Merge main (#14)

* Create WebSocket for Webcam Interface (#9)

* Added websocket prototype using websocket++

* Update CXXFLAGS to be more specific

* Update BUILD_GUIDE dependencies

Added 'WebSocket++' and 'boost' to the list of additional dependencies in BUILD_GUIDE.md.

* Remove header files

* Add variables for Websocketpp and Boost libraries

* Update path for Websocketpp and Boost

* Update build guide

* Prevent server from crashing when the client abruptly closes the connection

* Update docs

* Remove std::

* Downgrade to c++17

* Add Build and Test GitHub Action

* Rename workflow

* separated the webcam module into web and webcam modules (#12)

* Webcam Plant Detection (#13)

* changes for webCam

* Added hpp file, minor style fixes, deleted output files

---------
Co-authored-by: emilysxng
Co-authored-by: CihanBosnali <[email protected]>

---------

Co-authored-by: Asad Dhorajiwala <[email protected]>
Co-authored-by: Alfredo-del-Rayo <[email protected]>
Co-authored-by: droy4405 <[email protected]>

.github/workflows/build-and-test.yml

@@ -0,0 +1,39 @@
+name: Build and Test
+
+on:
+ pull_request:
+ branches: [ main ]
+
+jobs:
+ build:
+
+ runs-on: ubuntu-22.04
+
+ steps:
+ - uses: actions/checkout@v3
+
+ - name: Update Package Index
+ run: sudo apt-get update
+
+ - name: Install Boost
+ run: sudo apt-get install -y libboost-all-dev
+
+ - name: Install OpenCV
+ run: sudo apt-get install -y libopencv-dev
+
+ - name: Install WebSocket++
+ run: |
+ git clone --branch 0.8.2 https:/zaphoyd/websocketpp.git
+ sudo cp -r ./websocketpp/websocketpp ./include
+
+ - name: Build project
+ run: make
+
+ test:
+ needs: build
+
+ runs-on: ubuntu-22.04
+ steps:
+ - uses: actions/checkout@v3
+ - name: Run tests
+ run: make test_ALL

BUILD_GUIDE.md

@@ -9,6 +9,8 @@
 additional dependencies include:
 - `librealsense2` \[v.2.54.2\] - to drive the distance sensing camera
 - `opencv` \[v.4.8.1\] - to process images from the camera
+- `WebSocket++` \[v.0.8.2\] - to create a websocket server
+ - `boost` \[v.1.83.0\] - required by `WebSocket++`
 
 ### Build Commands
 In a linux shell, the following rules have been provided via the build system:

config.mk

@@ -1,3 +1,6 @@
+WEBSOCKETPP_DIR := /path/to/websocketpp/include
+BOOST_DIR := /path/to/boost/include
+
 TARGET_FOLDER := build
 INCLUDE_DIRS := $(ROOT_DIR)/include
 SRC_DIR := $(ROOT_DIR)/src
@@ -6,7 +9,7 @@ BUILD_DIR := $(ROOT_DIR)/build
 OBJS_DIR := $(BUILD_DIR)/objs
 
 CXX := g++
-CXXFLAGS := -std=c++20 -Wall `pkg-config --cflags opencv4`
+CXXFLAGS := -std=c++17 -Wall `pkg-config --cflags opencv4` -I ${WEBSOCKETPP_DIR} -I $(BOOST_DIR)
 LINK_TIME_FLAGS :=
 LIBS := `pkg-config --libs opencv4`
 

include/RealIntelCam.hpp

@@ -0,0 +1,42 @@
+#ifndef INTELCAM_H
+#define INTELCAM_H
+
+#include <librealsense2/rs.hpp>
+#include <iostream>
+#include <vector>
+#include <cmath>
+
+const float TIME_INTERVAL = 0.01; // Time interval in seconds
+const double RAD_TO_DEG = 180.0 / M_PI; 
+
+
+using namespace std
+
+class realIntelCam
+{
+ public:
+
+ RealIntelCam();
+
+ void update_camera_position(); 
+
+ vector<float> get_location();
+
+ vector<float> get_angle();
+
+ private:
+ //Essential to initiate connection
+ rs2::pipeline pipeline;
+ rs2::config configure;
+ rs2::pipeline_profile profile;
+ // the acceleration in 3D previous: 0->x, 1->y, 2->z current 3->x, 4->y, 5->z 
+ float acceleration[]{};
+ // average velocity aka speed
+ float velocity[]{};
+ // calculated location
+ float camera_location[];
+ //calculated angle
+ float camera_angle[];
+}
+
+#endif

include/web_interface.hpp

@@ -0,0 +1,6 @@
+#ifndef WEB_INTERFACE_HPP
+#define WEB_INTERFACE_HPP
+
+int web(Mat *frame);
+
+#endif // WEBCAM_INTERFACE_HPP

include/webcamPlantDetection.hpp

@@ -0,0 +1,9 @@
+#ifndef WEBCAMPLANTDETECTION_HPP
+#define WEBCAMPLANTDETECTION_HPP
+
+#include <opencv2/opencv.hpp>
+using namespace cv;
+
+Mat isGreen(const Mat& image);
+
+#endif

make.txt

@@ -0,0 +1,9 @@
+build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/grass_killer build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/imu_interface
+mkdir -p /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs
+mkdir -p /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule/submodule.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/submodule.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule/arg.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/arg.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/grass_killer/grass_killer.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/grass_killer.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/imu_interface/measure.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/measure.o
+[[[[ BUILDING NAVI ]]]]
+g++ /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/main.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/submodule.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/arg.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/grass_killer.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/measure.o -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/navi

src/WebcamPlantDetection/rules.mk

@@ -0,0 +1,9 @@
+GENERATED_OBJS := webcamPlantDetection.o
+
+include submodule.general.mk
+
+build_$(DIR):
+ $(call build,webcamPlantDetection.cpp)
+clean_$(DIR):
+test_$(DIR):
+ @echo testing the module $(DIR)!

src/WebcamPlantDetection/webcamPlantDetection.cpp

@@ -0,0 +1,34 @@
+#include <opencv2/opencv.hpp> 
+#include <iostream>
+using namespace std;
+using namespace cv;
+
+Mat isGreen(const Mat& image) {
+ Mat hsvImage;
+ Mat mask;
+ Scalar lower(35, 60, 60);
+ Scalar upper(80, 255, 255);
+ cvtColor(image, hsvImage, COLOR_RGB2HSV);
+ inRange(hsvImage, lower, upper, mask);
+ return mask;
+}
+
+int test_isGreen() {
+ Mat myImage; 
+ VideoCapture cap(0); 
+ if (!cap.isOpened())
+ return 5; // IO Error Code on Linux, Access Denied Error Code on Windows
+
+ while (true) { 
+ cap >> myImage;
+ if (myImage.empty())
+ break;
+ Mat greenMask = isGreen(myImage);
+ imshow("Video Player", greenMask); 
+ char c = (char)waitKey(25); 
+ if (c == 27) 
+ break;
+ }
+ cap.release(); 
+ return 0;
+}

src/web_interface/rules.mk

@@ -0,0 +1,10 @@
+GENERATED_OBJS := web_interface.o
+
+include submodule.general.mk
+
+build_$(DIR):
+ $(call build,web_interface.cpp)
+clean_$(DIR):
+test_$(DIR):
+ @echo testing the module $(DIR)!
+test_webcam_interface: test_$(DIR)

src/web_interface/web_interface.cpp

@@ -0,0 +1,69 @@
+#include <websocketpp/config/asio_no_tls.hpp>
+#include <websocketpp/server.hpp>
+#include <thread>
+
+using namespace std;
+using namespace cv;
+
+// Alias for websocketpp server
+typedef websocketpp::server<websocketpp::config::asio> server;
+
+/*!
+ * Handles the connection to the WebSocket server.
+ * Captures frames from the webcam, encodes them,
+ * and sends them via the WebSocket connection.
+ *
+ * \param hdl The connection handle.
+ * \param s The WebSocket server.
+ * \param cap The OpenCV VideoCapture object.
+ */
+void handle_connection(websocketpp::connection_hdl hdl, server& s, Mat *frame) {
+ while (true) {
+ try {
+ if (!frame->empty()) {
+ // Convert OpenCV frame to byte vector
+ vector<uchar> buffer;
+ imencode(".jpg", *frame, buffer);
+ s.send(hdl, buffer.data(), buffer.size(), websocketpp::frame::opcode::binary);
+ }
+ else {
+ cerr << "Couldn't capture frame from webcam." << endl;
+ break;
+ }
+ } catch (websocketpp::exception const & e) {
+ cout << "Caught websocket exception: " << e.what() << endl;
+ }
+ }
+}
+
+/*!
+ * Initializes and runs the WebSocket server, capturing frames
+ * from the webcam and sending them via open WebSocket connections.
+ *
+ * Clears all access log channels, initializes the OpenCV webcam,
+ * defines the WebSocket server connection handler, listens on port 6969,
+ * and finally starts the accept loop and the ASIO io_service event loop.
+ *
+ * \return 0 if the server ran successfully, otherwise -1.
+ */
+int web(Mat *frame) {
+ // Create a WebSocket server
+ server s;
+ // Clear all access log channels to prevent frames being logged
+ // If frames are logged, then it makes the WebSocket server very slow
+ s.clear_access_channels(websocketpp::log::alevel::all);
+
+ s.set_open_handler([&s,frame](websocketpp::connection_hdl hdl) {
+ thread video_thread(handle_connection, hdl, ref(s), ref(frame));
+ video_thread.detach();
+ });
+
+ // Listen on port 6969
+ s.init_asio();
+ s.listen(6969);
+ s.start_accept();
+ s.run();
+
+ return 0;
+}
+

src/webcam_interface/webcam_interface.cpp

@@ -1,35 +1,85 @@
-#include<opencv2/opencv.hpp>
-#include<iostream>
+#include <websocketpp/config/asio_no_tls.hpp>
+#include <websocketpp/server.hpp>
+#include <opencv2/opencv.hpp>
+#include <thread>
+
 using namespace std;
 using namespace cv;
 
+// Alias for websocketpp server
+typedef websocketpp::server<websocketpp::config::asio> server;
+
 /*!
- * @brief Opens and displays the webcam video feed until termination.
- * @return Returns 0 upon successful completion, else returns -1.
+ * Handles the connection to the WebSocket server.
+ * Captures frames from the webcam, encodes them,
+ * and sends them via the WebSocket connection.
+ *
+ * \param hdl The connection handle.
+ * \param s The WebSocket server.
+ * \param cap The OpenCV VideoCapture object.
+ */
+void handle_connection(websocketpp::connection_hdl hdl, server& s, VideoCapture& cap) {
+ try {
+ while (true) {
+ // Read frame from webcam
+ Mat frame;
+ cap >> frame;
+
+ // Check if frame is empty
+ if (!frame.empty()) {
+ // Convert OpenCV frame to byte vector
+ vector<uchar> buffer;
+ imencode(".jpg", frame, buffer);
+
+ // Send the frame as a binary message via WebSocket
+ s.send(hdl, buffer.data(), buffer.size(), websocketpp::frame::opcode::binary);
+ }
+ else {
+ cerr << "Couldn't capture frame from webcam." << endl;
+ break;
+ }
+ }
+ } catch (websocketpp::exception const & e) {
+ cout << "Caught websocket exception: " << e.what() << endl;
+ }
+}
+
+/*!
+ * Initializes and runs the WebSocket server, capturing frames
+ * from the webcam and sending them via open WebSocket connections.
+ *
+ * Clears all access log channels, initializes the OpenCV webcam,
+ * defines the WebSocket server connection handler, listens on port 6969,
+ * and finally starts the accept loop and the ASIO io_service event loop.
+ *
+ * \return 0 if the server ran successfully, otherwise -1.
  */
 int webcam() {
- Mat myImage;
- namedWindow("Webcam Video Feed");
- VideoCapture cap(0);
-
- if (!cap.isOpened()) {
- cout << "No webcam feed detected" << endl;
- system("pause");
- return -1;
- }
-
- while (true) { 
- cap >> myImage;
- if (myImage.empty()) {
- break;
- }
-
- imshow("Webcam Video Feed", myImage);
- char c = (char)waitKey(25);
- if (c == 27) {
- break;
- }
- }
- cap.release();
- return 0;
+ // Create a WebSocket server
+ server s;
+
+ // Clear all access log channels to prevent frames being logged
+ // If frames are logged, then it makes the WebSocket server very slow
+ s.clear_access_channels(websocketpp::log::alevel::all);
+
+ // Initialize OpenCV webcam
+ VideoCapture cap(0);
+ if (!cap.isOpened()) {
+ cerr << "Couldn't open the webcam." << endl;
+ return -1;
+ }
+
+ // Define WebSocket server connection handler
+ s.set_open_handler([&s, &cap](websocketpp::connection_hdl hdl) {
+ thread video_thread(handle_connection, hdl, ref(s), ref(cap));
+ video_thread.detach();
+ });
+
+ // Listen on port 6969
+ s.init_asio();
+ s.listen(6969);
+ s.start_accept();
+ s.run();
+
+ return 0;
 }