separated the webcam module into web and webcam modules

include/RealIntelCam.hpp

@@ -0,0 +1,42 @@
+#ifndef INTELCAM_H
+#define INTELCAM_H
+
+#include <librealsense2/rs.hpp>
+#include <iostream>
+#include <vector>
+#include <cmath>
+
+const float TIME_INTERVAL = 0.01; // Time interval in seconds
+const double RAD_TO_DEG = 180.0 / M_PI; 
+
+
+using namespace std
+
+class realIntelCam
+{
+    public:
+
+    RealIntelCam();
+
+    void update_camera_position(); 
+
+    vector<float> get_location();
+
+    vector<float> get_angle();
+
+    private:
+    //Essential to initiate connection
+    rs2::pipeline pipeline;
+    rs2::config configure;
+    rs2::pipeline_profile profile;
+    // the acceleration in 3D previous: 0->x, 1->y, 2->z current 3->x, 4->y, 5->z 
+    float acceleration[]{};
+    // average velocity aka speed
+    float velocity[]{};
+    // calculated location
+    float camera_location[];
+    //calculated angle
+    float camera_angle[];
+}
+
+#endif

include/web_interface.hpp

@@ -0,0 +1,6 @@
+#ifndef WEB_INTERFACE_HPP
+#define WEB_INTERFACE_HPP
+
+int web(Mat *frame);
+
+#endif // WEBCAM_INTERFACE_HPP

make.txt

@@ -0,0 +1,9 @@
+build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/grass_killer build_/mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/imu_interface
+mkdir -p /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs
+mkdir -p /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule/submodule.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/submodule.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/sample_submodule/arg.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/arg.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/grass_killer/grass_killer.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/grass_killer.o
+g++ -I /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/include -c /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/src/imu_interface/measure.cpp -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/measure.o
+[[[[   BUILDING NAVI   ]]]]
+g++  /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/main.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/submodule.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/arg.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/grass_killer.o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/build/objs/measure.o -o /mnt/c/Users/adelr/Documents/Agrobot/new-intel-realsense-imu-interface-Alfredo/.git/Navi/navi

src/web_interface/rules.mk

@@ -0,0 +1,10 @@
+GENERATED_OBJS := web_interface.o
+
+include submodule.general.mk
+
+build_$(DIR):
+	$(call build,web_interface.cpp)
+clean_$(DIR):
+test_$(DIR):
+	@echo testing the module $(DIR)!
+test_webcam_interface: test_$(DIR)

src/web_interface/web_interface.cpp

@@ -0,0 +1,69 @@
+#include <websocketpp/config/asio_no_tls.hpp>
+#include <websocketpp/server.hpp>
+#include <thread>
+
+using namespace std;
+using namespace cv;
+
+// Alias for websocketpp server
+typedef websocketpp::server<websocketpp::config::asio> server;
+
+/*!
+ * Handles the connection to the WebSocket server.
+ * Captures frames from the webcam, encodes them,
+ * and sends them via the WebSocket connection.
+ *
+ * \param hdl The connection handle.
+ * \param s The WebSocket server.
+ * \param cap The OpenCV VideoCapture object.
+ */
+void handle_connection(websocketpp::connection_hdl hdl, server& s, Mat *frame) {
+    while (true) {
+        try {
+            if (!frame->empty()) {
+                // Convert OpenCV frame to byte vector
+                vector<uchar> buffer;
+                imencode(".jpg", *frame, buffer);
+                s.send(hdl, buffer.data(), buffer.size(), websocketpp::frame::opcode::binary);
+            }
+            else {
+                cerr << "Couldn't capture frame from webcam." << endl;
+                break;
+            }
+        } catch (websocketpp::exception const & e) {
+        cout << "Caught websocket exception: " << e.what() << endl;
+        }
+    }
+}
+
+/*!
+ * Initializes and runs the WebSocket server, capturing frames
+ * from the webcam and sending them via open WebSocket connections.
+ *
+ * Clears all access log channels, initializes the OpenCV webcam,
+ * defines the WebSocket server connection handler, listens on port 6969,
+ * and finally starts the accept loop and the ASIO io_service event loop.
+ *
+ * \return 0 if the server ran successfully, otherwise -1.
+ */
+int web(Mat *frame) {
+    // Create a WebSocket server
+    server s;
+    // Clear all access log channels to prevent frames being logged
+    // If frames are logged, then it makes the WebSocket server very slow
+    s.clear_access_channels(websocketpp::log::alevel::all);
+
+     s.set_open_handler([&s,frame](websocketpp::connection_hdl hdl) {
+        thread video_thread(handle_connection, hdl, ref(s), ref(frame));
+        video_thread.detach();
+    });
+
+    // Listen on port 6969
+    s.init_asio();
+    s.listen(6969);
+    s.start_accept();
+    s.run();
+
+    return 0;
+}
+