/* this is really crappy */
int sscanf( const char *buffer, const char *fmt, ... ) {
int cmd;
int **arg;
int count;
arg = (int **)&fmt + 1;
count = 0;
while ( *fmt ) {
if ( fmt[0] != '%' ) {
fmt++;
continue;
}
cmd = fmt[1];
fmt += 2;
switch ( cmd ) {
case 'i':
case 'd':
case 'u':
**arg = _atoi( &buffer );
break;
case 'f':
*(gfixed *)*arg = _atof( &buffer );
break;
}
arg++;
}
return count;
}
static void cliSet(char *cmdline)
{
int i;
int len;
const clivalue_t *val;
char *eqptr = NULL;
int value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
cliPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrint("\r\n");
}
} else if ((eqptr = strstr(cmdline, "=")) != NULL) {
// has equal, set var
eqptr++;
len--;
value = atoi(eqptr);
valuef = _atof(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
int_float_value_t tmp;
if (valueTable[i].type == VAR_FLOAT)
tmp.float_value = valuef;
else
tmp.int_value = value;
cliSetVar(val, tmp);
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
cliPrint("ERR: Value assignment out of range\r\n");
}
return;
}
}
cliPrint("ERR: Unknown variable name\r\n");
} else {
// no equals, check for matching variables.
for (i = 0; i < VALUE_COUNT; i++) {
if (strstr(valueTable[i].name, cmdline)) {
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
}
}
}
}
void cliSet(char *cmdline)
{
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
float valuef = 0;
len = strlen(cmdline);
if (len == 3 && cmdline[0] == '*') {
// printf("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
printf("%s=", valueTable[i].name);
// cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
cliPrintVar(val, 0);
printf("\r");
}
// f.IMU_GRAPH_OUT=1;
}
else if (strstr(cmdline, "=")) {
void (*Func) (void);
eqptr = strstr(cmdline, "=");
// has equal, set var
eqptr++;
len--;
value= atoi(eqptr);
valuef = _atof(eqptr);
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
cliSetVar(val, valueTable[i].type == VAR_FLOAT ? *(uint32_t *)&valuef : value); // this is a silly dirty hack. please fix me later.
if(valueTable[i].function!=NULL) {
Func = valueTable[i].function; //관련된 함수 호출
Func();
}
printf("%s=", valueTable[i].name);
// printf("%d ", value);
cliPrintVar(val, 0);
printf("\r");
// printf(" %d",cfg.gyroPitchKi);
} else {
printf("ERR: Value assignment out of range\r\n");
}
return;
}
}
printf("ERR: Unknown variable name\r\n");
}
}
static void cliCMix(char *cmdline)
{
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_MOTORS; i++) {
if (mcfg.customMixer[i].throttle == 0.0f)
break;
num_motors++;
printf("#%d:\t", i + 1);
printf("%s\t", ftoa(mcfg.customMixer[i].throttle, buf));
printf("%s\t", ftoa(mcfg.customMixer[i].roll, buf));
printf("%s\t", ftoa(mcfg.customMixer[i].pitch, buf));
printf("%s\r\n", ftoa(mcfg.customMixer[i].yaw, buf));
}
mixsum[0] = mixsum[1] = mixsum[2] = 0.0f;
for (i = 0; i < num_motors; i++) {
mixsum[0] += mcfg.customMixer[i].roll;
mixsum[1] += mcfg.customMixer[i].pitch;
mixsum[2] += mcfg.customMixer[i].yaw;
}
cliPrint("Sanity check:\t");
for (i = 0; i < 3; i++)
cliPrint(fabsf(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
cliPrint("\r\n");
return;
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
for (i = 0; i < MAX_MOTORS; i++)
mcfg.customMixer[i].throttle = 0.0f;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
cliPrint("Invalid mixer type...\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i);
printf("Loaded %s mix...\r\n", mixerNames[i]);
cliCMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
mcfg.customMixer[i].throttle = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
mcfg.customMixer[i].roll = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
mcfg.customMixer[i].pitch = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
mcfg.customMixer[i].yaw = _atof(++ptr);
check++;
}
if (check != 4) {
cliPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
} else {
cliCMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
}
}
}
int settings_set_variable(const char* key, const char* val, settings_t* sttngs)
{
char* _key = str_strip(key);
upper_case(_key);
char* _val = str_strip(val);
int rv = 0;
if (strcmp(_key, "START_OBSERVATION")==0)
{
sttngs->start += _atotime(_val, &rv);
if (rv==-1)
rv=0;
} else if (strcmp(_key, "END_OBSERVATION")==0)
{
sttngs->stop += _atotime(_val, &rv);
if (rv==-1)
rv=0;
} else if (strcmp(_key, "MAG")==0)
{
sttngs->mag_min = _atof(_val, &rv);
} else if (strcmp(_key, "UM")==0)
{
sttngs->um_min = _atof(_val, &rv);
} else if (strcmp(_key, "RA_RATE_MIN")==0)
{
sttngs->ra_rate_min = _atof(_val, &rv);
} else if (strcmp(_key, "RA_RATE_MAX")==0)
{
sttngs->ra_rate_max = _atof(_val, &rv);
} else if (strcmp(_key, "DECL_RATE_MIN")==0)
{
sttngs->decl_rate_min = _atof(_val, &rv);
} else if (strcmp(_key, "DECL_RATE_MAX")==0)
{
sttngs->decl_rate_max = _atof(_val, &rv);
} else if (strcmp(_key, "DAY")==0)
{
sttngs->start += _atodate(_val, &rv);
sttngs->stop += _atodate(_val, &rv);
} else if (strcmp(_key, "EFEM_DIR")==0)
{
sttngs->dir = strdup(_val);
} else if (strcmp(_key, "BLACK_LIST")==0)
{
int i=0;
char* str = _val;
char* tmp;
int len = strlen(_val);
int flag=1;
while (++i<len)
{
if (_val[i]==' ' || _val[i]=='\t' || _val[i]=='\n')
{
if (flag)
{
_val[i]='\0';
tmp = str_strip(str);
if (strlen(tmp))
{
vec_add((void **)&sttngs->black_list, (void *)&tmp);
str = &(_val[i])+1;
flag=0;
}
else
{
free(tmp);
}
}
}
else
{
flag=1;
}
}
tmp = str_strip(str);
if (strlen(tmp))
{
vec_add((void **)&sttngs->black_list, (void *)&tmp);
}
else
{
free(tmp);
}
} else if (strcmp(_key, "RA_POSITION_MIN")==0)
{
sttngs->ra_position_min = _ra(_val, &rv);
} else if (strcmp(_key, "RA_POSITION_MAX")==0)
{
sttngs->ra_position_max = _ra(_val, &rv);
} else if (strcmp(_key, "REPORT_TYPE")==0)
{
if (strcmp(_val, "HTML")==0)
{
sttngs->report_type = report_type_html;
}
} else if (strcmp(_key, "REPORT_HTML_FONT_SIZE")==0)
{
sttngs->report_html_font_size = strdup(_val);
} else if (strcmp(_key, "USE_ORB_FILE")==0)
{
sttngs->use_orb_file = (strcmp(_val, "NO")!=0);
} else if (strcmp(_key, "ORB_FILE")==0)
{
sttngs->orb_file = strdup(_val);
}
sfree(_val);
sfree(_key);
return rv;
}
static bool ParseParameters(int argc, char **argv)
{
static struct option long_options[] = {
{"output", required_argument, NULL, 'o'},
{"distortion", no_argument, NULL, 'd'},
{"geometry", optional_argument, NULL, 'g'},
{"tca", no_argument, NULL, 't'},
{"vignetting", no_argument, NULL, 'v'},
{"all", no_argument, NULL, 'a'},
{"inverse", no_argument, NULL, 'i'},
{"scale", required_argument, NULL, 'S'},
{"lens", required_argument, NULL, 'L'},
{"camera", required_argument, NULL, 'C'},
{"crop", required_argument, NULL, 'c'},
{"focal", required_argument, NULL, 'F'},
{"aperture", required_argument, NULL, 'A'},
{"distance", required_argument, NULL, 'D'},
{"interpol", required_argument, NULL, 'I'},
{"help", no_argument, NULL, 'h'},
{"version", no_argument, NULL, 4},
{"verbose", no_argument, NULL, 5},
{0, 0, 0, 0}
};
opts.Program = argv [0];
int c;
while ((c = getopt_long (argc, argv, "o:dg::tvaiS:L:C:c:F:A:D:I:h", long_options, NULL)) != EOF) {
switch (c) {
case 'o':
opts.Output = optarg;
break;
case 'd':
opts.ModifyFlags |= LF_MODIFY_DISTORTION;
break;
case 'g':
opts.ModifyFlags |= LF_MODIFY_GEOMETRY;
if (optarg) {
if (!strcasecmp (optarg, "rectilinear"))
opts.TargetGeom = LF_RECTILINEAR;
else if (!strcasecmp (optarg, "fisheye"))
opts.TargetGeom = LF_FISHEYE;
else if (!strcasecmp (optarg, "panoramic"))
opts.TargetGeom = LF_PANORAMIC;
else if (!strcasecmp (optarg, "equirectangular"))
opts.TargetGeom = LF_EQUIRECTANGULAR;
else if (!strcasecmp (optarg, "orthographic"))
opts.TargetGeom = LF_FISHEYE_ORTHOGRAPHIC;
else if (!strcasecmp (optarg, "stereographic"))
opts.TargetGeom = LF_FISHEYE_STEREOGRAPHIC;
else if (!strcasecmp (optarg, "equisolid"))
opts.TargetGeom = LF_FISHEYE_EQUISOLID;
else if (!strcasecmp (optarg, "thoby"))
opts.TargetGeom = LF_FISHEYE_THOBY;
else {
DisplayUsage();
g_print ("\nTarget lens geometry must be one of 'rectilinear', 'fisheye', 'panoramic', 'equirectangular'\n'orthographic', 'stereographic', 'equisolid', 'thoby'\n");
return false;
}
}
break;
case 't':
opts.ModifyFlags |= LF_MODIFY_TCA;
break;
case 'v':
opts.ModifyFlags |= LF_MODIFY_VIGNETTING;
break;
case 'a':
opts.ModifyFlags |= LF_MODIFY_VIGNETTING;
opts.ModifyFlags |= LF_MODIFY_TCA;
opts.ModifyFlags |= LF_MODIFY_DISTORTION;
break;
case 'i':
opts.Inverse = true;
break;
case 'S':
opts.ModifyFlags |= LF_MODIFY_SCALE;
opts.Scale = _atof (optarg);
break;
case'L':
opts.Lens = optarg;
break;
case'C':
opts.Camera = optarg;
break;
case 'c':
opts.Crop = _atof (optarg);
break;
case 'F':
opts.Focal = _atof (optarg);
break;
case 'A':
opts.Aperture = _atof (optarg);
break;
case 'D':
opts.Distance = _atof (optarg);
break;
case 'I':
if (smartstreq (optarg, "nearest"))
opts.Interpolation = Image::I_NEAREST;
else if (smartstreq (optarg, "bilinear"))
opts.Interpolation = Image::I_BILINEAR;
else if (smartstreq (optarg, "lanczos"))
opts.Interpolation = Image::I_LANCZOS;
else {
DisplayUsage();
g_print ("\nUnknown interpolation method `%s'\n", optarg);
return false;
}
break;
case 'h':
DisplayUsage ();
return false;
case 4:
DisplayVersion ();
return false;
case 5:
opts.Verbose = true;
break;
default:
return false;
}
}
if (optind <= argc)
opts.Input = argv [optind];
if (!opts.Lens && !opts.Camera) {
DisplayUsage();
g_print ("\nAt least a lens or camera name is required to perform a database lookup!\n");
return false;
}
if (!opts.Lens && opts.Input) {
DisplayUsage();
g_print ("\nNo lens information (-L) supplied to process specified input image!\n");
return false;
}
return true;
}
