process.c

足球机器人自动程序

#include "cam.h"
#include "cmv.h"

struct cam c;
int skip = 6;

void process(int argc, char *argv[]) {

	int id = 0;
	char filename[24] = "colors.txt";

	for (;;) {
		int t = getopt(argc, argv, "d:f:c:h");
		if (t == -1) {
			break;
		}

		switch (t) {
			case 'd':
				if (sscanf(optarg, "%d", &id) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				printf("using video%d\n", id);
				break;
			case 'f':
				if (sscanf(optarg, "%d", &t) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				if (t <= 0 || t > 30) {
					fprintf(stderr, "framerate should be (0, 30]\n");
					exit(-1);
				}
				skip = (60 / t + 1) >> 1;
				printf("using skip %d (framerate %f)\n", skip, 30.0 / skip);
				break;
			case 'c':
				if (sscanf(optarg, "%s", filename) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				printf("using color file %s\n", filename);
				break;
			case 'h':
				fprintf(stderr, "Usage: %s [option]\n"
					"-d n\tset cam id n (default 0)\n"
					"-f n\tset framerate n (default 5)\n"
					"-c s\tset color file s (default colors.txt)\n"
					"-h\tprint this help\n", argv[0]);
				exit(0);
			case '?':
				break;
			default:
				fprintf(stderr, "error option: %d\n", t);
				exit(-1);
		}
	}

	cam_init(&c, id);
	cmv_init(filename);
}