AxisCamera.cpp

/********************************************************************************
*  Project              : FIRST Motor Controller
*  File Name            : AxisCamera.cpp        
*  Contributors         : TD, ELF, JDG, SVK
*  Creation Date        : July 29, 2008
*  Revision History     : Source code & revision history maintained at sourceforge.WPI.edu    
*  File Description     : Axis camera access for the FIRST Vision API
*      The camera task runs as an independent thread 
*/    
/*----------------------------------------------------------------------------*/
/*        Copyright (c) FIRST 2008.  All Rights Reserved.                     */
/*  Open Source Software - may be modified and shared by FRC teams. The code  */
/*  must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/                   


#include "sockLib.h" 
#include "vxWorks.h" 

#include "errno.h"
#include "fioLib.h"
#include "hostLib.h" 
#include "inetLib.h" 
#include "signal.h"
#include "sigLib.h"             // for signal
#include <string>
#include "time.h"
#include "usrLib.h"

#include "AxisCamera.h" 
#include "BaeUtilities.h"
#include "FrcError.h"
#include "Task.h"
#include "Timer.h"
#include "VisionAPI.h"

#define DEFAULT_PACKET_SIZE 512

IMAQ_FUNC int Priv_ReadJPEGString_C(Image* _image, const unsigned char* _string, UINT32 _stringLength); 

// To locally enable debug printing: set AxisCamera_debugFlag to a 1, to disable set to 0
int AxisCamera_debugFlag = 0;
#define DPRINTF if(AxisCamera_debugFlag)dprintf

struct {
        int readerPID; // Set to taskID for signaling
        int index; /* -1,0,1 */
        int     acquire; /* 0:STOP CAMERA; 1:START CAMERA */
        int cameraReady;  /* 0: CAMERA NOT INITIALIZED; 1: CAMERA INITIALIZED */
        int     decode; /* 0:disable decoding; 1:enable decoding to HSL Image */
        struct {
                //
                // To find the latest image timestamp, access:
                // globalCamera.data[globalCamera.index].timestamp
                //
                double timestamp;       // when image was taken
                char*   cameraImage;    // jpeg image string
                int cameraImageSize;    // image size
                Image* decodedImage;    // image decoded to NI Image object
                int decodedImageSize;   // size of decoded image
        }data[2];
        int cameraMetrics[CAM_NUM_METRICS];
}globalCamera;

/* run flag */
static short cont = 0;

int GetImageBlocking(Image* image, double *timestamp, double lastImageTimestamp)
{
        char funcName[]="GetImageBlocking";
        int success;
        double startTime = GetTime();
        
        while (1)
        {
                success = GetImage(image, timestamp);
                if (!success) return (success);
                
                if (*timestamp > lastImageTimestamp)
                        return (1); // GOOD IMAGE RETURNED

                if (GetTime() > (startTime + MAX_BLOCKING_TIME_SEC))
                {
                        imaqSetError(ERR_CAMERA_BLOCKING_TIMEOUT, funcName);
                        globalCamera.cameraMetrics[CAM_BLOCKING_TIMEOUT]++;
                        return (0); // NO IMAGE AVAILABLE WITHIN specified time
                }
                globalCamera.cameraMetrics[CAM_BLOCKING_COUNT]++;
                taskDelay (1);
        }
}

int CameraInitialized()
{
        char funcName[]="CameraInitialized";
        int success = 0;
        /* check to see if camera is initialized */
        if (!globalCamera.cameraReady)  {
                imaqSetError(ERR_CAMERA_NOT_INITIALIZED, funcName);
                DPRINTF (LOG_DEBUG, "Camera request before camera is initialized");
                globalCamera.cameraMetrics[CAM_GETIMAGE_BEFORE_INIT]++;
                globalCamera.cameraMetrics[CAM_GETIMAGE_FAILURE]++;
                return success;
        }
        
        if (globalCamera.index == -1){
                imaqSetError(ERR_CAMERA_NO_BUFFER_AVAILABLE, funcName);
                DPRINTF (LOG_DEBUG, "No camera image available");
                globalCamera.cameraMetrics[CAM_GETIMAGE_BEFORE_AVAILABLE]++;
                globalCamera.cameraMetrics[CAM_GETIMAGE_FAILURE]++;
                return success;
        }
        return 1;
}

int GetImage(Image* image, double *timestamp)
{
        char funcName[]="GetImage";
        int success = 0;
        int readIndex;
        int     readCount = 10;
        double currentTime = time(NULL);
        double currentImageTimestamp;

        /* check to see if camera is initialized */
        
        if (!CameraInitialized()) {return success;}
        
        /* try readCount times to get an image */
        while (readCount) {
                readIndex = globalCamera.index;
                if (!imaqDuplicate(image, globalCamera.data[readIndex].decodedImage)) {
                        int errorCode = GetLastVisionError(); 
                        DPRINTF (LOG_DEBUG,"Error duplicating image= %i  %s ", errorCode, GetVisionErrorText(errorCode));                       
                }
                // save the timestamp to check before returning
                currentImageTimestamp = globalCamera.data[readIndex].timestamp;
                
                // make sure this buffer is not being written to now
                if (readIndex == globalCamera.index) break;
                readCount--;
        }
        
        /* were we successful ? */
        if (readCount){
                success = 1;
                if (timestamp != NULL)
                          *timestamp = currentImageTimestamp; // Return image timestamp   
        } else{
                globalCamera.cameraMetrics[CAM_GETIMAGE_FAILURE]++;
        }
        
        /* Ensure the buffered image is not too old - set this "stale time" above */
        if (currentTime > globalCamera.data[globalCamera.index].timestamp + CAMERA_IMAGE_STALE_TIME_SEC){
                DPRINTF (LOG_CRITICAL, "STALE camera image (THIS COULD BE A BAD IMAGE)");
                imaqSetError(ERR_CAMERA_STALE_IMAGE, funcName);
                globalCamera.cameraMetrics[CAM_STALE_IMAGE]++;
                globalCamera.cameraMetrics[CAM_GETIMAGE_FAILURE]++;
                success = 0;
        }
        globalCamera.cameraMetrics[CAM_GETIMAGE_SUCCESS]++;
        return success;
}

int GetImageData(char** imageData, int* numBytes, double* currentImageTimestamp)
{
        int success = 0;
        int readIndex;
        int     readCount = 10;
        int cameraImageSize;
        char *cameraImageString;

        /* check to see if camera is initialized */
                        
        if (!CameraInitialized()) {return success;}
                        
        /* try readCount times to get an image */
        while (readCount) {
                readIndex = globalCamera.index;
                cameraImageSize = globalCamera.data[readIndex].cameraImageSize;
                //cameraImageString = (Image *) malloc(cameraImageSize);
                cameraImageString = new char[cameraImageSize];
                if (NULL == cameraImageString) {
                                        DPRINTF (LOG_DEBUG, "Unable to allocate cameraImage");
                                        globalCamera.cameraMetrics[CAM_GETIMAGE_FAILURE]++;
                                        return success;
                }
                memcpy (cameraImageString, globalCamera.data[readIndex].cameraImage, cameraImageSize);
                *currentImageTimestamp = globalCamera.data[readIndex].timestamp;
                // make sure this buffer is not being written to now
                if (readIndex == globalCamera.index) break;
                free (cameraImageString);
                readCount--;
        }
        if (readCount){
                *imageData = cameraImageString;
                *numBytes = cameraImageSize;
                return 1;
        }               
        return (OK);
}

int GetImageDataBlocking(char** imageData, int* numBytes, double* timestamp, double lastImageTimestamp)
{

        char funcName[]="GetImageDataBlocking";
        int success;
        double startTime = GetTime();
        
    *imageData = NULL;
        while (1)
        {
                success = GetImageData(imageData, numBytes, timestamp);
                if (!success) return (success);
                
                if (*timestamp > lastImageTimestamp)
                        return (1); // GOOD IMAGE DATA RETURNED

        delete *imageData;
        *imageData = NULL;

                if (GetTime() > (startTime + MAX_BLOCKING_TIME_SEC))
                {
                        imaqSetError(ERR_CAMERA_BLOCKING_TIMEOUT, funcName);
                        return (0); // NO IMAGE AVAILABLE WITHIN specified time
                }
                globalCamera.cameraMetrics[CAM_BLOCKING_COUNT]++;
                taskDelay (1);
        }
}

int GetCameraMetric(FrcvCameraMetric metric)
{       return globalCamera.cameraMetrics[metric];  }

int CameraCloseSocket(char *errstring, int socket)
{
        DPRINTF (LOG_CRITICAL, "Closing socket - CAMERA ERROR: %s", errstring );
        close (socket);
        return (ERROR);
}


static int CameraReadLine(int camSock, char* buffer, int bufSize, bool stripLineEnding) {
        char funcName[]="CameraReadLine";
    // Need at least 3 bytes in the buffer to pull this off.
        if (bufSize < 3) {
                imaqSetError(ERR_CAMERA_FAILURE, funcName);
                return 0;
        }
    //  Reduce size by 1 to allow for null terminator.
    --bufSize;
    //  Read upto bufSize characters.
    for (int i=0;i < bufSize;++i, ++buffer) {
        //  Read one character.
        if (read (camSock, buffer, 1) <= 0) {
                imaqSetError(ERR_CAMERA_FAILURE, funcName);
            return 0;
        }
        //  Line endings can be "\r\n" or just "\n". So always 
        //  look for a "\n". If you got just a "\n" and 
        //  stripLineEnding is false, then convert it into a \r\n
        //  because callers expect a \r\n.
        //  If the combination of the previous character and the current character
        //  is "\r\n", the line ending
        if (*buffer=='\n') {
            //  If asked to strip the line ending, then set the buffer to the previous 
            //  character.
            if (stripLineEnding) {
                if (i > 0 && *(buffer-1)=='\r') {
                    --buffer;
                }
            }
            else {
                //  If the previous character was not a '\r', 
                if (i == 0 || *(buffer-1)!='\r') {
                    //  Make the current character a '\r'.
                    *buffer = '\r';
                    //  If space permits, add back the '\n'.
                    if (i < bufSize-1) {
                        ++buffer;
                        *buffer = '\n';
                    }
                }
                //  Set the buffer past the current character ('\n')
                ++buffer;
            }
            break;
        }
    }
    //  Null terminate.
    *buffer = '\0';
    return 1;
}

static int CameraSkipUntilEmptyLine(int camSock) {
    char buffer[1024];
    int success = 0;
    while(1) {
        success = CameraReadLine(camSock, buffer, sizeof(buffer), true);
        if (*buffer == '\0') {
            return success;
        }
    }
    return success;
}

static int CameraOpenSocketAndIssueAuthorizedRequest(const char* serverName, const char* request) 
{
    char funcName[]="cameraOpenSocketAndIssueAuthorizedRequest";
        
        struct sockaddr_in cameraAddr;
        int sockAddrSize;  
        int camSock = ERROR;    

    // The camera is expected to have one of the following username, password combinations.
    // This routine will return an error if it does not find one of these.
    static const char* authenticationStrings[] = {
        "RlJDOkZSQw==",     /* FRC, FRC */
        "cm9vdDpwYXNz",     /* root, admin*/
        "cm9vdDphZG1pbg=="  /* root, pass*/
    };

    static const int numAuthenticationStrings = sizeof(authenticationStrings)/sizeof(authenticationStrings[0]);
        
        static const char *requestTemplate = "%s "                              \
                                         "HTTP/1.1\n"                       \
                                         "User-Agent: HTTPStreamClient\n"   \
                                         "Connection: Keep-Alive\n"         \
                                         "Cache-Control: no-cache\n"        \
                                         "Authorization: Basic %s\n\n";

        int i = 0;
    for (;i < numAuthenticationStrings;++i) {
        char buffer[1024];

        sprintf(buffer, requestTemplate, request, authenticationStrings[i]);

        /* create camera socket */
        //DPRINTF (LOG_DEBUG, "creating camSock" ); 
        if ((camSock = socket (AF_INET, SOCK_STREAM, 0)) == ERROR) {
                imaqSetError(ERR_CAMERA_SOCKET_CREATE_FAILED, funcName);
                perror("Failed to create socket");
                return (ERROR);
        }

        sockAddrSize = sizeof (struct sockaddr_in);
        bzero ((char *) &cameraAddr, sockAddrSize);
        cameraAddr.sin_family = AF_INET;
        cameraAddr.sin_len = (u_char) sockAddrSize;
        cameraAddr.sin_port = htons (CAMERA_PORT);

        if (( (int)(cameraAddr.sin_addr.s_addr = inet_addr (const_cast<char*>(serverName)) ) == ERROR) &&
            ( (int)(cameraAddr.sin_addr.s_addr = hostGetByName (const_cast<char*>(serverName)) ) == ERROR)) 
        {
                imaqSetError(ERR_CAMERA_CONNECT_FAILED, funcName);
            return CameraCloseSocket("Failed to get IP, check hostname or IP", camSock);
        }

        //DPRINTF (LOG_INFO, "connecting camSock" ); 
        if (connect (camSock, (struct sockaddr *) &cameraAddr, sockAddrSize) == ERROR)  {
                imaqSetError(ERR_CAMERA_CONNECT_FAILED, funcName);
            return CameraCloseSocket("Failed to connect to camera - check networ", camSock);
        }

        //DPRINTF (LOG_DEBUG, "writing GET request to camSock" ); 
        if (write (camSock, buffer, strlen(buffer) ) == ERROR) {
                imaqSetError(ERR_CAMERA_CONNECT_FAILED, funcName);
            return CameraCloseSocket("Failed to send GET request", camSock);
        }

        //  Read one line with the line ending removed.
        if (!CameraReadLine(camSock, buffer, 1024, true)) {
            return CameraCloseSocket("Bad response to GET request", camSock);
        }

        //  Check if the response is of the format HTTP/<version> 200 OK.
        float discard;
        if (sscanf(buffer, "HTTP/%f 200 OK", &discard) == 1) {
            break;
        }

        //  We have to close the connection because in the case of failure
        //  the server closes the connection.
        close(camSock);
    }
    //  If none of the attempts were successful, then let the caller know.
    if (numAuthenticationStrings == i) {
                imaqSetError(ERR_CAMERA_AUTHORIZATION_FAILED, funcName);
        fprintf(stderr, "Expected username/password combination not found on camera");
        return ERROR;
    }
    return camSock;
}


int ConfigureCamera(char *configString){
        char funcName[]="ConfigureCamera";
        char *serverName = "192.168.0.90";              /* camera @ */ 
        int success = 0;
        int camSock = 0;    
        
        /* Generate camera configuration string */
        char * getStr1 = 
                "GET /axis-cgi/admin/param.cgi?action=update&ImageSource.I0.Sensor.";
        
        char cameraRequest[strlen(getStr1) + strlen(configString)];
    sprintf (cameraRequest, "%s%s",     getStr1, configString);
        DPRINTF(LOG_DEBUG, "camera configuration string: \n%s", cameraRequest);
        camSock = CameraOpenSocketAndIssueAuthorizedRequest(serverName, cameraRequest);
        DPRINTF(LOG_DEBUG, "camera socket# = %i", camSock);
        
    //read response
    success = CameraSkipUntilEmptyLine(camSock);
        //DPRINTF(LOG_DEBUG, "succcess from CameraSkipUntilEmptyLine: %i", success);
    char buffer[3];     // set property - 3
    success = CameraReadLine(camSock, buffer, 3, true);
        //DPRINTF(LOG_DEBUG, "succcess from CameraReadLine: %i", success);
        DPRINTF(LOG_DEBUG, "line read from camera \n%s", buffer);
    if (strcmp(buffer, "OK") != 0) {
                imaqSetError(ERR_CAMERA_COMMAND_FAILURE, funcName);
                DPRINTF(LOG_DEBUG, "setting ERR_CAMERA_COMMAND_FAILURE - OK not found");
    }
        DPRINTF (LOG_INFO, "\nConfigureCamera ENDING  success = %i\n", success );       

        /* clean up */
        close (camSock);
        return (1);
}


int GetCameraSetting(char *configString, char *cameraResponse){
        char *serverName = "192.168.0.90";              /* camera @ */ 
        int success = 0;
        int camSock = 0;    
        
        /* Generate camera request string */
        char * getStr1 = 
                "GET /axis-cgi/admin/param.cgi?action=list&group=ImageSource.I0.Sensor.";
        char cameraRequest[strlen(getStr1) + strlen(configString)];
    sprintf (cameraRequest, "%s%s",     getStr1, configString);
        DPRINTF(LOG_DEBUG, "camera configuration string: \n%s", cameraRequest);
        camSock = CameraOpenSocketAndIssueAuthorizedRequest(serverName, cameraRequest);
        DPRINTF(LOG_DEBUG, "return from CameraOpenSocketAndIssueAuthorizedRequest %i", camSock);
        
    //read response
    success = CameraSkipUntilEmptyLine(camSock);
    success = CameraReadLine(camSock, cameraResponse, 1024, true);
        DPRINTF(LOG_DEBUG, "succcess from CameraReadLine: %i", success);
        DPRINTF(LOG_DEBUG, "line read from camera \n%s", cameraResponse);
        DPRINTF (LOG_INFO, "\nGetCameraSetting ENDING  success = %i\n", success );      

        /* clean up */
        close (camSock);
        return (1);
}

int GetImageSetting(char *configString, char *cameraResponse){
        char *serverName = "192.168.0.90";              /* camera @ */ 
        int success = 0;
        int camSock = 0;    
        
        /* Generate camera request string */
        char *getStr1 = "GET /axis-cgi/admin/param.cgi?action=list&group=Image.I0.Appearance.";
        char cameraRequest[strlen(getStr1) + strlen(configString)];
    sprintf (cameraRequest, "%s%s",     getStr1, configString);
        DPRINTF(LOG_DEBUG, "camera configuration string: \n%s", cameraRequest);
        camSock = CameraOpenSocketAndIssueAuthorizedRequest(serverName, cameraRequest);
        DPRINTF(LOG_DEBUG, "return from CameraOpenSocketAndIssueAuthorizedRequest %i", camSock);
        
    //read response
    success = CameraSkipUntilEmptyLine(camSock);
    success = CameraReadLine(camSock, cameraResponse, 1024, true);
        DPRINTF(LOG_DEBUG, "succcess from CameraReadLine: %i", success);
        DPRINTF(LOG_DEBUG, "line read from camera \n%s", cameraResponse);
        DPRINTF (LOG_INFO, "\nGetCameraSetting ENDING  success = %i\n", success );      

        /* clean up */
        close (camSock);
        return (1);
}


#define MEASURE_SOCKET_TIME 1   

int cameraJPEGServer(int frames, int compression, ImageResolution resolution, ImageRotation rotation)
{
        char funcName[]="cameraJPEGServer";
        char *serverName = "192.168.0.90";              /* camera @ */ 
        cont = 1;
        int errorCode = 0;
        int printCounter = 0;
        int     writeIndex;
        int authorizeCount = 0;
        int authorizeConfirmed = 0;
        static const int authenticationStringsCount = 3;
    static const char* authenticationStrings[] = {
                "cm9vdDphZG1pbg==", /* root, admin*/
                "RlJDOkZSQw==",     /* FRC, FRC */
                "cm9vdDpwYXNz=="    /* root, pass*/
    };

        DPRINTF (LOG_DEBUG, "cameraJPEGServer" ); 
        
        struct sockaddr_in cameraAddr;
        int sockAddrSize;  
        int camSock = 0;    

        char resStr[10];
        switch (resolution) {
                case k640x480: { sprintf(resStr,"640x480"); break; }
                case k320x240: { sprintf(resStr,"320x240"); break; }
                case k160x120: { sprintf(resStr,"160x120"); break; }
                default: {DPRINTF (LOG_DEBUG, "code error - resolution input" ); break; }
        }
        
        /* Generate camera initialization string */
        /* changed resolution to 160x120 from 320x240 */
        /* supported resolutions are: 640x480, 640x360, 320x240, 160x120 */     
        char * getStr1 = 
        "GET /axis-cgi/mjpg/video.cgi?showlength=1&camera=1&";  
                
        char insertStr[100];
        sprintf (insertStr, "des_fps=%i&compression=%i&resolution=%s&rotation=%i", 
                        frames, compression, resStr, (int)rotation);    
        
        char * getStr2 = " HTTP/1.1\n\
User-Agent: HTTPStreamClient\n\
Host: 192.150.1.100\n\
Connection: Keep-Alive\n\
Cache-Control: no-cache\n\
Authorization: Basic %s;\n\n";

        char getStr[strlen(getStr1) + strlen(insertStr) + strlen(getStr2)];      
    sprintf (getStr, "%s:%s%s", getStr1, insertStr, getStr2);

        DPRINTF(LOG_DEBUG, "revised camera string: \n%s", getStr);
        /* Allocation */
        char tempBuffer[1024];
    
        RETRY:
        Wait(0.1);  //bug fix - don't pester camera if it's booting
        while (globalCamera.acquire == 0) Wait(0.1);

        if (!authorizeConfirmed){
          if (authorizeCount < authenticationStringsCount){
            sprintf (tempBuffer, getStr, authenticationStrings[authorizeCount]);
          } else {
                imaqSetError(ERR_CAMERA_AUTHORIZATION_FAILED, funcName);
                fprintf(stderr, "Camera authorization failed ... Incorrect password on camera!!");
                return (ERROR);
          }
        }

        while (1)
        {
          globalCamera.cameraMetrics[CAM_SOCKET_INIT_ATTEMPTS]++;         

          /* create camera socket */
          DPRINTF (LOG_DEBUG, "creating camSock" ); 
          if ((camSock = socket (AF_INET, SOCK_STREAM, 0)) == ERROR) {  
                imaqSetError(ERR_CAMERA_SOCKET_CREATE_FAILED, funcName);
                perror("Failed to create socket");
                cont = 0;
                return (ERROR);
          }

          sockAddrSize = sizeof (struct sockaddr_in);
          bzero ((char *) &cameraAddr, sockAddrSize);
          cameraAddr.sin_family = AF_INET;
          cameraAddr.sin_len = (u_char) sockAddrSize;
          cameraAddr.sin_port = htons (CAMERA_PORT);

          DPRINTF (LOG_DEBUG, "getting IP" );
          if (( (int)(cameraAddr.sin_addr.s_addr = inet_addr (serverName) ) == ERROR) &&
                ( (int)(cameraAddr.sin_addr.s_addr = hostGetByName (serverName) ) == ERROR)) 
          {     
                  CameraCloseSocket("Failed to get IP, check hostname or IP", camSock);
                continue;
          }
          
          DPRINTF (LOG_INFO, "Attempting to connect to camSock" ); 
          if (connect (camSock, (struct sockaddr *) &cameraAddr, sockAddrSize) == ERROR)        {
                imaqSetError(ERR_CAMERA_CONNECT_FAILED, funcName);
                CameraCloseSocket("Failed to connect to camera - check network", camSock);
                continue;
          }       

#if MEASURE_SOCKET_SETUP
          socketEndTime = GetTime(); 
          setupTime = socketEndTime - socketStartTime; 
          printf("\n***socket setup time = %g\n", setupTime );
#endif    
          
          globalCamera.cameraMetrics[CAM_SOCKET_OPEN]++;
          break;
        } // end while (trying to connect to camera)

        DPRINTF (LOG_DEBUG, "writing GET request to camSock" ); 
        if (write (camSock, tempBuffer , strlen(tempBuffer) ) == ERROR) {
                return CameraCloseSocket("Failed to send GET request", camSock);
        }

        //DPRINTF (LOG_DEBUG, "reading header" ); 
        /* Find content-length, then read that many bytes */
        int counter = 2;
        char* contentString = "Content-Length: ";
        char* authorizeString = "200 OK";
        
#define MEASURE_TIME 0
#if MEASURE_TIME
        //timing parameters - only measure one at the time
        double loopStartTime = 0.0; // measuring speed of execution loop
        double loopEndTime = 0.0;
        double cameraStartTime = 0.0;
        double cameraEndTime = 0.0;
        double previousStartTime = 0.0;
        int performanceLoopCounter = 0;
        int maxCount = 30;
#endif
        
        while (cont) {
#if MEASURE_TIME
                previousStartTime = loopStartTime;  // first time is bogus
                loopStartTime = GetTime(); 
#endif  
                // If camera has been turned OFF, jump to RETRY
                //if (globalCamera.acquire == 0) goto RETRY;
                
                /* Determine writer index */
                if (globalCamera.index == 0)
                        writeIndex = 1;
                else
                        writeIndex = 0;
                
                /* read header */
                //TODO: check for error in header, increment ERR_CAMERA_HEADER_ERROR
                char initialReadBuffer[DEFAULT_PACKET_SIZE] = "";
                char intermediateBuffer[1];
                char *trailingPtr = initialReadBuffer;
                int trailingCounter = 0;
                

#if MEASURE_TIME
                cameraStartTime = GetTime(); 
#endif  

                while (counter) {
                        if (read (camSock, intermediateBuffer, 1) <= 0) {
                                CameraCloseSocket("Failed to read image header", camSock);
                                globalCamera.cameraMetrics[ERR_CAMERA_HEADER_ERROR]++;
                                goto RETRY;
                        }

                        strncat(initialReadBuffer, intermediateBuffer, 1);
                        if (NULL != strstr(trailingPtr, "\r\n\r\n")) {

                                  if (!authorizeConfirmed){

                                          if (strstr(initialReadBuffer, authorizeString))
                                          {
                                                  authorizeConfirmed = 1;
                                                  /* set camera to initialized */
                                                  globalCamera.cameraReady = 1; 
                                          }
                                          else
                                          {
                                                  CameraCloseSocket("Not authorized to connect to camera", camSock);
                                                  authorizeCount++;
                                  goto RETRY;
                                          }
                                }
                                --counter;
                        }
                        if (++trailingCounter >= 4) {
                                trailingPtr++;
                        }
                }
        
                counter = 1;
                char *contentLength = strstr(initialReadBuffer, contentString);
                if (contentLength == NULL) {
                        globalCamera.cameraMetrics[ERR_CAMERA_HEADER_ERROR]++;
                        CameraCloseSocket("No content-length token found in packet", camSock);
                        goto RETRY;
                }
                /* get length of image content */
                contentLength = contentLength + strlen(contentString);
                globalCamera.data[writeIndex].cameraImageSize = atol (contentLength);
                
                if(globalCamera.data[writeIndex].cameraImage)
                        free(globalCamera.data[writeIndex].cameraImage);
                //globalCamera.data[writeIndex].cameraImage = (Image *) malloc(globalCamera.data[writeIndex].cameraImageSize);
                globalCamera.data[writeIndex].cameraImage = (char*)malloc(globalCamera.data[writeIndex].cameraImageSize);
                if (NULL == globalCamera.data[writeIndex].cameraImage) {
                        return CameraCloseSocket("Failed to allocate space for imageString", camSock);
                }
                globalCamera.cameraMetrics[CAM_BUFFERS_WRITTEN]++;
                
                //
                // This is a blocking camera read function, and will block if the camera
                // has been disconnected from the cRIO.  If however the camera is
                // POWERED OFF while connected to the cRIO, this function NEVER RETURNS
                //
                int bytesRead = fioRead (camSock, (char *)globalCamera.data[writeIndex].cameraImage,
                                globalCamera.data[writeIndex].cameraImageSize);

#if MEASURE_TIME
                cameraEndTime = GetTime(); 
#endif  
                
                //DPRINTF (LOG_DEBUG, "Completed fioRead function - bytes read:%d", bytesRead);
                if (bytesRead <= 0) {
                        CameraCloseSocket("Failed to read image data", camSock);
                        goto RETRY;
                } else if (bytesRead != globalCamera.data[writeIndex].cameraImageSize){
                        fprintf(stderr, "ERROR: Failed to read entire image: readLength does not match bytes read");
                        globalCamera.cameraMetrics[CAM_BAD_IMAGE_SIZE]++;
                }
                // if decoding the JPEG to an HSL Image, do it here
                if (globalCamera.decode) {
                        if(globalCamera.data[writeIndex].decodedImage)
                                frcDispose(globalCamera.data[writeIndex].decodedImage);
                        globalCamera.data[writeIndex].decodedImage = frcCreateImage(IMAQ_IMAGE_HSL);
                        if (! Priv_ReadJPEGString_C(globalCamera.data[writeIndex].decodedImage, 
                                        (const unsigned char *)globalCamera.data[writeIndex].cameraImage, 
                                        globalCamera.data[writeIndex].cameraImageSize) ) {
                                DPRINTF (LOG_DEBUG, "failure creating Image");                  
                        }
                }
                
                // TODO: React to partial image
                globalCamera.data[writeIndex].timestamp = GetTime();
                globalCamera.index = writeIndex;
                
                /* signal a listening task */
                if (globalCamera.readerPID) {
                        if (taskKill (globalCamera.readerPID,SIGUSR1) == OK)
                                DPRINTF (LOG_DEBUG, "SIGNALING PID= %i", globalCamera.readerPID);
                        else
                                globalCamera.cameraMetrics[CAM_PID_SIGNAL_ERR]++;
                                DPRINTF (LOG_DEBUG, "ERROR SIGNALING PID= %i", globalCamera.readerPID);
                }

                globalCamera.cameraMetrics[CAM_NUM_IMAGE]++;    
                printCounter ++;
                if (printCounter == 1000) { 
                        DPRINTF (LOG_DEBUG, "imageCounter = %i", globalCamera.cameraMetrics[CAM_NUM_IMAGE]); 
                        printCounter=0; 
                }
                
                taskDelay(1);  
                
#if MEASURE_TIME
                loopEndTime = GetTime(); 
                performanceLoopCounter++;
                if (performanceLoopCounter <= maxCount) {
                        DPRINTF (LOG_DEBUG, "%i DONE!!!: loop = ,%g,  camera = ,%g,  difference = ,%g, loopRate= ,%g,",
                                        performanceLoopCounter, loopEndTime-loopStartTime, cameraEndTime-cameraStartTime, 
                                        (loopEndTime-loopStartTime) - (cameraEndTime-cameraStartTime),
                                        loopStartTime-previousStartTime);                                               
                }
#endif  
        }  /* end while (cont) */

        /* clean up */
        close (camSock);
        cont = 0;
        DPRINTF (LOG_INFO, "\nJPEG SERVER ENDING  errorCode = %i\n", errorCode );
        
        return (OK);
}

void StartImageSignal(int taskId) // Start issuing a SIGUSR1 signal to the specified taskId
{       globalCamera.readerPID = taskId; }

void StartImageAcquisition()
{       
        globalCamera.cameraMetrics[CAM_STARTS]++;  
        globalCamera.acquire = 1; 
        DPRINTF(LOG_DEBUG, "starting acquisition");
}


void StopImageAcquisition()
{       globalCamera.cameraMetrics[CAM_STOPS]++;  globalCamera.acquire = 0; }


static int initCamera(int frames, int compression, ImageResolution resolution, ImageRotation rotation) 
{
        //SetDebugFlag ( DEBUG_SCREEN_AND_FILE  ) ;
        
        DPRINTF(LOG_DEBUG, "\n+++++ camera task starting: rotation = %i", (int)rotation);
        int errorCode;

        /* Initialize globalCamera area 
         * Set decode to 1 - always want to decode images for processing 
         * If ONLY sending images to the dashboard, you could set it to 0 */
        bzero ((char *)&globalCamera, sizeof(globalCamera));
        globalCamera.index = -1;
        globalCamera.decode = 1;
        
        /* allow writing to vxWorks target */
        Priv_SetWriteFileAllowed(1); 
        
        /* start acquisition immediately */
        StartImageAcquisition();
        
        /*  cameraJPEGServer runs until camera is stopped */
        DPRINTF (LOG_DEBUG, "calling cameraJPEGServer" ); 
        errorCode = cameraJPEGServer(frames, compression, resolution, rotation);        
        DPRINTF (LOG_INFO, "errorCode from cameraJPEGServer = %i\n", errorCode ); 
        return (OK);
}

Task g_axisCameraTask("Camera", (FUNCPTR)initCamera);

int StartCameraTask()
{
        return StartCameraTask(10, 0, k160x120, ROT_0);
}
int StartCameraTask(int frames, int compression, ImageResolution resolution, ImageRotation rotation)
{
        char funcName[]="startCameraTask";
        DPRINTF(LOG_DEBUG, "starting camera");

        int cameraTaskID = 0;

        //range check
        if (frames < 1) frames = 1;
        else if (frames > 30) frames = 30;
        if (compression < 0) compression = 0;           
        else if (compression > 100) compression = 100;

        // stop any prior copy of running task
        StopCameraTask(); 

        // spawn camera task
        bool started = g_axisCameraTask.Start(frames, compression, resolution, rotation);
        cameraTaskID = g_axisCameraTask.GetID();
        DPRINTF(LOG_DEBUG, "spawned task id %i", cameraTaskID);

        if (!started)   {
                DPRINTF(LOG_DEBUG, "camera task failed to start");
                imaqSetError(ERR_CAMERA_TASK_SPAWN_FAILED, funcName);
                return -1;
        }
        return cameraTaskID;
}

int StopCameraTask()
{
    std::string taskName("FRC_Camera");    
        // check for prior copy of running task
        int oldTaskID = taskNameToId(const_cast<char*>(taskName.c_str()));
        if(oldTaskID != ERROR) { taskDelete(oldTaskID);  }
        return oldTaskID;
}

#if 0
/* if you want to run this task by itself to debug  
 * enable this code and make RunProgram the entry point 
 */
extern "C"
{
void RunProgram();
int AxisCamera_StartupLibraryInit();
}
void RunProgram()
{       StartCameraTask();}

int AxisCamera_StartupLibraryInit()
        {               RunProgram();           return 0;       }

#endif