistener_get_base(listener);
+ int err = EVUTIL_SOCKET_ERROR();
+ fprintf(stderr, "Got an error %d (%s) on the listener. "
+ "Shutting down.\n", err, evutil_socket_error_to_string(err));
+
+ event_base_loopexit(base, NULL);
+}
+
+void BinaryServer::StartServer(uint16_t port){
+ _fd = socket(AF_INET, SOCK_STREAM, 0);
+ struct sockaddr_in sin;
+ memset(&sin, 0, sizeof(sin));
+ sin.sin_family = AF_INET;
+ sin.sin_port = htons( port );
+ sin.sin_addr.s_addr = inet_addr("0.0.0.0");
+
+ listener = evconnlistener_new_bind(_base, StaticAccept, this,
+ LEV_OPT_CLOSE_ON_FREE | LEV_OPT_REUSEABLE, -1,
+ (struct sockaddr *) (void *)&sin, sizeof(sin));
+
+ if (!listener) {
+ fprintf(stderr,"%s:%d: Couldn't create listener\n", __FILE__, __LINE__);
+ exit(-1);
+ }
+
+ evconnlistener_set_error_cb(listener, accept_error_cb);
+}
+
+void BinaryServer::Notify(int fd,short /*what*/){
+ char notes[4096];
+ int count = read(fd,notes,4096);
+ if(count == 0){
+ close(fd);
+ fprintf(stderr,"%s:%d: Error No cheeze from OpenCV task!!!\n",__FILE__,__LINE__);
+ exit(-1);
+ }
+ printf("notified!: %d\n",count);
+ if(have_id){
+ printf("got someone to read my stuff!\n");
+ char *binary_data;
+ size_t len;
+ if(_notify->GetData(&binary_data,&len)){
+ printf("here is for sending\n");
+ evbuffer_add_reference(_output, binary_data, len, PacketNotifier::StaticDataSent,_notify);
+ printf("this is how sending went %d\n",bufferevent_flush(_bufev,EV_WRITE, BEV_FLUSH));
+ }
+ }
+}
+
+//Constructor
+BinaryServer::BinaryServer(uint16_t port,
+ frc971::vision::PacketNotifier *notify) :
+ _base(event_base_new()) {
+ have_id = false;
+ StartServer(port);
+ _notify = notify;
+ frame_notify = event_new(_base, notify->RecieverFD(),
+ EV_READ|EV_PERSIST, StaticNotify, this);
+ event_add(frame_notify,NULL);
+ event_base_dispatch(_base);
+ }
+
+} // namespace vision
+} // namespace frc971