cam nul added - to let the camera look forward by pressing a button

UDPclient.depend

@@ -29,7 +29,7 @@
 	<stdio.h>
 	<inttypes.h>
 
-1392499886 source:/home/chch/HengLongUDPclient/main.c
+1394056611 source:/home/chch/HengLongUDPclient/main.c
 	<pthread.h>
 	<stdio.h>
 	<stdlib.h>
@@ -51,13 +51,14 @@
 	<inttypes.h>
 	"henglong.h"
 	<linux/joystick.h>
+	"wansview.h"
 
-1392494240 /home/chch/HengLongUDPclient/henglong.h
+1393293088 /home/chch/HengLongUDPclient/henglong.h
 	<linux/input.h>
 	<stdio.h>
 	<inttypes.h>
 
-1392494235 source:/home/chch/HengLongUDPclient/henglong.c
+1393293088 source:/home/chch/HengLongUDPclient/henglong.c
 	"henglong.h"
 
 1393274981 source:/home/stefan/Proj/HengLongUDPclient/henglong.c
@@ -101,3 +102,13 @@
 1393290504 source:/home/stefan/Proj/HengLongUDPclient/wansview.c
 	"wansview.h"
 
+1394056760 /home/chch/HengLongUDPclient/wansview.h
+	<stdio.h>
+	<string.h>
+	<unistd.h>
+	<arpa/inet.h>
+	<sys/time.h>
+
+1394060723 source:/home/chch/HengLongUDPclient/wansview.c
+	"wansview.h"
+

client.config

@@ -3,6 +3,6 @@ JOYSTICK /dev/input/js0
 CAM 192.168.1.23
 CAMINTERVAL 100000
 FRAME_US 100000
-SERVER 10.8.245.47:32000
+SERVER 192.168.1.18:32000
 TIMEOUT 250
 CLINBR 0

main.c

@@ -89,19 +89,6 @@ void *keyboard_thread_fcn(void * arg)
             args->outtty.motor_r = (2*0b01111 - args->hl.velocity - args->hl.direction)*40;
             args->outtty.motor_l = (- args->hl.velocity + args->hl.direction)*40;
 
-            /*
-            args->outtty.servo_pan += args->hl.pan_left - args->hl.pan_right;
-            if(args->outtty.servo_pan>50) args->outtty.servo_pan = 50;
-            if(args->outtty.servo_pan<-50) args->outtty.servo_pan = -50;
-            if(args->outtty.servo_tilt>50) args->outtty.servo_tilt = 50;
-            if(args->outtty.servo_tilt<-50) args->outtty.servo_tilt = -50;
-            args->outtty.servo_tilt += args->hl.tilt_up - args->hl.tilt_down;
-            if(args->hl.ignation) {
-                args->outtty.servo_pan = 0;
-                args->outtty.servo_tilt= 0;
-            }
-            */
-
 
         }
         // quit
@@ -335,7 +322,7 @@ henglongconf_t getconfig(char* conffilename)
 typedef struct cam_ctrl_thread_t
 {
     char* ip;
-    int up, down, cw, ccw, end;
+    int up, down, cw, ccw, nul, end;
     uint32_t caminterval;
 } cam_ctrl_thread_t;
 
@@ -354,6 +341,10 @@ void *cam_ctrl_thread_fcn(void* arg)
         if(args->down) cam_down(args->ip);
         if(args->cw) cam_cw(args->ip);
         if(args->ccw) cam_ccw(args->ip);
+        if(args->nul) {
+            cam_nul(args->ip);
+            args->nul = 0;
+        }
     }
 
     pthread_exit(0);
@@ -363,8 +354,6 @@ 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;
@@ -434,6 +423,7 @@ int main(int argc, char* argv[])
     frame_nbr = 0;
     senddata.outtty.servo_pan = 0;
     senddata.outtty.servo_tilt = 0;
+    cam_ctrl_thread_args.nul = 1;
     while(1){
         usleep(conf.frame_us);
 
@@ -485,6 +475,7 @@ int main(int argc, char* argv[])
         if(keyboard_thread_args.hl.ignation | joystick_thread_args.hl.ignation){
             senddata.outtty.servo_pan = 0;
             senddata.outtty.servo_tilt = 0;
+            cam_ctrl_thread_args.nul = 1;
         }
 
         if(1022<senddata.outtty.motor_l) senddata.outtty.motor_l = 1023;

wansview.c

@@ -69,3 +69,23 @@ int cam_ccw(char* ip)
 {
     return wvcamctrl(ip, 6);
 }
+
+
+int cam_nul(char* ip)
+{
+    int i;
+    for(i=0;i<20;i++){
+        usleep(300000);
+        cam_down(ip);
+    }
+    for(i=0;i<80;i++){
+
+        usleep(300000);
+        cam_ccw(ip);
+    }
+    for(i=0;i<40;i++){
+        usleep(300000);
+        cam_cw(ip);
+    }
+    return 0;
+}

wansview.h

@@ -6,6 +6,7 @@
 #include <unistd.h>
 #include <arpa/inet.h>
 
+#include <sys/time.h>
 
 
 int wvcamctrl(char* ip, int cmd);
@@ -13,5 +14,6 @@ int cam_down(char* ip);
 int cam_up(char* ip);
 int cam_cw(char* ip);
 int cam_ccw(char* ip);
+int cam_nul(char* ip);
 
 #endif // WANSVIEW_H_INCLUDED