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groundmelongroundmelon
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test for server
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‎.gitignore

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server/bin/*
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# Compiled Object files
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*.slo
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*.lo

‎server/Makefile

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CFLAGS=-Iinclude -I../src -O3 -Wall -lboost_system -lpthread -ldcam -std=c++11
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all:
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mkdir -p bin
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g++ src/x3server.cpp ${CFLAGS} -o bin/x3server
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g++ src/x3client.cpp ${CFLAGS} -o bin/x3client
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clean:
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rm bin/*

‎server/include/msgdef.h

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#ifndef __MSGDEF_H
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#define __MSGDEF_H 1
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#include <boost/asio.hpp>
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static const int PORT_NUMBER = 40042;
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static const uint32_t IMAGE_W = 1280;
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static const uint32_t IMAGE_H = 720;
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static const uint32_t IMAGE_CH = 1;
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static const uint32_t HEADER_LEN = 1 * sizeof(uint32_t) + 3 * sizeof(uint32_t) + 2 * sizeof(uint32_t);
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static const uint32_t TOTAL_LEN = HEADER_LEN+IMAGE_W*IMAGE_H*IMAGE_CH;
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class ImageMsgHeader {
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public:
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uint32_t header;
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uint32_t image_w;
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uint32_t image_h;
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uint32_t image_ch;
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uint32_t secs;
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uint32_t usecs;
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void parse(uint8_t * p) {
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header = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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image_w = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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image_h = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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image_ch = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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secs = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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usecs = ntohl(*(uint32_t *)p); p += sizeof(uint32_t);
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}
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void pack(uint8_t * p) {
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*(uint32_t *)p = htonl(header ); p += sizeof(uint32_t);
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*(uint32_t *)p = htonl(image_w ); p += sizeof(uint32_t);
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*(uint32_t *)p = htonl(image_h ); p += sizeof(uint32_t);
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*(uint32_t *)p = htonl(image_ch); p += sizeof(uint32_t);
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*(uint32_t *)p = htonl(secs ); p += sizeof(uint32_t);
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*(uint32_t *)p = htonl(usecs ); p += sizeof(uint32_t);
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}
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};
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#endif

‎server/scripts/x3server.conf

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description "A tcp server for transmit x3-gimbal-camera images"
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author "LIUTianbo"
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start on ((filesystem
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and runlevel [!06]
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and started dbus
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and plymouth-ready)
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or runlevel PREVLEVEL=S)
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stop on runlevel [016]
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exec /usr/local/bin/x3server
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‎server/src/x3client.cpp

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//
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// client.cpp
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// ~~~~~~~~~~
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//
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// Copyright (c) 2003-2008 Christopher M. Kohlhoff (chris at kohlhoff dot com)
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//
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// Distributed under the Boost Software License, Version 1.0. (See accompanying
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// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
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//
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#include <iostream>
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#include <boost/array.hpp>
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#include <boost/asio.hpp>
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#include <boost/format.hpp>
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#include <sysexits.h>
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#include "msgdef.h"
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using boost::asio::ip::udp;
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using boost::asio::ip::tcp;
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using bfmt = boost::format;
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using std::cout;
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using std::endl;
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int main(int argc, char* argv[]) {
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try {
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boost::asio::io_service io_service;
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tcp::endpoint endpoint(boost::asio::ip::address_v4::loopback(), PORT_NUMBER);
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// udp::socket socket(io_service);
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// socket.open(udp::v4());
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tcp::socket socket(io_service);
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boost::system::error_code error = boost::asio::error::host_not_found;
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std::cout << "Wait for acceptance... \n(Blocked here means server busy. Another x3client is running?)" << std::endl;
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socket.connect(endpoint, error);
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if (error) {
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std::cout << "Server offline, exit..." << std::endl;
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return EXIT_FAILURE;
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}
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boost::array<char, TOTAL_LEN> img;
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size_t imgidx = 0;
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size_t tfcnt = 0;
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ImageMsgHeader h;
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for (;;) {
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boost::array<char, TOTAL_LEN> buf;
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boost::system::error_code error;
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size_t len = socket.read_some(boost::asio::buffer(buf), error);
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if (error == boost::asio::error::eof) {
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std::cerr << "Server down" << std::endl;
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return EX_PROTOCOL; // Connection closed cleanly by peer.
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} else if (error)
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throw boost::system::system_error(error); // Some other error.
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// std::cout.write(buf.data(), len);
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// std::cout << "receive " << len << "bytes \t";
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std::copy(buf.begin(), buf.begin() + len, img.begin() + imgidx);
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imgidx += len;
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tfcnt++;
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if (imgidx == TOTAL_LEN) {
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h.parse((uint8_t*)img.c_array());
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struct timeval tm;
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gettimeofday(&tm, NULL);
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std::cout << bfmt("[%X] %dx%dx%d @ %.6f / %4d") % h.header %
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h.image_w % h.image_h % h.image_ch %
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((double)h.secs + 1e-6 * (double)h.usecs) %
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// ((int)(tm.tv_sec-h.secs)*1000000+(int)(tm.tv_usec-h.usecs))
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tfcnt
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<< std::endl;
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imgidx = 0;
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tfcnt = 0;
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} else if (imgidx > TOTAL_LEN) {
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std::cerr << "receive overflow!!!!" << std::endl;
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return EX_IOERR;
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} else {
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// std::cout << std::endl;
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}
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}
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} catch (std::exception& e) {
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std::cout << "Big error" << std::endl;
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std::cerr << e.what() << std::endl;
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}
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return 0;
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}

‎server/src/x3server.cpp

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#include <ctime>
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <boost/array.hpp>
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#include <boost/asio.hpp>
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#include <boost/format.hpp>
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#include <boost/bind.hpp>
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#include <sys/types.h> /* See NOTES */
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#include <sys/socket.h>
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#include <sysexits.h>
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#include "msgdef.h"
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#include "djicam.h"
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const size_t FRAME_SIZE = 1280*720*3;
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using boost::asio::ip::udp;
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using boost::asio::ip::tcp;
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typedef boost::asio::detail::socket_option::integer<SOL_SOCKET, SO_SNDBUF> send_buf_opt_t;
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uint8_t imgbuf[FRAME_SIZE];
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uint8_t sockbuf[TOTAL_LEN];
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bool accepted;
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std::string make_daytime_string() {
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using namespace std; // For time_t, time and ctime;
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time_t now = time(0);
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return ctime(&now);
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}
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std::ofstream * pOS;
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void accept_handle(const boost::system::error_code& error) {
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if (!error)
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accepted = true;
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else
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(*pOS) << "accept handle error=" << error.message() << std::endl;
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}
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void handle_wait(const boost::system::error_code& error,
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boost::asio::io_service& io) {
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if (!error)
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io.stop();
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else
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std::cout << "handle_wait error="<< error.message() << std::endl;
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}
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int main() {
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std::ofstream logstream("/tmp/x3server.log");
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if (!logstream.is_open()) {
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return EX_CANTCREAT;
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}
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pOS = &logstream;
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logstream << "x3server starts at " << make_daytime_string() << std::endl;
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int cam_func_ret;
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size_t cam_nframe = 0;
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bool cam_is_on;
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accepted = false;
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logstream << "X3 initializing..." << std::endl;
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cam_func_ret = manifold_cam_init(GETBUFFER_MODE | TRANSFER_MODE);
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if (cam_func_ret == -1) {
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logstream << "X3 init error" << std::endl;
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return -1;
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}
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else {
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logstream << "X3 inited" << std::endl;
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}
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logstream << "X3 reading first frame..." << std::endl;
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cam_func_ret = manifold_cam_read(imgbuf, &cam_nframe, CAM_BLOCK);
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if (cam_func_ret == -1) {
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logstream << "X3 first frame error" << std::endl;
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return -1;
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}
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else {
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logstream << "X3 first frame read" << std::endl;
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cam_is_on = true;
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}
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try {
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boost::asio::io_service io_service;
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tcp::acceptor acceptor(io_service, tcp::endpoint(boost::asio::ip::address_v4::loopback(), PORT_NUMBER));
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while (cam_is_on) {
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tcp::socket socket(io_service);
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logstream << "start accept..." << std::endl;
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accepted = false;
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while(!accepted && cam_is_on) {
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io_service.reset();
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acceptor.async_accept(socket, accept_handle);
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boost::asio::deadline_timer timer(io_service, boost::posix_time::seconds(3));
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timer.async_wait(boost::bind(handle_wait,
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boost::asio::placeholders::error,
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boost::ref(io_service)));
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io_service.run();
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// usleep(1000000/2);
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cam_func_ret = manifold_cam_read(imgbuf, &cam_nframe, CAM_NON_BLOCK);
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if (cam_func_ret==-1) {
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cam_is_on = false;
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break;
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}
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}
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if (!cam_is_on) {
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break;
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}
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if (accepted) {
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logstream << "accepted from " << socket.remote_endpoint() << " @ " << make_daytime_string() << std::endl;
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}
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// send_buf_opt_t opt1(212992);
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// socket.set_option(opt1);
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int frame_cnt = 0;
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struct timeval tm;
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ImageMsgHeader h;
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h.header = 0xFEDCBA98;
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h.image_w = IMAGE_W;
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h.image_h = IMAGE_H;
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h.image_ch = IMAGE_CH;
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while (cam_is_on) {
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cam_func_ret = manifold_cam_read(imgbuf, &cam_nframe, CAM_NON_BLOCK);
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if (cam_func_ret==-1) {
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cam_is_on = false;
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break;
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}
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else if (cam_func_ret == 0) {
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usleep(1000);
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continue;
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}
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memcpy(sockbuf+HEADER_LEN, imgbuf, FRAME_SIZE / 3);
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try {
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frame_cnt++;
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boost::asio::mutable_buffers_1 message = boost::asio::buffer(sockbuf, TOTAL_LEN);
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gettimeofday(&tm, NULL);
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h.secs = tm.tv_sec;
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h.usecs = tm.tv_usec;
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h.pack((uint8_t *)sockbuf);
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// std::string message = make_daytime_string();
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boost::system::error_code ignored_error;
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int cnt = boost::asio::write(socket, boost::asio::buffer(message),
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boost::asio::transfer_all(), ignored_error);
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// logout every frame for first 1 sec, every sec for first 1 minutes, and every minute
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if (frame_cnt<30 || (frame_cnt<1800 && frame_cnt%30==0) || frame_cnt%1800==0) {
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logstream << boost::format("#%d frame sent %d bytes") % frame_cnt % cnt << std::endl;
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}
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if (!cnt) {
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logstream << "remote closed" << std::endl;
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socket.close();
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break;
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}
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} catch (std::exception& e) {
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logstream << "ERROR in while(1):" << std::endl;
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logstream << e.what() << std::endl;
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break;
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}
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}
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logstream << "exit write loop..." << std::endl;
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}
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logstream << "exit accept loop..." << std::endl;
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} catch (std::exception& e) {
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logstream << "ERROR outside while(1):" << std::endl;
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logstream << e.what() << std::endl;
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}
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logstream << "exit x3..." << std::endl;
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while (!manifold_cam_exit()) {
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logstream << "X3 failed to exit, retrying..." << std::endl;
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sleep(1);
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}
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logstream << "X3 exit" << std::endl;
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return 0;
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}

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