main.c

本人写的linux下云台控制程序

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>

#include "protocol.h"
#include "device.h"

static char g_protocol[MAX_PROTOCOL_SIZE];
static int g_address = 0x01;
static struct TDVSSS_device g_device;

//1. =========================================================================
static void usage(int argc,char** argv)
{
	int i;

	fprintf(stderr,"\nUsage:%s [-d device] [-b baudrate] [-p protocol]\
	 [-a address] [-h help]\n",argv[0]);
	fprintf(stderr,"\tdevice  = /dev/ttySn\n");
	fprintf(stderr,"\tprotocol = ");
	fprintf(stderr," %s",protocol_entry[0].protocol);
	for(i = 1; protocol_entry[i].protocol;i++)
		fprintf(stderr," | %s",protocol_entry[i].protocol);
	fprintf(stderr,"\n");
	
	return ;
}

//2.==========================================================================
/********************************************************************
   Function:     void parseCmdLine(int argc,char** argv)      
   Description: 命令行解析函数
   Arguments:  int argc     参数个数
   	      char** argv  指向参数的指针
   Return:  none
   Others:
********************************************************************/
static int parseCmdLine(int argc,char** argv)
{
	int i;

	if(argc == 1)
		return 0;
	for(i=1; i<argc;i++)
	{
		if(argv[i][0] == '-')
		{
			switch (argv[i][1])
			{
			case 'p':
				if((argv[i+1] == NULL))
				{
					usage(argc,argv);
					exit(1);
				}
				strcpy(g_protocol,argv[i+ 1]);
				break;
			case 'a':
				if(argv[i+1] == NULL)
				{
					usage(argc,argv);
					exit(1);
				}
				g_address = atoi(argv[i+1]);
				break;
			case 'd':
				if(argv[i+1] == NULL)
				{
					usage(argc,argv);
					exit(1);
				}
				if(!strncmp(argv[i+1],"/dev/ttyS",9))
				{
					g_device.type = DEVICE_TTYS;
					strcpy(g_device.name,argv[i+1]);
				}
				else
				{
					usage(argc,argv);
					exit(1);
				}
				break;
			case 'b':
				if(argv[i+1] == NULL)
				{
					usage(argc,argv);
					exit(1);
				}
				g_device.baudrate = atoi(argv[i+1]);
				break;
			case 'h':
				usage(argc,argv);
				exit(1);
			default:
				fprintf(stderr,"error: Invalid Command Line!\n");
				usage(argc,argv);
				exit(1);
				break;	
			}
		}
	}
	return 0;
}

//3.*************************************************************
int main(int argc,char** argv)
{
	struct TDVSSS_protocol* tp;
	#ifdef FOR_HTTPD
	char  input[MAX_USER_INPUT_SIZE];
	#endif	

	//initial data
	memset(g_protocol,0,MAX_PROTOCOL_SIZE);
	memset(&g_device,0,sizeof(g_device));
	strcpy(g_protocol,"standard-i2c");
	g_address = 0x01;
	g_device.type = DEVICE_TTYS;
	strcpy(g_device.name,"/dev/ttyS0");
	g_device.baudrate = 9600;

	//parse command line
	parseCmdLine(argc,argv);	

	//initial protocol
	if((tp = protocol_init(g_protocol,g_address,&g_device)) == NULL)
	{
		fprintf(stderr,"error:initial protocol failed!\n");
		exit(1);
	}

	//loop to receive command then handle the command
	#ifdef FOR_HTTPD
	fprintf(stderr,"for httpd! protocol: %s\n",tp->protocol);
	memset(input,0,MAX_USER_INPUT_SIZE);
	fgets(input,MAX_USER_INPUT_SIZE,stdin);
	while(strcmp(input,"q\n"))
	{
		handle_control(input);
		memset(input,0,MAX_USER_INPUT_SIZE);
		fgets(input,MAX_USER_INPUT_SIZE,stdin);
	}
	#else
	fprintf(stderr,"single control! protocol: %s\n",tp->protocol);
	command_loop(tp);
	fprintf(stderr,"quit the process\n");
	#endif

	//quit the process
	close(tp->fd);
	free(tp);
	return 0;
}