Modify project structure to have a single interfaces submodule

Makefile

@@ -9,13 +9,7 @@ MODULE_OBJS :=
 include config.mk
 
 # example: include a folder
-DIR := $(SRC_DIR)/sample_submodule
-include $(DIR)/rules.mk
-
-DIR := $(SRC_DIR)/grass_killer
-include $(DIR)/rules.mk
-
-DIR := $(SRC_DIR)/webcam_interface
+DIR := $(SRC_DIR)/interfaces
 include $(DIR)/rules.mk
 
 mkobjdir:
@@ -46,4 +40,4 @@ doc:
  mkdir -p $(DOCS_OUTPUT_DIR)
  cd $(DOCS_DIR) && doxygen $(DOCS_DIR)/doxygen-config
 
-.PHONY: mkobjdir mkbuilddir $(MODULES) $(BUILD_MODULES) $(CLEAN_MODULES) $(TEST_MODULES) binary test_ALL
+.PHONY: mkobjdir mkbuilddir $(MODULES) $(BUILD_MODULES) $(CLEAN_MODULES) $(TEST_MODULES) binary test_ALL

config.mk

@@ -26,4 +26,4 @@ DOCS_OUTPUT_DIR := $(DOCS_DIR)/doxygen_output
 define build
  $(eval DRK := $(shell echo "$@" | cut -c 7-))
  $(CXX) $(CXXFLAGS) $(INCLUDE_DIRS:%=-I%) -c $(DRK)/$(1) -o $(OBJS_DIR)/$(basename $(1)).o
-endef
+endef

include/interfaces.hpp

@@ -0,0 +1,9 @@
+#ifndef WEBCAM_INTERFACE_HPP
+#define WEBCAM_INTERFACE_HPP
+
+#include <opencv2/opencv.hpp>
+namespace interfaces {
+ int start_webcam(cv::VideoCapture &c);
+ int start_websocket(cv::Mat *frame);
+}
+#endif

src/interfaces/rules.mk

@@ -0,0 +1,11 @@
+GENERATED_OBJS := webcamint.o websocketint.o
+
+include submodule.general.mk
+
+build_$(DIR):
+ $(call build,webcamint.cpp)
+ $(call build,websocketint.cpp)
+clean_$(DIR):
+test_$(DIR):
+ @echo testing the module $(DIR)!
+test_webcam_interface: test_$(DIR)

src/interfaces/webcamint.cpp

@@ -0,0 +1,16 @@
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include "../../include/interfaces.hpp"
+
+namespace interfaces {
+ int start_webcam(cv::VideoCapture &c) {
+ cv::VideoCapture cap(0);
+ if (!cap.isOpened()) {
+ std::cerr << "WEBCAMINT: Couldn't open the webcam." << std::endl;
+ return -1;
+ }
+ c = cap;
+ std::cout << "WEBCAMINT: Successfully opened the webcam." << std::endl;
+ return 0;
+ }
+}

src/interfaces/websocketint.cpp

@@ -0,0 +1,57 @@
+#include <iostream>
+#include <websocketpp/config/asio_no_tls.hpp>
+#include <websocketpp/server.hpp>
+#include <thread>
+#include <opencv2/opencv.hpp>
+#include "../../include/interfaces.hpp"
+
+namespace interfaces {
+
+ typedef websocketpp::server<websocketpp::config::asio> server;
+
+ void handle_connection(websocketpp::connection_hdl hdl, server& s, cv::Mat* frame) {
+ try {
+ while (true) {
+ // Check if frame is empty
+ if (!(*frame).empty()) {
+ // Convert OpenCV frame to byte vector
+ std::vector<uchar> buffer;
+ cv::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 {
+ std::cerr << "Couldn't capture frame from webcam." << std::endl;
+ break;
+ }
+ }
+ } catch (websocketpp::exception const & e) {
+ std::cout << "Caught websocket exception: " << e.what() << std::endl;
+ }
+ }
+
+ int start_websocket(cv::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);
+
+ // Define WebSocket server connection handler
+ s.set_open_handler([&s, frame](websocketpp::connection_hdl hdl) {
+ std::thread video_thread(handle_connection, hdl, std::ref(s), frame);
+ video_thread.detach();
+ });
+
+ // Listen on port 6969
+ s.init_asio();
+ s.listen(6969);
+ s.start_accept();
+ s.run();
+
+ std::cout << "WEBSOCKETINT: Successfully started the websocket." << std::endl;
+ return 0;
+ }
+}

src/main.cpp

@@ -1,8 +1,5 @@
-#include "submodule.hpp"
-#include "main.hpp"
-#include "arg.hpp"
-#include "grass_killer.hpp"
-#include "webcam_interface.hpp"
+#include "../include/interfaces.hpp"
+#include <opencv2/opencv.hpp>
 
 using namespace std;
 
@@ -12,15 +9,17 @@ using namespace std;
  \param argc number of arguments
  \param argv argument vector
  
- \return nothing
+ \return exit status
  */
 int main(int argc, char* argv[])
 {
- int value = getValue();
- value += argValue();
- cout << helloworld << value << endl;
- kill_some_grass();
+ cv::VideoCapture webcam_cap;
+ cv::Mat web_frame;
+ interfaces::start_webcam(webcam_cap);
+ interfaces::start_websocket(&web_frame);
 
- webcam();
+ while (1) {
+ webcam_cap >> web_frame;
+ }
  return 0;
-}
+}