From f2d334a486f1fb6b5a942f32a8314579cac89082 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@sbcglobal.net>
Date: Tue, 15 Mar 2016 19:02:07 -0400
Subject: implement the accelerometer stream

---
 freenect-server--kinect.c | 38 +++++++++++++++++++++++++++++++++-----
 freenect-server.sh        |  6 +++---
 2 files changed, 36 insertions(+), 8 deletions(-)

diff --git a/freenect-server--kinect.c b/freenect-server--kinect.c
index 32b029d..e6c9e7e 100644
--- a/freenect-server--kinect.c
+++ b/freenect-server--kinect.c
@@ -59,11 +59,42 @@ void dump_ffmpeg_pad16(FILE *stream, uint32_t timestamp UNUSED, void *data_anon,
 	}
 }
 
+
 void handle_accel(freenect_device *dev UNUSED, freenect_raw_tilt_state* data)
 {
-	double x, y, z;
+	double x, y, z, angle;
 	freenect_get_mks_accel(data, &x, &y, &z);
-	//fprintf(accel_stream, "x=%f\ty=%f\tz=%f\n", x, y, z);
+	angle = freenect_get_tilt_degs(data);
+
+	const char *motor;
+	switch (data->tilt_status) {
+	case TILT_STATUS_STOPPED:
+		motor = "stopped";
+	case TILT_STATUS_LIMIT:
+		motor = "limit";
+	case TILT_STATUS_MOVING:
+		motor = "moving";
+	default:
+		motor = "unknown";
+	}
+
+	char *json = NULL;
+	int len = asprintf(&json,
+	                 "{	\"x\": %f,\n"
+	                 "	\"y\": %f,\n"
+	                 "	\"z\": %f,\n"
+	                 "	\"angle\": %f,\n"
+	                 "	\"motor\": \"%s\" }\n",
+	                 x, y, z, angle, motor);
+	if (len < 0)
+		error(EXIT_FAILURE, errno, "asprintf");
+	fprintf(accel_stream,
+	        "--ffserver\r\n"
+	        "Content-type: application/json\r\n"
+	        "Content-length: %d\r\n"
+	        "\r\n"
+	        "%s\r\n",
+	        len, json);
 }
 
 void handle_depth(freenect_device *dev UNUSED, void *depth, uint32_t timestamp)
@@ -177,9 +208,6 @@ int main(int argc, char *argv[]) {
 		freenect_set_depth_callback(dev, handle_depth);
 	}
 
-	if (accel_stream) {
-	}
-
 	while (freenect_process_events(ctx) >= 0) {
 		if (accel_stream) {
 			freenect_raw_tilt_state* state;
diff --git a/freenect-server.sh b/freenect-server.sh
index 9328573..e88acbe 100644
--- a/freenect-server.sh
+++ b/freenect-server.sh
@@ -9,10 +9,10 @@ mkfifo $t/video.rgb24
 mkfifo $t/depth.rgb24
 mkfifo $t/video.mjpg
 mkfifo $t/depth.mjpg
+mkfifo $t/accel.mjson
 
-( freenect-server--kinect -v $t/video.rgb24 -d $t/depth.rgb24; echo "EXITED: freenect-server--kinect: $?") & pids+=($!)
-( multipart-replace-http-server "$1" "$2" $t/video.mjpg $t/depth.mjpg; echo "EXITED: freenect-server--http: $?") & pids+=($!)
-rm -f {depth,video}.{avi,mjpg}
+( freenect-server--kinect -v $t/video.rgb24 -d $t/depth.rgb24 -a $t/accel.mjson; echo "EXITED: freenect-server--kinect: $?") & pids+=($!)
+( multipart-replace-http-server "$1" "$2" $t/video.mjpg $t/depth.mjpg $t/accel.mjson; echo "EXITED: freenect-server--http: $?") & pids+=($!)
 ( ffmpeg -loglevel warning -pixel_format rgb24 -s 640x480 -f rawvideo -i $t/video.rgb24 -q:v 1 -f mpjpeg - > $t/video.mjpg; echo "EXITED: ffmpeg video: $?") & pids+=($!)
 ( ffmpeg -loglevel warning -pixel_format rgb24 -s 640x480 -f rawvideo -i $t/depth.rgb24 -q:v 1 -f mpjpeg - > $t/depth.mjpg; echo "EXITED: ffmpeg depth: $?") & pids+=($!)
 
-- 
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