astrocam.c

mod_astrocam允许通过网络来控制网络摄像机、视频摄像机或是其它类似使用步进马达的设备。它作为一个Apache模块运行。

/*
 * This is the Astrocam source code. written by Steffen Wendzel
 *
 * (c) 2001, 2002, 2003 Steffen Wendzel - [e-mail]
 *
 */
 
#include <stdio.h>
#include <fcntl.h>
#include <stddef.h>
#include <errno.h>
#include <signal.h>

#ifdef WIN32 /* i was thinking about 'evil empire-os support' but... :-) */
  #include <conio.h>
  #include <time.h>
#else
  #include <unistd.h>
  #include <sys/time.h>
  #include <sys/times.h>
  #include <syslog.h>
#endif

#if defined(__linux__)
  #include <asm/io.h>
#endif

#if defined( __NetBSD__) || defined(__OpenBSD__)
  #include <sys/types.h>
  #include <sys/syscall.h>
  #include <i386/sysarch.h>
  #include <i386/pio.h>
  #define BSD 1
#endif

#if defined(__FreeBSD__)
  #include <sys/types.h>
  #include <sys/syscall.h>
  #include <machine/sysarch.h>
  #include <machine/cpufunc.h>
#endif

#if defined(__svr4__)
  /* under work, may it comes with v. 3.4 */
#endif

#include "astrocam.h"

#define VERSION "2.3.2"
#define PIDFILE "/var/log/acam_pid"

#define MAX_MOT    3
#define MAX_PHASEN 4
#define SLEEP      100

#define PA_L 0
#define PA_R 4
#define PB_L 0
#define PB_R 32

#define CTRL_MOT_X 0
#define CTRL_MOT_Y 64
#define CTRL_MOT_Z 128

/* some errors */
#define ERROR_INIT  perror("AstroCamInit");
#define ERROR_EXIT  perror("AstroCamShutdown");

long  pos[MAX_MOT];
int   mot_power[MAX_MOT],
      i=0;
#ifdef __FreeBSD__
int   devfd;
#endif
unsigned int iobase;

/* my syslog function */
void logit(char *string);

static unsigned char SMC_mot_ctrl[MAX_MOT] =
{
  CTRL_MOT_X,
  CTRL_MOT_Y,
  CTRL_MOT_Z
};

static unsigned char SMC_phase[MAX_PHASEN] =
{
  PA_L + PB_L,
  PA_R + PB_L,
  PA_R + PB_R,
  PA_L + PB_R
};

void SMC_outportb(unsigned char b)
{
  #ifdef linux
    outb(b, iobase);
    outb(0, iobase + 2);
    outb(1, iobase + 2);
  #endif

  #if defined(BSD) || defined(__FreeBSD__)
    outb(iobase, b);
    outb(iobase + 2, 0);
    outb(iobase + 2, 1);
  #endif
  
  #ifdef WIN32
    _outp(iobase, b);
    _outp(iobase + 2, 0);
    _outp(iobase + 2, 1);
  #endif
}

void AstroCam_Step(int mot, long n)
{
  unsigned char ctrl = SMC_mot_ctrl[mot];

  if(n>0){
     for(i=0;i<n;i++){
        pos[mot]++;
        SMC_outportb(ctrl + SMC_phase[pos[mot] % MAX_PHASEN]);
        usleep(SLEEP);
     }
  }else{
     for(i=0; i>n; i--){
        pos[mot]--;
        SMC_outportb(ctrl + SMC_phase[pos[mot] % MAX_PHASEN]);
        usleep(SLEEP);
     }
  }
}

#ifdef BSD
  void SMC_ioport(unsigned int iobase)
  {
     u_long iomap[0x20];
     struct i386_set_ioperm_args ioperm;

     /* code part found in usenet. actually i realy love
      * syscall() and sysctl() */
     ioperm.iomap = iomap;
     syscall(SYS_sysarch, I386_GET_IOPERM, (char *) &ioperm);
     iomap[iobase >> 5] &= ~(1 << (iobase & 0x1f));
     syscall(SYS_sysarch, I386_SET_IOPERM, (char *) &ioperm);
  }
#endif

int AstroCamInit(unsigned int io)
{
  int i=0;
  iobase = io;

  #ifdef BSD
    if(getuid()==0){
       SMC_ioport(iobase);
       SMC_ioport(iobase + 1);
       SMC_ioport(iobase + 2);
    }else{
       ERROR_INIT
       fflush(stderr);
      return -1;
    }
  #endif

  #ifdef linux
    if(ioperm(iobase, 3, 1)){
       ERROR_INIT
       fflush(stderr);
      return -1;
    }
  #endif

  #ifdef __FreeBSD__
    devfd=open("/dev/io", O_WRONLY);
    if(devfd<0){
       ERROR_INIT
       fflush(stderr);
      return -1;
    }
  #endif

  for(;i<MAX_MOT; i++){
     mot_power[i]=-1;
     pos[i]=0x61a80;
  }
  return 0;
}

int AstroCamShutdown()
{
  #ifdef linux
    if(ioperm(iobase, 3, 0)){
       ERROR_EXIT
      return -1;
    }
  #endif

  #ifdef __FreeBSD__
    if(close(devfd)!=0)
    {
       ERROR_EXIT
      return -1;
    }
  #endif
  return 0;
}

void rew(FILE *fd)
{
   fseek(fd, 0, SEEK_END);
   rewind(fd);
}

void prflush()
{
   printf(".");
   fflush(stdout);
}

void dm(pid_t *mypid)
{
   setsid();
   umask(0);
   *mypid=getpid();
}

void welcome()
{
printf("\n\x1B[32mAstroCam Daemon " VERSION " \x1B[0m [ "
       "Written and Copyright 2001,2002,2003 by Steffen Wendzel\n"
       "[e-mail] ]\x1B[32m running...\x1B[0m\n");
}

void sighndl(int signo)
{
  logit("signal response - shutdown now !");
  unlink(PIDFILE);
  if(AstroCamShutdown()<0)
     perror("AstroCamShutdown(): ");
  exit(1);
}

void logit(char *string)
{
  openlog("astrocam", LOG_PID, LOG_DAEMON);
  syslog(LOG_ERR, string);
  closelog();
}

int chkrunstat()
{
  int file;

  if((file = open(PIDFILE, O_RDONLY))<0)
     return 0;
  else{
     fprintf(stderr, "It seems that the astrocam daemon is allready "
                     "running. Please wait for resatart.\n");
     return -1;
  }
}

int restartac()
{
  int file;
  char *buf;

  if((buf=(char *)malloc(11*sizeof(char)))==NULL){
     perror("malloc ");
     return -1;
  }

  if((file=open(PIDFILE, O_RDONLY))<0)
     return -1;
  if(read(file, buf, 10)<1)
     return -1;
  kill(atoi(buf), SIGTERM);
  
  unlink(PIDFILE);
  free(buf);
  close(file);

  return 0;
}

int main(int argc, char* argv[])
{
  /* Flags:               free/fclose */
  FILE *file, *fdpid;     //   OK   OK
  pid_t mypid;
  char *buf;              //   OK
  int i,j;
  
  i=j=0x0;
  if(chkrunstat()<0)
     if(restartac()<0){
        fprintf(stderr, 
        "--- Alert: Cant restart astrocam daemon, please make sure that "
        "there is no other astrocam process and remove /var/log/acam_pid if "
        "sure. Try to start astrocam again after this steps. ---\n");
        return -1;
     }

  if(AstroCamInit(iobase)!=0){
     perror("AstroCamInit() ");
     return -1;
  }

  if((file = fopen("/etc/acam", "r"))==NULL){
     perror("fopen() ");
     return -1;
  }

  signal(SIGINT|SIGQUIT|SIGTERM, sighndl);

  if((mypid=fork())<0){
     perror("fork() ");
     return -1;
  }else if(mypid!=0){
     exit(1);
  }else{
     dm(&mypid);
     printf("\nstoring astrocam proccess id in " PIDFILE "! [%d]", mypid);
  }

  if((buf=(char *)malloc(11*sizeof(char)))==NULL){
     perror("malloc ");
     return -1;
  }
  snprintf(buf, 10*sizeof(char), "%d         ", mypid);
  if((fdpid=fopen(PIDFILE, "w+"))==NULL){
     perror("fopen() ");
     return -1;
  }
  fputs(buf, fdpid);
  fclose(fdpid);

  welcome();

  while((i=getc(file))!=EOF)
  {
     if(i!=10)
     {
        j=0x0;
        if(i==0x4c) // L
           while(j<30){AstroCam_Step(3, 1);j++;}
        if(i==0x6c) // l
           while(j<10){AstroCam_Step(3, 1);j++;}
        if(i==0x52)  // R
           while(j<30){AstroCam_Step(0, -1);j++;}
        if(i==0x72) // r
           while(j<10){AstroCam_Step(0, -1);j++;}
        if(i==0x75) // u
           while(j<10){AstroCam_Step(1, 1);j++;}
        if(i==0x64) // d
           while(j<10){AstroCam_Step(1, -1);j++;}
     }
     rew(file);
     usleep(1500000);
     //prflush();
  }

  /* we _should_ never be here here */
  fclose(file);
  if(AstroCamShutdown()<0)
     perror("AstroCamShutdown() ");
  free(buf);

  exit(0);
}