git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4140 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/971CV/src/org/frc971/HTTPClient.java b/971CV/src/org/frc971/HTTPClient.java
index 37d6214..c6f1b9e 100644
--- a/971CV/src/org/frc971/HTTPClient.java
+++ b/971CV/src/org/frc971/HTTPClient.java
@@ -10,17 +10,25 @@
import com.googlecode.javacv.cpp.opencv_core.IplImage;
+import aos.ChannelImageGetter;
+import aos.JPEGDecoder;
+
+import java.nio.channels.SocketChannel;
+import java.nio.ByteBuffer;
+
public class HTTPClient {
//Connects to HTTP Server on robot and receives images
private final static boolean LOCAL_DEBUG = true;
- private Socket sock;
- private BufferedReader sock_in;
- private PrintWriter sock_out;
+ private SocketChannel sock = SocketChannel.open();
+ private Socket core_sock = sock.socket();
private String LastBoundary = "";
+ private BufferedReader sock_in;
+ private PrintWriter sock_out;
+
private void WriteDebug(String message) {
//small helper function to write debug messages
if (LOCAL_DEBUG)
@@ -32,7 +40,7 @@
StringBuilder recvd = new StringBuilder();
String message = "";
try {
- sock.setSoTimeout(5000);
+ core_sock.setSoTimeout(10000);
}
catch (SocketException e) {
System.err.println("Warning: Could not set socket timeout.");
@@ -72,16 +80,16 @@
//Initialize socket connection to robot
try {
WriteDebug("Connecting to server...");
- sock = new Socket("192.168.0.178", 9714);
- sock_in = new BufferedReader(new InputStreamReader(sock.getInputStream()));
- sock_out = new PrintWriter(sock.getOutputStream(), true);
+ sock.connect(new InetSocketAddress("192.168.0.137", 9714));
+ sock_in = new BufferedReader(new InputStreamReader(core_sock.getInputStream()));
+ sock_out = new PrintWriter(core_sock.getOutputStream(), true);
//Write headers
//HTTPStreamer does not actually use the headers, so we can just write terminating chars.
WriteDebug("Writing headers...");
sock_out.println("\r\n\r\n");
//Receive headers
WriteDebug("Reading headers...");
- ReadtoBoundary("cross\r\n");
+ ReadtoBoundary("donotcross\r\n");
WriteDebug("Now receiving data.");
}
catch (UnknownHostException e) {
@@ -95,7 +103,7 @@
}
public ImageWithTimestamp GetFrame() {
- //read all current data from socket, in case of processing bottleneck
+ /*//read all current data from socket, in case of processing bottleneck
WriteDebug("Emptying TCP stack...");
String message = ReadtoBoundary(null);
//we must end with a boundary
@@ -142,5 +150,24 @@
System.err.println(e.getMessage());
return null;
}
+ */
+ //Use Brian's code to extract an image and timestamp from raw server data.
+ ImageWithTimestamp final_image = new ImageWithTimestamp();
+ try {
+ ChannelImageGetter cgetter = new ChannelImageGetter(sock);
+ ByteBuffer binary_image = cgetter.getJPEG();
+ JPEGDecoder decoder = new JPEGDecoder();
+ boolean sorf = decoder.decode(binary_image, final_image.image);
+ if (!sorf) {
+ WriteDebug("Error: JPEG decode failed.");
+ return null;
+ }
+ final_image.timestamp = cgetter.getTimestamp();
+ return final_image;
+ }
+ catch (IOException e) {
+ WriteDebug("Error: Failed to initialize ChannelImageGetter.");
+ return null;
+ }
}
}
diff --git a/971CV/src/org/frc971/ImageWithTimestamp.java b/971CV/src/org/frc971/ImageWithTimestamp.java
index 21d17e0..633517d 100644
--- a/971CV/src/org/frc971/ImageWithTimestamp.java
+++ b/971CV/src/org/frc971/ImageWithTimestamp.java
@@ -4,5 +4,5 @@
public class ImageWithTimestamp {
IplImage image;
- float timestamp;
+ double timestamp;
}
diff --git a/971CV/src/org/frc971/private_aos_camera_jar.jar b/971CV/src/org/frc971/private_aos_camera_jar.jar
new file mode 100644
index 0000000..e675c2e
--- /dev/null
+++ b/971CV/src/org/frc971/private_aos_camera_jar.jar
Binary files differ