gestion des flux binaires

software/monitor/monitor/Client.cs

@@ -11,6 +11,7 @@ namespace monitor
         private static NetworkStream myStream = null;
         private const int BufferMaxSize = 512;
         private static byte[] buffer = new byte[BufferMaxSize];
+
         private static StringBuilder sb = new StringBuilder();
         private static int newLength = 1;
 
@@ -51,10 +52,12 @@ namespace monitor
 
         private const int BufferMaxSize = 512;
         private static byte[] buffer = new byte[BufferMaxSize];
+        private static byte[] receiveBuffer;
+        private static int initialReceiveBufferIndex = 0;
         private static StringBuilder message = new StringBuilder();
         private static int newLength = 1;
 
-        public delegate void ReadEvent(string msg);
+        public delegate void ReadEvent(string msg, byte[] buffer);
         public static ReadEvent readEvent = null;
 
         public Client()
@@ -124,6 +127,11 @@ namespace monitor
                 if (bytesRead > 0)
                 {
                     message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
+                    if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
+                    else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead);
+
+                    System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead);
+                    initialReceiveBufferIndex = receiveBuffer.Length;
                 }
 
                 if (client.Available > 0)
@@ -134,9 +142,11 @@ namespace monitor
                 }
                 else
                 {
-                    readEvent?.Invoke(message.ToString());
+                    readEvent?.Invoke(message.ToString(), receiveBuffer);
 
                     message.Clear();
+                    receiveBuffer = null;
+                    initialReceiveBufferIndex = 0;
                 }
 
                 stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);

software/monitor/monitor/CommandManager.cs

@@ -4,7 +4,7 @@ namespace monitor
 {
     public class CommandManager
     {
-        public delegate void CommandReceivedEvent(string msg);
+        public delegate void CommandReceivedEvent(string msg, byte[] buffer);
         public CommandReceivedEvent commandReceivedEvent = null;
 
         private System.Timers.Timer waitTimer = new System.Timers.Timer();
@@ -50,7 +50,7 @@ namespace monitor
             Client.Close();
         }
 
-        private void OnMessageReception(string message)
+        private void OnMessageReception(string message, byte[] buffer)
         {
             waitTimer.Stop();
             this.messageReceived = message;
@@ -62,14 +62,14 @@ namespace monitor
             }
             else {
                 waitForAcknowledge = false;
-                this.commandReceivedEvent?.Invoke(message);
+                this.commandReceivedEvent?.Invoke(message, buffer);
             }
         }
 
         private void OnMessageTimeout(object sender, System.Timers.ElapsedEventArgs e)
         {
             messageReceived = null;
-            OnMessageReception(messageReceived);
+            OnMessageReception(messageReceived, null);
         }
 
         public CommandManagerStatus SendCommand(string cmd, out string answer, double timeout)

software/monitor/monitor/DestijlCommandManager.cs

@@ -50,7 +50,7 @@ namespace monitor
         private string receivedHeader = null;
         private string receivedData = null;
 
-        public delegate void CommandReceivedEvent(string header, string data);
+        public delegate void CommandReceivedEvent(string header, string data, byte[] buffer);
         public CommandReceivedEvent commandReceivedEvent = null;
 
         public double timeout = 100; // timeout pour les commandes avec acquitement
@@ -76,7 +76,7 @@ namespace monitor
             if (commandManager != null) commandManager.Close();
         }
 
-        private void OnCommandReceived(string msg)
+        private void OnCommandReceived(string msg, byte[] buffer)
         {
             string[] msgs = msg.Split(':');
 
@@ -86,7 +86,7 @@ namespace monitor
             if (msgs.Length >= 2) receivedData = msgs[1];
             else receivedData = null;
 
-            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
+            this.commandReceivedEvent?.Invoke(receivedHeader, receivedData, buffer);
         }
 
         public bool Open(string hostname)

software/monitor/monitor/MonitorUI.cs

@@ -129,7 +129,7 @@ public partial class MainWindow : Gtk.Window
         a.RetVal = true;
     }
 
-    public void OnCommandReceivedEvent(string header, string data)
+    public void OnCommandReceivedEvent(string header, string data, byte[] buffer)
     {
         if (header != null) Console.WriteLine("Received header (" + header.Length + "): " + header);
         if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
@@ -152,6 +152,13 @@ public partial class MainWindow : Gtk.Window
                     break;
             }
         }
+        else if (header.ToUpper() == DestijlCommandList.HeaderStmImage)
+        {
+            Console.WriteLine("Image received");
+            byte[] image = new byte[buffer.Length-4];
+            System.Buffer.BlockCopy(buffer, 4, image, 0, image.Length);
+            drawingareaCameraPixbuf = new Pixbuf(image.Length, image, true);
+        }
     }
 
     protected void OnQuitActionActivated(object sender, EventArgs e)
@@ -382,9 +389,9 @@ public partial class MainWindow : Gtk.Window
         {
             if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
             {
-                MessagePopup(MessageType.Error,
+                //MessagePopup(MessageType.Error,
-                             ButtonsType.Ok, "Error",
+                //             ButtonsType.Ok, "Error",
-                             "Error when closing camera: bad answer for supervisor or timeout");
+                //             "Error when closing camera: bad answer for supervisor or timeout");
             }
         }
         else

software/raspberry/superviseur-robot/lib/src/image.cpp

@@ -44,7 +44,7 @@ int open_camera(Camera  *camera)
     // open the default camera, use something different from 0 otherwise;
     // Check VideoCapture documentation.
     printf("Opening Camera...\n");
-    if(!cap.open(0))
+    if(!cap.open(1))
         return -1;
     
     sleep(1);

software/raspberry/superviseur-robot/lib/src/server.cpp

@@ -52,6 +52,8 @@ int closeServer() {
     close(socketFD);
 
     socketFD = -1;
+    
+    return 0;
 }
 
 int acceptClient() {

software/raspberry/testeur/testeur/main.cpp

@@ -114,6 +114,20 @@ int sendAnswer(string cmd, string data) {
     return status;
 }
 
+int sendBinaryData(string cmd, unsigned char* data) {
+    int status = 0;
+    string msg;
+
+//TODO: Faire une version binaire de sendDataToServer
+    //TODO: Gerer la concatenation du header et des données binaires
+    msg = cmd + ':' + data;
+    cout << "Answer: " + msg;
+    cout << "\n";
+    sendDataToServer((char*) msg.c_str(), msg.length());
+
+    return status;
+}
+
 int decodeMessage(MessageFromMon *mes, int dataLength) {
     int status = 0;
     string header(mes->header, 4);
@@ -169,12 +183,12 @@ int main(int argc, char** argv) {
     namedWindow("Sortie Camera");
 
     // Ouverture de la com robot
-    if (open_communication_robot("/dev/ttyUSB0") != 0) {
+    /*if (open_communication_robot("/dev/ttyUSB0") != 0) {
         cerr << "Unable to open /dev/ttyUSB0: abort\n";
         return -1;
     }
     cout << "/dev/ttyUSB0 opened\n";
-
+*/
     // Ouverture de la camera
     if (open_camera(0) == -1) {
         cerr << "Unable to open camera: abort\n";

software/raspberry/testeur/testeur/nbproject/Makefile-Debug.mk

@@ -69,27 +69,27 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/testeur: ${OBJECTFILES}
 ${OBJECTDIR}/_ext/e4d40e25/image.o: ../../superviseur-robot/lib/src/image.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
+	$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/image.o ../../superviseur-robot/lib/src/image.cpp
 
 ${OBJECTDIR}/_ext/e4d40e25/message.o: ../../superviseur-robot/lib/src/message.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
+	$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/message.o ../../superviseur-robot/lib/src/message.cpp
 
 ${OBJECTDIR}/_ext/e4d40e25/robot.o: ../../superviseur-robot/lib/src/robot.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
+	$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/robot.o ../../superviseur-robot/lib/src/robot.cpp
 
 ${OBJECTDIR}/_ext/e4d40e25/server.o: ../../superviseur-robot/lib/src/server.cpp
 	${MKDIR} -p ${OBJECTDIR}/_ext/e4d40e25
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
+	$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/e4d40e25/server.o ../../superviseur-robot/lib/src/server.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D__FOR_PC__ -DD_REENTRANT -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -DD_REENTRANT -D__FOR_PC__ -I../../superviseur-robot/lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 # Subprojects
 .build-subprojects:

software/raspberry/testeur/testeur/nbproject/private/private.xml

@@ -4,4 +4,12 @@
         <activeConfTypeElem>1</activeConfTypeElem>
         <activeConfIndexElem>0</activeConfIndexElem>
     </data>
+    <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
+    <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
+        <group>
+            <file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/dumber/software/raspberry/testeur/testeur/main.cpp</file>
+        </group>
+    </open-files>
 </project-private>