Smikkelbakje/J2S1-Kobuki
1
0
Fork 0
mirror of https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git synced 2025-08-03 20:04:58 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

Browse Source
This commit is contained in:
ishak jmilou.ishak
2025-01-16 13:55:25 +01:00
parent 1ab718a472 bbade2384c
commit c31689ac70
1 changed files with 30 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
src/C++/Driver/src/main.cpp
View File

@@ -387,25 +387,29 @@ void sendKobukiData(TKobukiData &data)
} }
} }
void CapnSend() void CapnSend() {
{
VideoCapture cap(0); VideoCapture cap(0);
if (!cap.isOpened()) if (!cap.isOpened()) {
{ cerr << "Error: Could not open camera" << endl;
cerr << "Error: Could not capture image" << endl;
return; return;
} }
Mat frame; Mat frame;
while (true) while (true) {
{ if (!cap.read(frame)) {
cap >> frame; // Capture a new image frame cout << "Reconnecting camera" << endl;
if (frame.empty()) cap.release();
{ std::this_thread::sleep_for(std::chrono::seconds(1));
cerr << "Error: Could not capture image" << endl; // Attempt to reconnect to the camera
cap.open(0);
if (!cap.isOpened()) {
cerr << "Error: Could not reconnect to camera" << endl;
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
continue; continue;
} else {
cout << "Reconnected to camera" << endl;
continue;
}
} }
// Convert the image to a byte array // Convert the image to a byte array
@@ -418,13 +422,5 @@ void CapnSend()
cout << "Sent image" << endl; cout << "Sent image" << endl;
std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
if (!cap.isOpened())
{
cerr << "Camera disconnected, attempting to reconnect..." << endl;
cap.open(0);
std::this_thread::sleep_for(std::chrono::seconds(1)); // Wait before retrying
}
} }
} }