added feature to stop the robot remote control if video stream is not watched.

UDPclient.depend

@@ -29,7 +29,7 @@
 	<stdio.h>
 	<inttypes.h>
 
-1395763961 source:/home/chch/HengLongUDPclient/main.c
+1395876570 source:/home/chch/HengLongUDPclient/main.c
 	<pthread.h>
 	<stdio.h>
 	<stdlib.h>
@@ -53,6 +53,7 @@
 	<linux/joystick.h>
 	"wansview.h"
 	"extern.h"
+	"checkvideo.h"
 
 1395699958 /home/chch/HengLongUDPclient/henglong.h
 	<linux/input.h>
@@ -110,7 +111,7 @@
 	<arpa/inet.h>
 	<sys/time.h>
 
-1395763555 source:/home/chch/HengLongUDPclient/wansview.c
+1395764006 source:/home/chch/HengLongUDPclient/wansview.c
 	"wansview.h"
 
 1395529103 source:/root/HengLongUDPclient/henglong.c
@@ -165,3 +166,12 @@
 1395699958 /home/chch/HengLongUDPclient/extern.h
 	<stdlib.h>
 
+1395871885 /home/chch/HengLongUDPclient/checkvideo.h
+	<stdio.h>
+	<stdlib.h>
+	<inttypes.h>
+	<arpa/inet.h>
+
+1395876458 source:/home/chch/HengLongUDPclient/checkvideo.c
+	"checkvideo.h"
+

UDPclient.layout

@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
 <CodeBlocks_layout_file>
 	<ActiveTarget name="Debug" />
-	<File name="client.config" open="1" top="0" tabpos="4">
-		<Cursor position="114" topLine="0" />
+	<File name="client.config" open="1" top="1" tabpos="8">
+		<Cursor position="66" topLine="0" />
 	</File>
-	<File name="extern.c" open="1" top="1" tabpos="7">
+	<File name="extern.c" open="1" top="0" tabpos="6">
 		<Cursor position="41" topLine="0" />
 	</File>
-	<File name="extern.h" open="1" top="0" tabpos="8">
+	<File name="extern.h" open="1" top="0" tabpos="7">
 		<Cursor position="127" topLine="0" />
 	</File>
 	<File name="henglong.c" open="1" top="0" tabpos="2">
@@ -17,12 +17,12 @@
 		<Cursor position="564" topLine="0" />
 	</File>
 	<File name="main.c" open="1" top="0" tabpos="1">
-		<Cursor position="14572" topLine="482" />
+		<Cursor position="9478" topLine="499" />
 	</File>
-	<File name="wansview.c" open="1" top="0" tabpos="5">
-		<Cursor position="861" topLine="32" />
+	<File name="wansview.c" open="1" top="0" tabpos="4">
+		<Cursor position="941" topLine="3" />
 	</File>
-	<File name="wansview.h" open="1" top="0" tabpos="6">
-		<Cursor position="342" topLine="0" />
+	<File name="wansview.h" open="1" top="0" tabpos="5">
+		<Cursor position="534" topLine="0" />
 	</File>
 </CodeBlocks_layout_file>

checkvideo.c

@@ -0,0 +1,32 @@
+
+#include "checkvideo.h"
+
+int connectionstate(char* remip, uint16_t remport)
+{
+    FILE* tcpfile;
+    char line[256];
+    uint32_t remipi;
+    uint32_t remporti;
+    uint32_t statei;
+
+    statei = 0;
+    remipi = 0;
+    remporti = 0;
+    tcpfile = fopen("/proc/net/tcp","r");
+    while(fgets(line,256,tcpfile)){
+        sscanf(line, "%*u: %*x:%*x %x:%x %x", &remipi, &remporti, &statei);
+        if((inet_addr(remip)==remipi) & (remport==remporti)) {
+            fclose(tcpfile);
+            return statei;
+        }
+    }
+    fclose(tcpfile);
+    return 0;
+}
+
+int checkvideo(char* remip, uint16_t remport)
+{
+    if(0==remip[0]) return 2;
+    if(1==connectionstate(remip, remport)) return 1;
+    return 0;
+}

checkvideo.h

@@ -0,0 +1,12 @@
+#ifndef CHECKVIDEO_H_INCLUDED
+#define CHECKVIDEO_H_INCLUDED
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <inttypes.h>
+#include <arpa/inet.h>
+
+int connectionstate(char* remip, uint16_t remport);
+int checkvideo(char* remip, uint16_t remport);
+
+#endif // CHECKVIDEO_H_INCLUDED

client.config

@@ -5,6 +5,7 @@ CAMINTERVAL 100000
 USER admin
 PWD 123456
 FRAME_US 100000
-SERVER 192.168.1.18:32000
+SERVER 192.168.1.13:32000
 TIMEOUT 250
 CLINBR 0
+VIDEO 192.168.1.20:8080

main.c

@@ -23,6 +23,7 @@
 #include <linux/joystick.h>
 #include "wansview.h"
 #include "extern.h"
+#include "checkvideo.h"
 
 typedef struct outtty_t
 {
@@ -264,10 +265,11 @@ typedef struct henglongconf_t
     char joystickdevname[256];
     in_addr_t ip; // v4 only
     char cam[64];
+    char video[16];
     char user[64];
     char pwd[64];
     uint32_t caminterval;
-    uint16_t port;
+    uint16_t port, videoport;
     uint8_t timeout;
     uint8_t clinbr;
 } henglongconf_t;
@@ -292,6 +294,8 @@ henglongconf_t getconfig(char* conffilename)
     conf.caminterval = 100000;
     conf.user[0] = 0;
     conf.pwd[0] = 0;
+    conf.video[0] = 0;
+    conf.videoport = 0;
     while(fgets(line, 256, configFile)){
         sscanf(line, "%16s %256s", parameter, value);
         if(0==strcmp(parameter,"KEYBOARD")){
@@ -325,6 +329,9 @@ henglongconf_t getconfig(char* conffilename)
         if(0==strcmp(parameter,"CLINBR")){
             sscanf(value, "%" SCNu8 , &conf.clinbr);
         }
+        if(0==strcmp(parameter,"VIDEO")){
+            sscanf(value, "%16[^:]:%" SCNu16, conf.video, &conf.videoport);
+        }
     }
     return conf;
 }
@@ -366,6 +373,7 @@ void *cam_ctrl_thread_fcn(void* arg)
 
 int main(int argc, char* argv[])
 {
+
     pthread_t keybthread, joythread, refl_thread, cam_ctrl_thread;
     input_thread_t keyboard_thread_args;
     input_thread_t joystick_thread_args;
@@ -443,6 +451,11 @@ int main(int argc, char* argv[])
     while(1){
         usleep(conf.frame_us);
 
+        // do not send control commands if live video is not watched
+        if(0==checkvideo(conf.video, conf.videoport)){
+            printf("No video stream connection from %s:%u, remote control locked!\n", conf.video, conf.videoport);
+            continue;
+        }
         frame = 0xc0ffee;
 
         time_us = get_us();
@@ -505,7 +518,7 @@ int main(int argc, char* argv[])
         if(senddata.outtty.servo_tilt<-50) senddata.outtty.servo_tilt = -50;
 
         // Return-Button on Keyboard via Joystick-Fire for screenshot in Browser
-        if(0==fire_old & 1==joystick_thread_args.hl.fire){
+        if((0==fire_old) & (1==joystick_thread_args.hl.fire)){
             fire();
         }
         fire_old = joystick_thread_args.hl.fire;