混合编程python与C++

上个版本: 只是用到ctypes进行传输, 这次将python服务端更改为C++服务端,方便后续维护.
本文实现功能: python传输图片给C++, C++接受图片后对图片进行处理,并将结果返回给python客户端, pass image from python to C++

C++ 服务端#

.h文件#

注意文中的model

<span class="token comment">// .h</span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">pragma</span> <span class="token expression">once</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><stdio.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><stdlib.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><string.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><unistd.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><sys/socket.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><arpa/inet.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><netinet/in.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><signal.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span>
<span class="token keyword">class</span> <span class="token class-name">ModelManager</span><span class="token punctuation">;</span>
<span class="token keyword">class</span> <span class="token class-name">ServerManager</span>
<span class="token punctuation">{</span>
<span class="token keyword">private</span><span class="token operator">:</span>
  <span class="token keyword">int</span> m_port<span class="token punctuation">;</span>
  <span class="token keyword">char</span> <span class="token operator">*</span>m_addr<span class="token punctuation">;</span>
  cv<span class="token double-colon punctuation">::</span>VideoCapture m_cap<span class="token punctuation">;</span>
  <span class="token keyword">int</span> m_server<span class="token punctuation">;</span>
  <span class="token keyword">int</span> m_accept<span class="token punctuation">;</span> <span class="token comment">// client conn</span>
<span class="token keyword">public</span><span class="token operator">:</span>
  <span class="token keyword">bool</span> <span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span> <span class="token operator">&</span>port<span class="token punctuation">,</span> <span class="token keyword">const</span> cv<span class="token double-colon punctuation">::</span>VideoCapture <span class="token operator">&</span>cap<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span>addr <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span> <span class="token operator">&</span>port<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span>addr <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">build_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">void</span> <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">char</span> <span class="token operator">*</span>ptr<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">free_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">send_data_frame</span><span class="token punctuation">(</span>ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">receive_data_frame</span><span class="token punctuation">(</span>cv<span class="token double-colon punctuation">::</span>Mat <span class="token operator">&</span>frame<span class="token punctuation">,</span> ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span><span class="token punctuation">;</span>
<span class="token comment">// .h</span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">pragma</span> <span class="token expression">once</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><stdio.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><stdlib.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><string.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><unistd.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><sys/socket.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><arpa/inet.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><netinet/in.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><signal.h></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span>

<span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span>

<span class="token keyword">class</span> <span class="token class-name">ModelManager</span><span class="token punctuation">;</span>

<span class="token keyword">class</span> <span class="token class-name">ServerManager</span>
<span class="token punctuation">{</span>
<span class="token keyword">private</span><span class="token operator">:</span>
  <span class="token keyword">int</span> m_port<span class="token punctuation">;</span>
  <span class="token keyword">char</span> <span class="token operator">*</span>m_addr<span class="token punctuation">;</span>
  cv<span class="token double-colon punctuation">::</span>VideoCapture m_cap<span class="token punctuation">;</span>
  <span class="token keyword">int</span> m_server<span class="token punctuation">;</span>
  <span class="token keyword">int</span> m_accept<span class="token punctuation">;</span> <span class="token comment">// client conn</span>
<span class="token keyword">public</span><span class="token operator">:</span>
  <span class="token keyword">bool</span> <span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span> <span class="token operator">&</span>port<span class="token punctuation">,</span> <span class="token keyword">const</span> cv<span class="token double-colon punctuation">::</span>VideoCapture <span class="token operator">&</span>cap<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span>addr <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span> <span class="token operator">&</span>port<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span>addr <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">build_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">void</span> <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">char</span> <span class="token operator">*</span>ptr<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">free_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>

  <span class="token keyword">bool</span> <span class="token function">send_data_frame</span><span class="token punctuation">(</span>ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">bool</span> <span class="token function">receive_data_frame</span><span class="token punctuation">(</span>cv<span class="token double-colon punctuation">::</span>Mat <span class="token operator">&</span>frame<span class="token punctuation">,</span> ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span><span class="token punctuation">;</span>
// .h
#pragma once
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <signal.h>
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

class ModelManager;

class ServerManager
{
private:
	int m_port;
	char *m_addr;
	cv::VideoCapture m_cap;
	int m_server;
	int m_accept; // client conn
public:
	bool initialization(const int &port, const cv::VideoCapture &cap, char *addr = nullptr);
	bool initialization(const int &port, char *addr = nullptr);
	bool build_connect();
	bool acceptClient();
	void error_print(const char *ptr);
	bool free_connect();

	bool send_data_frame(ModelManager& model);
	bool receive_data_frame(cv::Mat &frame, ModelManager& model);
};

.cpp文件#

<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ServerManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ModelManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">define</span> <span class="token macro-name">BUFFER_SIZE</span> <span class="token expression"><span class="token number">65538</span></span></span>
<span class="token keyword">void</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">error_print</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">char</span> <span class="token operator">*</span> ptr<span class="token punctuation">)</span> <span class="token punctuation">{</span>
        <span class="token function">perror</span><span class="token punctuation">(</span>ptr<span class="token punctuation">)</span><span class="token punctuation">;</span>
        <span class="token function">exit</span><span class="token punctuation">(</span>EXIT_FAILURE<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span><span class="token operator">&</span> port<span class="token punctuation">,</span> <span class="token keyword">const</span> cv<span class="token double-colon punctuation">::</span>VideoCapture<span class="token operator">&</span> cap<span class="token punctuation">,</span> <span class="token keyword">char</span><span class="token operator">*</span> addr<span class="token punctuation">)</span><span class="token punctuation">{</span>
    m_port <span class="token operator">=</span> <span class="token function">htons</span><span class="token punctuation">(</span>port<span class="token punctuation">)</span><span class="token punctuation">;</span>
  m_addr <span class="token operator">=</span> addr<span class="token punctuation">;</span>
  m_cap <span class="token operator">=</span> cap<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span><span class="token operator">&</span> port<span class="token punctuation">,</span> <span class="token keyword">char</span><span class="token operator">*</span> addr<span class="token punctuation">)</span><span class="token punctuation">{</span>
    m_port <span class="token operator">=</span> <span class="token function">htons</span><span class="token punctuation">(</span>port<span class="token punctuation">)</span><span class="token punctuation">;</span>
    m_addr <span class="token operator">=</span> addr<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">build_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token keyword">struct</span> <span class="token class-name">sockaddr_in</span> server_addr<span class="token punctuation">;</span>
    <span class="token function">bzero</span><span class="token punctuation">(</span><span class="token operator">&</span>server_addr<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>server_addr<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  server_addr<span class="token punctuation">.</span>sin_family <span class="token operator">=</span> AF_INET<span class="token punctuation">;</span>
  server_addr<span class="token punctuation">.</span>sin_addr<span class="token punctuation">.</span>s_addr <span class="token operator">=</span> m_addr<span class="token operator">?</span><span class="token function">inet_addr</span><span class="token punctuation">(</span>m_addr<span class="token punctuation">)</span><span class="token operator">:</span>INADDR_ANY<span class="token punctuation">;</span>  
  server_addr<span class="token punctuation">.</span>sin_port <span class="token operator">=</span> m_port<span class="token punctuation">;</span>
  <span class="token comment">// create socket </span>
  m_server <span class="token operator">=</span> <span class="token function">socket</span><span class="token punctuation">(</span>AF_INET<span class="token punctuation">,</span> SOCK_STREAM<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span><span class="token punctuation">(</span>m_server <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"socket bind error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// can reuse port</span>
    <span class="token keyword">int</span> on <span class="token operator">=</span> <span class="token number">1</span><span class="token punctuation">;</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">setsockopt</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span>SOL_SOCKET<span class="token punctuation">,</span>SO_REUSEADDR<span class="token punctuation">,</span><span class="token operator">&</span>on<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>on<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"setsockopt error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// bind addr</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">bind</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span> <span class="token punctuation">(</span><span class="token keyword">struct</span> <span class="token class-name">sockaddr</span><span class="token operator">*</span><span class="token punctuation">)</span><span class="token operator">&</span>server_addr<span class="token punctuation">,</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>server_addr<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"bind error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// listen only one client</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">listen</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"listen failed"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    
  cout <span class="token operator"><<</span> <span class="token string">"ServerManager is listening, plesae wait..."</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
  
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">{</span>
  <span class="token keyword">struct</span> <span class="token class-name">sockaddr_in</span> accept_addr<span class="token punctuation">;</span>
  socklen_t accept_len <span class="token operator">=</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>accept_addr<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token function">bzero</span><span class="token punctuation">(</span><span class="token operator">&</span>accept_addr<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>accept_addr<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// accept client connection</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token punctuation">(</span>m_accept <span class="token operator">=</span> <span class="token function">accept</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span><span class="token punctuation">(</span><span class="token keyword">struct</span> <span class="token class-name">sockaddr</span><span class="token operator">*</span><span class="token punctuation">)</span><span class="token operator">&</span>accept_addr<span class="token punctuation">,</span><span class="token operator">&</span>accept_len<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"accept error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  std<span class="token double-colon punctuation">::</span>cout <span class="token operator"><<</span> <span class="token string">"Connection established"</span> <span class="token operator"><<</span> std<span class="token double-colon punctuation">::</span>endl<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">send_data_frame</span><span class="token punctuation">(</span>ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token keyword">char</span> <span class="token operator">*</span>json_output <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">;</span>
  json_output <span class="token operator">=</span> model<span class="token punctuation">.</span><span class="token function">createJson</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span>json_output <span class="token operator">==</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  
  <span class="token comment">// printf("send data %s\n", json_output);</span>
  <span class="token comment">// just send json_output, dont memcpy new char*!!! it wastes me two hours</span>
  <span class="token comment">// send json</span>
  <span class="token keyword">int</span> result <span class="token operator">=</span> <span class="token function">send</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> json_output<span class="token punctuation">,</span> <span class="token function">strlen</span><span class="token punctuation">(</span>json_output<span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span>result <span class="token operator">==</span> <span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    cout <span class="token operator"><<</span> <span class="token string">"send fail"</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">receive_data_frame</span><span class="token punctuation">(</span>Mat<span class="token operator">&</span> frame<span class="token punctuation">,</span> ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token comment">// recv frame size</span>
  <span class="token keyword">int</span> data_size<span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span><span class="token function">recv</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> <span class="token operator">&</span>data_size<span class="token punctuation">,</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>data_size<span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span> <span class="token operator">!=</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>data_size<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    <span class="token comment">// when client close, then close connection</span>
    <span class="token function">close</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">)</span><span class="token punctuation">;</span>
    cout <span class="token operator"><<</span> <span class="token string">"close connection to client"</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
    <span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token comment">// restart a new accept, to accept new connection</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  cout <span class="token operator"><<</span> data_size <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
  <span class="token comment">// recv frame data</span>
    
  <span class="token comment">// char buf[data_size];</span>
  <span class="token comment">// std::vector<uchar> decode;</span>
  <span class="token comment">// int bytes_received = 0;</span>
  <span class="token comment">// do</span>
  <span class="token comment">// {</span>
  <span class="token comment">//   int nBytes = recv(m_accept, buf, data_size - bytes_received, 0);</span>
  <span class="token comment">//   for (int i = 0; i < nBytes; i++)  // maybe can use memcpy, maybe faster</span>
  <span class="token comment">//   {</span>
  <span class="token comment">//     decode.emplace_back(buf[i]);</span>
  <span class="token comment">//   }</span>
  <span class="token comment">//   cout << bytes_received << endl;</span>
  <span class="token comment">//   bytes_received += nBytes;</span>
  <span class="token comment">// } while (bytes_received < data_size);</span>
    <span class="token keyword">char</span> <span class="token operator">*</span>recv_char <span class="token operator">=</span> <span class="token keyword">new</span> <span class="token keyword">char</span><span class="token punctuation">[</span>data_size<span class="token punctuation">]</span><span class="token punctuation">;</span>
  std<span class="token double-colon punctuation">::</span>vector<span class="token operator"><</span>uchar<span class="token operator">></span> <span class="token function">decode</span><span class="token punctuation">(</span>data_size<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> index <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> bytes_received <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> count <span class="token operator">=</span> data_size<span class="token punctuation">;</span>
  <span class="token keyword">while</span> <span class="token punctuation">(</span>count <span class="token operator">></span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token comment">// if count >= 0, dead loop</span>
  <span class="token punctuation">{</span>
    <span class="token keyword">int</span> iRet <span class="token operator">=</span> <span class="token function">recv</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> recv_char<span class="token punctuation">,</span> count<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">if</span> <span class="token punctuation">(</span>index <span class="token operator">>=</span> data_size<span class="token punctuation">)</span> index <span class="token operator">=</span> data_size<span class="token punctuation">;</span>
    <span class="token function">memcpy</span><span class="token punctuation">(</span><span class="token operator">&</span>decode<span class="token punctuation">[</span>index<span class="token punctuation">]</span><span class="token punctuation">,</span> recv_char <span class="token punctuation">,</span> iRet<span class="token punctuation">)</span><span class="token punctuation">;</span>
    index <span class="token operator">+=</span> iRet<span class="token punctuation">;</span>
    <span class="token keyword">if</span> <span class="token punctuation">(</span><span class="token operator">!</span>iRet<span class="token punctuation">)</span> <span class="token punctuation">{</span> <span class="token keyword">return</span> <span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">;</span> <span class="token punctuation">}</span>
    count <span class="token operator">-=</span> iRet<span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  <span class="token comment">// decode message</span>
  frame <span class="token operator">=</span> <span class="token function">imdecode</span><span class="token punctuation">(</span>decode<span class="token punctuation">,</span> cv<span class="token double-colon punctuation">::</span>IMREAD_COLOR<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// push into Model's queueMat</span>
  model<span class="token punctuation">.</span>mtxQueueImg<span class="token punctuation">.</span><span class="token function">lock</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  model<span class="token punctuation">.</span>queueMat<span class="token punctuation">.</span><span class="token function">push</span><span class="token punctuation">(</span>frame<span class="token punctuation">)</span><span class="token punctuation">;</span>
  model<span class="token punctuation">.</span>mtxQueueImg<span class="token punctuation">.</span><span class="token function">unlock</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">free_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
  m_cap<span class="token punctuation">.</span><span class="token function">release</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token function">close</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token function">close</span><span class="token punctuation">(</span>m_server<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ServerManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ModelManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">define</span> <span class="token macro-name">BUFFER_SIZE</span> <span class="token expression"><span class="token number">65538</span></span></span>

<span class="token keyword">void</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">error_print</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">char</span> <span class="token operator">*</span> ptr<span class="token punctuation">)</span> <span class="token punctuation">{</span>
        <span class="token function">perror</span><span class="token punctuation">(</span>ptr<span class="token punctuation">)</span><span class="token punctuation">;</span>
        <span class="token function">exit</span><span class="token punctuation">(</span>EXIT_FAILURE<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span><span class="token operator">&</span> port<span class="token punctuation">,</span> <span class="token keyword">const</span> cv<span class="token double-colon punctuation">::</span>VideoCapture<span class="token operator">&</span> cap<span class="token punctuation">,</span> <span class="token keyword">char</span><span class="token operator">*</span> addr<span class="token punctuation">)</span><span class="token punctuation">{</span>
    m_port <span class="token operator">=</span> <span class="token function">htons</span><span class="token punctuation">(</span>port<span class="token punctuation">)</span><span class="token punctuation">;</span>
  m_addr <span class="token operator">=</span> addr<span class="token punctuation">;</span>
  m_cap <span class="token operator">=</span> cap<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">initialization</span><span class="token punctuation">(</span><span class="token keyword">const</span> <span class="token keyword">int</span><span class="token operator">&</span> port<span class="token punctuation">,</span> <span class="token keyword">char</span><span class="token operator">*</span> addr<span class="token punctuation">)</span><span class="token punctuation">{</span>
    m_port <span class="token operator">=</span> <span class="token function">htons</span><span class="token punctuation">(</span>port<span class="token punctuation">)</span><span class="token punctuation">;</span>
    m_addr <span class="token operator">=</span> addr<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">build_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token keyword">struct</span> <span class="token class-name">sockaddr_in</span> server_addr<span class="token punctuation">;</span>
    <span class="token function">bzero</span><span class="token punctuation">(</span><span class="token operator">&</span>server_addr<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>server_addr<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  server_addr<span class="token punctuation">.</span>sin_family <span class="token operator">=</span> AF_INET<span class="token punctuation">;</span>
  server_addr<span class="token punctuation">.</span>sin_addr<span class="token punctuation">.</span>s_addr <span class="token operator">=</span> m_addr<span class="token operator">?</span><span class="token function">inet_addr</span><span class="token punctuation">(</span>m_addr<span class="token punctuation">)</span><span class="token operator">:</span>INADDR_ANY<span class="token punctuation">;</span>  
  server_addr<span class="token punctuation">.</span>sin_port <span class="token operator">=</span> m_port<span class="token punctuation">;</span>
  <span class="token comment">// create socket </span>
  m_server <span class="token operator">=</span> <span class="token function">socket</span><span class="token punctuation">(</span>AF_INET<span class="token punctuation">,</span> SOCK_STREAM<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span><span class="token punctuation">(</span>m_server <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"socket bind error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// can reuse port</span>
    <span class="token keyword">int</span> on <span class="token operator">=</span> <span class="token number">1</span><span class="token punctuation">;</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">setsockopt</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span>SOL_SOCKET<span class="token punctuation">,</span>SO_REUSEADDR<span class="token punctuation">,</span><span class="token operator">&</span>on<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>on<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"setsockopt error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// bind addr</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">bind</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span> <span class="token punctuation">(</span><span class="token keyword">struct</span> <span class="token class-name">sockaddr</span><span class="token operator">*</span><span class="token punctuation">)</span><span class="token operator">&</span>server_addr<span class="token punctuation">,</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>server_addr<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"bind error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// listen only one client</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token function">listen</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"listen failed"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    
  cout <span class="token operator"><<</span> <span class="token string">"ServerManager is listening, plesae wait..."</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
  
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">{</span>
  <span class="token keyword">struct</span> <span class="token class-name">sockaddr_in</span> accept_addr<span class="token punctuation">;</span>
  socklen_t accept_len <span class="token operator">=</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>accept_addr<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token function">bzero</span><span class="token punctuation">(</span><span class="token operator">&</span>accept_addr<span class="token punctuation">,</span><span class="token keyword">sizeof</span><span class="token punctuation">(</span>accept_addr<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// accept client connection</span>
    <span class="token keyword">if</span><span class="token punctuation">(</span><span class="token punctuation">(</span>m_accept <span class="token operator">=</span> <span class="token function">accept</span><span class="token punctuation">(</span>m_server<span class="token punctuation">,</span><span class="token punctuation">(</span><span class="token keyword">struct</span> <span class="token class-name">sockaddr</span><span class="token operator">*</span><span class="token punctuation">)</span><span class="token operator">&</span>accept_addr<span class="token punctuation">,</span><span class="token operator">&</span>accept_len<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator"><</span> <span class="token number">0</span><span class="token punctuation">)</span>
        <span class="token function">error_print</span><span class="token punctuation">(</span><span class="token string">"accept error"</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  std<span class="token double-colon punctuation">::</span>cout <span class="token operator"><<</span> <span class="token string">"Connection established"</span> <span class="token operator"><<</span> std<span class="token double-colon punctuation">::</span>endl<span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">send_data_frame</span><span class="token punctuation">(</span>ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token keyword">char</span> <span class="token operator">*</span>json_output <span class="token operator">=</span> <span class="token keyword">nullptr</span><span class="token punctuation">;</span>
  json_output <span class="token operator">=</span> model<span class="token punctuation">.</span><span class="token function">createJson</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span>json_output <span class="token operator">==</span> <span class="token keyword">nullptr</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  
  <span class="token comment">// printf("send data %s\n", json_output);</span>
  <span class="token comment">// just send json_output, dont memcpy new char*!!! it wastes me two hours</span>
  <span class="token comment">// send json</span>
  <span class="token keyword">int</span> result <span class="token operator">=</span> <span class="token function">send</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> json_output<span class="token punctuation">,</span> <span class="token function">strlen</span><span class="token punctuation">(</span>json_output<span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span>result <span class="token operator">==</span> <span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    cout <span class="token operator"><<</span> <span class="token string">"send fail"</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>


<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">receive_data_frame</span><span class="token punctuation">(</span>Mat<span class="token operator">&</span> frame<span class="token punctuation">,</span> ModelManager<span class="token operator">&</span> model<span class="token punctuation">)</span> <span class="token punctuation">{</span>
  <span class="token comment">// recv frame size</span>
  <span class="token keyword">int</span> data_size<span class="token punctuation">;</span>
  <span class="token keyword">if</span> <span class="token punctuation">(</span><span class="token function">recv</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> <span class="token operator">&</span>data_size<span class="token punctuation">,</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>data_size<span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span> <span class="token operator">!=</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>data_size<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
    <span class="token comment">// when client close, then close connection</span>
    <span class="token function">close</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">)</span><span class="token punctuation">;</span>
    cout <span class="token operator"><<</span> <span class="token string">"close connection to client"</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
    <span class="token function">acceptClient</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token comment">// restart a new accept, to accept new connection</span>
    <span class="token keyword">return</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  cout <span class="token operator"><<</span> data_size <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
  <span class="token comment">// recv frame data</span>
    
  <span class="token comment">// char buf[data_size];</span>
  <span class="token comment">// std::vector<uchar> decode;</span>
  <span class="token comment">// int bytes_received = 0;</span>
  <span class="token comment">// do</span>
  <span class="token comment">// {</span>
  <span class="token comment">//   int nBytes = recv(m_accept, buf, data_size - bytes_received, 0);</span>
  <span class="token comment">//   for (int i = 0; i < nBytes; i++)  // maybe can use memcpy, maybe faster</span>
  <span class="token comment">//   {</span>
  <span class="token comment">//     decode.emplace_back(buf[i]);</span>
  <span class="token comment">//   }</span>
  <span class="token comment">//   cout << bytes_received << endl;</span>
  <span class="token comment">//   bytes_received += nBytes;</span>
  <span class="token comment">// } while (bytes_received < data_size);</span>
    <span class="token keyword">char</span> <span class="token operator">*</span>recv_char <span class="token operator">=</span> <span class="token keyword">new</span> <span class="token keyword">char</span><span class="token punctuation">[</span>data_size<span class="token punctuation">]</span><span class="token punctuation">;</span>
  std<span class="token double-colon punctuation">::</span>vector<span class="token operator"><</span>uchar<span class="token operator">></span> <span class="token function">decode</span><span class="token punctuation">(</span>data_size<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> index <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> bytes_received <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
  <span class="token keyword">int</span> count <span class="token operator">=</span> data_size<span class="token punctuation">;</span>
  <span class="token keyword">while</span> <span class="token punctuation">(</span>count <span class="token operator">></span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token comment">// if count >= 0, dead loop</span>
  <span class="token punctuation">{</span>
    <span class="token keyword">int</span> iRet <span class="token operator">=</span> <span class="token function">recv</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">,</span> recv_char<span class="token punctuation">,</span> count<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">if</span> <span class="token punctuation">(</span>index <span class="token operator">>=</span> data_size<span class="token punctuation">)</span> index <span class="token operator">=</span> data_size<span class="token punctuation">;</span>
    <span class="token function">memcpy</span><span class="token punctuation">(</span><span class="token operator">&</span>decode<span class="token punctuation">[</span>index<span class="token punctuation">]</span><span class="token punctuation">,</span> recv_char <span class="token punctuation">,</span> iRet<span class="token punctuation">)</span><span class="token punctuation">;</span>
    index <span class="token operator">+=</span> iRet<span class="token punctuation">;</span>
    <span class="token keyword">if</span> <span class="token punctuation">(</span><span class="token operator">!</span>iRet<span class="token punctuation">)</span> <span class="token punctuation">{</span> <span class="token keyword">return</span> <span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">;</span> <span class="token punctuation">}</span>
    count <span class="token operator">-=</span> iRet<span class="token punctuation">;</span>
  <span class="token punctuation">}</span>
  <span class="token comment">// decode message</span>
  frame <span class="token operator">=</span> <span class="token function">imdecode</span><span class="token punctuation">(</span>decode<span class="token punctuation">,</span> cv<span class="token double-colon punctuation">::</span>IMREAD_COLOR<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token comment">// push into Model's queueMat</span>
  model<span class="token punctuation">.</span>mtxQueueImg<span class="token punctuation">.</span><span class="token function">lock</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  model<span class="token punctuation">.</span>queueMat<span class="token punctuation">.</span><span class="token function">push</span><span class="token punctuation">(</span>frame<span class="token punctuation">)</span><span class="token punctuation">;</span>
  model<span class="token punctuation">.</span>mtxQueueImg<span class="token punctuation">.</span><span class="token function">unlock</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>

<span class="token keyword">bool</span> <span class="token class-name">ServerManager</span><span class="token double-colon punctuation">::</span><span class="token function">free_connect</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
  m_cap<span class="token punctuation">.</span><span class="token function">release</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token function">close</span><span class="token punctuation">(</span>m_accept<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token function">close</span><span class="token punctuation">(</span>m_server<span class="token punctuation">)</span><span class="token punctuation">;</span>
  <span class="token keyword">return</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
#include "ServerManager.h"
#include "ModelManager.h"
#define BUFFER_SIZE 65538

void ServerManager::error_print(const char * ptr) {
        perror(ptr);
        exit(EXIT_FAILURE);
}

bool ServerManager::initialization(const int& port, const cv::VideoCapture& cap, char* addr){
    m_port = htons(port);
	m_addr = addr;
	m_cap = cap;
	return true;
}

bool ServerManager::initialization(const int& port, char* addr){
    m_port = htons(port);
    m_addr = addr;
	return true;
}

bool ServerManager::build_connect() {
	struct sockaddr_in server_addr;
    bzero(&server_addr,sizeof(server_addr));
	server_addr.sin_family = AF_INET;
	server_addr.sin_addr.s_addr = m_addr?inet_addr(m_addr):INADDR_ANY;  
	server_addr.sin_port = m_port;
	// create socket 
	m_server = socket(AF_INET, SOCK_STREAM, 0);
	if(m_server < 0)
        error_print("socket bind error");
	// can reuse port
    int on = 1;
    if(setsockopt(m_server,SOL_SOCKET,SO_REUSEADDR,&on,sizeof(on)) < 0)
        error_print("setsockopt error");
    // bind addr
    if(bind(m_server, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0)
        error_print("bind error");
    // listen only one client
    if(listen(m_server, 1) < 0)
        error_print("listen failed");
    
	cout << "ServerManager is listening, plesae wait..." << endl;
	
	return true;
}

bool ServerManager::acceptClient(){
	struct sockaddr_in accept_addr;
	socklen_t accept_len = sizeof(accept_addr);
	bzero(&accept_addr,sizeof(accept_addr));
	// accept client connection
    if((m_accept = accept(m_server,(struct sockaddr*)&accept_addr,&accept_len)) < 0)
        error_print("accept error");
	std::cout << "Connection established" << std::endl;
	return true;
}

bool ServerManager::send_data_frame(ModelManager& model) {
	char *json_output = nullptr;
	json_output = model.createJson();
	if (json_output == nullptr) {
		return false;
	}
	
	// printf("send data %s\n", json_output);
	// just send json_output, dont memcpy new char*!!! it wastes me two hours
	// send json
	int result = send(m_accept, json_output, strlen(json_output), 0);
	if (result == -1) {
		cout << "send fail" << endl;
		return false;
	}
	return true;
}


bool ServerManager::receive_data_frame(Mat& frame, ModelManager& model) {
	// recv frame size
	int data_size;
	if (recv(m_accept, &data_size, sizeof(data_size), 0) != sizeof(data_size)) {
		// when client close, then close connection
		close(m_accept);
		cout << "close connection to client" << endl;
		acceptClient(); // restart a new accept, to accept new connection
		return false;
	}
	cout << data_size << endl;
	// recv frame data
    
	// char buf[data_size];
	// std::vector<uchar> decode;
	// int bytes_received = 0;
	// do
	// {
	// 	int nBytes = recv(m_accept, buf, data_size - bytes_received, 0);
	// 	for (int i = 0; i < nBytes; i++)  // maybe can use memcpy, maybe faster
	// 	{
	// 		decode.emplace_back(buf[i]);
	// 	}
	// 	cout << bytes_received << endl;
	// 	bytes_received += nBytes;
	// } while (bytes_received < data_size);
    char *recv_char = new char[data_size];
	std::vector<uchar> decode(data_size, 0);
	int index = 0;
	int bytes_received = 0;
	int count = data_size;
	while (count > 0)// if count >= 0, dead loop
	{
		int iRet = recv(m_accept, recv_char, count, 0);
		if (index >= data_size) index = data_size;
		memcpy(&decode[index], recv_char , iRet);
		index += iRet;
		if (!iRet) { return -1; }
		count -= iRet;
	}
	// decode message
	frame = imdecode(decode, cv::IMREAD_COLOR);
	// push into Model's queueMat
	model.mtxQueueImg.lock();
	model.queueMat.push(frame);
	model.mtxQueueImg.unlock();
	return true;
}

bool ServerManager::free_connect() {
	m_cap.release();
	close(m_accept);
    close(m_server);
	return true;
}

C++ model部分代码#

.h文件#

<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">pragma</span> <span class="token expression">once</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"CV_Classify.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"CV_Detect.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ServerManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><mutex></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><queue></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><unistd.h></span> <span class="token comment">// usleep</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><thread></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"cJSON.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><string></span></span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span>
<span class="token keyword">class</span> <span class="token class-name">ModelManager</span><span class="token punctuation">{</span>
<span class="token keyword">public</span><span class="token operator">:</span>
    Detect objdetect<span class="token punctuation">;</span>
    Classify objclassify<span class="token punctuation">;</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueDet<span class="token punctuation">;</span>  <span class="token comment">// mutex for detect queue</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueImg<span class="token punctuation">;</span>  <span class="token comment">// mutex for image queue</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueCls<span class="token punctuation">;</span>  <span class="token comment">// mutex for classify queue</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>cv<span class="token double-colon punctuation">::</span>Mat<span class="token operator">></span> queueMat<span class="token punctuation">;</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>ObjDetectOutput<span class="token operator">></span> queueDetOut<span class="token punctuation">;</span><span class="token comment">// Detect queue</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>ObjClassifyOutput<span class="token operator">></span> queueClsOut<span class="token punctuation">;</span><span class="token comment">// Classify queue</span>
    
    <span class="token keyword">bool</span> DetectFlag <span class="token operator">=</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
    <span class="token keyword">bool</span> ClassifyFlag <span class="token operator">=</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
    <span class="token keyword">bool</span> empty_flag <span class="token operator">=</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
    <span class="token keyword">friend</span> <span class="token keyword">class</span> <span class="token class-name">ServerManager</span><span class="token punctuation">;</span>
<span class="token keyword">public</span><span class="token operator">:</span>
    <span class="token keyword">void</span> <span class="token function">initDetectModel</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">initClassifyModel</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">DetectImg</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">ClassifyImg</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">getClsResult</span><span class="token punctuation">(</span>ObjClassifyOutput <span class="token operator">&</span>output<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// ObjClassifyOutput getClsResult();</span>
    <span class="token keyword">char</span><span class="token operator">*</span> <span class="token function">createJson</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span><span class="token punctuation">;</span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">pragma</span> <span class="token expression">once</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"CV_Classify.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"CV_Detect.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"ServerManager.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><mutex></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><queue></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><unistd.h></span> <span class="token comment">// usleep</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><thread></span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string">"cJSON.h"</span></span>
<span class="token macro property"><span class="token directive-hash">#</span><span class="token directive keyword">include</span> <span class="token string"><string></span></span>

<span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span>

<span class="token keyword">class</span> <span class="token class-name">ModelManager</span><span class="token punctuation">{</span>
<span class="token keyword">public</span><span class="token operator">:</span>
    Detect objdetect<span class="token punctuation">;</span>
    Classify objclassify<span class="token punctuation">;</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueDet<span class="token punctuation">;</span>  <span class="token comment">// mutex for detect queue</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueImg<span class="token punctuation">;</span>  <span class="token comment">// mutex for image queue</span>
    std<span class="token double-colon punctuation">::</span>mutex mtxQueueCls<span class="token punctuation">;</span>  <span class="token comment">// mutex for classify queue</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>cv<span class="token double-colon punctuation">::</span>Mat<span class="token operator">></span> queueMat<span class="token punctuation">;</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>ObjDetectOutput<span class="token operator">></span> queueDetOut<span class="token punctuation">;</span><span class="token comment">// Detect queue</span>
    std<span class="token double-colon punctuation">::</span>queue<span class="token operator"><</span>ObjClassifyOutput<span class="token operator">></span> queueClsOut<span class="token punctuation">;</span><span class="token comment">// Classify queue</span>
    
    <span class="token keyword">bool</span> DetectFlag <span class="token operator">=</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
    <span class="token keyword">bool</span> ClassifyFlag <span class="token operator">=</span> <span class="token boolean">true</span><span class="token punctuation">;</span>
    <span class="token keyword">bool</span> empty_flag <span class="token operator">=</span> <span class="token boolean">false</span><span class="token punctuation">;</span>
    <span class="token keyword">friend</span> <span class="token keyword">class</span> <span class="token class-name">ServerManager</span><span class="token punctuation">;</span>
<span class="token keyword">public</span><span class="token operator">:</span>
    <span class="token keyword">void</span> <span class="token function">initDetectModel</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">initClassifyModel</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">DetectImg</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">ClassifyImg</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">void</span> <span class="token function">getClsResult</span><span class="token punctuation">(</span>ObjClassifyOutput <span class="token operator">&</span>output<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token comment">// ObjClassifyOutput getClsResult();</span>
    <span class="token keyword">char</span><span class="token operator">*</span> <span class="token function">createJson</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span><span class="token punctuation">;</span>
#pragma once
#include "CV_Classify.h"
#include "CV_Detect.h"
#include "ServerManager.h"
#include <opencv2/opencv.hpp>
#include <mutex>
#include <queue>
#include <unistd.h> // usleep
#include <thread>
#include "cJSON.h"
#include <string>

using namespace std;
using namespace cv;

class ModelManager{
public:
    Detect objdetect;
    Classify objclassify;
    std::mutex mtxQueueDet;  // mutex for detect queue
    std::mutex mtxQueueImg;  // mutex for image queue
    std::mutex mtxQueueCls;  // mutex for classify queue
    std::queue<cv::Mat> queueMat;
    std::queue<ObjDetectOutput> queueDetOut;// Detect queue
    std::queue<ObjClassifyOutput> queueClsOut;// Classify queue
    
    bool DetectFlag = true;
    bool ClassifyFlag = true;
    bool empty_flag = false;
    friend class ServerManager;
public:
    void initDetectModel() ;
    void initClassifyModel() ;
    void DetectImg();
    void ClassifyImg();
    void getClsResult(ObjClassifyOutput &output);
    // ObjClassifyOutput getClsResult();
    char* createJson();
};