cam_time1.c

足球机器人自动程序

#include "cam.h"

#include <sys/poll.h>
#include <sys/time.h>
#include <time.h>

int main() {

	struct timeval tv, tvo;
	double t;

	struct cam c;
	cam_init(&c, 0);

	gettimeofday(&tvo, NULL);
	cam_capture(&c);

	struct pollfd ufds = {c.fd, POLLIN};

	int i = 0;
	for (; i<300; ++i) {
		if (poll(&ufds, 1, -1) <= 0) {
			fprintf(stderr, "poll error\n");
			return -1;
		}

		cam_sync(&c);

		gettimeofday(&tv, NULL);
		t = tv.tv_sec - tvo.tv_sec;
		t += (double)(tv.tv_usec - tvo.tv_usec) / 1e6;
		tvo = tv;
		printf("%f\n", t);

		cam_capture(&c);
	}

	return 0;
}