refactor(c): libcamera 커맨드라인 명령으로 변경

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;