int
mc_ioctl(struct ifnet *ifp, u_long cmd, caddr_t data)
{
struct mc_softc *sc = ifp->if_softc;
struct ifaddr *ifa = (struct ifaddr *)data;
int s, err = 0;
s = splnet();
switch (cmd) {
case SIOCSIFADDR:
ifp->if_flags |= IFF_UP;
if (!(ifp->if_flags & IFF_RUNNING))
mc_init(sc);
#ifdef INET
if (ifa->ifa_addr->sa_family == AF_INET)
arp_ifinit(&sc->sc_arpcom, ifa);
#endif
break;
case SIOCSIFFLAGS:
if ((ifp->if_flags & IFF_UP) == 0 &&
(ifp->if_flags & IFF_RUNNING) != 0) {
/*
* If interface is marked down and it is running,
* then stop it.
*/
mc_stop(sc);
} else if ((ifp->if_flags & IFF_UP) != 0 &&
(ifp->if_flags & IFF_RUNNING) == 0) {
/*
* If interface is marked up and it is stopped,
* then start it.
*/
mc_init(sc);
} else {
/*
* reset the interface to pick up any other changes
* in flags
*/
mc_reset(sc);
mc_start(ifp);
}
break;
default:
err = ether_ioctl(ifp, &sc->sc_arpcom, cmd, data);
}
if (err == ENETRESET) {
if (ifp->if_flags & IFF_RUNNING)
mc_reset(sc);
err = 0;
}
splx(s);
return (err);
}
static void qc_key_pressed(void* data, int key, int modifier)
{
KeyboardConnect* connect = (KeyboardConnect*)data;
long elapsedTime;
MediaControlMode mode = mc_get_mode(connect->control);
int i;
if (mode == MENU_MODE)
{
switch (key)
{
case 'q':
mc_stop(connect->control);
break;
case XK_space:
mc_pause(connect->control);
break;
case 'o':
mc_next_osd_screen(connect->control);
break;
case XK_Up:
mc_previous_menu_item(connect->control);
break;
case XK_Down:
mc_next_menu_item(connect->control);
break;
case XK_Return:
mc_select_menu_item_extra(connect->control);
break;
case XK_Left:
mc_select_menu_item_left(connect->control);
break;
case XK_Right:
mc_select_menu_item_right(connect->control);
break;
case XK_Page_Up:
for (i = 0; i < 10; i++)
{
mc_previous_menu_item(connect->control);
}
break;
case XK_Page_Down:
for (i = 0; i < 10; i++)
{
mc_next_menu_item(connect->control);
}
break;
case XK_Delete:
mc_select_menu_item_center(connect->control);
break;
default:
break;
}
}
else
{
switch (key)
{
case 'j':
if (!connect->reverse)
{
connect->reverse = 1;
connect->speedIndex = 0;
}
else
{
connect->speedIndex = (connect->speedIndex < NUM_SPEEDS - 1) ?
(connect->speedIndex + 1) : connect->speedIndex;
}
mc_play_speed(connect->control, g_reverseKeyboardSpeed[connect->speedIndex], FRAME_PLAY_UNIT);
break;
case 'l':
if (connect->reverse)
{
connect->reverse = 0;
connect->speedIndex = 0;
}
else
{
connect->speedIndex = (connect->speedIndex < NUM_SPEEDS - 1) ?
(connect->speedIndex + 1) : connect->speedIndex;
}
mc_play_speed(connect->control, g_keyboardSpeed[connect->speedIndex], FRAME_PLAY_UNIT);
break;
case 'k':
connect->speedIndex = -1;
connect->reverse = 0;
mc_pause(connect->control);
break;
case 'i':
mc_toggle_lock(connect->control);
break;
case 'q':
mc_stop(connect->control);
break;
case XK_space:
connect->speedIndex = -1;
connect->reverse = 0;
mc_toggle_play_pause(connect->control);
break;
case XK_Right:
mc_step(connect->control, 1, FRAME_PLAY_UNIT);
break;
case XK_Left:
mc_step(connect->control, 0, FRAME_PLAY_UNIT);
break;
case XK_Up:
/* 10 frames speed up forwards */
mc_play_speed(connect->control, 10, FRAME_PLAY_UNIT);
break;
case XK_Down:
/* 10 frames speed up backwards */
mc_play_speed(connect->control, -10, FRAME_PLAY_UNIT);
break;
case XK_Page_Up:
/* step 1 minute backwards */
mc_seek(connect->control, -1500, SEEK_CUR, FRAME_PLAY_UNIT);
break;
case XK_Page_Down:
/* step 1 minute forwards */
mc_seek(connect->control, 1500, SEEK_CUR, FRAME_PLAY_UNIT);
break;
case 'm':
mc_mark(connect->control, M0_MARK_TYPE, 1);
break;
case 'c':
/* clear mark except for PSE failures, VTR errors and digibeta dropouts */
mc_clear_mark(connect->control,
ALL_MARK_TYPE & ~VTR_ERROR_MARK_TYPE & ~PSE_FAILURE_MARK_TYPE & ~DIGIBETA_DROPOUT_MARK_TYPE);
break;
case 'b':
/* clear all marks except for PSE failures, VTR errors and digibeta dropouts */
mc_clear_all_marks(connect->control,
ALL_MARK_TYPE & ~VTR_ERROR_MARK_TYPE & ~PSE_FAILURE_MARK_TYPE & ~DIGIBETA_DROPOUT_MARK_TYPE);
break;
case ',':
mc_seek_prev_mark(connect->control);
break;
case '.':
mc_seek_next_mark(connect->control);
break;
case '/':
mc_seek_clip_mark(connect->control);
break;
case XK_Home:
mc_seek(connect->control, 0, SEEK_SET, FRAME_PLAY_UNIT);
break;
case XK_End:
mc_seek(connect->control, 0, SEEK_END, FRAME_PLAY_UNIT);
break;
case 'o':
mc_next_osd_screen(connect->control);
break;
case 't':
mc_next_osd_timecode(connect->control);
break;
case '0':
mc_switch_video(connect->control, 0);
break;
case '1':
mc_switch_video(connect->control, 1);
break;
case '2':
mc_switch_video(connect->control, 2);
break;
case '3':
mc_switch_video(connect->control, 3);
break;
case '4':
mc_switch_video(connect->control, 4);
break;
case '5':
mc_switch_video(connect->control, 5);
break;
case '6':
mc_switch_video(connect->control, 6);
break;
case '7':
mc_switch_video(connect->control, 7);
break;
case '8':
mc_switch_video(connect->control, 8);
break;
case '9':
mc_switch_video(connect->control, 9);
break;
case 'a':
mc_review_start(connect->control, connect->reviewDuration * 25);
break;
case 'z':
mc_review_end(connect->control, connect->reviewDuration * 25);
break;
case 'x':
mc_review(connect->control, connect->reviewDuration * 25);
break;
case 's':
mc_set_half_split_orientation(connect->control, -1 /* toggle */);
break;
case 'd':
mc_set_half_split_type(connect->control, -1 /* toggle */);
break;
case 'f':
mc_show_half_split(connect->control, -1 /* toggle */);
break;
case 'g':
elapsedTime = get_elapsed_time(&connect->halfSplitMovePressedTime);
if (elapsedTime < 100000)
{
connect->halfSplitSpeed = (connect->halfSplitSpeed > HALF_SPLIT_MOVE_MAX_SPEED) ?
HALF_SPLIT_MOVE_MAX_SPEED : connect->halfSplitSpeed + 1;
}
else
{
connect->halfSplitSpeed = 0;
}
mc_move_half_split(connect->control, 0 /* left or down */, connect->halfSplitSpeed);
break;
case 'h':
elapsedTime = get_elapsed_time(&connect->halfSplitMovePressedTime);
if (elapsedTime < 100000)
{
connect->halfSplitSpeed = (connect->halfSplitSpeed > HALF_SPLIT_MOVE_MAX_SPEED) ?
HALF_SPLIT_MOVE_MAX_SPEED : connect->halfSplitSpeed + 1;
}
else
{
connect->halfSplitSpeed = 0;
}
mc_move_half_split(connect->control, 1 /* right or up */, connect->halfSplitSpeed);
break;
case '\'':
mc_toggle_show_source_name(connect->control);
break;
default:
break;
}
}
}
static void default_key_pressed(void* data, int key, int modifier)
{
KeyboardConnect* connect = (KeyboardConnect*)data;
long elapsedTime;
MediaControlMode mode = mc_get_mode(connect->control);
switch (key)
{
case 'j':
if (!connect->reverse)
{
connect->reverse = 1;
connect->speedIndex = 0;
}
else
{
connect->speedIndex = (connect->speedIndex < NUM_SPEEDS - 1) ?
(connect->speedIndex + 1) : connect->speedIndex;
}
mc_play_speed(connect->control, g_reverseKeyboardSpeed[connect->speedIndex], FRAME_PLAY_UNIT);
break;
case 'l':
if (connect->reverse)
{
connect->reverse = 0;
connect->speedIndex = 0;
}
else
{
connect->speedIndex = (connect->speedIndex < NUM_SPEEDS - 1) ?
(connect->speedIndex + 1) : connect->speedIndex;
}
mc_play_speed(connect->control, g_keyboardSpeed[connect->speedIndex], FRAME_PLAY_UNIT);
break;
case 'k':
connect->speedIndex = -1;
connect->reverse = 0;
mc_pause(connect->control);
break;
case 'i':
mc_toggle_lock(connect->control);
break;
case 'q':
mc_stop(connect->control);
break;
case XK_space:
connect->speedIndex = -1;
connect->reverse = 0;
mc_toggle_play_pause(connect->control);
break;
case XK_Right:
if (mode == MENU_MODE)
{
mc_select_menu_item_right(connect->control);
}
else
{
mc_step(connect->control, 1, FRAME_PLAY_UNIT);
}
break;
case XK_Left:
if (mode == MENU_MODE)
{
mc_select_menu_item_left(connect->control);
}
else
{
mc_step(connect->control, 0, FRAME_PLAY_UNIT);
}
break;
case XK_Up:
if (mode == MENU_MODE)
{
mc_previous_menu_item(connect->control);
}
else
{
/* 10 frames speed up forwards */
mc_play_speed(connect->control, 10, FRAME_PLAY_UNIT);
}
break;
case XK_Down:
if (mode == MENU_MODE)
{
mc_next_menu_item(connect->control);
}
else
{
/* 10 frames speed up backwards */
mc_play_speed(connect->control, -10, FRAME_PLAY_UNIT);
}
break;
case XK_Page_Up:
/* step 1 minute backwards */
mc_seek(connect->control, -1500, SEEK_CUR, FRAME_PLAY_UNIT);
break;
case XK_Page_Down:
/* step 1 minute forwards */
mc_seek(connect->control, 1500, SEEK_CUR, FRAME_PLAY_UNIT);
break;
case 'm':
mc_mark(connect->control, M0_MARK_TYPE, 1);
break;
case 'c':
mc_clear_mark(connect->control, ALL_MARK_TYPE);
break;
case 'b':
mc_clear_all_marks(connect->control, ALL_MARK_TYPE);
break;
case ',':
mc_seek_prev_mark(connect->control);
break;
case '.':
mc_seek_next_mark(connect->control);
break;
case '/':
mc_seek_clip_mark(connect->control);
break;
case XK_Home:
mc_seek(connect->control, 0, SEEK_SET, FRAME_PLAY_UNIT);
break;
case XK_End:
mc_seek(connect->control, 0, SEEK_END, FRAME_PLAY_UNIT);
break;
case 'o':
mc_next_osd_screen(connect->control);
break;
case 't':
mc_next_osd_timecode(connect->control);
break;
case '0':
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
mc_switch_video(connect->control, key - '0');
break;
case 'e':
mc_switch_prev_audio_group(connect->control);
break;
case 'p':
mc_snap_audio_to_video(connect->control);
break;
case 'r':
mc_switch_next_audio_group(connect->control);
break;
case 'a':
mc_review_start(connect->control, connect->reviewDuration * 25);
break;
case 'z':
mc_review_end(connect->control, connect->reviewDuration * 25);
break;
case 'x':
mc_review(connect->control, connect->reviewDuration * 25);
break;
case 's':
mc_set_half_split_orientation(connect->control, -1 /* toggle */);
break;
case 'd':
mc_set_half_split_type(connect->control, -1 /* toggle */);
break;
case 'f':
mc_show_half_split(connect->control, -1 /* toggle */);
break;
case 'g':
elapsedTime = get_elapsed_time(&connect->halfSplitMovePressedTime);
if (elapsedTime < 100000)
{
connect->halfSplitSpeed = (connect->halfSplitSpeed > HALF_SPLIT_MOVE_MAX_SPEED) ?
HALF_SPLIT_MOVE_MAX_SPEED : connect->halfSplitSpeed + 1;
}
else
{
connect->halfSplitSpeed = 0;
}
mc_move_half_split(connect->control, 0 /* left or down */, connect->halfSplitSpeed);
break;
case 'h':
elapsedTime = get_elapsed_time(&connect->halfSplitMovePressedTime);
if (elapsedTime < 100000)
{
connect->halfSplitSpeed = (connect->halfSplitSpeed > HALF_SPLIT_MOVE_MAX_SPEED) ?
HALF_SPLIT_MOVE_MAX_SPEED : connect->halfSplitSpeed + 1;
}
else
{
connect->halfSplitSpeed = 0;
}
mc_move_half_split(connect->control, 1 /* right or up */, connect->halfSplitSpeed);
break;
case 'v':
mc_mute_audio(connect->control, -1 /* toggle */);
break;
case XK_Return:
if (mode == MENU_MODE)
{
mc_select_menu_item_extra(connect->control);
}
break;
case XK_Delete:
if (mode == MENU_MODE)
{
mc_select_menu_item_center(connect->control);
}
break;
case '-':
mc_toggle_show_source_name(connect->control);
break;
case XK_KP_Add:
mc_toggle_show_audio_level(connect->control);
break;
default:
break;
}
}
static void http_player_control(struct shttpd_arg* arg)
{
HTTPAccess* access = (HTTPAccess*)arg->user_data;
const char* requestURI;
char queryValue[64];
int64_t offset = 0;
int whence = SEEK_SET;
int speed = 1;
PlayUnit unit = FRAME_PLAY_UNIT;
int forward = 1;
int queryOk;
int queryValueCount;
int pause = 0;
float factor;
int64_t duration;
int toggle = 1;
int markType = 0;
int64_t position = 0;
unsigned int markTypeMask = 0;
int vtrErrorLevel = 0;
int selection = 0;
requestURI = shttpd_get_env(arg, "REQUEST_URI");
if (strcmp("/player/control/play", requestURI) == 0)
{
mc_play(access->control);
}
else if (strcmp("/player/control/stop", requestURI) == 0)
{
mc_stop(access->control);
}
else if (strcmp("/player/control/pause", requestURI) == 0)
{
mc_pause(access->control);
}
else if (strcmp("/player/control/toggle-play-pause", requestURI) == 0)
{
mc_toggle_play_pause(access->control);
}
else if (strcmp("/player/control/seek", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "offset", queryValue, sizeof(queryValue)))
{
if (!parse_int64(queryValue, &offset))
{
queryOk = 0;
}
else
{
queryValueCount++;
}
}
if (get_query_value(arg, "whence", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("SEEK_SET", queryValue) == 0)
{
whence = SEEK_SET;
}
else if (strcmp("SEEK_CUR", queryValue) == 0)
{
whence = SEEK_CUR;
}
else if (strcmp("SEEK_END", queryValue) == 0)
{
whence = SEEK_END;
}
else
{
queryOk = 0;
}
}
if (get_query_value(arg, "unit", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("FRAME_PLAY_UNIT", queryValue) == 0)
{
unit = FRAME_PLAY_UNIT;
}
else if (strcmp("PERCENTAGE_PLAY_UNIT", queryValue) == 0)
{
unit = PERCENTAGE_PLAY_UNIT;
}
else
{
queryOk = 0;
}
}
if (get_query_value(arg, "pause", queryValue, sizeof(queryValue)))
{
if (strcmp("true", queryValue) == 0)
{
pause = 1;
}
}
if (queryOk && queryValueCount == 3)
{
if (pause)
{
mc_pause(access->control);
}
mc_seek(access->control, offset, whence, unit);
}
}
else if (strcmp("/player/control/play-speed", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "speed", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if ((speed = atoi(queryValue)) == 0)
{
queryOk = 0;
}
}
if (get_query_value(arg, "unit", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("FRAME_PLAY_UNIT", queryValue) == 0)
{
unit = FRAME_PLAY_UNIT;
}
else if (strcmp("PERCENTAGE_PLAY_UNIT", queryValue) == 0)
{
unit = PERCENTAGE_PLAY_UNIT;
}
else
{
queryOk = 0;
}
}
if (queryOk && queryValueCount == 2)
{
mc_play_speed(access->control, speed, unit);
}
}
else if (strcmp("/player/control/play-speed-factor", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
factor = 0.0;
if (get_query_value(arg, "factor", queryValue, sizeof(queryValue)))
{
queryValueCount++;
factor = (float)(atof(queryValue));
if (factor == 0.0)
{
queryOk = 0;
}
}
if (queryOk && queryValueCount == 1)
{
mc_play_speed_factor(access->control, factor);
}
}
else if (strcmp("/player/control/step", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "forward", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("true", queryValue) == 0)
{
forward = 1;
}
else if (strcmp("false", queryValue) == 0)
{
forward = 0;
}
else
{
queryOk = 0;
}
}
if (get_query_value(arg, "unit", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("FRAME_PLAY_UNIT", queryValue) == 0)
{
unit = FRAME_PLAY_UNIT;
}
else if (strcmp("PERCENTAGE_PLAY_UNIT", queryValue) == 0)
{
unit = PERCENTAGE_PLAY_UNIT;
}
else
{
queryOk = 0;
}
}
if (queryOk && queryValueCount == 2)
{
mc_step(access->control, forward, unit);
}
}
else if (strcmp("/player/control/home", requestURI) == 0)
{
if (get_query_value(arg, "pause", queryValue, sizeof(queryValue)))
{
if (strcmp("true", queryValue) == 0)
{
mc_pause(access->control);
}
}
mc_seek(access->control, 0, SEEK_SET, FRAME_PLAY_UNIT);
}
else if (strcmp("/player/control/end", requestURI) == 0)
{
if (get_query_value(arg, "pause", queryValue, sizeof(queryValue)))
{
if (strcmp("true", queryValue) == 0)
{
mc_pause(access->control);
}
}
mc_seek(access->control, 0, SEEK_END, FRAME_PLAY_UNIT);
}
else if (strcmp("/player/control/prev-mark", requestURI) == 0)
{
mc_seek_prev_mark(access->control);
}
else if (strcmp("/player/control/next-mark", requestURI) == 0)
{
mc_seek_next_mark(access->control);
}
else if (strcmp("/player/control/clip-mark", requestURI) == 0)
{
mc_seek_clip_mark(access->control);
}
else if (strcmp("/player/control/mark-position", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "position", queryValue, sizeof(queryValue)))
{
if (!parse_int64(queryValue, &position) ||
position < 0)
{
queryOk = 0;
}
else
{
queryValueCount++;
}
}
if (get_query_value(arg, "type", queryValue, sizeof(queryValue)))
{
queryValueCount++;
markType = atoi(queryValue);
}
if (get_query_value(arg, "toggle", queryValue, sizeof(queryValue)))
{
queryValueCount++;
if (strcmp("true", queryValue) == 0)
{
toggle = 1;
}
else if (strcmp("false", queryValue) == 0)
{
toggle = 0;
}
else
{
queryOk = 0;
}
}
if (queryOk && queryValueCount == 3)
{
mc_mark_position(access->control, position, markType, toggle);
}
}
else if (strcmp("/player/control/clear-mark-position", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "position", queryValue, sizeof(queryValue)))
{
if (!parse_int64(queryValue, &position) ||
position < 0)
{
queryOk = 0;
}
else
{
queryValueCount++;
}
}
if (get_query_value(arg, "type", queryValue, sizeof(queryValue)))
{
queryValueCount++;
markTypeMask = atoi(queryValue);
}
if (queryOk && queryValueCount == 2)
{
mc_clear_mark_position(access->control, position, markTypeMask);
}
}
else if (strcmp("/player/control/next-show-marks", requestURI) == 0)
{
queryOk = 1;
selection = 0;
if (get_query_value(arg, "sel", queryValue, sizeof(queryValue)))
{
if (!parse_int(queryValue, &selection))
{
queryOk = 0;
}
}
if (queryOk)
{
mc_next_show_marks(access->control, selection);
}
}
else if (strcmp("/player/control/set-vtr-error-level", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "level", queryValue, sizeof(queryValue)))
{
if (!parse_int(queryValue, &vtrErrorLevel) ||
vtrErrorLevel < VTR_NO_ERROR_LEVEL || vtrErrorLevel > VTR_NO_GOOD_LEVEL)
{
queryOk = 0;
}
else
{
queryValueCount++;
}
}
if (queryOk && queryValueCount == 1)
{
mc_set_vtr_error_level(access->control, (VTRErrorLevel)vtrErrorLevel);
}
}
else if (strcmp("/player/control/next-vtr-error-level", requestURI) == 0)
{
mc_next_vtr_error_level(access->control);
}
else if (strcmp("/player/control/next-osd-screen", requestURI) == 0)
{
mc_next_osd_screen(access->control);
}
else if (strcmp("/player/control/next-osd-timecode", requestURI) == 0)
{
mc_next_osd_timecode(access->control);
}
else if (strcmp("/player/control/review", requestURI) == 0)
{
queryOk = 1;
queryValueCount = 0;
if (get_query_value(arg, "duration", queryValue, sizeof(queryValue)))
{
if (!parse_int64(queryValue, &duration) ||
duration <= 0)
{
queryOk = 0;
}
else
{
queryValueCount++;
}
}
if (queryOk && queryValueCount == 1)
{
mc_review(access->control, duration);
}
}
else if (strcmp("/player/control/next-marks-selection", requestURI) == 0)
{
mc_next_active_mark_selection(access->control);
}
shttpd_printf(arg, "HTTP/1.1 200 OK\r\n\r\n");
arg->flags |= SHTTPD_END_OF_OUTPUT;
}
/*
* reset and restart the MACE. Called in case of fatal
* hardware/software errors.
*/
void
mc_reset(struct mc_softc *sc)
{
mc_stop(sc);
mc_init(sc);
}
/*******************************************************************************
* main()
*
* description: Send alarm message to alarm manager
*
******************************************************************************/
int main(int argc, char *argv[])
{
int position = 500;
//print_menu();
//printf("> \n");
mc_init("eth1");
#if 0
while (1)
{
char cmd;
scanf("%c", &cmd);
switch(cmd)
{
case 'a':
{
epl_init("eth1");
break;
}
case 'b':
{
epl_reset();
break;
}
case 'c':
{
mc_init("eth1");
break;
}
case 'd':
{
mc_reset_error();
break;
}
case 'e':
{
int edge;
scanf("%d", &edge);
int ret = mc_set_positive_end_position(edge);
printf("ret = %d\n", ret);
break;
}
case 'f':
{
int edge;
scanf("%d", &edge);
int ret = mc_set_negative_end_position(edge);
printf("ret = %d\n", ret);
break;
}
case 'g':
{
int cnt = 0;
while(cnt++<100)
{
int ret = mc_move_absolute(1800,40,20,20,0);
if(ret != 0)
{
printf("ret = %d\n", ret);
PrintMCStatus();
break;
}
ret = mc_stop(10000);
if(ret != 0)
{
printf("ret = %d\n", ret);
PrintMCStatus();
break;
}
ret = mc_move_absolute(-1700,40,20,20,0);
if(ret != 0)
{
printf("ret = %d\n", ret);
PrintMCStatus();
break;
}
ret = mc_stop(10000);
if(ret != 0)
{
printf("ret = %d\n", ret);
PrintMCStatus();
break;
}
}
break;
}
case '1':
{
mc_power();
break;
}
case '2':
{
mc_home(0, 0);
break;
}
case '3':
{
int pos, velocity;
scanf("%d %d", &pos, &velocity);
printf("pos is %d, velocity is %d\n", pos,velocity);
mc_move_absolute(pos,velocity,20,20,0);
position += 500;
break;
}
case '4':
{
mc_move_additive(50,100,20,20);
break;
}
case '5':
{
int velocity, direction;
scanf("%d %d", &velocity, &direction);
mc_move_velocity(50,100,20,direction);
break;
}
case '6':
{
PrintMCStatus();
break;
}
case '7':
{
int ret = mc_stop(0);
printf("ret = %d\n", ret);
break;
}
case '8':
{
printf("position is %d\n", mc_get_position());
break;
}
case '9':
{
printf("velocity is %d\n", mc_get_velocity());
break;
}
case '0':
{
unsigned short id;
char str_err[256];
id = mc_get_error_id();
get_err_str(id, str_err);
printf("error id is %d\n", id);
printf("error id is %s\n", str_err);
break;
}
case 'x':
case 'X':
{
return 0;
}
case 'h':
case 'H':
{
print_menu();
break;
}
default:
{
printf("> ");
break;
}
}
}
#else
while(1)
sleep(5);
#endif
return 0;
}
