cap2_net.c

足球机器人自动程序

#include <sys/poll.h>

#include "cam.h"
#include "net.h"

int main(int argc, char *argv[]) {

	int id1 = 0, id2 = 1;
	int skip = 6;
	char ip[16] = "127.0.0.1";
	int port1 = 8000, port2 = 8001;

	struct cam c1, c2;
	struct net nc1, nc2;

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

		switch (t) {
			case 'd':
				if (sscanf(optarg, "%d,%d", &id1, &id2) != 2) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				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;
				break;
			case 'a':
				if (sscanf(optarg, "%s", ip) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				break;
			case 'p':
				if (sscanf(optarg, "%d,%d", &port1, &port2) != 2) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				break;
			case 'h':
				fprintf(stderr, "Usage: %s [option]\n"
					"-d n,m\tset cam id n (default 0,1)\n"
					"-f n\tset framerate n (default 5)\n"
					"-a s\tset addr s (default 127.0.0.1)\n"
					"-p n,m\tset port n (default 8000,8001)\n"
					"-h\tprint this help\n", argv[0]);
				return 0;
			case '?':
				break;
			default:
				fprintf(stderr, "option error: %d\n", t);
				exit(-1);
		}
	}

	if (optind != argc) {
		fprintf(stderr, "command line error\n");
		exit(-1);
	}

	cam_init(&c1, id1);
	cam_init(&c2, id2);
	printf("using video%d video%d skip %d (framerate %f)\n", id1, id2, skip, 30.0 / skip);

	cam_capture(&c1);
	cam_capture(&c2);

	netc_init(&nc1, ip, port1);
	netc_init(&nc2, ip, port2);
	printf("using ip %s port %d %d\n", ip, port1, port2);
	
	int i1 = 0, i2 = 0;
	int j1 = skip, j2 = skip;

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

	for (;;) {
		if (poll(ufds, 2, -1) <= 0) {
			fprintf(stderr, "poll error\n");
			exit(-1);
		}

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

			if (++j1 >= skip) {
				j1 = 0;
				++i1;
				if (net_send(c1.src, RAW_SIZE, &nc1) != RAW_SIZE) {
					fprintf(stderr, "netc_send error\n");
					exit(-1);
				}
			}
		}

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

			if (++j2 >= skip) {
				j2 = 0;
				++i2;
				if (net_send(c2.src, RAW_SIZE, &nc2) != RAW_SIZE) {
					fprintf(stderr, "netc_send error\n");
					exit(-1);
				}
			}
		}
		fprintf(stderr, "\r%4d  %4d", i1, i2);
	}

	return 0;
}