vidcat.c

sbc2410上运行的 采集usb设想头视频并通过局域网进行视频传输的程序 还具有一些远程io控制的功能

/*
 * vidcat.c
 *
 * Copyright (C) 1998 - 2001 Rasca, Berlin
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <getopt.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/time.h>	/* gettimeofday() */
#include <fcntl.h>
#include <unistd.h>
#include <linux/types.h>
#include <linux/videodev.h>
#include <sys/socket.h>
#include <sys/wait.h>
#include <errno.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <signal.h>
#include <pthread.h>

#define MYPORT 5555
#define BACKLOG 10
#include "v4l.h"
#include "bitmap.h"


static char *order[]={"temp","left","righ","upup","down","stop"};
typedef struct _SENDTEMP
{
  char tmpbuf[5];
  int temp;
}SENDTEMP;

char *basename (const char *s);
static int tcpflag=0;

/* globals
 */
static int verbose = 0;

/*
 



 * write png image to stdout
 */
void put_image_png (FILE *out, char *image, int width, int height, int palette)
{
#ifdef HAVE_LIBPNG
	int y, bpp;
	char *p;
	png_infop info_ptr;
	png_structp png_ptr = png_create_write_struct (PNG_LIBPNG_VER_STRING,
						NULL, NULL, NULL);
	if (!png_ptr)
		return;
	info_ptr = png_create_info_struct (png_ptr);
	if (!info_ptr)
		return;

	png_init_io (png_ptr, out);

	if (palette == VIDEO_PALETTE_GREY) {
		png_set_IHDR (png_ptr, info_ptr, width, height,
					8, PNG_COLOR_TYPE_GRAY, PNG_INTERLACE_NONE,
					PNG_COMPRESSION_TYPE_DEFAULT, PNG_FILTER_TYPE_DEFAULT);
		bpp = 1;
	} else {

		png_set_IHDR (png_ptr, info_ptr, width, height,
					8, PNG_COLOR_TYPE_RGB, PNG_INTERLACE_NONE,
					PNG_COMPRESSION_TYPE_DEFAULT, PNG_FILTER_TYPE_DEFAULT);
		bpp = 3;
	}
	png_set_bgr (png_ptr);


	png_write_info (png_ptr, info_ptr);
	p = image;
	for (y = 0; y < height; y++) {
		png_write_row (png_ptr, p);
		p += width * bpp;
	}
	png_write_end (png_ptr, info_ptr);
#endif
}

/*
 * write ppm image to stdout / file
 */


void put_image_ppm (FILE *out, char *image, int width, int height, int binary)
{
	int x, y, ls=0;
	unsigned char *p = (unsigned char *)image;
	if (!binary) {
		fprintf (out, "P3\n%d %d\n%d\n", width, height, 255);
		for (x = 0; x < width; x++) {
			for (y = 0; y < height; y++) {
				fprintf (out, "%03d %03d %03d  ", p[2], p[1], p[0]);
				p += 3;
				if (ls++ > 4) {
					fprintf (out, "\n");
					ls = 0;

				}
			}
		}
		fprintf (out, "\n");
	} else {
		unsigned char buff[3];
		fprintf (out, "P6\n%d %d\n%d\n", width, height, 255);
		for (x = 0; x < width * height; x++) {
			buff[0] = p[2];
			buff[1] = p[1];
			buff[2] = p[0];
			fwrite (buff, 1, 3, out);
			p += 3;
		}
	}
	fflush (out);
}



/*
 * write pgm image to stdout / file
 */
void put_image_pgm (FILE *out, char *image, int width, int height, int binary)

{
	int x, y, ls=0;
	unsigned char *p = (unsigned char *)image;
	if (!binary) {
		fprintf (out, "P2\n%d %d\n%d\n", width, height, 255);
		for (x = 0; x < width; x++) {

			for (y = 0; y < height; y++) {
				fprintf (out, "%03d ", p[0]);
				p++;
				if (ls++ > 4) {
					fprintf (out, "\n");
					ls = 0;
				}
			}
		}
		fprintf (out, "\n");
	} else {
		fprintf (out, "P5\n%d %d\n%d\n", width, height, 255);
		for (x = 0; x < width * height; x++) {
			fwrite (p, 1, 1, out);
			p++;
		}
	}
	fflush (out);
}


void ctlthread(void)
{
     static int fd=-1;
     static int adc_fd=-1;
    static int led_fd=-1;
    fd_set rdset;
    char bufval[16];
    int ret=-1;
    int result;
    int adc_value;
    int address_len;
    int i,j;
    int adc_sum;
    char buf[16];
    int tempaddress=1;
    SENDTEMP sendtemp;
   struct timeval tv;
   struct sockaddr_in address;
    struct sockaddr_in client_address;
    struct sockaddr_in temp_address;
			socklen_t len = sizeof(client_address);

      
     tv.tv_sec=0;
    tv.tv_usec=500000; 
     adc_fd=open("/dev/adc",0);
		if(adc_fd<0)

		{
			perror("openadc failed\n");
		exit(1);
		}
  led_fd = open("/dev/leds", 0);
	if (led_fd < 0) {
		perror("open device leds");
		exit(1);
	}
      
      fd = socket(AF_INET, SOCK_DGRAM, 0);	//SOCK_DGRAM

		bzero(&address, sizeof(address));
		address.sin_family = AF_INET;
		address.sin_addr.s_addr = htonl(INADDR_ANY);
		address.sin_port = htons(5678);
		address_len = sizeof(address);
		ret=bind(fd, (struct sockaddr *)&address, address_len);
     if(ret==-1)

		{
		printf("udp bind error!\n");
		exit(1);
		}

 while(1)
 {   if(tcpflag==1)
      {break;}
     FD_ZERO(&rdset);
			FD_SET(fd,&rdset);

      result=select(fd+1,&rdset,NULL,NULL,NULL);
    if(result==1)
     {
      if(FD_ISSET(fd,&rdset))
      ret=-1;
      ret = recvfrom(fd, buf, 16, 0,
				(struct sockaddr *)&client_address, &len);
				if(ret==-1)
				{ printf("udp receive error!\n");
   			exit(1);
				}
         if(tempaddress)
           { temp_address=client_address;
             temp_address.sin_port = htons(5678);
             tempaddress=0;
            }   
      memcpy(&sendtemp,buf,sizeof(SENDTEMP));
	//			printf("server received %s %d:%s\n", inet_ntoa(client_address.sin_addr),ntohs(client_address.sin_port), buf);
        j=-1;
				for(i=0;order[i]!=NULL;i++)
   				{
  				if(strncmp(sendtemp.tmpbuf,order[i], 4)==0)
				{j=i;break;}

    			 else j=-1;
        
    }
    switch(j)
    {
       case -1:printf("received error message\n");
         break;
       case 0:  printf("temp request\n");
       adc_value=0;
      adc_sum=0;
           for(i=0;i<8;i++)
     {
       ret=-1;
      ret=read(adc_fd,&adc_value,sizeof adc_value);
      if(ret!=sizeof(adc_value)){
        if(errno!=EAGAIN)perror("read adc\n");

      }
      else{
        adc_sum+=adc_value;
              
      } 
          }
          adc_value=adc_sum/8;
        printf("adc_value:%d\n",adc_value);
        
   
        sendtemp.tmpbuf[0]='t';
        sendtemp.tmpbuf[1]='e';
        sendtemp.tmpbuf[2]='m';
       sendtemp.tmpbuf[3]='p';
       sendtemp.tmpbuf[4]='\0'; 
        sendtemp.temp=adc_value;
       memcpy(bufval,&sendtemp,sizeof(SENDTEMP));
       ret=-1;         
         	ret=sendto(fd, bufval, 16, 0, (struct sockaddr *)&temp_address, len);
		             	if(ret==-1)
	 	                	{
	 	                      	printf("udp sendtemp error\n");
	 	                      	exit(1);
                     }
       break;
       case 1:  printf("control request left\n");
       ioctl(led_fd,1,0);
       ioctl(led_fd,0,1);
       ioctl(led_fd,0,2);
       ioctl(led_fd,0,3);
       break;
       case 2:   printf("control request right\n");
       ioctl(led_fd,0,0);
       ioctl(led_fd,1,1);
       ioctl(led_fd,0,2);
       ioctl(led_fd,0,3);
       break;
       case 3:  printf("control request up\n");
       ioctl(led_fd,0,0);
       ioctl(led_fd,0,1);
       ioctl(led_fd,1,2);
       ioctl(led_fd,0,3);
       break;
       case 4: printf("control request down\n");
        ioctl(led_fd,0,0);
       ioctl(led_fd,0,1);
       ioctl(led_fd,0,2);
       ioctl(led_fd,1,3);
       break;
       case 5:printf("control stop\n");
        ioctl(led_fd,0,0);
       ioctl(led_fd,0,1);
       ioctl(led_fd,0,2);
       ioctl(led_fd,0,3);
       break;
          
    }

  }      //result==1;
  else if(result<0)
  {printf("select error\n");break;}
}   //while
if(adc_fd)
close(adc_fd);
if(led_fd)
close(led_fd);
if(fd)
close(fd);
printf("udp thread ended\n");

 
  
}

       
/*
 * main()
 */