Project_v2

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <time.h>

#include <iostream>

#include <OpenNI.h>

#include "OniSampleUtilities.h"

#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>  //inet_addr

#define PORT 6122
#define BUF_SIZE 1024

#define SAMPLE_READ_WAIT_TIMEOUT 2000 //2000ms

using namespace std;
using namespace openni;

int CompareStatus(int signal,int StateHere)
{
    if( signal == StateHere )
        return 0;
    else
        return 1;
    //Using truth table
    //F = x ^ y
    //when the lights are the same , do nothing.
    //Otherwise, using camera to detect.
}

int traffic(int s)
{
    if( s == 0)
    {
        //printf("Now is : Green\n");
        cout << "Now is : Green\n";
        return 1;
    }
    else if( s == 1)
    {
        //printf("Now is : Red\n");
        cout << "Now is : Red\n";
        return 0;
    }
    else
    {
        //printf("There is something wrong in signal\n");
        cout << "There is something wrong in signal\n" ;
        return -1;
    }
}


int main(int argc, char ** argv)
{
    //Setting socket variable
    int sockfd;
    int temp;
    char buf[BUF_SIZE];
    char IP[100];
    struct sockaddr_in addr;
    int i;
    char buf2[BUF_SIZE]={0};
    char ibuf[BUF_SIZE]={0};

    memset(buf, 0, sizeof(buf));

    /* Create random signal to lights */
    srand(time(NULL));
    int init_signal = rand() % 2 ;
    sprintf(buf2,"%d",init_signal);

    // Initialize
    Status rc = OpenNI::initialize();
    if (rc != STATUS_OK)
    {
        printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
        return 1;
    }

    // Open a device
    Device device;
    rc = device.open(ANY_DEVICE);
    if (rc != STATUS_OK)
    {
        printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
        return 2;
    }

    // Create depth stream
    VideoStream depth;

    if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
    {
        rc = depth.create(device, SENSOR_DEPTH);
        if (rc != STATUS_OK)
        {
            printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
            return 3;
        }
    }

    rc = depth.start();
    if (rc != STATUS_OK)
    {
        printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
        return 4;
    }

    // Main loop , continue read
    VideoFrameRef frame;
    int Counter_D = 0;  //count 30 times nearly close 1 s
    int Counter_nD = 0;
    int recv_signal,send_signal;
    send_signal = traffic(init_signal);
    while(!wasKeyboardHit()) //using flag to control working times
    {
        /* create socket  */
        sockfd = socket(AF_INET, SOCK_STREAM, 0);
        if(sockfd == -1)
        {
            perror("socket error");
            system("Pause");
            exit(1);
        }

        /* initialize structure */
        memset(&addr, 0, sizeof(addr));
        addr.sin_family = AF_INET;
        addr.sin_addr.s_addr = inet_addr("192.168.0.4");
        addr.sin_port = htons(PORT);

        /* Connecting to server */
        printf("Connect server...\n");
        if(connect(sockfd, (struct sockaddr *)&addr, sizeof(addr)) == -1)
        {
            perror("connect error");
            system("Pause");
            exit(1);
        }

        /* Send data to server */
       // buf2 = itoa(send_signal); //can be replace by sprintf()
        sprintf(buf2,"%d",send_signal);
        if(send(sockfd, buf2, strlen(buf2), 0) == -1)
        {
            perror("send error");
            system("Pause");
            exit(1);
        }

        /* Receive data from server */
        if(recv(sockfd, buf2, sizeof(buf2), 0) == -1) {
            perror("Error in receiving");
            system("Pause");
            exit(1);
        }
        printf("Response from server: %s\n", buf2);
        recv_signal = atoi(buf2);

        while (CompareStatus(recv_signal,send_signal)) //stop while ketboaard is hit
        {
            int changedStreamDummy;
            VideoStream* pStream = &depth;
            rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
            if (rc != STATUS_OK)
            {
                printf("Wait failed! (timeout is %d ms)\n%s\n", SAMPLE_READ_WAIT_TIMEOUT, OpenNI::getExtendedError());
                continue;
            }

            rc = depth.readFrame(&frame);
            if (rc != STATUS_OK)
            {
                printf("Read failed!\n%s\n", OpenNI::getExtendedError());
                continue;
            }

            if (frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_1_MM && frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_100_UM)
            {
                printf("Unexpected frame format\n");
                continue;
            }

            DepthPixel* pDepth = (DepthPixel*)frame.getData();

            int middleIndex = (frame.getHeight()+1)*frame.getWidth()/2;
            //printf("Index = %d Height = %d Width = %d\n",middleIndex,frame.getHeight(),frame.getWidth());
            //printf("[%08llu] %8d\n", (long long)frame.getTimestamp(), pDepth[middleIndex]);
            //return us

            if( pDepth[middleIndex] < 800 )
            {
                if(Counter_D > 90)
                {
                    Counter_D = 0;
                    Counter_nD = 0;
                    sprintf(buf2,"%d",1);
                    printf("There is a car or something\n");
                    break;
                }
                Counter_D++;
            }
            else
            {
                Counter_nD++;
                if(Counter_nD > 30)
                {
                    Counter_D = 0;
                    Counter_nD = 0;
                    sprintf(buf2,"%d",0);
                    printf("\tThere has no car more than 1 seconds \n");
                    break;
                }
            }
        }

        send_signal = traffic(recv_signal);

        /* Close connection */
        close(sockfd);
    }

    printf("Socket is closed...\n");

    depth.stop();

    // Close
    depth.destroy();
    device.close();

    // Shutdown
    OpenNI::shutdown();

    return 0;
}