From a81f7afcf9196b4247758ede6beb50cba04efa92 Mon Sep 17 00:00:00 2001 From: chch Date: Thu, 6 Mar 2014 00:35:51 +0100 Subject: [PATCH] cam nul added - to let the camera look forward by pressing a button --- UDPclient.depend | 17 ++++++++++++++--- bin/Debug/UDPclient | Bin 45361 -> 34713 bytes client.config | 2 +- main.c | 23 +++++++---------------- obj/Debug/henglong.o | Bin 11672 -> 7120 bytes obj/Debug/main.o | Bin 41464 -> 23096 bytes obj/Debug/wansview.o | Bin 14280 -> 8628 bytes wansview.c | 20 ++++++++++++++++++++ wansview.h | 2 ++ 9 files changed, 44 insertions(+), 20 deletions(-) diff --git a/UDPclient.depend b/UDPclient.depend index 471f30b..41a3082 100644 --- a/UDPclient.depend +++ b/UDPclient.depend @@ -29,7 +29,7 @@ -1392499886 source:/home/chch/HengLongUDPclient/main.c +1394056611 source:/home/chch/HengLongUDPclient/main.c @@ -51,13 +51,14 @@ "henglong.h" + "wansview.h" -1392494240 /home/chch/HengLongUDPclient/henglong.h +1393293088 /home/chch/HengLongUDPclient/henglong.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 + + + + + + +1394060723 source:/home/chch/HengLongUDPclient/wansview.c + "wansview.h" + diff --git a/bin/Debug/UDPclient b/bin/Debug/UDPclient index 7ac107e31a838cc88b6af28d6f4b35bb85c556c0..f9247b9d9df17dd9bbf10d8acb6f89680daf46ca 100755 GIT binary patch literal 34713 zcmeIb3wTsTx;9#C^-8ij-J~1RK$HLtbhs#l1j0pxfsll2K!l*+t;wZ3Y01rWH-ZC# z6XFm6-0^SI1XM$9k=s)cf#N(Z`B5^{rY}YprZ8D_@{#ny?RDI0T_}I}Ec3xqE}66bZj@it!>( zj27uYkyf+~JV<_2U`hkdKyn~e0Is;kFqyIeGm!?gOvr>lT_*Q9w1dR@!mH@+$-q4Y z8qzvcszYMCr0dB1p!-2%ItrMHbhg1n{yMbHR0^2MrmgreR+BqMh}?fSOr`^%G1>I< zK?nG~!MNtsP*gO>>RLjTHNk59#zF#~W?|@O1>(w< 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zOlFT~m^l;A+tt;!G{l(G(d5{(5;6Le z!csoM#3$rh8|rH}#5nX+wT4f_^`tlOIj5c^JQBhXD0lfRN>8?aOiDgi){_%lShFZt zA8OZat65Zz=R89-d>m0dOoE4e_y{7OOXdSlcrKC}eaZ*r!$Ugy<`Jkm_#X-NtQ793 zCxm1b@<}M3nAFdG27~Y-Sb0GO;vNk*heB;VwT)#yjn|U{2g0qv#@d#8?L8mAjU|UX z#Tx&BkbE9XJ>}BVn0ol9Cyig5#se_nux_Mz`p7(Oq@HQB9|3Yc^<-G)iN#)z>X-+^ z`1qF`6y{mIo-Xuw>L$iwCdD4o;d3^T))-f2Q%Iitm5%}S#U&ILj diff --git a/client.config b/client.config index acf2378..6c13ef1 100644 --- a/client.config +++ b/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 diff --git a/main.c b/main.c index ec7e44c..a836f24 100644 --- a/main.c +++ b/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#&F;O)c6ak=8!*x>+0r89(RK-uf@Ddh#8jv}EMRrn?A~maZg%7D z-4qb<5vpWj2TJh|9X0qE#pj^oW5mZa#%WN;vG_!tQK)~&SR98xgi4Y6`<;8v=EhOS zGjs3nd!O%o=ey_L-S@n4@3n?u2t5oD604jLcBijNOV}pXiw?1HbIO`Oxpc;ye`@I; z;q6b(JrkdQYVO(4_9rQ5oqIO!Q!z;`z1%T(D!%>X@=bHkTMGwL(fOX#bFZ8`cW&t! zbLmfE=jn9_{p#Egt+y>BuswHb)6yw(VRy=!duG$pGg0Rxq=~sxh9sgOjGs%gYw1+v zeW%XBS+d>GES<6?-6Ls7(n(3TN;)O!Hs|CrY4>FwR>{z?7>Ft@QYsfMCLN% z^f2xMvi3$7WX?(^#p<8l1%eTv*`zhwv_{SZ%>`O>snp!Gl97``lhm3)sd>vvM&@&5 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zejj^YvtLhjc~8UnIaP&+sL(iXt4O}ag`+BeA2qme46y^1q4jC_g9;W|4gVJ52Q-}X z@V6S?Me+O_;k;g6q5QnA$@6<*F?}p?9q*^Sl@ZS4jgb91mprcD5sI@>lOG}ZK9@YM z$M2H;K~0{Y<0+Rs+FwL=Zr9}byx|d-JlcPs>>ttO`91ZtOCIglz<+FKHF-X_c+Dk` z_W5s@-_+y}QJg*$g2wsh=i&?vKScZ6d=2j)+|=;hRL2$#e~A2Eui-NY->TuCAp1ia z&d;Nr8qRe*tl@7`JZChVznA_?!>?3n5fzviXq+F#39+2)Vc70{fR>|_rztE|@C*SP p%9E<(AE9yUxG8&;tXqCS!+BjKG@SErkB0L+ #include +#include 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