cam_control_cmd.c

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY without ev

/*----------------------------------------------------------------------------*\
|                                                                              |
| Copyright (C) 2003,  James A. Cureington                                     |
|                      tonycu * users_sourceforge_net                          |
|                                                                              |
| 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 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.                    |
|                                                                              |
|                                                                              |
| Tony Cureington                                                              |
| December 4, 2002                                                             |
|                                                                              |
| This file is associated with the ezusb2131 Linux downloader project. The     |
| project can be found at http://ezusb2131.sourceforge.net.                    |
|                                                                              |
|                                                                              |
|                                                                              |
|  :set tabstop=3                                                              |
|  :set softtabstop=3                                                          |
|  :set shiftwidth=3                                                           |
|  :set smarttab                                                               |
|  :mkv ~/.vimrc                                                               |
|                                                                              |
|  X:set expandtab                                                             |
|                                                                              |
\*----------------------------------------------------------------------------*/

/*******************************************************************************
 *
 * $Id: cam_control_cmd.c,v 1.1 2003/02/21 06:50:35 tonycu Exp $
 *
 ******************************************************************************/

#include <stdio.h>
#include <stdlib.h>
#define  _GNU_SOURCE  /* for getopt */
#include <getopt.h>
#include "cam_common.h"
#include "usblinux.h"

#define VERSION			"1.0"
#define EP1					1
#define INTERFACE_NUM	0
#define EP_TIMEOUT		5000 /* 5 seconds */
#define DONT_MOVE			91   /* don't move servo */

char *pname = (char*)0;

void
usage(void)
{
	printf("Usage: %s Options\n", pname);
	printf("Options: \n");
	printf("         -x deg    move x (horizontal) to deg position (%d to %d)\n",
         MAX_HORIZONTAL, MIN_HORIZONTAL);
	printf("         -y deg    move y (vertical) to deg position (%d to %d)\n",
         MAX_VERTICAL, MIN_VERTICAL);
	printf("         -c        bring camera to center position\n");
	printf("         -s        stop all movement\n");
	printf("         -i        info about position of servos\n");
	printf("\n");
}

int
parse_cmd_line(cc_command *pcmd, int argc, char *argv[])
{
	int opt;

	if (argc == 1) {
		usage();
		return(1);
	}

	pcmd->command = 0;
	pcmd->new_horizontal_deg = DONT_MOVE;
	pcmd->new_vertical_deg = DONT_MOVE;

	while ((opt = getopt(argc, argv, "x:y:cshi")) != -1) {
		switch(opt) {
			case 'x':
				pcmd->command |= CC_COMMAND_MOVE;
				pcmd->new_horizontal_deg = (char)atoi(optarg);
				break;

			case 'y':
				pcmd->command |= CC_COMMAND_MOVE;
				pcmd->new_vertical_deg = (char)atoi(optarg);
				break;

			case 'c':
				/* center camera */
				pcmd->command |= CC_COMMAND_MOVE;
				pcmd->new_horizontal_deg = 0;
				pcmd->new_vertical_deg = 0;
				break;

			case 'i':
				pcmd->command |= CC_COMMAND_INFO;
				break;

			case 's':
				pcmd->command |= CC_COMMAND_STOP;
				break;

			case 'h':
			case '?':
				usage();
				return(1);
				/* not reached */
				break;
		}
	}

	return(0);
}

int
main(int argc, char* argv[])
{
	int ret;
	struct usbdevice *dev;
	cc_command cam_command;
	cc_info cam_info;
	cc_command *pcommand;
	cc_info *pinfo;

   pname = argv[0];
	pcommand = &cam_command;
	pinfo = &cam_info;

	printf("\nCam Control v%s\n", VERSION);
	printf("Copyright (c) 2003, Tony Cureington "
			 "<tonycu * users_sourceforge_net>\n\n");

	if (parse_cmd_line(pcommand, argc, argv)) {
		return(1);
	}

	dev = usbOpen(VENDOR_ID, PRODUCT_ID);
	if (dev == NULL) {
		printf("Cam Control device not found\n");
		return(1);
	}

	if (usbClaimInterface(dev, INTERFACE_NUM) < 0) {
		printf("Could not claim Cam Control device\n");
		usbClose(dev);
		return(1);
	}

	ret = usbBulkOut(dev, EP1, pcommand, sizeof(cc_command), EP_TIMEOUT);
	if (ret < 0) {
		printf("BulkOut failed, err=%d\n", ret);
		usbReleaseInterface(dev, INTERFACE_NUM);
		usbClose(dev);
		return(ret);
	}

	if (pcommand->command & CC_COMMAND_INFO) {
		ret = usbBulkIn(dev, EP1, pinfo, sizeof(cc_info), EP_TIMEOUT);
		if (ret < 0) {
			printf("BulkOut failed, err=%d\n", ret);
			usbReleaseInterface(dev, INTERFACE_NUM);
			usbClose(dev);
			return(ret);
		}

		printf("X_Coord = %d\n", pinfo->current_hdeg);
		printf("Y_Coord = %d\n", pinfo->current_vdeg);
		printf("X_Coord_Final = %d\n", pinfo->final_hdeg);
		printf("Y_Coord_Final = %d\n", pinfo->final_vdeg);
	}

	usbReleaseInterface(dev, INTERFACE_NUM);
	usbClose(dev);
	return(0);
}