protocol.h

本人写的linux下云台控制程序

/*****************************************************************************
 * Header file of the protocol. 
 * Protocol of Terminal Devices in Vedio Security Surveillance Systema(TDVSSS)
 * Name: protocol.h
 * Author: EdgarLiu
 * Date: 2005/9/6
 ****************************************************************************/
#ifndef _PROTOCOL_H
#define _PROTOCOL_H

struct TDVSSS_protocol;
typedef int (*protocol_start_func)(struct TDVSSS_protocol* tp);
typedef int (*command_func)(struct TDVSSS_protocol* tp);

// define command struct
#define SPECIAL_COMMAND_BASE_ID  33
struct TDVSSS_command{
	int cmd_id;
	char* command;
	char* format;
	command_func cmd_func;
	char* help;
};

struct TDVSSS_entry{
	char* protocol;
	protocol_start_func  protocol_start;
	struct TDVSSS_command* pantilt_cmd;
	struct TDVSSS_command* function_cmd;
};


#define MAX_DEVICE_SIZE 32
struct TDVSSS_device{
	int type;  //1: /dev/ttyS  2: /dev/i2c
	char name[MAX_DEVICE_SIZE];
	int baudrate; //默认为9600
	int parity; //0 无校验; 1奇校验; 2偶校验; 默认为无校验
};

#define MAX_USER_INPUT_SIZE  256
#define MAX_COMMAND_SIZE  32
struct user_command{
	char input[MAX_USER_INPUT_SIZE];
	unsigned char command[MAX_COMMAND_SIZE];
	int cmd_id;
	char* param;
	unsigned short param1[2]; //param1[0] 0:param1[1] valid ; 1: param1[1] invalid
	unsigned short param2[2]; //
	command_func cmd_func; 
};


// Protocol of Terminal Devices in Vedio Security Surveillance Systema(TDVSSS)
#define MAX_PROTOCOL_SIZE  16
#define MAX_OUT_SIZE  256
struct TDVSSS_protocol{
	//protocol attribute
	char protocol[MAX_PROTOCOL_SIZE]; //
	protocol_start_func  protocol_start;
	struct TDVSSS_command* pantilt_cmd;   //
	struct TDVSSS_command* function_cmd;
	//device infomation
	struct TDVSSS_device device;
	int fd;
	//static data
	unsigned char magic;
	unsigned char address;
	unsigned char source_addr;
	int millisecond;
	int transparent;  	
	//dynamic data
	struct user_command user_input;
	unsigned char pan_speed;
	unsigned char tilt_speed;
	int continuous;
	int response;
	unsigned char out[MAX_OUT_SIZE];
	int out_len;
};

#define IS_BETWEEN(num,min,max)  (((num) >= (min) && (num) <= (max))?1:0)
#define SIGBGN  41
#define SIGRESP 42

extern struct TDVSSS_entry protocol_entry[];

struct TDVSSS_protocol* protocol_init(char* protocol,int addr,struct TDVSSS_device* td);
int command_loop(struct TDVSSS_protocol* tp);
//for httpd
int handle_control(char* control);

/*
命令ID宏定义,范围  1----255,其中:
1-----32 : 基本的,通用的命令;
33-----255:  各协议特有的功能性命令;
*/

//1-----16  云台,摄像机基本命令  The action that need loop send
#define ACTION_LEFT	         1   //云台左
#define ACTION_RIGHT	         2   //云台右 
#define ACTION_UP	         3   //云台上
#define ACTION_DOWN	         4   //云台下

#define ACTION_ZOOM_OUT	         5   //放大
#define ACTION_ZOOM_IN	         6   //缩小
#define ACTION_FOCUS_NEAR        7   //聚焦近
#define ACTION_FOCUS_FAR         8   //聚焦远
#define ACTION_IRIS_OPEN         9   //光圈开
#define ACTION_IRIS_CLOSE        10   //光圈关

//17 -------32 云台,摄像机停止命令  
#define ACTION_STOP              17   //停止云台命令
#define ACTION_STOP_CAMERA       18  //停止摄像机命令

/*****************************************************************************/
//Error Code
#define SUCCESSFULLY      0
#define NO_SUCH_COMMAND  -1
#define PARSE_CMD_ERROR  -2
#define INVALID_ARGUMENT  -3
#define INVALID_ADDRESS  -4

#endif	/*_PORTOCOL_H */