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darknet_2_5_python/src/radar_driver.c

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#include "radar_driver.h"
#include "dbscan.c" // Ken 2022-10-24
#include "radar_parser.h"
#include "cryptionPlus.h"
char g_stream_state_response[256] = {0};
radarconvert union_radar_convert;
RadarServiceInfo radar_service_data;
RadarDataInfo radar_data_array[MAX_SIZE_RADAR_DATA] = {0};
RadarDataInfo world_radar_data_array[MAX_SIZE_RADAR_DATA] = {0}; // leo 09-29
int g_current_radar_data_index = 0;
int g_check_if_radar_start = 0;
int g_check_if_is_correct_ttype = 0;
int g_switch_radar_data_json = 0;
char g_radar_data_json[BUFSIZE_V3] = {0};
#ifdef RADAR_LOG
int start_radar_log_header = 1; // 10-19 leo
int radar_log = 0; // 10-19 leo
char radar_csv_name[128];
#endif // DEBUG
// 10-24 Ken DBSCAN param
int radar_dbscan = 0;
int radar_type_1_points_num = 0;
double epsilon = 2;
unsigned int minpts = 1;
point_t *points = NULL;
int g_old_magic_num;
void run_general_ttype(char *buffer_stream, int buffer_size)
{
printf(">>>>>>>>>>>>>>>>>>>>>>>> run_general_ttype_P :%d, %d\n", buffer_size, (READ_OBJ_AND_VUNIT_P * INT_BYTE_SIZE_P));
printf(">>>>>>>>>>>>>>>>>>>>>>>> type = %ld \n", radar_data_array[g_current_radar_data_index].ttype);
printf(">>>>>>>>>>>>>>>>>>>>>>>> [%d] TLVLen = %ld - %ld\n", g_current_radar_data_index, radar_data_array[g_current_radar_data_index].TLVLength, radar_service_data.totalPacketLen);
if (buffer_size >= READ_OBJ_AND_VUNIT * INT_BYTE_SIZE &&
radar_data_array[g_current_radar_data_index].ttype >= 1 &&
radar_data_array[g_current_radar_data_index].ttype <= 3 &&
// radar_data_array[g_current_radar_data_index].ttype <= 4 &&
radar_data_array[g_current_radar_data_index].TLVLength < radar_service_data.totalPacketLen &&
radar_data_array[g_current_radar_data_index].TLVLength >= 1)
{
int objs = 0;
float vUnit = 0.0;
for (int i = 0; i < READ_OBJ_AND_VUNIT; i++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + i * 2, 2);
if (i == 0)
objs = (int)union_radar_convert.int16;
else if (i == 1)
vUnit = 1.0 / (float)pow(2.0, (double)(int)union_radar_convert.int16);
}
printf("\n--objs:%d,vunit:%f\n", objs, vUnit);
//printf("-------------------------------------------------------- radar objs: %d \n", objs);
radar_type_1_points_num = 0; // 10-24 Ken
// printf("radar_type_1_points_num : %d\n", radar_type_1_points_num);
if (objs >= 1 && vUnit > 0.0)
{
int ori_g_current_radar_data_index = g_current_radar_data_index;
if (radar_data_array[g_current_radar_data_index].ttype == 1)
{
if (buffer_size == (READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + objs * TTYPE_1_OBJ_FORMAT_SIZE * INT_BYTE_SIZE))
{
for (int i = 0; i < objs; i++)
{
if (g_current_radar_data_index != ori_g_current_radar_data_index)
{
radar_data_array[g_current_radar_data_index].ttype = radar_data_array[ori_g_current_radar_data_index].ttype;
radar_data_array[g_current_radar_data_index].TLVLength = radar_data_array[ori_g_current_radar_data_index].TLVLength;
}
float doppler = 0.0, PeakValue = 0.0, X = 0.0, Y = 0.0, Z = 0.0; // for V1
// float ccX = 0.0, ccY = 0.0, csX = 0.0, csY = 0.0; //for V2
// float tX = 0.0, tY = 0.0, velX = 0.0, velY = 0.0; //for V3
for (int j = 0; j < TTYPE_1_OBJ_FORMAT_SIZE; j++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + i * TTYPE_1_OBJ_FORMAT_SIZE + j * 2, 2);
if (j == 0)
doppler = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 1)
PeakValue = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 2)
X = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 3)
Y = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 4)
Z = vUnit * (float)(int)union_radar_convert.int16;
}
// printf("\n---value:%f,%f,%f,%f,%f\n", doppler, PeakValue, X, Y, Z);
radar_data_array[g_current_radar_data_index].doppler = doppler;
radar_data_array[g_current_radar_data_index].PeakValue = PeakValue;
radar_data_array[g_current_radar_data_index].X = X;
radar_data_array[g_current_radar_data_index].Y = Y;
radar_data_array[g_current_radar_data_index].Z = Z;
g_current_radar_data_index++;
radar_type_1_points_num++;
// printf("--- radar_type_1_points_num : %d\n", radar_type_1_points_num);
}
}
}
else if (radar_data_array[g_current_radar_data_index].ttype == 2)
{
if (buffer_size == (READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + objs * TTYPE_2_OBJ_FORMAT_SIZE * INT_BYTE_SIZE))
{
for (int i = 0; i < objs; i++)
{
if (g_current_radar_data_index != ori_g_current_radar_data_index)
{
radar_data_array[g_current_radar_data_index].ttype = radar_data_array[ori_g_current_radar_data_index].ttype;
radar_data_array[g_current_radar_data_index].TLVLength = radar_data_array[ori_g_current_radar_data_index].TLVLength;
}
// float doppler = 0.0, PeakValue = 0.0, X = 0.0, Y = 0.0, Z = 0.0; //for V1
float ccX = 0.0, ccY = 0.0, csX = 0.0, csY = 0.0; // for V2
// float tX = 0.0, tY = 0.0, velX = 0.0, velY = 0.0; //for V3
for (int j = 0; j < TTYPE_2_OBJ_FORMAT_SIZE; j++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + i * TTYPE_2_OBJ_FORMAT_SIZE + j * 2, 2);
if (j == 0)
ccX = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 1)
ccY = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 2)
csX = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 3)
csY = vUnit * (float)(int)union_radar_convert.int16;
}
// printf("\n---value:%f,%f,%f,%f\n", ccX, ccY, csX, csY);
radar_data_array[g_current_radar_data_index].ccX = ccX;
radar_data_array[g_current_radar_data_index].ccY = ccY;
radar_data_array[g_current_radar_data_index].csX = csX;
radar_data_array[g_current_radar_data_index].csY = csY;
g_current_radar_data_index++;
}
}
}
else if (radar_data_array[g_current_radar_data_index].ttype == 3)
{
if (buffer_size == (READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + objs * TTYPE_3_OBJ_FORMAT_SIZE * INT_BYTE_SIZE))
{
for (int i = 0; i < objs; i++)
{
if (g_current_radar_data_index != ori_g_current_radar_data_index)
{
radar_data_array[g_current_radar_data_index].ttype = radar_data_array[ori_g_current_radar_data_index].ttype;
radar_data_array[g_current_radar_data_index].TLVLength = radar_data_array[ori_g_current_radar_data_index].TLVLength;
}
// float doppler = 0.0, PeakValue = 0.0, X = 0.0, Y = 0.0, Z = 0.0; //for V1
/*/float ccX = 0.0, ccY = 0.0,*/ float csX = 0.0, csY = 0.0; // for V2
float tX = 0.0, tY = 0.0, velX = 0.0, velY = 0.0; // for V3
for (int j = 0; j < TTYPE_3_OBJ_FORMAT_SIZE; j++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + i * TTYPE_3_OBJ_FORMAT_SIZE + j * 2, 2);
if (j == 0)
tX = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 1)
tY = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 2)
velX = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 3)
velY = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 4)
csX = vUnit * (float)(int)union_radar_convert.int16;
else if (j == 5)
csY = vUnit * (float)(int)union_radar_convert.int16;
}
// printf("\n---value:%f,%f,%f,%f,%f,%f\n", tX, tY, velX, velY, csX,csY);
radar_data_array[g_current_radar_data_index].tX = tX;
radar_data_array[g_current_radar_data_index].tY = tY;
radar_data_array[g_current_radar_data_index].velX = velX;
radar_data_array[g_current_radar_data_index].velY = velY;
radar_data_array[g_current_radar_data_index].csX = csX;
radar_data_array[g_current_radar_data_index].csY = csY;
if (tX != 0 && tY != 0)
radar_data_array[g_current_radar_data_index].Speed = ((tX * velX + tY * velY) / sqrt((tX * tX + tY * tY))) * 3.6;
g_current_radar_data_index++;
}
}
}
#if 0
else if (radar_data_array[g_current_radar_data_index].ttype == 4) {
if (buffer_size == (READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + objs * TTYPE_4_OBJ_FORMAT_SIZE * INT_BYTE_SIZE)) {
for (int i = 0; i < objs; i++)
{
if (g_current_radar_data_index != ori_g_current_radar_data_index) {
radar_data_array[g_current_radar_data_index].ttype = radar_data_array[ori_g_current_radar_data_index].ttype;
radar_data_array[g_current_radar_data_index].TLVLength = radar_data_array[ori_g_current_radar_data_index].TLVLength;
}
for (int j = 0; j < TTYPE_4_OBJ_FORMAT_SIZE; j++) {
memcpy(union_radar_convert.hexarray, (unsigned char*)buffer_stream + READ_OBJ_AND_VUNIT * INT_BYTE_SIZE + i * TTYPE_4_OBJ_FORMAT_SIZE + j * 2, 2);
//printf("\n----ast[%d] = %d\n", i, union_radar_convert.int16);
}
g_current_radar_data_index++;
}
}
}
#endif
#if 1 // leo 09-29
if (g_current_radar_data_index >= 1)
{
// Ken 10-24 DBSCAN
if (radar_data_array[g_current_radar_data_index-1].ttype == 1 && radar_dbscan == 0)
{
// printf("run_general_ttype - g_current_radar_data_index>=1, if type ==1, if (radar_dbscan == 0)\n");
points = (point_t *)calloc(radar_type_1_points_num, sizeof(point_t));
for (int j = 0; j < g_current_radar_data_index; j++)
{
points[j].x = radar_data_array[j].X;
points[j].y = radar_data_array[j].Y;
points[j].z = radar_data_array[j].Z;
points[j].cluster_id = UNCLASSIFIED;
points[j].nop = 1;
}
// printf("=== DBSCAN Settings ===\n");
// printf("Epsilon: %lf\n", epsilon);
// printf("Minimum points: %u\n", minpts);
dbscan(points, radar_type_1_points_num, epsilon, minpts, euclidean_dist);
// printf("=== update nop START ===\n");
// TODO update nop ( number of cluster points )
int max_cluster_id = 0;
for (int j = 0; j < g_current_radar_data_index; j++)
{
if (points[j].cluster_id > max_cluster_id)
{
max_cluster_id = points[j].cluster_id;
}
}
for (int cluster_id_index = 0; cluster_id_index <= max_cluster_id; cluster_id_index++)
{
int counter = 0;
for (int j = 0; j < g_current_radar_data_index; j++)
{
if (points[j].cluster_id == cluster_id_index)
{
++counter;
}
}
for (int j = 0; j < g_current_radar_data_index; j++)
{
if (points[j].cluster_id == cluster_id_index)
{
points[j].nop = counter;
}
// printf("points[%d].cluster_id : %d, .nop : %d\n", j, points[j].cluster_id, points[j].nop);
}
}
// printf("=== update nop END ===\n");
radar_dbscan = 1;
}
for (int i = 0; i < g_current_radar_data_index; i++)
{
radar_axis_covert_world(&radar_data_array[i], &world_radar_data_array[i]);
// printf("Type %ld origin(x,y): (%f,%f) transfer(x,y): (%f,%f) \n", temp_current_radar_list[i].ttype, temp_current_radar_list[i].X, temp_current_radar_list[i].Y, g_current_radar_list[i].X, g_current_radar_list[i].Y);
}
}
#endif
}
}
}
int Is_radar_data_empty(char *buffer_stream, int buffer_size)
{
char temp_char = buffer_stream[0];
int ret = 0;
for (int i = 1; i < buffer_size; i++)
{
if (buffer_stream[i] != temp_char)
break;
else if (i == buffer_size - 1)
{
ret = 1;
}
}
return ret;
}
int Is_correct_ttype(char *buffer_stream, int buffer_size)
{
int ret = 0;
if (buffer_size == MAX_SIZE_LILIN_TTYPE * 4) // if buffer_size = 8 byte
{
long temp_ttype = 0;
long temp_TLVLength = 0;
for (int i = 0; i < MAX_SIZE_LILIN_TTYPE; i++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + i * 4, 4);
if (i == 0)
temp_ttype = (long)union_radar_convert.int32;
else if (i == 1)
temp_TLVLength = (long)union_radar_convert.int32;
}
if (temp_ttype >= 1 && temp_ttype <= 4 && temp_TLVLength < radar_service_data.totalPacketLen && temp_TLVLength >= 1)
{
radar_data_array[g_current_radar_data_index].ttype = temp_ttype;
radar_data_array[g_current_radar_data_index].TLVLength = temp_TLVLength;
ret = 1;
}
}
return ret;
}
// 2022-10-26 Ken
int rule_based_classifier(point_t *p, int p_ind, float doppler, int class_id)
{
// GYNet_Radar_Tiny_Label:
// 0 : person
// 1 : bicycle
// 2 : car
// 3 : motorbike
// 4 : _s
// 5 : bus
// 6 : _s
// 7 : truck
float speed = -doppler*3600.0/1000.0;
float distance = euclidean_dist_to_op(&p[p_ind]);
int nop = p[p_ind].nop;
// rules
if (speed >= 82.8)
{
class_id = -1;
}
else if (distance < 40 && distance >= 1 && nop <= 15 && nop >= 1)
{
class_id = 0; // person
}
// ...
// printf("--- p_ind: %d, distance:%f, speed:%f, class_id:%f\n", p_ind, distance, speed, class_id);
return class_id;
}
void build_radar_data_json()
{
FILE *fp = NULL;
#ifdef RADAR_LOG
// 10-19 leo
if (start_radar_log_header == 1 && radar_log == 1)
{
start_radar_log_header = 0;
time_t t = time(NULL);
struct tm tm = *localtime(&t);
printf("now: %d-%02d-%02d %02d:%02d:%02d\n", tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec);
sprintf(radar_csv_name, "/emmc/plugin/Aida_data/radar/radar_log_%d%02d%02d_%02d%02d.csv", tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min);
printf("%s\n", radar_csv_name);
fp = fopen(radar_csv_name, "w+");
if (fp == NULL)
{
fprintf(stderr, "fopen() failed.\n");
radar_log = 0;
}
// fprintf(fp, "FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak\n");
fprintf(fp, "FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak, cluster_id\n");
}
else if (start_radar_log_header == 0 && radar_log == 1)
{
fp = fopen(radar_csv_name, "a");
if (fp == NULL)
{
fprintf(stderr, "fopen() failed.\n");
radar_log = 0;
}
}
#endif // RADAR_LOG
cJSON *root = NULL;
cJSON *AiRadar, *detectArrayRadar, *detectRadar;
/*
cJSON *FrameNum, *tid, *posX, *posY, *posZ, *velX, *velY, *velZ,
*accX, *accY, *accZ, *ccX, *ccY, *csX, *csY, *tX, *tY, *Doppler;
*/
root = cJSON_CreateObject();
AiRadar = cJSON_CreateObject();
cJSON_AddItemToObject(root, "AiRadar", AiRadar);
time_t current_time = time(0);
char c_current_time[20] = {0};
sprintf(c_current_time, "%ld", current_time);
cJSON_AddItemToObject(AiRadar, "Time", cJSON_CreateString(c_current_time));
char c_framenum[20] = {0};
sprintf(c_framenum, "%ld", radar_service_data.frameNumber);
cJSON_AddItemToObject(AiRadar, "FrameNum", cJSON_CreateString(c_framenum));
char c_radar_x_axis[20] = {0};
sprintf(c_radar_x_axis, "%d", json_radar_x_axis);
cJSON_AddItemToObject(AiRadar, "radar_x_axis", cJSON_CreateString(c_radar_x_axis));
char c_radar_y_axis[20] = {0};
sprintf(c_radar_y_axis, "%d", json_radar_y_axis);
cJSON_AddItemToObject(AiRadar, "radar_y_axis", cJSON_CreateString(c_radar_y_axis));
char c_target_x_axis[20] = {0};
sprintf(c_target_x_axis, "%d", json_target_x_axis);
cJSON_AddItemToObject(AiRadar, "target_x_axis", cJSON_CreateString(c_target_x_axis));
char c_target_y_axis[20] = {0};
sprintf(c_target_y_axis, "%d", json_target_y_axis);
cJSON_AddItemToObject(AiRadar, "target_y_axis", cJSON_CreateString(c_target_y_axis));
char c_distance_meter[20] = {0};
sprintf(c_distance_meter, "%d", json_distance_meter);
cJSON_AddItemToObject(AiRadar, "distance_meter", cJSON_CreateString(c_distance_meter));
char c_distance_meter_y[20] = {0};
sprintf(c_distance_meter_y, "%d", json_distance_meter_y);
cJSON_AddItemToObject(AiRadar, "distance_meter_y", cJSON_CreateString(c_distance_meter_y));
detectArrayRadar = cJSON_CreateArray();
cJSON_AddItemToObject(AiRadar, "RadarArray", detectArrayRadar);
for (int i = 0; i < g_current_radar_data_index; i++)
{
// printf("build_radar_data_json - g_current_radar_data_index : %d, V%ld point\n", i, radar_data_array[i].ttype);
detectRadar = cJSON_CreateObject();
cJSON_AddItemToArray(detectArrayRadar, detectRadar);
char c_tid[10] = {0};
sprintf(c_tid, "%d", i);
cJSON_AddItemToObject(detectRadar, "tid", cJSON_CreateString(c_tid));
char c_ttype[10] = {0};
sprintf(c_ttype, "%ld", radar_data_array[i].ttype);
cJSON_AddItemToObject(detectRadar, "Type", cJSON_CreateString(c_ttype));
if (radar_data_array[i].ttype == 1)
{
char c_posX[20] = {0};
sprintf(c_posX, "%f", radar_data_array[i].X);
cJSON_AddItemToObject(detectRadar, "PosX", cJSON_CreateString(c_posX));
char c_posY[20] = {0};
sprintf(c_posY, "%f", radar_data_array[i].Y);
cJSON_AddItemToObject(detectRadar, "PosY", cJSON_CreateString(c_posY));
char c_posZ[20] = {0};
sprintf(c_posZ, "%f", radar_data_array[i].Z);
cJSON_AddItemToObject(detectRadar, "PosZ", cJSON_CreateString(c_posZ));
cJSON_AddItemToObject(detectRadar, "velX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "velY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "velZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "ccX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "ccY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "csX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "csY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "tX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "tY", cJSON_CreateString(""));
char c_doppler[20] = {0};
sprintf(c_doppler, "%f", radar_data_array[i].doppler);
cJSON_AddItemToObject(detectRadar, "Doppler", cJSON_CreateString(c_doppler));
char c_PeakValue[20] = {0};
sprintf(c_PeakValue, "%f", radar_data_array[i].PeakValue);
cJSON_AddItemToObject(detectRadar, "Peak", cJSON_CreateString(c_PeakValue));
cJSON_AddItemToObject(detectRadar, "Speed", cJSON_CreateString(""));
#if 1 // leo 09-29
char c_local_radar_x[20] = {0};
sprintf(c_local_radar_x, "%d", (int)world_radar_data_array[i].X);
cJSON_AddItemToObject(detectRadar, "world_radar_x", cJSON_CreateString(c_local_radar_x));
printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> x: %d \n", (int)world_radar_data_array[i].X);
char c_local_radar_y[20] = {0};
sprintf(c_local_radar_y, "%d", (int)world_radar_data_array[i].Y);
cJSON_AddItemToObject(detectRadar, "world_radar_y", cJSON_CreateString(c_local_radar_y));
if (world_radar_data_array[i].X >= 0 && world_radar_data_array[i].X < RADAR_BG_WIDTH)
{
if (world_radar_data_array[i].Y >= 0 && world_radar_data_array[i].Y < RADAR_BG_HEIGHT)
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("Yes"));
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
#ifdef RADAR_LOG
if (radar_log == 1)
{ // 10-19 leo
// fprintf(fp, "%s,%s,%s,%s,%s,,,,,%s,%s\n", c_framenum, c_ttype, c_posX, c_posY, c_posZ, c_doppler, c_PeakValue); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak
fprintf(fp, "%s,%s,%s,%s,%s,,,,,%s,%s,%d\n", c_framenum, c_ttype, c_posX, c_posY, c_posZ, c_doppler, c_PeakValue, points[i].cluster_id); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak, cluster_id
}
#endif // RADAR_LOG
#endif
// 10-26 pass class_id to client
int class_id = -1; // default : not object
// 10-25 Ken apply DBSCAN algorithm
if (radar_dbscan == 1)
{
class_id = rule_based_classifier(points, i, radar_data_array[i].doppler, class_id);
// printf("V1 DBSCAN - X:%5lf, Y:%5lf, Z:%5lf, cluster_id: %d, class_id: %d\n\n", points[i].x, points[i].y, points[i].z, points[i].cluster_id, class_id);
}
cJSON_AddItemToObject(detectRadar, "class_id", cJSON_CreateNumber(class_id));
}
else if (radar_data_array[i].ttype == 2)
{
char c_posX[20] = {0};
sprintf(c_posX, "%f", radar_data_array[i].ccX);
cJSON_AddItemToObject(detectRadar, "PosX", cJSON_CreateString(c_posX));
char c_posY[20] = {0};
sprintf(c_posY, "%f", radar_data_array[i].ccY);
cJSON_AddItemToObject(detectRadar, "PosY", cJSON_CreateString(c_posY));
cJSON_AddItemToObject(detectRadar, "PosZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "velX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "velY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "velZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "ccX", cJSON_CreateString(c_posX));
cJSON_AddItemToObject(detectRadar, "ccY", cJSON_CreateString(c_posY));
char c_csX[20] = {0};
sprintf(c_csX, "%f", radar_data_array[i].csX);
cJSON_AddItemToObject(detectRadar, "csX", cJSON_CreateString(c_csX));
char c_csY[20] = {0};
sprintf(c_csY, "%f", radar_data_array[i].csY);
cJSON_AddItemToObject(detectRadar, "csY", cJSON_CreateString(c_csY));
cJSON_AddItemToObject(detectRadar, "tX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "tY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "Doppler", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "Peak", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "Speed", cJSON_CreateString(""));
#if 1 // leo 09-29
char c_local_radar_x[20] = {0};
sprintf(c_local_radar_x, "%d", (int)world_radar_data_array[i].ccX);
cJSON_AddItemToObject(detectRadar, "world_radar_x", cJSON_CreateString(c_local_radar_x));
char c_local_radar_y[20] = {0};
sprintf(c_local_radar_y, "%d", (int)world_radar_data_array[i].ccY);
cJSON_AddItemToObject(detectRadar, "world_radar_y", cJSON_CreateString(c_local_radar_y));
if (world_radar_data_array[i].ccX >= 0 && world_radar_data_array[i].ccX < RADAR_BG_WIDTH)
{
if (world_radar_data_array[i].ccY >= 0 && world_radar_data_array[i].ccY < RADAR_BG_HEIGHT)
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("Yes"));
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
#ifdef RADAR_LOG
if (radar_log == 1)
{ // 10-19 leo
// fprintf(fp, "%s,%s,%s,%s,,,,%s,%s,,\n", c_framenum, c_ttype, c_posX, c_posY, c_csX, c_csY); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak
fprintf(fp, "%s,%s,%s,%s,,,,%s,%s,,,\n", c_framenum, c_ttype, c_posX, c_posY, c_csX, c_csY); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak, cluster_id
}
#endif
#endif
cJSON_AddItemToObject(detectRadar, "class_id", cJSON_CreateNumber(-2));
}
else if (radar_data_array[i].ttype == 3)
{
char c_posX[20] = {0};
sprintf(c_posX, "%f", radar_data_array[i].tX);
cJSON_AddItemToObject(detectRadar, "PosX", cJSON_CreateString(c_posX));
char c_posY[20] = {0};
sprintf(c_posY, "%f", radar_data_array[i].tY);
cJSON_AddItemToObject(detectRadar, "PosY", cJSON_CreateString(c_posY));
cJSON_AddItemToObject(detectRadar, "PosZ", cJSON_CreateString(""));
char c_velX[20] = {0};
sprintf(c_velX, "%f", radar_data_array[i].velX);
cJSON_AddItemToObject(detectRadar, "velX", cJSON_CreateString(c_velX));
char c_velY[20] = {0};
sprintf(c_velY, "%f", radar_data_array[i].velY);
cJSON_AddItemToObject(detectRadar, "velY", cJSON_CreateString(c_velY));
cJSON_AddItemToObject(detectRadar, "velZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accY", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "accZ", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "ccX", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "ccY", cJSON_CreateString(""));
char c_csX[20] = {0};
sprintf(c_csX, "%f", radar_data_array[i].csX);
cJSON_AddItemToObject(detectRadar, "csX", cJSON_CreateString(c_csX));
char c_csY[20] = {0};
sprintf(c_csY, "%f", radar_data_array[i].csY);
cJSON_AddItemToObject(detectRadar, "csY", cJSON_CreateString(c_csY));
char c_tX[20] = {0};
sprintf(c_tX, "%f", radar_data_array[i].tX);
cJSON_AddItemToObject(detectRadar, "tX", cJSON_CreateString(c_tX));
char c_tY[20] = {0};
sprintf(c_tY, "%f", radar_data_array[i].tY);
cJSON_AddItemToObject(detectRadar, "tY", cJSON_CreateString(c_tY));
cJSON_AddItemToObject(detectRadar, "Doppler", cJSON_CreateString(""));
cJSON_AddItemToObject(detectRadar, "Peak", cJSON_CreateString(""));
char c_Speed[20] = {0};
sprintf(c_Speed, "%f", radar_data_array[i].Speed);
cJSON_AddItemToObject(detectRadar, "Speed", cJSON_CreateString(c_Speed));
#if 1 // leo 09-29
char c_local_radar_x[20] = {0};
sprintf(c_local_radar_x, "%d", (int)world_radar_data_array[i].tX);
cJSON_AddItemToObject(detectRadar, "world_radar_x", cJSON_CreateString(c_local_radar_x));
char c_local_radar_y[20] = {0};
sprintf(c_local_radar_y, "%d", (int)world_radar_data_array[i].tY);
cJSON_AddItemToObject(detectRadar, "world_radar_y", cJSON_CreateString(c_local_radar_y));
if (world_radar_data_array[i].tX >= 0 && world_radar_data_array[i].tX < RADAR_BG_WIDTH)
{
if (world_radar_data_array[i].tY >= 0 && world_radar_data_array[i].tY < RADAR_BG_HEIGHT)
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("Yes"));
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
}
else
{
cJSON_AddItemToObject(detectRadar, "plot", cJSON_CreateString("No"));
}
#ifdef RADAR_LOG
if (radar_log == 1)
{ // 10-19 leo
// fprintf(fp, "%s,%s,%s,%s,,%s,%s,%s,%s,,\n", c_framenum, c_ttype, c_posX, c_posY, c_velX, c_velY, c_csX, c_csY); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak
fprintf(fp, "%s,%s,%s,%s,,%s,%s,%s,%s,,,\n", c_framenum, c_ttype, c_posX, c_posY, c_velX, c_velY, c_csX, c_csY); //"FrameNum, Type, PosX, PosY, PosZ, velX, velY, csX, csY, Doppler, Peak, cluster_id
}
#endif
#endif
cJSON_AddItemToObject(detectRadar, "class_id", cJSON_CreateNumber(-3));
}
}
#ifdef RADAR_LOG
if(fp)
{ // 10-19 leo
fclose(fp);
fp = NULL;
}
#endif
char *JsonString = NULL;
if (root)
{
JsonString = cJSON_PrintUnformatted(root);
if (g_switch_radar_data_json == 0)
{
strcpy(g_radar_data_json, JsonString);
// printf("\nradar_driver - g_radar_data_json:%s\n", g_radar_data_json);
g_switch_radar_data_json = 1;
}
}
if (JsonString != NULL)
{
free(JsonString);
JsonString = NULL;
}
if (root)
{
cJSON_Delete(root);
root = NULL;
}
// 10-25 Ken
if (radar_dbscan == 1)
{
free(points);
radar_dbscan = 0;
}
// printf("---------------- build_radar_data_json end\n");
}
int radar_start_status(char *buffer_stream, int buffer_size)
{
int ret = 0;
if (buffer_size >= LILIN_SHIFT)
{
if (buffer_stream[0] == 0x01 &&
buffer_stream[1] == 0x02 &&
buffer_stream[2] == 0x03 &&
buffer_stream[3] == 0x04 &&
buffer_stream[4] == 0x05 &&
buffer_stream[5] == 0x06 &&
buffer_stream[6] == 0x07 &&
buffer_stream[7] == 0x08)
{
// printf("magic num: %d-%d-%d-%d-%d-%d-%d-%d \n", buffer_stream[0], buffer_stream[1], buffer_stream[2], buffer_stream[3], buffer_stream[4], buffer_stream[5], buffer_stream[6], buffer_stream[7]);
if (g_current_radar_data_index >= 1)
{
build_radar_data_json();
}
memset(&radar_service_data, 0x00, sizeof(RadarServiceInfo));
memset(&radar_data_array, 0x00, MAX_SIZE_RADAR_DATA * sizeof(RadarDataInfo));
g_current_radar_data_index = 0;
if (buffer_size == LILIN_SHIFT + MAX_SIZE_LILIN_START * 4) //=40 =header
{
// printf("\n-------radar start status\n");
for (int i = 0; i < MAX_SIZE_LILIN_START; i++)
{
memcpy(union_radar_convert.hexarray, (unsigned char *)buffer_stream + LILIN_SHIFT + i * 4, 4);
if (i == 0)
radar_service_data.version = (long)union_radar_convert.int32;
else if (i == 1)
radar_service_data.totalPacketLen = (long)union_radar_convert.int32;
else if (i == 2)
radar_service_data.platform = (long)union_radar_convert.int32;
else if (i == 3)
radar_service_data.frameNumber = (long)union_radar_convert.int32;
else if (i == 4)
radar_service_data.cpuProcessTime = (long)union_radar_convert.int32;
else if (i == 5)
radar_service_data.numOBJs = (long)union_radar_convert.int32;
else if (i == 6)
radar_service_data.numTLVs = (long)union_radar_convert.int32;
else if (i == 7)
radar_service_data.subFrameNumber = (long)union_radar_convert.int32;
}
/*
printf("\n----version:%ld\n", radar_service_data.version);
printf("\n----totalPacketLen:%ld\n", radar_service_data.totalPacketLen);
printf("\n----platform:%ld\n", radar_service_data.platform);
printf("\n----frameNumber:%ld\n", radar_service_data.frameNumber);
printf("\n----cpuProcessTime:%ld\n", radar_service_data.cpuProcessTime);
printf("\n----numOBJs:%ld\n", radar_service_data.numOBJs);
printf("\n----numTLVs:%ld\n", radar_service_data.numTLVs);
printf("\n----subFrameNumber:%ld\n", radar_service_data.subFrameNumber);*/
// printf("\n----frameNumber:%ld\n", radar_service_data.frameNumber);
// printf("\n----subFrameNumber:%ld\n", radar_service_data.subFrameNumber);
// printf("\n----totalPacketLen:%ld\n", radar_service_data.totalPacketLen);
// if (radar_service_data.frameNumber - g_old_magic_num > 1)
// printf("lose frame: [%d] -> [%d] \n", g_old_magic_num, radar_service_data.frameNumber);
g_old_magic_num = radar_service_data.frameNumber;
}
ret = 1;
}
else
{
// printf("magic num err: %d-%d-%d-%d-%d-%d-%d-%d \n",
// buffer_stream[0], buffer_stream[1], buffer_stream[2], buffer_stream[3],
// buffer_stream[4], buffer_stream[5], buffer_stream[6], buffer_stream[7]);
}
}
return ret;
}
void getStream_b(int socketfd, int bSize)
{
int nbytes;
//char buffer_stream[MAX_IMG_SIZE] = { 0 };
char buffer[MAX_IMG_SIZE] = { 0 };
// char boundary[256] = { 0 };
//int bodySize = 0;
// int content_length_image = 0;
// int strlen_ptr = 0;
// char *ptr_1, *ptr_2;
//int ret = 0;
//while ((nbytes = recv(socketfd, buffer, bSize, 0)) > 0)
while (bHttpServerMainStart)
{
nbytes = recv(socketfd, buffer, bSize, 0);
if (nbytes > 0)
{
//printf("================================\n");
//printf("------- recv size = %d \n", nbytes);
//printf("%s \n", buffer);
radar_data_get(buffer, nbytes);
// if (strstr(buffer, "--myboundary") != NULL) //LILIN package
//{
// }//recv first package - LILIN package
// else
//{
//
// recv sec package - Radar package
#if 0
if (content_length_image >= nbytes)
{
if (buffer[0] == 0xf && buffer[1] == 0xf && buffer[2] == 0xf)
printf("----recv end data\n");
memcpy(buffer_stream + bodySize, buffer, content_length_image);
bodySize += nbytes;
content_length_image -= nbytes;
if (content_length_image <= -1)
{
//this case should be drop
content_length_image = 0;
}
if (content_length_image == 0)
{
ret = Is_radar_data_empty(buffer_stream, bodySize);
if (ret == 0)
{
//ret = radar_start_status(buffer_stream, bodySize);
//if (ret == 1)
//{
//}
if (radar_start_status(buffer_stream, bodySize) == 1) //radar header
{
// printf("\n----------decode_stage #1: radar start status\n");
g_check_if_radar_start = 1;
g_check_if_is_correct_ttype = 0;
}
else //radar data
{
if (g_check_if_radar_start == 1)
{
if (Is_correct_ttype(buffer_stream, bodySize) == 1)
{
// printf("\n----------decode_stage #2: find correct ttype\n");
g_check_if_is_correct_ttype = 1;
}
else if (g_check_if_is_correct_ttype == 1)
{
run_general_ttype(buffer_stream, bodySize); //radar_data_array ----> 取得並分析雷達資料
// printf("\n----------decode_stage #3 #4: run general ttype\n");
g_check_if_is_correct_ttype = 0;
}
else
{
// printf("\n----------decode_stage #0: incorrect format\n");
g_check_if_radar_start = 0;
g_check_if_is_correct_ttype = 0;
}
}
}
}// if empty
else
{
//the end of radar data
//reset
// printf("\n----------decode_stage #0: empty data\n");
g_check_if_radar_start = 0;
g_check_if_is_correct_ttype = 0;
}// if empty
}
}
else if (nbytes > content_length_image)
{
//get size error, drop this frame data
//out case: 48 (40+8)
}
#endif
//}//recv sec package
// memset(buffer, 0, MAX_IMG_SIZE);
usSleep(1);
}
}
}
// static int current_profile_id = 1;
void getStream(int socketfd, int bSize)
{
// printf("\n--------socketfd:%d,bSize:%d\n", socketfd, bSize);
char buffer_stream[MAX_IMG_SIZE] = {0};
char buffer[MAX_IMG_SIZE] = {0};
size_t bReceived;
bReceived = recv(socketfd, buffer, bSize, 0);
int bodySize = 0;
int content_length_image = 0;
/*char *t = */removeHTTPHeader(buffer, &bodySize);
bodySize = 0;
// if (strstr(buffer, "HTTP/1.1 200") != NULL && strstr(buffer, "encode=jpeg") != NULL && g_framesize_width >= 1 && g_framesize_height >= 1)
{
// bodySize = 0;
// if (content_length_image >= 1)
{
memset(buffer, 0, bSize);
bodySize = 0;
content_length_image = 0;
while (bHttpServerMainStart && (bReceived = recv(socketfd, buffer, bSize, 0)) > 0)
{
// if (switch_g_image_buff_hd == 1)
{
memset(buffer_stream, 0x00, MAX_IMG_SIZE);
// printf("\n-------------------------buffer:%s\n", buffer);
// printf("\n-------------------------bReceived:%d\n", bReceived);
if (strstr(buffer, "--myboundary") != NULL)
{
char *ptr_1 = strstr(buffer, "Content-Length: ");
if (ptr_1)
{
char *ptr_2 = strstr(ptr_1, "Stamp");
if (ptr_2)
{
int strlen_ptr = ptr_2 - ptr_1 - 16; //16 = "Content-Length: "
char boundary[256] = {0};
if (strlen_ptr >= 1)
{
strncpy(boundary, ptr_1 + 16, strlen_ptr);
// printf("\n-----------boundary:%s\n", boundary);
content_length_image = atoi(boundary);
bodySize = 0;
// printf("\n-------------content_length_image:%d\n", content_length_image);
}
}
}
}
else
{
if (content_length_image >= 1)
{
memcpy(buffer_stream + bodySize, buffer, content_length_image);
bodySize += bReceived;
content_length_image -= bReceived;
if (content_length_image <= -1)
{
bodySize += content_length_image;
content_length_image = 0;
}
if (content_length_image == 0)
{
// printf("\n--------------getStream---TTT------bReceived:%d\n", bReceived);
// printf("\n-------------------buffer_stream#1:%s\n", buffer_stream);
if (Is_radar_data_empty(buffer_stream, bodySize) == 0) // 0: not empty //data = 0x0f 0x0f 0x0f .....
{
if (radar_start_status(buffer_stream, bodySize) == 1) // is get radar header
{
// printf("\n----------decode_stage #1: radar start status\n");
g_check_if_radar_start = 1;
g_check_if_is_correct_ttype = 0;
}
else
{
if (g_check_if_radar_start == 1)
{
if (Is_correct_ttype(buffer_stream, bodySize) == 1)
{
//printf("\n----------decode_stage #2: find correct ttype\n");
g_check_if_is_correct_ttype = 1; // get 8byte data
}
else if (g_check_if_is_correct_ttype == 1)
{
run_general_ttype(buffer_stream, bodySize); //radar_data_array ----> 取得並分析雷達資料
// printf("\n----------decode_stage #3 #4: run general ttype\n");
g_check_if_is_correct_ttype = 0;
}
else
{
// printf("\n----------decode_stage #0: incorrect format\n");
g_check_if_radar_start = 0;
g_check_if_is_correct_ttype = 0;
}
}
}
}
else
{
// printf("\n----------decode_stage #0: empty data\n");
g_check_if_radar_start = 0;
g_check_if_is_correct_ttype = 0;
}
/*
else if (bodySize == LILIN_SHIFT + MAX_SIZE_LILIN_START * 4) {
}*/
/*
printf("\n---start---\n");
for (int i = 0; i < bodySize; i++) {
printf("%x,", buffer_stream[i]);
}
printf("\n---end---\n");*/
}
}
}
}
memset(buffer, 0, bSize);
usSleep(1);
/*
if (current_profile_id != (atoi(SystemSetting.getimage_encoder_id) - 1))
break;*/
}
}
}
/*
else {
strcpy(g_stream_state_response, "Encoder: The profile name is not jpeg.");
}*/
// printf("\n------------bodySize:%d\n", bodySize);
}
void get_stream_with_device()
{
g_old_magic_num = 0;
//int snapshot_size = 0;
int status;
struct addrinfo host_info;
struct addrinfo *host_info_list = NULL;
printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> run thread_getstream CCC\n");
memset(&host_info, 0, sizeof(host_info));
host_info.ai_family = AF_INET; // AF_UNSPEC
host_info.ai_socktype = SOCK_STREAM;
host_info.ai_protocol = 0;
status = getaddrinfo("127.0.0.1", accountData[0].account_port, &host_info, &host_info_list);
if (status != 0)
{
printf("\ngetaddrinfo error\n");
strcpy(g_stream_state_response, "Network problem: getaddrinfo error");
}
else
{
int socketfd = -1;
;
// socketfd = socket(host_info_list->ai_family, host_info_list->ai_socktype, host_info_list->ai_protocol);
struct timeval timeout;
timeout.tv_sec = 3; // 3
timeout.tv_usec = 0;
int tcpnodelay = 1;
int reuse = 1;
int qlen = 5;
/*
struct sockaddr_in info;
bzero(&info, sizeof(info));
info.sin_family = PF_INET;
//localhost test
info.sin_addr.s_addr = inet_addr("127.0.0.1");
info.sin_port = htons(accountData[0].account_port);
//socket的建立 TCP_PORT_IMAGE
socketfd = socket(host_info_list->ai_family, host_info_list->ai_socktype, host_info_list->ai_protocol);*/
int err = -1;
#if 1
struct addrinfo *rp;
for (rp = host_info_list; rp != NULL; rp = rp->ai_next)
{
socketfd = socket(rp->ai_family, rp->ai_socktype, rp->ai_protocol);
if (socketfd == -1)
{
printf("\nsocket error\n");
strcpy(g_stream_state_response, "Network problem: socket error");
}
else
{
// printf("\n-------open getimage connected (%d)\n", socketfd);
setsockopt(socketfd, SOL_SOCKET, SO_SNDTIMEO, (const char *)&timeout, sizeof(timeout));
setsockopt(socketfd, SOL_SOCKET, SO_RCVTIMEO, (const char *)&timeout, sizeof(timeout));
setsockopt(socketfd, IPPROTO_TCP, TCP_NODELAY, (const char *)&tcpnodelay, sizeof(tcpnodelay));
setsockopt(socketfd, SOL_SOCKET, SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
setsockopt(socketfd, SOL_SOCKET, SO_REUSEPORT, (const char *)&reuse, sizeof(reuse));
setsockopt(socketfd, SOL_TCP, TCP_FASTOPEN, (const char *)&qlen, sizeof(qlen));
if (connect(socketfd, rp->ai_addr, rp->ai_addrlen) != -1)
{
for (int i = 0; i < MAX_CLIENT_SOCKET; i++)
{
if (socketRecords[i].used == 0 && socketRecords[i].sock == -1)
{
socketRecords[i].sock = socketfd;
//memset(&(socketRecords[i].recent_sec_data), 0x00, sizeof(SecData));
//socketRecords[i].thread_id = 0;
socketRecords[i].channel_id = -1;
//socketRecords[i].last_recv_time = time(0);
//socketRecords[i].recent_sec_data[0].recv_time = socketRecords[i].last_recv_time;
socketRecords[i].isGetAlarmMotion = FALSE;
//socketRecords[i].isFirstAlarmMotion = FALSE;
socketRecords[i].isUdpSocket = FALSE;
socketRecords[i].isWebSocketConnect = FALSE;
socketRecords[i].isNvrRequest = 0;
socketRecords[i].isCredentialRequest = 0;
socketRecords[i].debug_type = 3;
#if defined GY_OS_AMBA
//socketRecords[i].iIsAIRelay = 0;
#endif
// printf("\n(%d) [run http server] socketRecords[%d].sock:%d\n", client_sock, i, socketRecords[i].sock);
socketRecords[i].used = 1;
break;
}
else
{
if (i == MAX_CLIENT_SOCKET - 1)
{
close(socketfd);
// printf("\n-------close getimage connected (%d)\n", socketfd);
socketfd = -1;
}
}
}
if (socketfd != -1)
{
break;
}
}
else
{
close(socketfd);
// printf("\n-------close getimage connected (%d)\n", socketfd);
socketfd = -1;
}
}
}
#endif
if (socketfd >= 0)
{
char Authorization[2560] = {0};
if (strlen(accountData[0].account_username) > 0)
{
//strcat(sendBuffer, "Authorization: Basic ");
char buf_account[512] = { 0 };
urldecode((unsigned char *)accountData[0].account_username, (unsigned char *)buf_account);
strcpy(Authorization, buf_account);
strcat(Authorization, ":");
if (strlen(accountData[0].account_password) > 0) {
char buf_account2[512] = { 0 };
urldecode((unsigned char *)accountData[0].account_password, (unsigned char *)buf_account2);
strcat(Authorization, buf_account2);
}
}
size_t base64_encode_length = 0;
char httpAuth[2560] = {0};
if (strlen(Authorization) >= 1)
{
base64_encode((const unsigned char *)Authorization, strlen(Authorization), &base64_encode_length, httpAuth);
httpAuth[base64_encode_length] = '\0';
}
char msg[2560] = {0};
// current_profile_id = i_profileid;
sprintf(msg, "GET /getstream?device=ds164 HTTP/1.1\r\nhost: 127.0.0.1\r\nport: %s\r\nConnection: close\r\n", accountData[0].account_port);
strcat(msg, "Authorization: Basic ");
strcat(msg, httpAuth);
strcat(msg, "\r\n");
strcat(msg, "\r\n");
// printf("\n-----------msg:%s\n", msg);
err = send(socketfd, msg, strlen(msg), 0);
if (err == -1)
{
printf("\nerror sending\n");
strcpy(g_stream_state_response, "Network problem: error sending");
// exit(EXIT_FAILURE);
}
else
{
init_radar_parser();
init_axis_covert_world();
// getStream(socketfd, MAX_IMG_SIZE);
getStream_b(socketfd, MAX_IMG_SIZE);
}
close(socketfd);
return;
// printf("\n-------close getimage connected (%d)\n", socketfd);
for (int i = 0; i < MAX_CLIENT_SOCKET; i++)
{
if (socketRecords[i].used == 1 && socketRecords[i].sock == socketfd)
{
// printf("\n\n(%d) [http connection fun] clean socket[%d]\n\n", sock, i);
socketRecords[i].sock = -1;
//socketRecords[i].thread_id = 0;
socketRecords[i].channel_id = -1;
//socketRecords[i].last_recv_time = time(0);
//socketRecords[i].recent_sec_data[0].recv_time = socketRecords[i].last_recv_time;
socketRecords[i].isGetAlarmMotion = FALSE;
//socketRecords[i].isFirstAlarmMotion = FALSE;
socketRecords[i].isWebSocketConnect = FALSE;
socketRecords[i].isUdpSocket = FALSE;
socketRecords[i].isNvrRequest = 0;
socketRecords[i].isCredentialRequest = 0;
socketRecords[i].debug_type = 0;
#if defined GY_OS_AMBA
//socketRecords[i].iIsAIRelay = 0;
#endif
socketRecords[i].used = 0;
break;
}
}
socketfd = -1;
}
else
{
printf("\nCould not create socket!\n");
strcpy(g_stream_state_response, "Network problem: Could not create socket!");
}
}
if (host_info_list != NULL)
{
freeaddrinfo(host_info_list);
host_info_list = NULL;
}
}
#if 0
void radar_data_parser()
{
int iBlockDataSize;
char *sBlockDataBuffer;
int iCurrentRead = 0;
while (1)
{
if (RadarQueueSize() > 0)
{
//printf("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< queue size: %d \n", RadarQueueSize());
RadarFrameData qPopRadarData = { 0 };
qPopRadarData = RadarQueueFront();
RadarQueuePop();
iCurrentRead = 0;
iBlockDataSize = 0;
//radar_start_status
//printf("<<<<<<<<<<<< pop queue, data size = %d, blocknum: %d \n", qPopRadarData.iDataSize, qPopRadarData.iDataBlockNumber);
if (qPopRadarData.iDataBlockNumber > 0)
{
for (int i = 0; i < qPopRadarData.iDataBlockNumber; i++)
{
iBlockDataSize = qPopRadarData.iDataBlockArray[i];
//printf("-%d ", qPopRadarData.iDataBlockArray[i]);
if (i == 0 && iBlockDataSize != 40)
{
break;
}
else if (i == 0 && iBlockDataSize == 40)
{
iCurrentRead = 40;
continue;
}
sBlockDataBuffer = qPopRadarData.frame_buffer + iCurrentRead;
iCurrentRead += iBlockDataSize;
printf("this correct_ttype a: %d \n", iBlockDataSize);
if (Is_correct_ttype(sBlockDataBuffer, iBlockDataSize) == 1)
{
// printf("\n----------decode_stage #2: find correct ttype\n");
printf("this correct_ttype b: %d \n", iBlockDataSize);
g_check_if_is_correct_ttype = 1; //get 8byte data
}
else if (g_check_if_is_correct_ttype == 1)
{
run_general_ttype(sBlockDataBuffer, iBlockDataSize); //radar_data_array_p ----> 取得並分析雷達資料
g_check_if_is_correct_ttype = 0;
}
}
//printf("\n");
}
//printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> %d \n", g_current_radar_data_index);
if (g_current_radar_data_index >= 1)
{
build_radar_data_json();
}
memset(&radar_service_data, 0x00, sizeof(RadarServiceInfo));
memset(&radar_data_array, 0x00, MAX_SIZE_RADAR_DATA * sizeof(RadarDataInfo));
g_current_radar_data_index = 0;
}
usSleep(10);
}
}
#endif
void *thread_getstream(void *ptr)
{
pthread_detach(pthread_self());
// update_radar_json(); // leo 09-29
update_radar_json_p(); // leo 11-25
// while (get_bHttpServerThreadStart())
//{
printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> run thread_getstream\n");
get_stream_with_device();
usSleep(80000);
//}
pthread_exit(NULL);
}
void *thread_parse_radar(void *ptr)
{
pthread_detach(pthread_self());
// while (get_bHttpServerThreadStart())
// while (1)
//{
printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> run thread radar parser\n");
radar_data_parser();
// usSleep(80000);
//}
pthread_exit(NULL);
}