bool Skitt::initalize()
{
/* Check the settings the gave us. */
/* Configure GPIO pins. */
if (!is_pin_exported(good_led_pin)) {
set_mux("gpmc_ad4", "7");
set_mux("gpmc_ad0", "7");
set_mux("lcd_vsync", "7");
set_mux("lcd_hsync", "7");
set_mux("lcd_data6", "7");
set_mux("lcd_data4", "7");
set_mux("gpmc_ad15", "7");
set_mux("gpmc_ad11", "7");
set_mux("gpmc_ad13", "7");
export_pin(mux_pins[0][0]);
export_pin(mux_pins[0][1]);
export_pin(mux_pins[0][2]);
export_pin(mux_pins[1][0]);
export_pin(mux_pins[1][1]);
export_pin(mux_pins[1][2]);
export_pin(good_led_pin);
export_pin(error_led_pin);
export_pin(streaming_led_pin);
set_pin_direction(mux_pins[0][0], OUT);
set_pin_direction(mux_pins[0][1], OUT);
set_pin_direction(mux_pins[0][2], OUT);
set_pin_direction(mux_pins[1][0], OUT);
set_pin_direction(mux_pins[1][1], OUT);
set_pin_direction(mux_pins[1][2], OUT);
set_pin_direction(good_led_pin, OUT);
set_pin_direction(error_led_pin, OUT);
set_pin_direction(streaming_led_pin, OUT);
}
/* Configure SPI connection. */
if (!connect_to_spi("/dev/spidev2.0")) {
return false;
}
return true;
}
int main( int argc, char** argv )
{
try
{
std::string config_string;
std::string direction;
unsigned int pin;
boost::program_options::options_description description( "options" );
description.add_options()
( "help,h", "display help message" )
( "verbose,v", "more output; --help --verbose: more help message" )
( "config", boost::program_options::value< std::string >( &config_string ), "configuration file for the camera or semicolon-separated name=value string, run 'fire-cat -h -v' for more details" )
( "pin", boost::program_options::value< unsigned int >( &pin )->default_value( 0 ), "apply operation to the specified pin (default: 0)" )
( "direction", boost::program_options::value< std::string >( &direction ), "set pin direction to 'in' or 'out'" );
boost::program_options::variables_map vm;
boost::program_options::store( boost::program_options::parse_command_line( argc, argv, description), vm );
boost::program_options::parsed_options parsed = boost::program_options::command_line_parser(argc, argv).options( description ).allow_unregistered().run();
boost::program_options::notify( vm );
if ( vm.count( "help" ) || vm.count( "verbose" ) )
{
std::cerr << "perform operations specific to point-grey cameras" << std::endl;
std::cerr << "Usage: " << name() << " [options] \n" << std::endl;
std::cerr << description << std::endl;
std::cerr << std::endl;
std::cerr << "examples:" << std::endl;
std::cerr << "\tset direction of pin=2 to 'out': " << name() << " --config=bumblebee.config --pin=2 --direction=out" << std::endl;
std::cerr << std::endl;
return 1;
}
if( config_string.empty() ) { std::cerr << name() << ": --config is not given" << std::endl; return 1; }
snark::camera::dc1394::config config;
bool config_from_command_line = config_string.find_first_of( '=' ) != std::string::npos; // quick and dirty
if( config_from_command_line )
{
config = comma::name_value::parser( ';', '=' ).get< snark::camera::dc1394::config >( config_string );
}
else
{
std::vector< std::string > v = comma::split( config_string, ':' );
if( v.size() > 2 ) { std::cerr << name() << ": expected --config=filename or --config=filename:xpath, got '" << config_string << "'" << std::endl; return 1; }
std::string filename = v[0];
std::string xpath = ( v.size() == 1 ) ? "" : v[1];
config = comma::read< snark::camera::dc1394::config >( filename, xpath.c_str() );
}
snark::camera::dc1394 camera( config );
if( pin >= number_of_pins ) { std::cerr << name() << "expected pin to be from 0 to " << number_of_pins - 1 << ", got " << pin << std::endl; return 1; }
if( vm.count( "direction" ) )
{
if( direction != "in" && direction != "out" ) { std::cerr << name() << ": expected direction to be either 'in' or 'out', got " << direction << std::endl; }
set_pin_direction( camera, pin, ( direction == "out" ) );
}
return 0;
}
catch( std::exception& ex )
{
std::cerr << argv[0] << ": " << ex.what() << std::endl;
}
catch( ... )
{
std::cerr << argv[0] << ": unknown exception" << std::endl;
}
return 1;
}
