cam_set.c

足球机器人自动程序

#include <stdio.h>
#include <stdlib.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/videodev.h>

#include "pwc-ioctl.h"

int fd = -1;
struct pwc_whitebalance wb;

inline void print_help(char *argv0) {
	fprintf(stderr, "Usage: %s [option]\n"
		"-d n\tset cam id n (default 0)\n"
		"-i n\tshow info\n"
		"-a n\tset agc\n"
		"-w s\tset wb\n"
		"-r n\treset cam\n"
		"-h\tprint this help\n", argv0);
}

inline void cam_open(int id) {
	if (id != 0 && id != 1) {
		fprintf(stderr, "video id should be 0 or 1\n");
		exit(-1);
	}

	char dev[12];
	sprintf(dev, "/dev/video%d", id);

	if ((fd = open(dev, O_RDONLY)) < 0) {
		perror(dev);
		exit(-1);
	}
}

inline void check_start() {
	if (fd >= 0) return;
	cam_open(0);
	printf("using video0\n");
}

inline void show_info() {
	int t;

	// agc;
	if (ioctl(fd, VIDIOCPWCGAGC, &t) < 0) {
		perror("VIDIOCPWCGAGC");
		exit(-1);
	}
	printf("agc=%d (", t);
	if (t < 0)
		printf("auto)\n");
	else
		printf("fixed)\n");

	// wb
	if (ioctl(fd, VIDIOCPWCGAWB, &wb) < 0) {
		perror("VIDIOCPWCGAWB");
		exit(-1);
	}
	printf("wb=");
	switch (wb.mode) {
		case PWC_WB_AUTO:
			printf("auto, red=%d, blue=%d\n", wb.read_red, wb.read_blue);
			break;
		case PWC_WB_MANUAL:
			printf("manual, red=%d, blue=%d\n", wb.manual_red, wb.manual_blue);
			break;
		case PWC_WB_INDOOR:
			printf("indoor\n");
			break;
		case  PWC_WB_OUTDOOR:
			printf("outdoor\n");
			break;
		case PWC_WB_FL:
			printf("fl\n");
			break;
		default:
			fprintf(stderr, "wb mode error\n");
			exit(-1);
	}

	// compression;
	if (ioctl(fd, VIDIOCPWCGCQUAL, &t) < 0) {
		perror("VIDIOCPWCGCQUAL");
		exit(-1);
	}
	printf("compression=%d (", t);
	switch (t) {
	case 0:
		printf("no)\n");
		break;
	case 1:
		printf("less)\n");
		break;
	case 2:
		printf("middle)\n");
		break;
	case 3:
		printf("high)\n");
	}

	struct pwc_wb_speed wbs;
	if (ioctl(fd, VIDIOCPWCGAWBSPEED, &wbs) < 0) {
		perror("VIDIOCPWCGAWBSPEED");
		exit(-1);
	}
	printf("wb speed=%d, delay=%d\n", wbs.control_speed, wbs.control_delay);

	/* VIDIOCPWCGLED */

	// contour;
	if (ioctl(fd, VIDIOCPWCGCONTOUR, &t) < 0) {
		perror("VIDIOCPWCGCONTOUR");
		exit(-1);
	}
	printf("contour=%d\n", t);

	// bl;
	if (ioctl(fd, VIDIOCPWCGBACKLIGHT, &t) < 0) {
		perror("VIDIOCPWCGBACKLIGHT");
		exit(-1);
	}
	printf("backlight mode=%d (", t);
	if (t)
		printf("on)\n");
	else
		printf("off)\n");

	// af;
	if (ioctl(fd, VIDIOCPWCGFLICKER, &t) < 0) {
		perror("VIDIOCPWCGFLICKER ");
		exit(-1);
	}
	printf("anti-flicker=%d (", t);
	if (t) 
		printf("on)\n");
	else
		printf("off)\n");

	// noise;
	if (ioctl(fd, VIDIOCPWCGDYNNOISE, &t) < 0) {
		perror("VIDIOCPWCGDYNNOISE");
		exit(-1);
	}
	printf("dynamic noise reduction=%d (", t);
	switch (t) {
	case 0:
		printf("none)\n");
		break;
	case 1:
		printf("less)\n");
		break;
	case 2:
		printf("middle)\n");
		break;
	case 3:
		printf("high)\n");
		break;
	default:
		fprintf(stderr, "noise mode error\n");
		exit(-1);
	}
}

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

	for (;;) {
		int t = getopt(argc, argv, "d:ia:w:rh");
		if (t == -1) {
			break;
		}

		switch (t) {
			case 'd':
				if (sscanf(optarg, "%d", &t) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				if (fd >= 0) close(fd);
				cam_open(t);
				printf("using video%d\n", t);
				break;
			case 'i':
				check_start();
				show_info();
				break;
			case 'a':
				check_start();
				if (sscanf(optarg, "%d", &t) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				if (ioctl(fd, VIDIOCPWCSAGC, &t) < 0) {
					perror("VIDIOCPWCSAGC");
					exit(-1);
				}
				if (ioctl(fd, VIDIOCPWCGAGC, &t) < 0) {
					perror("VIDIOCPWCGAGC");
					exit(-1);
				}
				printf("reread agc=%d\n", t);
				break;
			case 'w':
				check_start();
				t = sscanf(optarg, "%d,%d", &wb.manual_red, &wb.manual_blue);
				switch (t) {
					case 2:
						wb.mode =  PWC_WB_MANUAL;
						break;
					default:
						wb.mode = wb.manual_red;
				}
				if (ioctl(fd, VIDIOCPWCSAWB, &wb) < 0) {
					perror("VIDIOCPWCSAWB");
					exit(-1);
				}
				if (ioctl(fd, VIDIOCPWCGAWB, &wb) < 0) {
					perror("VIDIOCPWCGAWB");
					exit(-1);
				}
				if (t == 2) printf("reread wb red=%d blue=%d\n", wb.manual_red, wb.manual_blue);
				else {
				printf("reread wb=");
					switch (wb.mode) {
						case PWC_WB_AUTO:
							printf("auto\n");
							break;
						case PWC_WB_INDOOR:
							printf("indoor\n");
							break;
						case  PWC_WB_OUTDOOR:
							printf("outdoor\n");
							break;
						case PWC_WB_FL:
							printf("fl\n");
							break;
						default:
							fprintf(stderr, "wb mode error\n");
							exit(-1);
					}
				}
				
				break;
			case 'r':
				check_start();
				if (ioctl(fd, VIDIOCPWCFACTORY, NULL) < 0) {
					perror("VIDIOCPWCFACTORY");
					exit(-1);
				}
				printf("cam reset\n");
				break;
			case 'h':
				print_help(argv[0]);
				return 0;
			case '?':
				break;
			default:
				fprintf(stderr, "error option: %d\n", t);
				exit(-1);
		}
	}

	if (fd >= 0) close(fd);
	return 0;
}