diff --git a/camera-node-control/camera.cpp b/camera-node-control/camera.cpp
index 0c71751ee219b7450b0b38457f5b1e48fe4ae7da..407a497e1c3b28fd5ff4080c07a251988630f2b5 100644
--- a/camera-node-control/camera.cpp
+++ b/camera-node-control/camera.cpp
@@ -11,7 +11,6 @@
#include <unistd.h>
#include <sys/socket.h>
#include <netinet/in.h>
-#include <libcamera/libcamera.h>
#include <opencv2/opencv.hpp>
#include <iomanip>
#include <stdexcept>
@@ -19,12 +18,11 @@
#include <arpa/inet.h>
using namespace std;
-using namespace libcamera;
using namespace GPIO;
#define BUFFER_SIZE 1024
-#define SERVER_ADDR "127.0.0.1"
+#define SERVER_ADDR "192.168.121.4"
#define SERVER_PORT 12345
#define POUT 535 // 초음파 트리거 핀 (GPIO23)
@@ -71,86 +69,6 @@ int server_socket, python_socket; // 서버 소켓 및 파이썬 소켓
bool detected = false; // 차량 감지 여부
bool fireAlert = false; // 화재 경보 여부
pthread_t sensor_thread, receive_thread;
-shared_ptr<Camera> camera;
-unique_ptr<CameraManager> cm;
-unique_ptr<Request> request;
-
-
-// 서버 메시지 수신 스레드
-void* receive_message(void* arg) {
- char buffer[BUFFER_SIZE];
-
- while (true) {
- auto read_bytes = read(server_socket, buffer, BUFFER_SIZE - 1);
- if (read_bytes <= 0) {
- cout << "서버와의 연결이 종료되었습니다." << endl;
- close(server_socket);
- exit(0);
- }
-
- buffer[read_bytes] = '\0';
- cout << "서버로부터 받은 메시지: " << buffer << endl;
-
- string msg(buffer);
- msg = msg.substr(0, msg.find_first_of("\r\n"));
-
- if (msg == "0-FIRE") {
- fireAlert = true;
- cout << "화재 경보가 발생했습니다." << endl;
- } else if (msg == "0-CLEAR") {
- fireAlert = false;
- cout << "화재 경보가 해제되었습니다." << endl;
- }
- }
-
- return nullptr;
-}
-
-// 초음파 센서 측정 스레드
-void* ultrasonic_sensor(void *arg) {
- clock_t start_t, end_t;
- while (1) {
- // 초음파 센서 측정
- GPIOWrite(POUT, Value::HIGH);
- usleep(10);
- GPIOWrite(POUT, Value::LOW);
-
- // 에코 핀 신호 대기
- while (GPIORead(PIN) == 0) start_t = clock();
- while (GPIORead(PIN) == 1) end_t = clock();
-
- double time = (double) (end_t - start_t) / CLOCKS_PER_SEC; // 시간 계산
- double distance = time / 2 * 34000; // cm 단위 거리 계산
-
- cout << distance << "cm" << endl;
- if (!detected && distance <= DISTANCE) { // 10cm 이하 -> 차량 접근
- detected = true;
- cout << "차량 감지: " << distance << "cm" << endl;
-
- // 카메라를 시작합니다.
- if (camera->start()) {
- throw runtime_error("Failed to start camera");
- }
-
- // 카메라 촬영
- if (camera->queueRequest(request.get()) < 0) {
- throw runtime_error("Failed to queue request");
- }
-
- this_thread::sleep_for(chrono::milliseconds(2000));
-
- // 카메라 종료
- camera->stop();
- } else if (detected && distance > 10) { // 10cm 초과 -> 차량 없음
- detected = false;
- cout << "차량 감지 해제" << endl;
- }
-
- usleep(500000); // 0.5초 주기
- }
-
- return nullptr;
-}
vector<Rect> detect_character(const vector<Rect>& rects) {
for (size_t idx = 0; idx < rects.size(); idx++) {
@@ -323,21 +241,56 @@ void detect_plate(const string& img_path) {
}
}
+// 서버 메시지 수신 스레드
+void* receive_message(void* arg) {
+ char buffer[BUFFER_SIZE];
+
+ while (true) {
+ auto read_bytes = read(server_socket, buffer, BUFFER_SIZE - 1);
+ if (read_bytes <= 0) {
+ cout << "서버와의 연결이 종료되었습니다." << endl;
+ close(server_socket);
+ exit(0);
+ }
+
+ buffer[read_bytes] = '\0';
+ cout << "서버로부터 받은 메시지: " << buffer << endl;
+
+ string msg(buffer);
+ msg = msg.substr(0, msg.find_first_of("\r\n"));
+
+ if (msg == "0-FIRE") {
+ fireAlert = true;
+ cout << "화재 경보가 발생했습니다." << endl;
+ } else if (msg == "0-CLEAR") {
+ fireAlert = false;
+ cout << "화재 경보가 해제되었습니다." << endl;
+ }
+ }
+
+ return nullptr;
+}
+
+// 초음파 센서 측정 스레드
+void* ultrasonic_sensor(void *arg) {
+ clock_t start_t, end_t;
+ while (1) {
+ // 초음파 센서 측정
+ GPIOWrite(POUT, Value::HIGH);
+ usleep(10);
+ GPIOWrite(POUT, Value::LOW);
-void requestComplete(Request* request) {
- if (request->status() == Request::RequestComplete) {
- const FrameBuffer* buffer = request->buffers().begin()->second;
- const FrameBuffer::Plane& plane = buffer->planes().front();
+ // 에코 핀 신호 대기
+ while (GPIORead(PIN) == 0) start_t = clock();
+ while (GPIORead(PIN) == 1) end_t = clock();
- void* memory = mmap(nullptr, plane.length, PROT_READ, MAP_SHARED, plane.fd.get(), 0);
- if (memory != MAP_FAILED) {
- cv::Mat raw(800, 1600, CV_8UC2, memory);
- cv::Mat bgr;
- cv::cvtColor(raw, bgr, cv::COLOR_YUV2BGR_YUYV);
+ double time = (double) (end_t - start_t) / CLOCKS_PER_SEC; // 시간 계산
+ double distance = time / 2 * 34000; // cm 단위 거리 계산
- vector<unsigned char> jpeg_buffer;
- vector<int> params = {cv::IMWRITE_JPEG_QUALITY, 90};
- cv::imencode(".jpg", bgr, jpeg_buffer, params);
+ cout << distance << "cm" << endl;
+ if (!detected && distance <= DISTANCE) { // 10cm 이하 -> 차량 접근
+ detected = true;
+ cout << "차량 감지: " << distance << "cm" << endl;
// 현재 시간 타임스탬프
auto now = chrono::system_clock::now();
@@ -347,65 +300,28 @@ void requestComplete(Request* request) {
string timestamp_str = timestamp.str();
string image_filename = IMAGES_DIR + "/image_" + timestamp_str + ".jpg";
+ string cmd = "libcamera-still --nopreview --immediate --rotation=180 --width=1296 --height=972 --denoise off -t 1 -o " + image_filename;
- ofstream file(image_filename, ios::binary);
- if (file) {
- file.write(reinterpret_cast<char*>(jpeg_buffer.data()), jpeg_buffer.size());
- file.close();
+ if (system(cmd.c_str()) == 0) {
cout << "이미지 저장: " << image_filename << endl;
} else {
cerr << "이미지 저장 실패: " << image_filename << endl;
}
- munmap(memory, plane.length);
detect_plate(image_filename);
+ } else if (detected && distance > 10) { // 10cm 초과 -> 차량 없음
+ detected = false;
+ cout << "차량 감지 해제" << endl;
}
- request->reuse(Request::ReuseBuffers);
+ usleep(500000); // 0.5초 주기
}
+
+ return nullptr;
}
int main() {
try {
- cm = make_unique<CameraManager>();
- cm->start();
-
- auto cameras = cm->cameras();
- if (cameras.empty()) {
- throw runtime_error("No cameras found!");
- }
-
- camera = cameras[0];
- camera->acquire();
-
- unique_ptr<CameraConfiguration> config = camera->generateConfiguration({StreamRole::StillCapture});
- config->orientation = Orientation::Rotate180;
-
- StreamConfiguration &streamConfig = config->at(0);
- streamConfig.size = Size(1600, 900);
- streamConfig.pixelFormat = formats::YUYV;
- streamConfig.bufferCount = 1;
-
- CameraConfiguration::Status status = config->validate();
- if (status != CameraConfiguration::Valid) {
- throw runtime_error("Camera configuration invalid");
- }
-
- camera->configure(config.get());
-
- FrameBufferAllocator allocator(camera);
- Stream *stream = streamConfig.stream();
- allocator.allocate(stream);
-
- camera->requestCompleted.connect(requestComplete);
-
- const vector<unique_ptr<FrameBuffer>> &buffers = allocator.buffers(stream);
- request = camera->createRequest();
-
- if (request->addBuffer(stream, buffers.at(0).get()) < 0) {
- throw runtime_error("Failed to add buffer to request");
- }
-
struct sockaddr_in server_addr, python_addr;
// 서버 노드 소켓 생성
@@ -468,13 +384,6 @@ int main() {
close(python_socket);
GPIOUnexport(POUT);
GPIOUnexport(PIN);
-
- camera->requestCompleted.disconnect();
- camera->stop();
- camera->release();
- camera.reset();
- allocator.free(stream);
- cm->stop();
} catch (const exception& e) {
cerr << "Error: " << e.what() << endl;
return 1;