new send and submodule masa_protocol added

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "tracker_CLASS"]
 	path = tracker_CLASS
 	url = https://github.com/mive93/tracker_CLASS.git
+[submodule "masa_protocol"]
+	path = masa_protocol
+	url = https://git.hipert.unimore.it/rcavicchioli/masa_protocol.git

CMakeLists.txt

@@ -107,8 +107,6 @@ add_executable(yolo3_demo demo/demo/demo.cpp
 target_link_libraries(yolo3_demo tkDNN)
 target_link_libraries(yolo3_demo python2.7 yaml-cpp)
 
-add_executable(class_server demo/server/server_less_dummy.cpp)
-target_link_libraries(class_server pthread tkDNN )
 
 
 #install

demo/demo/demo.cpp

@@ -14,7 +14,10 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "Yolo3Detection.h"
-#include "send.h"
+#include "classutils.h"
+#include "../masa_protocol/include/send.hpp"
+#include "../masa_protocol/include/serialize.hpp"
+
 #include "ekf.h"
 #include "trackutils.h"
 #include "plot.h"
@@ -58,6 +61,52 @@ void draw_arrow(float angleRad, float vel, cv::Scalar color, cv::Point center, c
     cv::arrowedLine(frame, center, center + direction, color, thickness, lineType, 0, tipLength); // draw arrow!
 }
 
+unsigned long long time_in_ms()
+{    
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
+    return t_stamp_ms;
+}
+
+void prepare_message(Message *m, struct obj_coords *coords, int n_coords, int idx)
+{
+    m->cam_idx = idx;
+    m->t_stamp_ms = time_in_ms();
+    m->num_objects = n_coords;
+
+    m->objects.clear();
+    for (int i = 0; i < n_coords ; i++)
+    {
+        Categories cat;
+        switch (static_cast<int>(coords[i].cl))
+        {
+        case 0:
+            cat = Categories::C_person;
+            break;
+        case 1:
+            cat = Categories::C_car;
+            break;
+        case 2:
+            cat = Categories::C_car;
+            break;
+        case 3:
+            cat = Categories::C_bus;
+            break;
+        case 4:
+            cat = Categories::C_motorbike;
+            break;
+        case 5:
+            cat = Categories::C_bycicle;
+            break;
+        }
+        RoadUser r{coords[i].LAT, coords[i].LONG, 0, 1, C_car};
+        m->objects.push_back(r);
+    }
+
+    m->lights.clear();
+}
+
 int main(int argc, char *argv[])
 {
 
@@ -76,7 +125,7 @@ int main(int argc, char *argv[])
     char *tiffile = "../demo/demo/data/map_b.tif";
     if (argc > 4)
         tiffile = argv[4];
-    int CAM_IDX = 0;
+    int CAM_IDX = 20936;
     if (argc > 5)
         CAM_IDX = atoi(argv[5]);
     bool to_show = true;
@@ -143,8 +192,10 @@ int main(int argc, char *argv[])
     struct obj_coords *coords = (struct obj_coords *)malloc(MAX_DETECT_SIZE * sizeof(struct obj_coords));
 
     /*socket*/
-    int sock;
-    int socket_opened = 0;
+
+    Communicator Comm(SOCK_DGRAM);
+    Comm.open_client_socket("127.0.0.1", 8888);
+    Message *m = new Message;
 
     /*Conversion for tracker, from gps to meters and viceversa*/
     geodetic_converter::GeodeticConverter gc;
@@ -313,7 +364,15 @@ int main(int argc, char *argv[])
         }
 
         frame_nbr++;
-        send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
+        prepare_message(m,coords, coord_i,CAM_IDX);
+        std::stringbuf s;
+        Comm.serialize_coords(m,&s);
+        
+        //std::cout<<s.str()<<std::endl;
+        //std::cout<<s.str().length()<<std::endl;
+        
+        Comm.send_message(m);
+        
     }
 
     free(coords);

demo/server/server_less_dummy.cpp

@@ -1,283 +0,0 @@
-/*
-    C socket server example, handles multiple clients using threads
-*/
-
-#include <stdio.h>
-#include <string.h> //strlen
-#include <stdlib.h> //strlen
-#include <time.h>
-#include <sys/socket.h>
-#include <arpa/inet.h> //inet_addr
-#include <unistd.h>    //write
-#include <pthread.h>   //for threading , link with lpthread
-#include <semaphore.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include "serialize.hpp"
-#include <string>
-
-sem_t semaphore;
-
-struct obj_coords
-{
-    float LAT;
-    float LONG;
-    float cl;
-};
-
-int write_coords_to_file(std::string buffer, FILE *f)
-{
-
-    std::istringstream is(buffer);
-    cereal::PortableBinaryInputArchive retrieve(is);
-    Message m;
-    retrieve(m);
-
-    int cam_id = m.cam_idx;
-    unsigned long long t_stamp_ms = m.t_stamp_ms;
-    int obj_n = m.num_objects;
-
-    struct obj_coords *c = (struct obj_coords *)malloc(obj_n * sizeof(struct obj_coords));
-
-    int i;
-    for (i = 0; i < obj_n; i++)
-    {
-        c[i].LAT = m.objects.at(i).latitude;
-        c[i].LONG = m.objects.at(i).longitude;
-        c[i].cl = m.objects.at(i).category;
-        //m.objects.at(i).speed;
-        //m.objects.at(i).orientation;
-    }
-
-    char *to_print = (char *)malloc(100000);
-    memset(to_print, 0, 100000);
-
-    /*int obj_n;
-    int cam_id;
-    unsigned long long t_stamp_ms;
-    char type_of_m;
-
-    int consumed_chars = 0;
-    char *shifted_chars = (char*)malloc(4000);
-    char *to_print = (char*)malloc(100000);
-    memset(to_print,0,100000);
-
-    sscanf(buffer, "%c %lld %d %d ", &type_of_m, &t_stamp_ms, &cam_id, &obj_n);
-    sprintf(shifted_chars, "%c %lld %d %d ", type_of_m, t_stamp_ms, cam_id, obj_n);
-    consumed_chars += strlen(shifted_chars);
-    //printf("%c %lld %d %d\n", type_of_m, t_stamp_ms, cam_id, *obj_n);
-
-    struct obj_coords *c = (struct obj_coords *)malloc(obj_n * sizeof(struct obj_coords));
-
-    int i;
-    for (i = 0; i < obj_n; i++)
-    {
-        sscanf(buffer + consumed_chars, "%f %f %f ", &c[i].LAT, &c[i].LONG, &c[i].cl);
-        sprintf(shifted_chars, "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
-        consumed_chars += strlen(shifted_chars);
-        //printf("%Lf %f %f \n", c[i].LAT, c[i].LONG, c[i].cl);
-    }*/
-
-    char *command = (char *)malloc(4000);
-    for (i = 0; i < obj_n; i++)
-    {
-        sprintf(command, "%d %lld %.0f %.9f %.9f %f %f\n", cam_id, t_stamp_ms, c[i].cl, c[i].LAT, c[i].LONG, 0.0f, 0.0f);
-        strcat(to_print, command);
-    }
-
-    printf("%s", to_print);
-
-    fprintf(f, "%s", to_print);
-    free(to_print);
-    free(command);
-    free(c);
-
-    return obj_n;
-}
-
-//the thread function
-void *connection_handler(void *);
-
-int main(int argc, char *argv[])
-{
-    const int path_size = 400;
-    //const int message_size = 100000;
-    char path[path_size];
-    //int obj_n;
-    const char *basepath = "/tmp/";
-    struct stat st = {0};
-
-    sem_init(&semaphore, 0, 1);
-
-    int socket_desc, client_sock, c, *new_sock;
-    struct sockaddr_in server, client;
-
-    time_t rawtime;
-    time(&rawtime);
-    struct tm *tm_struct = localtime(&rawtime);
-    int tm_hour = tm_struct->tm_hour;
-    int tm_yday = tm_struct->tm_yday;
-
-    sprintf(path, "%s%d/", basepath, tm_yday);
-    if (stat(path, &st) == -1)
-    {
-        mkdir(path, 0700);
-    }
-    memset(path, 0, path_size);
-
-    sprintf(path, "%s%d/%d/", basepath, tm_yday, tm_hour);
-    if (stat(path, &st) == -1)
-    {
-        mkdir(path, 0700);
-    }
-    memset(path, 0, path_size);
-
-    //Create socket
-    socket_desc = socket(AF_INET, SOCK_STREAM, 0);
-    if (socket_desc == -1)
-    {
-        printf("Could not create socket");
-    }
-    puts("Socket created");
-
-    //Prepare the sockaddr_in structure
-    server.sin_family = AF_INET;
-    server.sin_addr.s_addr = INADDR_ANY;
-    server.sin_port = htons(8888);
-
-    //Bind
-    if (bind(socket_desc, (struct sockaddr *)&server, sizeof(server)) < 0)
-    {
-        //print the error message
-        perror("bind failed. Error");
-        return 1;
-    }
-    puts("bind done");
-
-    //Listen
-    listen(socket_desc, 3);
-
-    //Accept and incoming connection
-    puts("Waiting for incoming connections...");
-    c = sizeof(struct sockaddr_in);
-    while ((client_sock = accept(socket_desc, (struct sockaddr *)&client, (socklen_t *)&c)))
-    {
-        puts("Connection accepted");
-
-        pthread_t sniffer_thread;
-        new_sock = (int *)malloc(1);
-        *new_sock = client_sock;
-
-        if (pthread_create(&sniffer_thread, NULL, connection_handler, (void *)new_sock) < 0)
-        {
-            perror("could not create thread");
-            return 1;
-        }
-
-        //Now join the thread , so that we dont terminate before the thread
-        //pthread_join( sniffer_thread , NULL);
-        puts("Handler assigned");
-    }
-
-    if (client_sock < 0)
-    {
-        perror("accept failed");
-        return 1;
-    }
-
-    sem_destroy(&semaphore);
-
-    return 0;
-}
-
-/*
- * This will handle connection for each client
- * */
-void *connection_handler(void *socket_desc)
-{
-    time_t rawtime;
-    struct tm *tm_struct;
-    int tm_hour;
-    int tm_yday;
-    const int path_size = 400;
-    const int message_size = 100000;
-    char path[path_size];
-    int obj_n;
-    const char *basepath = "/tmp/";
-    struct stat st = {0};
-    FILE *f;
-    int mess_hour, mess_min, mess_yday;
-
-    //Get the socket descriptor
-    int sock = *(int *)socket_desc;
-    int read_size;
-
-    void *client_message = (void *)malloc(message_size);
-
-    /* //Send some messages to the client
-    message = "Greetings! I am your connection handler\n";
-    write(sock, message, strlen(message)); */
-
-    //Receive a message from client
-    while ((read_size = recv(sock, client_message, message_size, 0)) > 0)
-    {
-
-        std::string s((char *)client_message, message_size);
-        //std::cout<<"Message received: "<<s<<std::endl;
-
-        time(&rawtime);
-        tm_struct = localtime(&rawtime);
-        mess_min = tm_struct->tm_min;
-        mess_hour = tm_struct->tm_hour;
-        mess_yday = tm_struct->tm_yday;
-        if (mess_yday != tm_yday)
-        {
-            tm_yday = mess_yday;
-            sprintf(path, "%s%d/", basepath, tm_yday);
-            if (stat(path, &st) == -1)
-            {
-                mkdir(path, 0700);
-            }
-            memset(path, 0, path_size);
-        }
-        if (mess_hour != tm_hour)
-        {
-            tm_hour = mess_hour;
-            sprintf(path, "%s%d/%d/", basepath, tm_yday, tm_hour);
-            if (stat(path, &st) == -1)
-            {
-                mkdir(path, 0700);
-            }
-            memset(path, 0, path_size);
-        }
-
-        sprintf(path, "%s%d/%d/%d.txt", basepath, tm_yday, tm_hour, mess_min);
-
-        //CRITICAL SECTION
-        sem_wait(&semaphore);
-        f = fopen(path, "a");
-        memset(path, 0, path_size);
-
-        obj_n = write_coords_to_file(s, f);
-
-        fclose(f);
-        sem_post(&semaphore);
-    }
-
-    if (read_size == 0)
-    {
-        puts("Client disconnected");
-        fflush(stdout);
-    }
-    else if (read_size == -1)
-    {
-        perror("recv failed");
-    }
-
-    //Free the socket pointer
-    free(socket_desc);
-
-    free(client_message);
-
-    return 0;
-}

include/classutils.h

@@ -0,0 +1,138 @@
+#ifndef CLASSUTILS_H
+#define CLASSUTILS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/time.h>
+#include <sys/socket.h> //socket
+#include <arpa/inet.h>  //inet_addr
+#include <unistd.h>     //write
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/core.hpp>
+#include "gdal.h"
+#include <gdal_priv.h>
+#include <gdal/gdal.h>
+#include "gdal/gdal_priv.h"
+#include "gdal/cpl_conv.h"
+
+
+struct obj_coords
+{
+    double LAT;
+    double LONG;
+    float cl;
+};
+
+void readTiff(char *filename, double *adfGeoTransform)
+{
+    GDALDataset *poDataset;
+    GDALAllRegister();
+    poDataset = (GDALDataset *)GDALOpen(filename, GA_ReadOnly);
+    if (poDataset != NULL)
+    {
+        //int colms = poDataset->GetRasterXSize();
+        //int rows = poDataset->GetRasterYSize();
+        poDataset->GetGeoTransform(adfGeoTransform);
+    }
+}
+
+void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
+{
+    //Returns global coordinates from pixel x, y coordinates
+    double xoff, a, b, yoff, d, e;
+    xoff = adfGeoTransform[0];
+    a = adfGeoTransform[1];
+    b = adfGeoTransform[2];
+    yoff = adfGeoTransform[3];
+    d = adfGeoTransform[4];
+    e = adfGeoTransform[5];
+
+    //printf("%f %f %f %f %f %f\n",xoff, a, b, yoff, d, e );
+
+    lon = a * x + b * y + xoff;
+    lat = d * x + e * y + yoff;
+}
+void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
+{
+    x = int(round((lon - adfGeoTransform[0]) / adfGeoTransform[1]));
+    y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
+}
+
+void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
+{
+    double *vals = (double *)H.data;
+    for (int i = 0; i < 9; i++)
+    {
+        vals[i] = matrix[i];
+    }
+    if (show)
+        std::cout << H << "\n";
+}
+
+
+
+
+//FILE *out_file = fopen("prova_pixel.txt", "w");
+
+void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class, cv::Mat H, double *adfGeoTransform, int frame_nbr)
+{
+    double latitude, longitude;
+    std::vector<cv::Point2f> x_y, ll;
+    x_y.push_back(cv::Point2f(x, y));
+
+    //transform camera pixel to map pixel
+    cv::perspectiveTransform(x_y, ll, H);
+    //tranform to map pixel to map gps
+    pixel2coord(ll[0].x, ll[0].y, latitude, longitude, adfGeoTransform);
+    //printf("lat: %f, long:%f \n", latitude, longitude);
+    coords[i].LAT = latitude;
+    coords[i].LONG = longitude;
+    coords[i].cl = detected_class;
+
+    /*if (detected_class == 0)
+    {
+
+        struct timeval tv;
+        gettimeofday(&tv, NULL);
+        unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
+
+        //printf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
+        fprintf(out_file, "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
+        //printf( "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
+    }*/
+}
+
+void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char *path)
+{
+    FILE *fp;
+    char *line = NULL;
+    size_t len = 0;
+    ssize_t read;
+
+    float *proj_matrix = (float *)malloc(9 * sizeof(float));
+
+    fp = fopen(path, "r");
+    if (fp == NULL)
+        exit(EXIT_FAILURE);
+
+    int i = 0;
+    while ((read = getline(&line, &len, fp)) != -1)
+    {
+        if (3 == sscanf(line, "%f %f %f", &proj_matrix[i * 3 + 0], &proj_matrix[i * 3 + 1], &proj_matrix[i * 3 + 2]))
+        {
+            i++;
+            proj_matrix_read = 1;
+        }
+    }
+    free(line);
+    fclose(fp);
+    fillMatrix(H, proj_matrix);
+
+
+
+    free(proj_matrix);
+}
+
+#endif /*CLASSUTILS_H*/

include/send.h

@@ -1,268 +0,0 @@
-#ifndef SEND_H
-#define SEND_H
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <sys/time.h>
-#include <sys/socket.h> //socket
-#include <arpa/inet.h>  //inet_addr
-#include <unistd.h>     //write
-
-#include <opencv2/calib3d.hpp>
-#include <opencv2/core.hpp>
-#include "gdal.h"
-#include <gdal_priv.h>
-#include <gdal/gdal.h>
-#include "gdal/gdal_priv.h"
-#include "gdal/cpl_conv.h"
-
-#include "serialize.hpp"
-
-struct obj_coords
-{
-    double LAT;
-    double LONG;
-    float cl;
-};
-
-void readTiff(char *filename, double *adfGeoTransform)
-{
-    GDALDataset *poDataset;
-    GDALAllRegister();
-    poDataset = (GDALDataset *)GDALOpen(filename, GA_ReadOnly);
-    if (poDataset != NULL)
-    {
-        //int colms = poDataset->GetRasterXSize();
-        //int rows = poDataset->GetRasterYSize();
-        poDataset->GetGeoTransform(adfGeoTransform);
-    }
-}
-
-void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
-{
-    //Returns global coordinates from pixel x, y coordinates
-    double xoff, a, b, yoff, d, e;
-    xoff = adfGeoTransform[0];
-    a = adfGeoTransform[1];
-    b = adfGeoTransform[2];
-    yoff = adfGeoTransform[3];
-    d = adfGeoTransform[4];
-    e = adfGeoTransform[5];
-
-    //printf("%f %f %f %f %f %f\n",xoff, a, b, yoff, d, e );
-
-    lon = a * x + b * y + xoff;
-    lat = d * x + e * y + yoff;
-}
-void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
-{
-    x = int(round((lon - adfGeoTransform[0]) / adfGeoTransform[1]));
-    y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
-}
-
-void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
-{
-    double *vals = (double *)H.data;
-    for (int i = 0; i < 9; i++)
-    {
-        vals[i] = matrix[i];
-    }
-    if (show)
-        std::cout << H << "\n";
-}
-
-void serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX, std::stringbuf *buf)
-{
-
-    std::ostream os(buf);
-    cereal::PortableBinaryOutputArchive archive(os);
-
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
-
-    std::vector<Road_User> ruv;
-
-    int i;
-    for (i = 0; i < obj_n; i++)
-    {
-        Road_User r{c[i].LAT, c[i].LONG, 0, 0, (int)c[i].cl};
-        ruv.push_back(r);
-    }
-
-    Message m{CAM_IDX, t_stamp_ms, ruv.size(), ruv};
-    archive(m);
-
-    //std::cout<<buf->str()<<std::endl;
-
-    //return buf;
-}
-
-struct obj_coords *deserialize_coords(char *buffer, int *obj_n)
-{
-
-    std::stringbuf buf(buffer);
-    std::istream is(&buf);
-    cereal::PortableBinaryInputArchive retrieve(is);
-    Message m;
-    retrieve(m);
-
-    int cam_id = m.cam_idx;
-    unsigned long long t_stamp_ms = m.t_stamp_ms;
-    *obj_n = m.num_objects;
-
-    struct obj_coords *c = (struct obj_coords *)malloc(*obj_n * sizeof(struct obj_coords));
-
-    int i;
-    for (i = 0; i < *obj_n; i++)
-    {
-        c[i].LAT = m.objects.at(i).latitude;
-        c[i].LONG = m.objects.at(i).longitude;
-        c[i].cl = m.objects.at(i).category;
-        //m.objects.at(i).speed;
-        //m.objects.at(i).orientation;
-    }
-
-    return c;
-}
-
-int map_class_coco_to_voc(int coco_class)
-{
-    switch (coco_class)
-    {
-    case 0:
-        return 14; //person
-    case 1:
-        return 1; //bicycle
-    case 2:
-        return 6; //car
-    case 3:
-        return 13; //motorkbike
-    case 5:
-        return 5; //bus
-    }
-    return -1;
-}
-
-FILE *out_file = fopen("prova_pixel.txt", "w");
-
-void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class, cv::Mat H, double *adfGeoTransform, int frame_nbr)
-{
-    double latitude, longitude;
-    std::vector<cv::Point2f> x_y, ll;
-    x_y.push_back(cv::Point2f(x, y));
-
-    //transform camera pixel to map pixel
-    cv::perspectiveTransform(x_y, ll, H);
-    //tranform to map pixel to map gps
-    pixel2coord(ll[0].x, ll[0].y, latitude, longitude, adfGeoTransform);
-    //printf("lat: %f, long:%f \n", latitude, longitude);
-    coords[i].LAT = latitude;
-    coords[i].LONG = longitude;
-    coords[i].cl = map_class_coco_to_voc(detected_class);
-
-    if (detected_class == 0)
-    {
-
-        struct timeval tv;
-        gettimeofday(&tv, NULL);
-        unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
-
-        //fprintf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
-        fprintf(out_file, "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
-    }
-}
-
-void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char *path)
-{
-    FILE *fp;
-    char *line = NULL;
-    size_t len = 0;
-    ssize_t read;
-
-    float *proj_matrix = (float *)malloc(9 * sizeof(float));
-
-    fp = fopen(path, "r");
-    if (fp == NULL)
-        exit(EXIT_FAILURE);
-
-    int i = 0;
-    while ((read = getline(&line, &len, fp)) != -1)
-    {
-        if (3 == sscanf(line, "%f %f %f", &proj_matrix[i * 3 + 0], &proj_matrix[i * 3 + 1], &proj_matrix[i * 3 + 2]))
-        {
-            i++;
-            proj_matrix_read = 1;
-        }
-    }
-    free(line);
-    fclose(fp);
-    fillMatrix(H, proj_matrix);
-
-
-
-    free(proj_matrix);
-}
-
-int open_socket(char *ip, int &sock, int &socket_opened)
-{
-    struct sockaddr_in server;
-    sock = socket(AF_INET, SOCK_STREAM, 0);
-    if (sock == -1)
-    {
-        printf("Could not create socket");
-    }
-    puts("Socket created");
-
-    server.sin_addr.s_addr = inet_addr(ip);
-    server.sin_family = AF_INET;
-    server.sin_port = htons(8888);
-
-    /*connect to remote server*/
-    if (connect(sock, (struct sockaddr *)&server, sizeof(server)) < 0)
-    {
-        perror("connect failed. Error");
-        socket_opened = 0;
-        return 0;
-    }
-    puts("Connected\n");
-    socket_opened = 1;
-    return 1;
-}
-
-int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &socket_opened, int CAM_IDX)
-{
-    /*serialize coords*/
-    std::stringbuf *message = new std::stringbuf();
-    serialize_coords(coords, n_coords, CAM_IDX, message);
-
-    //std::cout<<message->str().length()<<std::endl;
-
-    /*open socket if not already opened*/
-    if (socket_opened == 0)
-    {
-        int res = open_socket("127.0.0.1", sock, socket_opened);
-        if (res)
-            printf("Socket opened!\n");
-        else
-        {
-            printf("Problem: socket NOT opened!\n");
-            return 0;
-        }
-    }
-
-    /*send message to server*/
-    if (send(sock, message->str().data(), message->str().length(), 0) < 0)
-    {
-        puts("Send failed");
-        socket_opened = 0;
-    }
-
-    delete message;
-    //free(message);
-    //close(sock);
-    return 1;
-}
-
-#endif /*SEND_H*/

include/serialize.hpp

@@ -1,38 +0,0 @@
-#ifndef SERIALIZE_H
-#define SERIALIZE_H
-
-#include <cereal/archives/portable_binary.hpp>
-#include <cereal/types/vector.hpp>
-
-struct Road_User{
-    float latitude;
-    float longitude;
-    uint8_t speed;
-    uint8_t orientation;
-    uint8_t category;
-
-    template<class Archive>
-    void serialize(Archive & archive)
-    {
-        archive( latitude, longitude, speed, orientation, category ); 
-    }
-
-};
-
-struct Message{
-    uint32_t cam_idx;
-    uint64_t t_stamp_ms;
-    uint16_t num_objects;
-    std::vector<Road_User> objects;
-    
-    template<class Archive>
-    void serialize(Archive & archive)
-    {
-        archive( cam_idx, t_stamp_ms, num_objects, objects ); 
-    }
-};
-
-
-
-
-#endif