Some new files for the client server part (Not tested)

README.md

@@ -17,7 +17,7 @@ In a modern version of Ubuntu you might be able to get the right version of thes
 
 ```
 sudo apt-get install libopencv-dev libboost-dev libboost-log-dev libboost-program-options-dev \
-  libboost-test-dev cmake
+  libboost-test-dev cmake libzmqpp-dev
 ```
 
 However, it is very likely that the software version is not up to date. We use OpenCV 3.2, 

examples/server_conf.json

+{
+  "server": {
+    "position_publisher": "tcp://*:7650"
+  },
+  "log": {
+    "auto_flush": true,
+    "file": "/tmp/ball_tracking.log"
+  },
+  "cameras": {
+    "type": "pvapi",
+    "conf": [
+      {
+        "ID": 1,
+        "IP": "192.168.101.101",
+        "conf": {
+          "mtu": 8228,
+          "EnumSet": {
+            "FrameStartTriggerMode": "FixedRate",
+            "AcquisitionMode": "Continuous",
+            "SyncOut1Mode": "Exposing"
+          },
+          "Float32Set": {
+            "FrameRate": 2.0
+          },
+          "Uint32Set": {
+            "StreamBytesPerSecond": 123000000,
+            "ExposureValue": 4000
+          },
+          "Sleep": 500,
+          "FrameTimeOut": 2000,
+          "debayer": true
+        }
+      },
+      {
+        "ID": 2,
+        "IP": "192.168.102.102",
+        "conf": {
+          "mtu": 8228,
+          "EnumSet": {
+            "FrameStartTriggerMode": "SyncIn1",
+            "AcquisitionMode": "Continuous"
+          },
+          "Uint32Set": {
+            "StreamBytesPerSecond": 123000000,
+            "ExposureValue": 4000
+          },
+          "FrameTimeOut": 2000,
+          "debayer": true
+        }
+      }
+    ]
+  },
+  "trackers": [
+    {"ID": 1, "file": "cam1.json"},
+    {"ID": 2, "file": "cam2.json"}
+  ]
+}

include/ball_tracking/server.hpp

+#ifndef BALL_TRACKING_SERVER
+#define BALL_TRACKING_SERVER
+
+#include <memory>
+#include <json.hpp>
+
+namespace ball_tracking {
+
+  class TrackServer {
+    private:
+      class Impl;
+      std::shared_ptr<Impl> _impl;
+    public:
+      TrackServer(const nlohmann::json& conf);
+      ~TrackServer();
+  };
+};
+
+#endif

src/server.cpp

+
+#include <ball_tracking/server.hpp>
+#include <ball_tracking/tracker.hpp>
+#include <ball_tracking/utils.hpp>
+#include <zmqpp/zmqpp.hpp>
+#include <string>
+#include <unordered_map>
+#include <thread>
+#include <camera.hpp>
+
+#include <boost/log/core.hpp>
+#include <boost/log/trivial.hpp>
+#include <boost/log/expressions.hpp>
+#include <boost/log/utility/setup/file.hpp>
+#include <boost/log/utility/setup/console.hpp>
+#include <boost/log/utility/setup/common_attributes.hpp>
+
+namespace logging = boost::log;
+using namespace std;
+using json = nlohmann::json;
+using namespace camera;
+
+namespace ball_tracking {
+
+  class TrackServer::Impl {
+    public:
+      unordered_map<unsigned int,Tracker> trackers;
+      ThreadedListener tlistener;
+      zmqpp::socket position_pub;
+      CameraSet cams;
+
+      void start_trackers(const json& conf) {
+        for (auto tracker : conf) {
+          unsigned int ID = tracker.at("ID");
+          if (tracker.count("file")) {
+            json tconf = load_json(tracker.at("file"));
+          }
+        }
+      }
+
+      void start_server(const json& conf) {
+        if (conf.count("log")) set_log_config(conf.at("log"));
+
+        //1) Start the networking sockets
+        const json& srv_conf = conf.at("servers");
+        zmqpp::context context;
+        auto socket_type = zmqpp::socket_type::pub;
+        position_pub = zmqpp::socket(context, socket_type);
+        const string& pp_url = srv_conf.at("position_publisher");
+        BOOST_LOG_TRIVIAL(info) << "Binding to " << pp_url;
+        position_pub.bind(pp_url);
+
+        //2) Start the tracking pipeline
+        start_trackers(conf.at("trackers"));        
+
+        //3) Start the cameras
+        cams = CameraSet(conf.at("cameras"));
+
+      }
+  };
+};