Smikkelbakje/J2S1-Kobuki
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Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

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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
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36
src/C++/Driver/src/main.cpp
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@@ -387,25 +387,29 @@ void sendKobukiData(TKobukiData &data)
}
}
void CapnSend()
{
void CapnSend() {
VideoCapture cap(0);
if (!cap.isOpened())
{
cerr << "Error: Could not capture image" << endl;
if (!cap.isOpened()) {
cerr << "Error: Could not open camera" << endl;
return;
}
Mat frame;
while (true)
{
cap >> frame; // Capture a new image frame
if (frame.empty())
{
cerr << "Error: Could not capture image" << endl;
while (true) {
if (!cap.read(frame)) {
cout << "Reconnecting camera" << endl;
cap.release();
std::this_thread::sleep_for(std::chrono::seconds(1));
// 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
continue;
} else {
cout << "Reconnected to camera" << endl;
continue;
}
}
// Convert the image to a byte array
@@ -418,13 +422,5 @@ void CapnSend()
cout << "Sent image" << endl;
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
}
}
}