cap_net.c

足球机器人自动程序

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

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

	int id = 0;
	int skip = 6;
	char ip[16] = "127.0.0.1";
	int port = 8000;

	int sa = 0;
	int agc = -1;
	struct pwc_whitebalance wb;

	struct cam c;
	struct net nc;

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

		switch (t) {
			case 'd':
				if (sscanf(optarg, "%d", &id) != 1) {
					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", &port) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				break;
			case 't':
				if (sscanf(optarg, "%d", &sa) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				if (sa <=0) {
					fprintf(stderr, "show auto time should be positive\n");
					exit(-1);
				}
				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"
					"-a s\tset addr s (default 127.0.0.1)\n"
					"-p n\tset port n (default 8000)\n"
					"-t n\tshow auto value with interval n\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(&c, id);
	printf("using video%d skip %d (framerate %f)\n", id, skip, 30.0 / skip);

	if (sa) {
		wb.mode =  PWC_WB_AUTO;
		if (ioctl(c.fd, VIDIOCPWCGAGC, &agc) < 0) {
			perror("VIDIOCPWCGAGC");
			exit(-1);
		}

		if (ioctl(c.fd, VIDIOCPWCSAWB, &wb) < 0) {
			perror("VIDIOCPWCSAWB");
			exit(-1);
		}
		printf("show auto value with interval %d\n", sa);
	}
	cam_capture(&c);

	netc_init(&nc, ip, port);
	printf("using ip %s port %d\n", ip, port);
	
	int i = 0;
	int j = skip;
	int k = sa;
	for (;;) {
		cam_sync(&c);
		cam_capture(&c);

		if (++j >= skip) {
			j = 0;
			if (net_send(c.src, RAW_SIZE, &nc) != RAW_SIZE) {
				fprintf(stderr, "netc_send error\n");
				exit(-1);
			}
			if (!sa) fprintf(stderr, "\r%d", ++i);
		}

		if (sa && ++k >= sa) {
			k = 0;
			if (ioctl(c.fd,  VIDIOCPWCGAGC, &agc) < 0) {
				perror("VIDIOCPWCGAGC");
				exit(-1);
			}

			if (ioctl(c.fd, VIDIOCPWCGAWB, &wb) < 0) {
				perror("VIDIOCPWCGAWB");
				exit(-1);
			}
			fprintf(stderr, "\ragc=%5d  red=%5d  blue=%5d", agc, wb.read_red, wb.read_blue);
		}
	}

	return 0;
}