process.c

足球机器人自动程序

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

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <unistd.h>

#include "dec.h"
#include "cmv.h"

int use_cmv = 0;
struct cmv_data data;
int bb = 0;
unsigned char src[YUV_SIZE];
char *filename;

static inline void print_help(char *argv0) {
	fprintf(stderr, "Usage: %s [option] file\n"
		"-c s\tset color file s\n"
		"-b\tshow bounding box\n"
		"-h\tprint this help\n", argv0);
}

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

	char cfilename[64];

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

		switch (t) {
			case 'c':
				if (sscanf(optarg, "%s", cfilename) != 1) {
					fprintf(stderr, "error optarg: %s\n", optarg);
					exit(-1);
				}
				use_cmv = 1;
				break;
			case 'b':
				bb = 1;
				break;
			case 'h':
				print_help(argv[0]);
				exit(0);
			case '?':
				break;
			default:
				fprintf(stderr, "error option: %d\n", t);
				exit(-1);
		}
	}

	if (argc - optind != 1) {
		print_help(argv[0]);
		exit(-1);
	}

	filename = argv[optind];
	int fd = open(filename, O_RDONLY);
	if (fd < 0) {
		perror(filename);
		exit(-1);
	}

	char *suffix = strrchr(filename, '.');
	if (suffix == NULL) {
		fprintf(stderr, "unknown filename: %s\n", filename);
		exit(-1);
	}
	++suffix;

	if (!strcmp(suffix, "raw")) {
		unsigned char *raw = mmap(NULL, RAW_SIZE, PROT_READ, MAP_SHARED, fd, 0);
		if (raw == MAP_FAILED) {
			perror("mmap");
			exit(-1);
		}
		dec_init();
		dec_process(raw, src);
	}
	else {
		fprintf(stderr, "unknown filename: %s\n", filename);
		exit(-1);
	}

	if (use_cmv) {
		cmv_init(&data, cfilename);
		printf("using color file %s\n", cfilename);
		cmv_process(&data, src);
	}
}