cam_time2.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 c1, c2;
	cam_init(&c1, 0);
	cam_init(&c2, 1);

	gettimeofday(&tvo, NULL);
	cam_capture(&c1);
	cam_capture(&c2);

	struct pollfd ufds[2] = {{c1.fd, POLLIN},{c2.fd, POLLIN}};

	int i = 0;
	for (; i<300; ++i) {
		if (poll(ufds, 2, -1) <= 0) {
			fprintf(stderr, "poll error\n");
			return -1;
		}

		if (ufds[0].revents & POLLIN) {
			cam_sync(&c1);

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

			cam_capture(&c1);
		}

		if (ufds[1].revents & POLLIN) {
			cam_sync(&c2);

			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(&c2);
		}
	}

	return 0;
}