yt-bak2.15.c

1、监控行业云台控制代码 2、对Pelco-P,Pelco-D进行解析

#include     <stdio.h>     
#include     <stdlib.h>     
#include     <unistd.h>     
#include     <sys/types.h>  
#include     <sys/stat.h>   
#include     <fcntl.h>     
#include     <termios.h>   
#include     <errno.h>     
#include     <string.h>

#define YTMAXNUM  16

#define TM9K_DEBUG			
#ifdef	TM9K_DEBUG
#define debug(fmt,args...)	printf(fmt ,##args)
#else
#define debug(fmt,args...)
#endif

typedef struct YTCtrlInfo
{
    char *name;
    char *fileName;
    char *codAddr[16];
    char *codCtrl[48];
    char *codComm[4];
    char *codCmd[16];
    int  CtrlNum;               //record how many Ctrl Code
    int  CmdNum;              //record how many Command Code
}YTCTRLINFO, *PYTCTRLINFO;



PYTCTRLINFO TMYTCtrlInfo[YTMAXNUM];
int SendYTCommand(int Index, int Address, char *Command, char* YTName, unsigned char PresetNo);


//---------------------------------------------------------------------
int  fd;

int  fdio;


//---------------------------------------------------------------------
//---------------------------------------------------------------------
unsigned short io_write(int fd, unsigned long Addr, unsigned short data)
{	
	return ioctl(fd, 0x1 | Addr, data);
}

unsigned short io_read(int fd, unsigned long Addr)
{
	return ioctl(fd, 0x0 | Addr, 0);
}

//---------------------------------------------------------------------
//---------------------------------------------------------------------
int main(int argc, char **argv)
{
	int i;
	int ret;
	 
	char *dev    = "/dev/com1"; 		//串口一
	char *devio  = "/dev/io"; 			//控制MAX1487E的方向
	
    printf("Hello  every body!\n");

	fd   = open(dev, O_RDWR );         		//| O_NOCTTY | O_NDELAY	
	fdio = open(devio, O_RDWR );         	//| O_NOCTTY | O_NDELAY	

	if(fd < 0)
	{
		printf("com1 file open fail!");
	}	
	if(fdio < 0)
	{
		printf("io   file open fail!");
	}	
		
	ret = ioctl(fd, 2400, 0x3);
	io_write(fdio, 0x7d400000, 0xffff);	//设置MAX1487E为发送状态

    i = strstr("abcddTX", "STX");
    printf("strstr= %d %d\n", strstr("abcd", "STX") , i);
     
    InitYTInfo();
    ReadYTCommand(0, "./AB.COD");
    ReadYTCommand(1, "./PELCO-P.COD");
    ReadYTCommand(2, "./TOTA B01.cod");
    ReadYTCommand(3, "./PELCO-D.COD");
     
    //SendYTCommand(3, 3, "Up_Start", "AA");
    //SendYTCommand(2, 2, "Up_Start", "AA");
    //SendYTCommand(1, 1, "Up_Start", "AA");     
for(i =0; i < 10; i++)
{
    SendYTCommand(3, 1, "Left_Start", "AA", 0);
	sleep(3);
	SendYTCommand(3, 1, "Left_Stop", "AA", 0);
    
	SendYTCommand(3, 1, "Right_Start", "AA", 0);
	sleep(3);
	SendYTCommand(3, 1, "Right_Stop", "AA", 0);
    
	SendYTCommand(3, 1, "Up_Start", "AA", 0);
	sleep(3);
	SendYTCommand(3, 1, "Up_Stop", "AA", 0);
    
	SendYTCommand(3, 1, "Down_Start", "AA", 0);
	sleep(3);
	SendYTCommand(3, 1, "Down_Stop", "AA", 0);
}	
		      
    FreeYTInfo();
 
	close(fdio);  
    close(fd);  
	   
    exit (0);
}

//-----------------------------------------------------------------------------
//Name: InitYTInfo()
//Input:
//-----------------------------------------------------------------------------
int InitYTInfo()
{
     int i, j;

      
     for(j = 0; j < YTMAXNUM ; j++)
     {
         TMYTCtrlInfo[j] = malloc(sizeof(YTCTRLINFO));
         memset( TMYTCtrlInfo[j], 0, sizeof(YTCTRLINFO) );
         //--------------------------------------malloc buffer
         TMYTCtrlInfo[j]->name = malloc(64);        
         TMYTCtrlInfo[j]->fileName = malloc(64);

         for(i = 0; i < 16; i++)
         {
              TMYTCtrlInfo[j]->codAddr[i] = malloc(64);
         }

         for(i = 0; i < 48; i++)
         {
              TMYTCtrlInfo[j]->codCtrl[i] = malloc(128);
         }

         for(i = 0; i < 4; i++)
         {
              TMYTCtrlInfo[j]->codComm[i] = malloc(32);
         }

         for(i = 0; i < 16; i++)
         {
              TMYTCtrlInfo[j]->codCmd[i] = malloc(128);
         }
         //--------------------------------------
     }
     return 0;
}

//-----------------------------------------------------------------------------
//Name: InitYTInfo()
//Input:
//-----------------------------------------------------------------------------
int FreeYTInfo()
{
     int i, j;


     for(j = 0; j < YTMAXNUM ; j++)
     {
         //--------------------------------------malloc buffer
         free(TMYTCtrlInfo[j]->name);
         free(TMYTCtrlInfo[j]->fileName);

         for(i = 0; i < 16; i++)
         {
              free(TMYTCtrlInfo[j]->codAddr[i]);
         }

         for(i = 0; i < 48; i++)
         {
              free(TMYTCtrlInfo[j]->codCtrl[i]);
         }

         for(i = 0; i < 4; i++)
         {
              free(TMYTCtrlInfo[j]->codComm[i]);
         }

         for(i = 0; i < 16; i++)
         {
              free(TMYTCtrlInfo[j]->codCmd[i]);
         }
         //--------------------------------------
         free(TMYTCtrlInfo[j]);
     }
     return 0;     
}


//-----------------------------------------------------------------------------
//Name: ReadYTCommand
//YTName:
//        YunTai code filename               ex."/user/Cod/AB.COD"
//-----------------------------------------------------------------------------
int ReadYTCommand(int index, char* fileName)
{
	FILE      *fp;
    char       *s;
    int        ret = 0;
	int        i;

    TMYTCtrlInfo[index]->CtrlNum = 0;
    TMYTCtrlInfo[index]->CmdNum = 0;
    //--------------------------------------malloc buffer
    s = malloc(128);
    //--------------------------------------
	fp = fopen(fileName, "r" );

    if(fp == NULL)
    {
          ret = -1;
          goto ReadFreeAll ;
    }

    //---------------------------Read Address Data
    s = fgets(s, 128, fp);
    if(strncasecmp(s, "[Address]", 9) != 0)
    {
          ret = -2;
          goto ReadFreeAll ;
    }

    for(i = 0; i < 16; i++)
    {
          s  = fgets(s, 128, fp);
          if(s == NULL)
          {
               ret = -2;
               goto ReadFreeAll ;
          }

          strcpy(TMYTCtrlInfo[index]->codAddr[i], s);
          //debug("codAddr[%d] -->%s\n", i, TMYTCtrlInfo[index]->codAddr[i] );
    }

    //---------------------------    Read Crtl Data "[CtrlCode]"
    for(i = 0; i < 100; i++)
    {
          s  = fgets(s, 128, fp);

          if(s == NULL)
          {
               ret = -3;
               goto ReadFreeAll ;
          }

          if(strncasecmp(s, "[CtrlCode]", 10) == 0)
          {
               break;
          }
    }

    if( i >= 100)
    {
          ret = -3;
          goto ReadFreeAll ;
    }

    for(i = 0; i < 48; i++)
    {
          s  = fgets(s, 128, fp);
          if(s == NULL)
          {
               ret = -3;
               goto ReadFreeAll ;
          }

          if(strncasecmp(s, "[Comm]", 6) == 0)
          {
               break;
          }

          strcpy(TMYTCtrlInfo[index]->codCtrl[i], s);
          //debug("codCtrl[%d] -->%s\n", i, TMYTCtrlInfo[index]->codCtrl[i] );

    }

    //---------------------------  Read Comm Data "[Comm]"
    if( i >= 48)
    {
          ret = -4;
          goto ReadFreeAll ;
    }
    TMYTCtrlInfo[index]->CtrlNum = i;
    
    for(i = 0; i < 4; i++)
    {
          s  = fgets(s, 128, fp);
          if(s == NULL)
          {
               ret = -4;
               goto ReadFreeAll ;
          }

          strcpy(TMYTCtrlInfo[index]->codComm[i], s);
          //debug("codComm[%d] -->%s\n", i, TMYTCtrlInfo[index]->codComm[i] );
    }

    if (feof(fp) != 0)
    {
          ret = 0;
          goto ReadFreeAll ;
    }
    //---------------------------    Read Crtl Data "[CmdCode]"
    for(i = 0; i < 10; i++)
    {
          if (feof(fp) != 0)
          {
               ret = 0;
               goto ReadFreeAll ;
          }
          s  = fgets(s, 128, fp);

          if(s == NULL)
          {
               ret = 0;
               goto ReadFreeAll ;
          }

          if(strncasecmp(s, "[CmdCode]", 9) == 0)
          {
               break;
          }
    }

    if( i >= 10)
    {
          ret = 0;
          goto ReadFreeAll ;
    }

    for(i = 0; i < 16; i++)
    {
          if (feof(fp) != 0)
          {
               ret = 0;          
               goto ReadCmdEnd;          //file end
          }
          s  = fgets(s, 128, fp);
          if(s == NULL)
          {
               ret = 0;
               goto ReadCmdEnd ;
          }

          strcpy(TMYTCtrlInfo[index]->codCmd[i], s);
          //debug("codCmd[%d] -->%s\n", i, TMYTCtrlInfo[index]->codCmd[i] );
    }   
ReadCmdEnd:
    TMYTCtrlInfo[index]->CmdNum = i;
    //--------------------free all
ReadFreeAll:    
	fclose(fp);

    free(s);
    //--------------------
    debug("ReadYTCommand end -------------------------%s, %d, %d, %d !\n", fileName, TMYTCtrlInfo[index]->CtrlNum, TMYTCtrlInfo[index]->CmdNum, ret);
    
    return ret;
}



//-----------------------------------------------------------------------------
//Name: TCVSSendYTCommand
//Input:
//        index = 0: yuntai control code
//        index = 1: yuntai command
//Address:
//        YunTai Address ( 1 -- 16)
//Command:
//        control or command code(see appendix) ex. "Up_Start" "Up_Stop" ......
//YTName:
//        YunTai code filename               ex."/user/Cod/AB.COD"
//PresetNo:预置点号      (1  --  64)
//-----------------------------------------------------------------------------
#define TCVYTCodeLength 128

int SendYTCommand(int Index, int Address, char *Command, char* YTName, unsigned char PresetNo)
{
    int   i, j;
    int   ret = 0;

    char *s;
    char *ss;
    char *Info;
    char *Temp;
     
    char  addr[10];
    //unsigned char  data;			//2005.2.5
	int  data;