Fix dilatometer, other misc stuff

Camera_GetImage needs to modify IplImage* not CvMat*
Other bug fixes.

diff --git a/server/Makefile b/server/Makefile
index c314b20..00ed880 100644 (file)
--- a/server/Makefile
+++ b/server/Makefile
@@ -18,6 +18,9 @@ all :
 $(BIN) : $(OBJ)
        $(CXX) $(FLAGS) -o $(BIN) $(OBJ) $(LIB)
 
+microscope : microscope.o
+       $(CXX) $(FLAGS) -o microscope microscope.o $(LIB)
+
 
 %.o : %.c
        $(CXX) $(FLAGS) -c $<

diff --git a/server/actuators/pregulator.c b/server/actuators/pregulator.c
index 1cd62d3..8b9d06e 100644 (file)
--- a/server/actuators/pregulator.c
+++ b/server/actuators/pregulator.c
@@ -31,6 +31,7 @@ bool Pregulator_Cleanup(int id)
 bool Pregulator_Set(int id, double value)
 {
        double anti_calibrated = Data_Calibrate(value, preg_cal, pwm_raw, sizeof(pwm_raw)/sizeof(double));
+       Log(LOGDEBUG, "Pregulator value %f -> PWM duty cycle %f", value, anti_calibrated);
        if (anti_calibrated < 0)
                anti_calibrated = 0;
        if (anti_calibrated > 1)

diff --git a/server/image.c b/server/image.c
index e1a586c..d19ee7a 100644 (file)
--- a/server/image.c
+++ b/server/image.c
@@ -5,9 +5,8 @@
 #include <stdio.h>
 #include <pthread.h>
 
-CvCapture *capture;
-IplImage *frame;
-int captureID = -1;
+static CvCapture * g_capture = NULL;
+static int g_captureID = -1;
 
 void Image_Handler(FCGIContext * context, char * params)
 {
@@ -29,61 +28,74 @@ void Image_Handler(FCGIContext * context, char * params)
                return;
        }
        
-       CvMat * g_src = NULL;   // Source Image
-       CvMat * g_encoded;      // Encoded Image
+       IplImage * src = NULL;   // Source Image
+       CvMat * encoded = NULL;         // Encoded Image
 
-       Camera_GetImage( num, width, height ,g_src); 
-       g_encoded = cvEncodeImage("test_encode.jpg",g_src,0);
+       Camera_GetImage( num, width, height ,&src); 
+
+       Log(LOGDEBUG, "About to encode");
+       encoded = cvEncodeImage(".jpg",src,0);
+       Log(LOGDEBUG, "Encoded");
 
        Log(LOGNOTE, "Sending image!");
        FCGI_PrintRaw("Content-type: image/jpg\r\n");
        FCGI_PrintRaw("Cache-Control: no-cache, no-store, must-revalidate\r\n\r\n");
        //FCGI_PrintRaw("Content-Length: %d", g_encoded->rows*g_encoded->cols);
-       FCGI_WriteBinary(g_encoded->data.ptr,1,g_encoded->rows*g_encoded->cols);
+       FCGI_WriteBinary(encoded->data.ptr,1,encoded->rows*encoded->cols);
        
-       cvReleaseMat(&g_encoded);
-       cvReleaseMat(&g_src);
+       cvReleaseMat(&encoded);
+       cvReleaseImageHeader(&src);
 }
        
- bool Camera_GetImage(int num, int width, int height,  CvMat * image)
+/**
+ * Attempts to get an image from a camera
+ * @param num - Camera id
+ * @param width - Width to force
+ * @param height - Height to force
+ * @param image - Pointer to CvMat* to set with result
+ * @returns true on success, false on error 
+ */
+ bool Camera_GetImage(int num, int width, int height,  IplImage ** frame)
  {
+       Log(LOGDEBUG, "Called with arguments num=%d width=%d height=%d frame=%p", num,width,height, frame);
        static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; // Need to use a mutex to ensure 2 captures are not open at once
        pthread_mutex_lock(&mutex);
        bool result = false;
 
-       if( capture == NULL)
+       if( g_capture == NULL)
        {
-               capture = cvCreateCameraCapture(num);
-               captureID = num;
+               g_capture = cvCreateCameraCapture(num);
+               g_captureID = num;
        }
-       else if( num != captureID)
+       else if( num != g_captureID)
        {
-               cvReleaseCapture(&capture);
-               capture = cvCreateCameraCapture(num);   
-               captureID = num;
+               cvReleaseCapture(&g_capture);
+               g_capture = cvCreateCameraCapture(num); 
+               g_captureID = num;
        }
 
-       cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH, width);
-       cvSetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT, height);
-
-       frame = cvQueryFrame(capture);
-       if( frame == NULL)
-               return result;
+       //cvSetCaptureProperty(g_capture, CV_CAP_PROP_FRAME_WIDTH, width);
+       //cvSetCaptureProperty(g_capture, CV_CAP_PROP_FRAME_HEIGHT, height);
 
-       // Convert the IplImage pointer to CvMat
-        CvMat stub;
-        image = cvGetMat(frame, &stub, 0, 0);
-       if( image == NULL)
-               return result;
+       *frame = cvQueryFrame(g_capture);
+       result = (*frame != NULL);
 
+       //cvShowImage("display", *image);
+       //cvWaitKey(0); 
+       //cvSaveImage("test.jpg",*image,0);
+               
+       Log(LOGDEBUG, "At end of mutex");
+       
        pthread_mutex_unlock(&mutex);   //Close the mutex
-       return true;
+
+       //NOTE: Never have a "return" statement before the mutex is unlocked; it causes deadlocks!
+       return result;
 }
 
 void Image_Cleanup()
 {
        // Release the capture and IplImage pointers
-       cvReleaseImageHeader(&frame);
-       cvReleaseCapture(&capture);
+       //cvReleaseImageHeader(&g_frame);
+       cvReleaseCapture(&g_capture);
 }
 

diff --git a/server/image.h b/server/image.h
index 7f4271d..8e2cd68 100644 (file)
--- a/server/image.h
+++ b/server/image.h
@@ -12,7 +12,7 @@
 extern void Image_Init();
 extern void Image_Handler(FCGIContext * context, char * params); 
 extern void Image_Cleanup();
-extern bool Camera_GetImage(int num, int width, int height,  CvMat * image);
+extern bool Camera_GetImage(int num, int width, int height,  IplImage ** image);
 
 #endif //_IMAGE_H
 

diff --git a/server/parameters b/server/parameters
index 5fdc595..a8dc0a0 100644 (file)
--- a/server/parameters
+++ b/server/parameters
@@ -25,8 +25,9 @@ pin_test="0"
 #auth_uri="ldaps://ldap.pheme.uwa.edu.au#ou=Users,ou=UWA,dc=uwads,dc=uwa,dc=edu,dc=au" #UWA
 #auth_uri="/etc/shadow"
 #auth_uri="shadow"
-auth_uri="mysql://localhost#root,$(cat mysql_password)"
+#auth_uri="mysql://localhost#root,$(cat mysql_password)"
 
 
 ## OPTIONS TO BE PASSED TO SERVER; DO NOT EDIT
-parameters="-v $verbosity -p $pin_test -A $auth_uri"
+parameters="-v $verbosity -p $pin_test"
+# -A $auth_uri"

diff --git a/server/sensor.c b/server/sensor.c
index bc424c3..b934e8f 100644 (file)
--- a/server/sensor.c
+++ b/server/sensor.c
@@ -84,16 +84,16 @@ void Sensor_Init()
        Sensor_Add("pressure_high1", PRES_HIGH1, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
        Sensor_Add("pressure_low0", PRES_LOW0, Pressure_Read, Pressure_Init, Pressure_Cleanup, NULL);
        //Sensor_Add("../testing/count.py", 0, Piped_Read, Piped_Init, Piped_Cleanup, 1e50,-1e50,1e50,-1e50);
-       Sensor_Add("strain0", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
-       Sensor_Add("strain1", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
-       Sensor_Add("strain2", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
-       Sensor_Add("strain3", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+       Sensor_Add("strain0_endhoop", STRAIN0, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+       Sensor_Add("strain1_endlong", STRAIN1, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+       Sensor_Add("strain2_midhoop", STRAIN2, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
+       Sensor_Add("strain3_midlong", STRAIN3, Strain_Read, Strain_Init, Strain_Cleanup, Strain_Sanity);
        //Sensor_Add("pressure0", PRESSURE0, Pressure_Read, Pressure_Init, 5000,0,5000,0);
        //Sensor_Add("pressure1", PRESSURE1, Pressure_Read, Pressure_Init, 5000,0,5000,0);
        //Sensor_Add("pressure_feedback", PRESSURE_FEEDBACK, Pressure_Read, Pressure_Init, 5000,0,5000,0);
        //Sensor_Add("enclosure", ENCLOSURE, Enclosure_Read, Enclosure_Init, 1,1,1,1);
        Sensor_Add("dilatometer_pos", DIL_POS, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
-       Sensor_Add("dilatometer_diff",DIL_DIFF, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
+       //Sensor_Add("dilatometer_diff",DIL_DIFF, Dilatometer_Read, Dilatometer_Init, Dilatometer_Cleanup, NULL);
 }
 
 /**

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index f197941..8d04fb5 100644 (file)
--- a/server/sensors/dilatometer.c
+++ b/server/sensors/dilatometer.c
@@ -6,6 +6,7 @@
 #include "cv.h"
 #include "highgui_c.h"
 #include "dilatometer.h"
+#include "../image.h"
 #include <math.h>
 
 // test positions
@@ -121,9 +122,20 @@ bool Dilatometer_Cleanup(int id)
 
 void CannyThreshold()
 {
+
+       // Create greyscale array
+       if (g_srcGray == NULL)
+       {
+               Log(LOGDEBUG, "%d %d %d", g_srcRGB->rows, g_srcRGB->cols, CV_8UC1);
+               g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1);
+       }
+
        // Convert the RGB source file to grayscale
+       Log(LOGDEBUG, "About to cvCvtColor(%p, %p, %d)", g_srcRGB, g_srcGray, CV_RGB2GRAY);
        cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
 
+
+       Log(LOGDEBUG, "About to cvCreateMat");
        if ( g_edges == NULL)
        {
                g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
@@ -164,15 +176,35 @@ bool Dilatometer_GetExpansion( int id, double * value, int samples)
        bool result = false; 
        double average = 0;
        // Get the image from the camera
-       result = Camera_GetImage( 0, 1600, 1200 ,&g_srcRGB); // Get a 1600x1200 image and place it into src
+       Log(LOGDEBUG, "GET IMAGE?");
+
+       IplImage * frame = NULL;
+       result = Camera_GetImage( 0, 1600, 1200 ,&frame); // Get a 1600x1200 image and place it into src
+       Log(LOGDEBUG, "Got image...");
 
        // If an error occured when capturing image then return
+
+
+       if (result)
+       {
+               CvMat stub;
+               g_srcRGB = cvGetMat(frame,&stub,0,0);
+               result = (g_srcRGB != NULL);
+               Log(LOGDEBUG, "Converted image %d %p", result, g_srcRGB);
+       }
+       cvReleaseImageHeader(&frame);
+
        if (!result)
                return result;
 
+
+       Log(LOGDEBUG, "GOT IMAGE (without error)!");
+
        // Apply the Canny Edge theorem to the image
        CannyThreshold();
 
+       Log(LOGDEBUG, "Got past CannyThreshold()");
+
        int width = g_edges->cols;
        int height = g_edges->rows;
        
@@ -259,8 +291,8 @@ bool Dilatometer_Init(const char * name, int id)
        // Make an initial reading (will allocate memory the first time only).
        double val;
        lastPosition = 0;  // Reset the last position
-       bool result = Dilatometer_GetExpansion(DIL_POS, &val, 1); 
-       return result;
+       Dilatometer_GetExpansion(DIL_POS, &val, 1); 
+       return true;
 }
 
 // Overlays a line over the given edge position

diff --git a/server/sensors/strain.h b/server/sensors/strain.h
index 21b926e..6112fe7 100644 (file)
--- a/server/sensors/strain.h
+++ b/server/sensors/strain.h
@@ -1,6 +1,7 @@
 #ifndef _STRAIN_H
 #define _STRAIN_H
 
+#include "../common.h"
 #include <stdbool.h>
 
 /**