Merge pull request #7 from Rione/send-image

Send image

Author: Yuzz1e

api.go

@@ -1,15 +1,24 @@
 package main
 
 import (
+	"encoding/json"
 	"fmt"
 	"log"
 	"net"
+	"os"
+	"os/exec"
 	"strconv"
 	"strings"
 	"time"
 )
 
+var cmd *exec.Cmd
+
 func RunApi(chapi chan bool, MyID uint32) {
+	// python3 main.py を実行する
+	cmd = exec.Command("python3", "main.py")
+	//コマンドを実行
+	cmd.Start()
 	//ポートを開く
 	listener, err := net.Listen("tcp", PORT)
 	if err != nil {
@@ -117,19 +126,110 @@ func HandleRequest(conn net.Conn) {
 		return
 	}
 
+	if strings.Split(requests[1], "/")[1] == "image" {
+
+		response, err := json.Marshal(imageResponse.Frame)
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 500 Internal Server Error\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "500 Internal Server Error\r\n")
+			return
+		}
+		// HTTP レスポンスを返す
+		fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
+		fmt.Fprintf(conn, "Content-Type: application/json\r\n")
+		fmt.Fprintf(conn, "Content-Length: %d\r\n", len(response))
+		fmt.Fprintf(conn, "\r\n")
+		fmt.Fprintf(conn, "%s", response)
+
+	}
+
+	if strings.Split(requests[1], "/")[1] == "changeadjustment" {
+		// /changeadjustment/1,120,100/15,255,255/150/0.2これを受け取る
+		// /120,100,15をとる
+		minThreshold := strings.Split(requests[1], "/")[2]
+		maxThreshold := strings.Split(requests[1], "/")[3]
+		ballDetectRadius, err := strconv.Atoi(strings.Split(requests[1], "/")[4])
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "400 Bad Request\r\n")
+		}
+		circularityThreshold, err := strconv.ParseFloat(strings.Split(requests[1], "/")[5], 32)
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 400 Bad Request\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "400 Bad Request\r\n")
+		}
+		// OK と表示
+		fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
+		fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+		fmt.Fprintf(conn, "CHANGE ADJUSTMENT OK\r\n")
+		// /changeadjustment/1,120,100/15,255,255/150/0.2を受け取ったら、jsonファイルを変更する
+		// jsonファイルを変更する
+
+		os.Remove("threshold.json")
+		file, err := os.Create("threshold.json")
+		if err != nil {
+			log.Println(err)
+		}
+		defer file.Close()
+		// jsonファイルに書き込む
+		data := Adjustment{Min_Threshold: minThreshold, Max_Threshold: maxThreshold, Ball_Detect_Radius: ballDetectRadius, Circularity_Threshold: float32(circularityThreshold)}
+		jsonData, err := json.Marshal(data)
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 500 Internal Server Error\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "500 Internal Server Error\r\n")
+		}
+		_, err = file.Write(jsonData)
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 500 Internal Server Error\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "500 Internal Server Error\r\n")
+		}
+		// jsonファイルを閉じる
+		err = file.Close()
+		if err != nil {
+			fmt.Fprintf(conn, "HTTP/1.1 500 Internal Server Error\r\n")
+			fmt.Fprintf(conn, "Content-Type: text/plain; charset=utf-8\r\n\r\n")
+			fmt.Fprintf(conn, "500 Internal Server Error\r\n")
+		}
+
+		cmd.Process.Kill()
+		cmd = exec.Command("python3", "main.py")
+
+		err = cmd.Start()
+		if err != nil {
+			log.Println(err)
+		}
+
+		return
+	}
+
 	// 200 OKを返す
 	fmt.Fprintf(conn, "HTTP/1.1 200 OK\r\n")
 	// UTF-8指定
 	fmt.Fprintf(conn, "Content-Type: application/json; charset=utf-8\r\n\r\n")
 
 	// JSON形式で返す
+
+	// 左から1ビットだけを取り出す
+	detectPhotoSensor := 0b10000000&recvdata.SensorInformation != 0
+	// 左から2ビット目だけを取り出す
+	detectDribblerSensor := 0b01000000&recvdata.SensorInformation != 0
+	// 左から3ビット目だけを取り出す
+	isNewDribbler := 0b00100000&recvdata.SensorInformation != 0
+
 	response := fmt.Sprintf(`{
 		"VOLT": %f,
-		"ISHOLDBALL": %t,
+		"ISDETECTPHOTOSENSOR": %t,
+		"ISDETECTDRIBBLERSENSOR": %t,
+		"ISNEWDRIBBLER": %t,
 		"ERROR": %t,
 		"ERRORCODE": %d,
 		"ERRORMESSAGE": "%s"
-	}`, float32(recvdata.Volt)/10.0, recvdata.IsDetectPhotosensor, isRobotError, RobotErrorCode, RobotErrorMessage)
+	}`, float32(recvdata.Volt)/10.0, detectPhotoSensor, detectDribblerSensor, isNewDribbler, isRobotError, RobotErrorCode, RobotErrorMessage)
 
 	fmt.Fprint(conn, response)
 

main.go

@@ -41,6 +41,7 @@ func kickCheck(chkicker chan bool) {
 		//ループを行うため、少し待機する
 		time.Sleep(16 * time.Millisecond)
 	}
+	<-chkicker
 }
 
 func main() {
@@ -80,6 +81,7 @@ func main() {
 	netInterfaceAddresses, _ := net.InterfaceAddrs()
 
 	ip := "0.0.0.0"
+	ipCamera := "127.0.0.1"
 	for _, netInterfaceAddress := range netInterfaceAddresses {
 		networkIp, ok := netInterfaceAddress.(*net.IPNet)
 		if ok && !networkIp.IP.IsLoopback() && networkIp.IP.To4() != nil {
@@ -156,6 +158,7 @@ func main() {
 	chkick := make(chan bool)
 	chgpio := make(chan bool)
 	chapi := make(chan bool)
+	chreceive := make(chan bool)
 
 	//各並列処理部分
 	go RunClient(chclient, MyID, ip)
@@ -164,13 +167,15 @@ func main() {
 	go kickCheck(chkick)
 	go RunGPIO(chgpio)
 	go RunApi(chapi, MyID)
+	go ReceiveData(chreceive, MyID, ipCamera)
 
 	<-chclient
 	<-chserver
 	<-chserial
 	<-chkick
 	<-chgpio
 	<-chapi
+	<-chreceive
 }
 
 func CheckError(err error) {