clientcontrol.c

本软件是基于S3C2410串口控制云台的源码

//运行在arm上,增加了守护进程
//gcc -g -o dclientcontrol init.c clientcontrol.c  
//armv4l-unknown-linux-gcc -g -o dclientcontrol init.c clientcontrol.c

#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h>
#include     <fcntl.h>      /*文件控制定义*/
#include     <termios.h>    /*PPSIX终端控制定义*/

#define PORT  3490 
#define MAXDATASIZE  10

#define FALSE  -1
#define TRUE  0

/***@brief  设置串口通信速率
*@param  fd     类型 int  打开串口的文件句柄
*@param  speed  类型 int  串口速度
*@return  void*/
	int sockfd,numbytes,i;
        char buf;
	struct hostent *he;
	struct sockaddr_in their_addr; //init socket
	
	int fd;
	int nwrite;
	char byte1=0xFF,byte2=0x01,byte3=0x00,byte4,byte5=0x3F,byte6=0x3F,byte7;
	char  buff[7];
	char *dev ="/dev/ttyS1";  //init sdk


int speed_arr[] = { B38400, B19200, B9600, B4800, B2400, B1200, B300,
	    B38400, B19200, B9600, B4800, B2400, B1200, B300, };
int name_arr[] = {38400,  19200,  9600,  4800,  2400,  1200,  300,
	    38400,  19200,  9600, 4800, 2400, 1200,  300, };

void init_daemon(void);//守护进程初始化函数 

void set_speed(int fd, int speed)
{
  int   i;
  int   status;
  struct termios   Opt;
  tcgetattr(fd, &Opt);
  for ( i= 0;  i < sizeof(speed_arr) / sizeof(int);  i++)
   {
   	if  (speed == name_arr[i])
   	{
   	    tcflush(fd, TCIOFLUSH);
    	cfsetispeed(&Opt, speed_arr[i]);
    	cfsetospeed(&Opt, speed_arr[i]);
    	status = tcsetattr(fd, TCSANOW, &Opt);
    	if  (status != 0)
            perror("tcsetattr fd1");
     	return;
     	}
   tcflush(fd,TCIOFLUSH);
   }
}
/**
*@brief   设置串口数据位，停止位和效验位
*@param  fd     类型  int  打开的串口文件句柄*
*@param  databits 类型  int 数据位   取值 为 7 或者8*
*@param  stopbits 类型  int 停止位   取值为 1 或者2*
*@param  parity  类型  int  效验类型 取值为N,E,O,,S
*/

int set_Parity(int fd,int databits,int stopbits,int parity)
{
	struct termios options;
 if  ( tcgetattr( fd,&options)  !=  0)
  {
  	perror("SetupSerial 1");
  	return(FALSE);
  }
  options.c_cflag &= ~CSIZE;
  switch (databits) /*设置数据位数*/
  {
  	case 7:
  		options.c_cflag |= CS7;
  		break;
  	case 8:
		options.c_cflag |= CS8;
		break;
	default:
		fprintf(stderr,"Unsupported data size\n");
		return (FALSE);
	}
  switch (parity)
  	{
  	case 'n':
	case 'N':
		options.c_cflag &= ~PARENB;   /* Clear parity enable */
		options.c_iflag &= ~INPCK;     /* Enable parity checking */
		break;
	case 'o':
	case 'O':
		options.c_cflag |= (PARODD | PARENB);  /* 设置为奇效验*/ 
		options.c_iflag |= INPCK;             /* Disnable parity checking */
		break;
	case 'e':
	case 'E':
		options.c_cflag |= PARENB;     /* Enable parity */
		options.c_cflag &= ~PARODD;   /* 转换为偶效验*/  
		options.c_iflag |= INPCK;       /* Disnable parity checking */
		break;
	case 'S':
	case 's':  /*as no parity*/
		options.c_cflag &= ~PARENB;
		options.c_cflag &= ~CSTOPB;
		break;
	default:
		fprintf(stderr,"Unsupported parity\n");
		return (FALSE);
		}
  /* 设置停止位*/   
  switch (stopbits)
  	{
  	case 1:
  		options.c_cflag &= ~CSTOPB;
		break;
	case 2:
		options.c_cflag |= CSTOPB;
		break;
	default:
		fprintf(stderr,"Unsupported stop bits\n");
		return (FALSE);
	}
  /* Set input parity option */
  if (parity != 'n')
  		options.c_iflag |= INPCK;
    options.c_cc[VTIME] = 150; // 15 seconds
    options.c_cc[VMIN] = 0;

  tcflush(fd,TCIFLUSH); /* Update the options and do it NOW */
  if (tcsetattr(fd,TCSANOW,&options) != 0)
  	{
  		perror("SetupSerial 3");
		return (FALSE);
	}
  return (TRUE);
 }
/**
*@breif 打开串口
*/
int OpenDev(char *Dev)
{
	int	fd = open( Dev, O_RDWR );         //| O_NOCTTY | O_NDELAY
	if (-1 == fd)
		{ /*设置数据位数*/
			perror("Can't Open Serial Port");
			return -1;
		}
	else
	return fd;

}

main()
{
	//==============daemon=============
        init_daemon();//初始化为Daemon 




//=====================================================================================
	if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
        {
   	   perror("socket");
    	   exit(1);
   	}

	 their_addr.sin_family=AF_INET;
  	 their_addr.sin_port=htons(PORT);
  	 their_addr.sin_addr.s_addr=inet_addr("10.1.37.220");

   	 bzero(&(their_addr.sin_zero),8);

	if (connect(sockfd, (struct sockaddr *)&their_addr,sizeof(struct sockaddr)) == -1) 
   	{
    	  perror("connect");
	  exit(1);
  	 }
	while(1){
	
	while((numbytes=recv(sockfd,&buf,1,0))!=1){
	  //perror("recv");
	 
	}
	printf("recv success!\n");
	printf("numbytes=%d",numbytes);
	printf("\nbuf=%c",buf);
	
	
	switch(buf)
	 {
	   case 'u' : {byte4=0x08;byte5=0x3F;byte6=0x3F;byte7=0x87; } break;
 	   case 'd' : {byte4=0x10;byte5=0x3F;byte6=0x3F;byte7=0x8F; } break;
 	   case 'l' : {byte4=0x04;byte5=0x3F;byte6=0x3F;byte7=0x83; } break;
           case 'r' : {byte4=0x02;byte5=0x3F;byte6=0x3F;byte7=0x81; } break;
           case 's' : {byte4=0x00;byte5=0x00;byte6=0x00;byte7=0x01; } break;
 	   //default :i=0;
        }
	 buff[0]=byte1;
         buff[1]=byte2;
	 buff[2]=byte3;
 	 buff[3]=byte4;
	 buff[4]=byte5;
         buff[5]=byte6;
	 buff[6]=byte7;
//=========================================================================================
	
	fd = OpenDev(dev);
	if (fd>0)
    		set_speed(fd,2400);
	else
		{
		printf("Can't Open Serial Port!\n");
		exit(0);
		}
  	if (set_Parity(fd,8,1,'N')== FALSE)
  	{
   	 printf("Set Parity Error\n");
    	
  	}
	
	nwrite = write(fd,buff,7);
        printf("write success!\n");
        i=1;
     
      }//end while
        close(sockfd);
   	close(fd);
	exit(0);
	
}