getVideoExample.cpp

This simple example requests video images from the server and saves them repeatedly to a file named "client.jpg". Connect to SAVserver, ACTS, or a custom video server.

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "Aria.h"
#include "ArNetworking.h"

ArClientBase client;

void jpegHandler(ArNetPacket *packet)
{
  unsigned int width;
  unsigned int height;
  unsigned char jpeg[50000];
  int jpegSize;
  FILE *file;

  width = packet->bufToUByte2();
  height = packet->bufToUByte2();
  printf("Got jpeg of %d x %d\n", width, height);
  jpegSize = packet->getDataLength() - packet->getDataReadLength();
  printf("Jpeg %d long\n", jpegSize);
  packet->bufToData((char *)jpeg, jpegSize);
  if ((file = fopen("client.jpg", "wb+")) != NULL)
  {
    fwrite(jpeg, jpegSize, 1, file);
    fclose(file);
  }
  else
    printf("Could not write file\n");
  
  //client.disconnect();
  //client.stopRunning();
}

int main(int argc, char **argv)
{
  Aria::init();
  ArGlobalFunctor1<ArNetPacket *> jpegHandlerCB(&jpegHandler);
  ArNetPacket packet;
  
  std::string hostname;
  int port;

  printf("Usage: %s [hostname>] [port]\n", argv[0]);
  
  if (argc >= 2)
    hostname = argv[1];
  else
    hostname = "localhost";
  
  if (argc >= 3)
    port = atoi(argv[2]);
  else
    port = 7070;

  if (!client.blockingConnect(hostname.c_str(), port))
  {
    printf("Could not connect to server, exiting\n");
    exit(1);
  }    

  client.addHandler("getPictureCam1", &jpegHandlerCB);

  client.request("getPictureCam1", -2); // stop request

  packet.uByteToBuf(90);
  client.requestOnce("getPictureCam1", &packet); // request one frame with an argument of 90

  client.request("getPictureCam1", -1); // request a continuous stream

  client.run();
  Aria::shutdown();
  return 0;
}

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