int main(int argc, char *argv[])
{
int ret;
if (argc != 4) {
printf("Usage: %s addr idx count\n", argv[0]);
return 1;
}
int addr = atoi(argv[1]);
int idx = atoi(argv[2]);
int count = atoi(argv[3]);
uint16_t values[256];
ret = openSerial("/dev/ttyUSB0", 38400, 'N', 8, 1);
if (ret) {
perror("Cannot open serial");
return ret;
}
ret = mbReadReg(addr, idx, count, values);
if (ret != count) {
perror("Cannot read register");
return ret;
}
printf("Reading %i regs at %i from %i (%02x):\n", count, idx, addr, addr);
for (int i=0; i<count; ++i)
printf("%02x[%3i]=%04x (%i)\n", addr, idx+i, values[i], values[i]);
closeSerial();
return 0;
}
void CSerialPortReader::handleTimeout()
{
if (!mSerial.isOpen())
{
openSerial();
}
}
int main(void)
{
joystick = initializeJoystick();
serialPort = openSerial();
printf("Joystick's file descriptor: %d\n\r", joystick.fd);
printf("Serial port's file descriptor: %d\n\r", serialPort.fd);
// Launch threads
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_t tids[4];
pthread_create(&tids[0], &attr, joystickUpdater, NULL);
pthread_create(&tids[1], &attr, serialReader, NULL);
pthread_create(&tids[2], &attr, serialWriter, NULL);
pthread_create(&tids[3], &attr, terminalWriter, NULL);
for (int i = 0; i < 4; i++)
{
pthread_join(tids[i], NULL);
}
// Never reached because the threads run forever
terminateJoystick(&joystick);
closeSerial(&serialPort);
return 0;
}
int main(int argc, char *argv[]){
int fd;
int ret;
mic_type_t mt;
if(argc < 2){
printf("usage:%s 0/1\n",argv[0]);
return -1;
}
mt = (mic_type_t) atoi(argv[1]);
fd = openSerial();
if (fd < 0){
perror("Can't open "COM_DEV);
}
serial_init(fd, BAUDRATE);
switch(mt){
case PSTN_MIC:
ret = write(fd, pstn_mic, 10);
printf("Set PSTN MIC success %d\n", ret);
break;
case APC_MIC:
ret = write(fd, apc_mic, 10);
printf("Set APC MIC success %d\n", ret);
break;
default:
printf("Mic type error\n");
break;
};
close(fd);
return 0;
}
void _mobileTest(void)
{
int fd;
INIT_DOT;
INIT_ERROR;
SUCC_DOT("Mobile Device Open");
if((fd=openSerial("/dev/ttyS00", B9600, 0))<0) {
ADD_ERROR("Mobile Device Access Error (ECODE=%d)",errno);
CLOSE_DOT;
return;
}
SUCC_DOT("ATI"); if(_gsmtest(fd,"ATI\r\n", 4)) {ADD_ERROR("%s","Additional identifacation information");}
SUCC_DOT("AT^SCID"); if(_gsmtest(fd,"AT^SCID\r\n", 9)) {ADD_ERROR("%s", "SIM card identifcation number");}
SUCC_DOT("AT+CPIN?"); if(_gsmtest(fd,"AT+CPIN?\r\n", 10)) {ADD_ERROR("%s", "SIM PIN authentication");}
SUCC_DOT("AT+CPIN2?"); if(_gsmtest(fd,"AT+CPIN2?\r\n", 11)) {ADD_ERROR("%s", "SIM PIN2 authentication");}
SUCC_DOT("AT+CIMI"); if(_gsmtest(fd,"AT+CIMI\r\n", 9)) {ADD_ERROR("%s", "Request international mobile subscriber identity");}
SUCC_DOT("AT+CCLK?"); if(_gsmtest(fd,"AT+CCLK?\r\n", 10)) {ADD_ERROR("%s", "Real Time Clock");}
SUCC_DOT("AT+COPS?"); if(_gsmtest(fd,"AT+COPS?\r\n", 10)) {ADD_ERROR("%s", "Operator selection");}
SUCC_DOT("AT+CREG?"); if(_gsmtest(fd,"AT+CREG?\r\n", 10)) {ADD_ERROR("%s", "Network registration");}
SUCC_DOT("AT+CSQ"); if(_gsmtest(fd,"AT+CSQ\r\n", 8)) {ADD_ERROR("%s", "Signal quality");}
SUCC_DOT("AT^SBV"); if(_gsmtest(fd,"AT^SBV\r\n", 8)) {ADD_ERROR("%s", "Monitoring power supply");}
SUCC_DOT("GSM Module Voltage"); _gsmpowertest(fd,"AT^SBV\r\n", 8);
SUCC_DOT("AT^MONI"); if(_gsmtest(fd,"AT^MONI\r\n", 9)) {ADD_ERROR("%s", "Monitor idle mode and dedicated mode");}
SUCC_DOT("AT^MONP"); if(_gsmtest(fd,"AT^MONP\r\n", 9)) {ADD_ERROR("%s", "Monitor neighbour cells");}
SUCC_DOT("AT^SMONC"); if(_gsmtest(fd,"AT^SMONC\r\n", 10)) {ADD_ERROR("%s", "Cell Monitoring");}
SUCC_DOT("AT^SMONG"); if(_gsmtest(fd,"AT^SMONG\r\n", 10)) {ADD_ERROR("%s", "GPRS Monitor");}
CLOSE_DOT;
close(fd);
}
//打开串口并初始化设置
int init_serial(char* device)
{
if (openSerial(device) < 0) {
perror("open error");
return -1;
}
defaultConfigWithFd();
return 0;
}
int main(int argc, char *argv[])
// arg1: serial device file
// arg2: optional timeout in seconds, default 60
// arg3: optional 'nolog' to carry on when filesystem full
{
int commfd = 0;
int option; // command line processing
int baud = 9600;
char * cp;
char table[128];
int flags = CS8 | CLOCAL | CREAD;
char * serialName = SERIALNAME;
memset(table, 0, 128);
// Command line arguments
init_table(table);
opterr = 0;
while ((option = getopt(argc, argv, "b:dVcs:?")) != -1) {
DEBUG fprintf(stderr, "Option %c ", option);
switch (option) {
case 'b': baud = atoi(optarg); break;
case 'c': flags |= CRTSCTS; break;
case '?': usage(); exit(1);
case 's': serialName = optarg; break;
case 'd': debug++; break;
case 'V': printf("Version: %s\n", VERSION); exit(0);
}
}
// Open serial port
#ifdef DEBUGCOMMS
commfd = 0;
#else
if ((commfd = openSerial(serialName, baud, 0, flags, 1)) < 0) {
fprintf(stderr, "ERROR 7seg Failed to open %s at %d: %s", serialName, baud, strerror(errno));
exit(1);
}
#endif
DEBUG2 fprintf(stderr, "Serial port %s open ...", serialName);
// Send data
while (optind < argc) { // remainder of command line must be bytes
for (cp = argv[optind]; *cp; cp++) {
DEBUG fprintf(stderr, "'%c' [%02x] ", *cp, table[*cp]);
sendSerial(commfd, table[*cp]);
}
optind++;
}
DEBUG fprintf(stderr, "\n");
closeSerial(commfd);
return 0;
}
int main(int argc, char **argv)
{
char *file;
serial_t *serial;
int count;
char buf[128];
char line[128];
int linePos = 0;
if(argc < 2) {
fprintf(stderr, "Usage: %s tty\n", argv[0]);
exit(1);
}
file = argv[1];
if((serial = openSerial(file)) == NULL)
exit(1);
time_t lastTime = 0, currentTime;
while(1) {
time(¤tTime);
if(currentTime >= lastTime + 60) {
if(write(serial->fd, "D\n", 2) < 2) {
perror("write()");
closeSerial(serial);
exit(1);
}
lastTime = currentTime;
}
fd_set rfds, wfds;
FD_ZERO(&rfds);
FD_ZERO(&wfds);
FD_SET(serial->fd, &rfds);
if((count = select(serial->fd+1, &rfds, NULL, NULL, NULL)) < 0) {
perror("select()");
closeSerial(serial);
exit(1);
//} else if(count == 0) {
// printf("Nothing.\n");
}
if((count = read(serial->fd, buf, sizeof(buf))) > 0) {
int i = 0;
while(linePos < sizeof(line)-1 && i < count) {
line[linePos++] = buf[i++];
if(line[linePos-1] == '\n') {
}
}
write(1, buf, count);
}
}
closeSerial(serial);
exit(0);
}
Lidar::Lidar(Conf c){
configuration = c;
safeLength = configuration.data["pathfinding"]["lidar"]["safe_length"];
rayMax = configuration.data["pathfinding"]["lidar"]["ray_maximum"];
sweepAngle = configuration.data["pathfinding"]["lidar"]["sweep_angle"];
threadContinue = true;
pathfinding_serial_thread = thread([this]{
openSerial();
while(threadContinue){
readAllInQueue();
}
});
}
// Entry point
int main(int argc, char *argv[])
{
int serial;
if ((serial = openSerial(argc, argv)) == -1) {
fprintf(stderr, "Cannot open serial device: %s", argv[1]);
} else {
fprintf(stderr, "Serial port opened\n");
}
mainLoop(serial);
return 0;
}
CSerialPortReader::CSerialPortReader(const CSerialPortConfig& config)
: mSerial(this) //TODO: test it
, mConfig(config)
, mAlertConfig("serial_port", mConfig.mAlertCoef)
{
mSerial.setPortName(config.mSerialPort);
mSerial.setBaudRate(config.mBaudRate);
const int TIMER_DEFAULT_INTERVAL = 5000;
mTimer.setInterval(TIMER_DEFAULT_INTERVAL);
openSerial();
connect(&mTimer, SIGNAL(timeout()), this, SLOT(handleTimeout()));
mTimer.start();
}
/* 主函数 */
int main(int argc, char *argv[])
{
char tmp[1024] = "test uart!\r\n";
char gpsbuf[1024];
int len;
int fd, i;
gps_info_t stGpsInfo;
int wrbufindex = 0;
/* 打开串口 */
fd = openSerial("/dev/ttySP0");
if(0 > fd)
{
DEBUG_MSG("D:open uart error!\r\n");
return -1;
}
write(fd, tmp, 16);
/* */
while(1)
{
len = read(fd, tmp, 0x01);
for(i=0; i<len; i++)
{
//printf("%c", tmp[i]);
if('\n' == tmp[i])
{
gpsbuf[wrbufindex] = '\n';
wrbufindex++;
if(1024 > wrbufindex)
{
gpsbuf[wrbufindex] = '\0';
if(0 == gps_get_rmc(&stGpsInfo, gpsbuf))
{
print_gps_info(&stGpsInfo);
}
}
wrbufindex = 0;
}
else
{
gpsbuf[wrbufindex] = tmp[i];
wrbufindex++;
if(1024 <= wrbufindex)
{
wrbufindex = 0;
}
}
}
}
}
void MiniBeeV2::begin(long baud_rate) {
configXBee();
delay(1000);
openSerial(baud_rate);
// delay(200);
readXBeeSerial();
// allow some delay before sending data
// delay(500);
sendSerialNumber();
status = WAITFORHOST;
}
//Initialize
void init(){
//Clear buffer
unsigned char inBuff[BUFFER_MAX];
int fd = openSerial();
int receivedBytes;
while( (receivedBytes = read(fd,inBuff,BUFFER_MAX)) ){
if(receivedBytes && DEBUG) printf("Emptied buffer of %d bytes\n",receivedBytes);
}
clearString((char*)inBuff);
usleep(100000);
//Send wake up command to Arduino
char buffHost[8] = ":wakeup:";
int sentBytes = write(fd,buffHost,sizeof(buffHost));
if(DEBUG) printf("%d bytes sent\n",sentBytes);
usleep(100000);
close(fd);
}
// Initialize Camera and Sensors
void initDevices(void) {
struct pxacam_setting camset;
// Backboard uart init
fdBackBoard = openSerial();
// 3-axis sensor init
fdThreeAxis = open("/dev/MMA_ADC", O_RDONLY);
ASSERT(fdThreeAxis);
ioctl(fdThreeAxis,MMA_VIN_ON, 0);
ioctl(fdThreeAxis,MMA_SLEEP_MODE_ON, 0);
ioctl(fdThreeAxis,MMA_SENS_60G, 0);
// infrared sensor init
fdInfra = open("/dev/FOUR_ADC", O_NOCTTY);
ASSERT(fdInfra);
// Camera init
fdCamera = camera_open(NULL,0);
ASSERT(fdCamera);
memset(&camset,0,sizeof(camset));
camset.mode = CAM_MODE_VIDEO;
camset.format = pxavid_ycbcr422;
camset.width = 320;
camset.height = 240;
camera_config(fdCamera,&camset);
camera_start(fdCamera);
fdOverlay2 = overlay2_open(NULL,pxavid_ycbcr422,NULL, 320, 240, 0 , 0);
overlay2_getbuf(fdOverlay2, &vidbuf_overlay);
len_vidbuf = vidbuf_overlay.width * vidbuf_overlay.height;
cImg.width=camset.width*2;
cImg.height=camset.height;
// init finish
printf("Initializing Device Finished\n");
}
main(){
int fd;
struct termios *oldser,*newser,*oldter,*newter;
oldser=(struct termios *)malloc(sizeof(struct termios));
newser=(struct termios *)malloc(sizeof(struct termios));
oldter=(struct termios *)malloc(sizeof(struct termios));
newter=(struct termios *)malloc(sizeof(struct termios));
fd=openSerial("/dev/ttyS1");
setSerial(fd,oldser,newser);
/* next stop echo and buffering for stdin */
tcgetattr(0,oldter);
tcgetattr(0,newter); /* get working stdtio */
newter->c_lflag &= ~(ICANON | ECHO);
tcsetattr(0,TCSANOW,newter);
writeToSerial(fd,'x');
tcsetattr(fd,TCSANOW,oldser); /* restore old serial setings */
close(fd);
tcsetattr(0,TCSANOW,oldter); /* restore old tty setings */
exit(0);
}
// Initialize Camera and Sensors
void initDevices(void) {
struct pxacam_setting camset;
printf("-----Initializing Device Started-----\n");
// Backboard uart init
fdBackBoard = openSerial();
printf("Initializing BackBoard complete!\n");
// 적외선 센서 init
fdInfra = open("/dev/FOUR_ADC", O_NOCTTY);
// Camera init
fdCamera = camera_open(NULL,0);
ASSERT(fdCamera);
system("echo b > /proc/invert/tb"); //LCD DriverIC top-bottom invert ctrl
memset(&camset,0,sizeof(camset));
camset.mode = CAM_MODE_VIDEO;
camset.format = pxavid_ycbcr422;
camset.width = MAX_X;
camset.height = MAX_Y;
camera_config(fdCamera,&camset);
camera_start(fdCamera);
fdOverlay2 = overlay2_open(NULL,pxavid_ycbcr422,NULL, MAX_X, MAX_Y, 0 , 0);
overlay2_getbuf(fdOverlay2, &vidbuf_overlay);
len_vidbuf = vidbuf_overlay.width * vidbuf_overlay.height;
printf("Initializing Camera complete!\n");
// init finish
printf("-----Initializing Device Finished-----\n");
}
void openSerialAtDefaultSpeed(unsigned char serialPortIndex) {
openSerial(serialPortIndex, DEFAULT_SERIAL_SPEED);
}
int main(int argc, char **argv)
{
in_port_t port = DEFAULT_PORT;
long baud = DEFAULT_BAUD;
char dv3000tty[MAXPATHLEN] = DEFAULT_TTY;
fd_set fds;
int serialFd;
int sockFd;
int topFd;
int c;
#ifdef __CYGWIN__
int commnum;
#endif
char reset = 0;
char daemon = 0;
setvbuf(stdout, NULL, _IOLBF, 0);
setvbuf(stderr, NULL, _IOLBF, 0);
#ifdef __CYGWIN__
while ((c = getopt(argc, argv, "dp:s:c:vxrh")) != -1) {
#else
while ((c = getopt(argc, argv, "dp:s:i:vxrh")) != -1) {
#endif
switch (c) {
case 'd':
daemon = 1;
break;
case 'p':
errno = 0;
port = strtol(optarg, NULL, 10);
if(errno != 0 || port == 0) {
fprintf(stderr, "Invalid port number: %s\n", optarg);
usage();
}
break;
case 's':
errno = 0;
baud = strtol(optarg, NULL, 10);
if(errno != 0 || baud == 0) {
fprintf(stderr, "Invalid baud rate: %s\n", optarg);
usage();
}
break;
#ifdef __CYGWIN__
case 'c':
commnum = strtol(optarg, NULL, 10);
sprintf(dv3000tty,"/dev/ttyS%d",commnum - 1);
break;
#else
case 'i':
strncpy(dv3000tty, optarg, sizeof(dv3000tty));
break;
#endif
case 'v':
fprintf(stdout, "AMBEserver: version " DV3000_VERSION "\n");
return 0;
case 'x':
debug = 1;
break;
case 'r':
reset = 1;
break;
case 'h':
default:
usage();
break;
}
}
if (strlen(dv3000tty) < 1) {
fprintf(stderr, "An input tty filename (-i /dev/ttyXXX) must be set.\n");
return 1;
}
if (daemon) {
pid_t pid = fork();
if (pid < 0) {
fprintf(stderr, "AMBEserver: error in fork(), exiting\n");
exit(1);
}
// If this is the parent, exit
if (pid > 0)
exit(0);
// We are the child from here onwards
setsid();
umask(0);
}
fprintf(stdout, "AMBEserver: Starting...\n");
serialFd = openSerial(dv3000tty, baud);
if (serialFd < 0)
exit(1);
fprintf(stdout, "AMBEserver: Opened serial port %s at %ld bps.\n", dv3000tty, baud);
if(initDV3K(serialFd, reset) == 0) {
fprintf(stderr, "AMBEserver: Could not initialize the DV3K!\n");
exit(1);
}
sockFd = openSocket(port);
if (sockFd < 0)
exit(1);
fprintf(stdout, "AMBEserver: Listening for connections on UDP port %d.\n", port);
topFd = (sockFd > serialFd ? sockFd : serialFd ) + 1;
for (;;) {
FD_ZERO(&fds);
FD_SET(sockFd, &fds);
FD_SET(serialFd, &fds);
if (select(topFd, &fds, NULL, NULL, NULL) < 0) {
fprintf(stderr, "AMBEserver: error from select: %s\n", strerror(errno));
exit(1);
}
if(FD_ISSET(sockFd, &fds))
if (!processSocket(sockFd, serialFd))
exit(1);
if(FD_ISSET(serialFd, &fds))
if (!processSerial(sockFd, serialFd))
exit(1);
}
exit(0);
}
//Main program
int main(void) {
int receivedBytes;//, sentBytes;
//unsigned char outBuff[BUFFER_MAX];
unsigned char inBuff[BUFFER_MAX];
//Reserve memory
char* cmd = malloc((BUFFER_MAX+1) * sizeof(char));
char* par = malloc((BUFFER_MAX+1) * sizeof(char));
struct commandStructure command;
//Threads variables
pthread_t logThread;
pthread_t emailThread;
//pthread_t debugThread;
pthread_t webcamThread;
pthread_t emailPhotoThread;
//Empty buffers
init();
// Open serial file descriptor
int fd = openSerial();
//Loop to scan
while(1){
receivedBytes = read(fd,inBuff,BUFFER_MAX);
if(receivedBytes > 0){ // Data found!
if(DEBUG){
printf("\nPayload size: %d\n",receivedBytes);
int i;
for(i=0;i<receivedBytes;i++){
printf("%c",inBuff[i]);
}
printf("\n");
}
getCmd(inBuff,cmd);
getPar(inBuff,par);
int pars = parseParameters(par);
if(!validCommand(cmd)){
printf("Invalid Command: %s\n\n",cmd);
continue;
}else{
//printf("Command: %s\n",cmd);
//int i = 0;
//printf("Parameters found: %d\n",pars);
//for(i=0;i<pars;i++) printf("Parameter %d - %s\n",i,PARAMETERS[i]);
}
if(compareText(cmd,"Debug")){ //thread is detached so resources can be recycled.
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
time_t now = time(NULL);
printf("%s - %s",PARAMETERS[0],ctime(&now));
/*
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&debugThread,&attr,debugFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
*/
}
if(compareText(cmd,"Log")){
if(pars < 1){
printf("Error: No message sent\n");
continue;
}
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
//=======Call logFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&logThread,&attr,logFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"Email")){
if(pars < 3){ //Need at least the email address and a subject
printf("Error: Need 3 parameters: address, subject and message\n");
continue;
}
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
command.par[1] = PARAMETERS[1];
command.par[2] = PARAMETERS[2];
//=======Call logFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&emailThread,&attr,emailFunc,&command))){
fprintf(stderr,"Error: Could not create thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"Webcam")){
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&webcamThread,&attr,webcamFunc,&command))){
fprintf(stderr,"Error: Could not create webcam thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
if(compareText(cmd,"EmailPhoto")){
command.cmd = cmd;
command.par[0] = PARAMETERS[0];
command.par[1] = PARAMETERS[1];
command.par[2] = PARAMETERS[2];
//=======Call debugFunc in thread======
int rc;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
if((rc = pthread_create(&emailPhotoThread,&attr,emailPhotoFunc,&command))){
fprintf(stderr,"Error: Could not create emailPhoto thread: %d\n",rc);
}
pthread_attr_destroy(&attr);
}
}else if(receivedBytes == 0){ //No data yet! go back to loop
continue;
}else if(receivedBytes < 0){ //Error reading, exit.
printf("Error reading from file!\n");
perror("Error: " );
close(fd);
return -1;
}
usleep(UDOONEO_POLL_DELAY); // poll time approx 50mS (faster crashes the app)
}
//Free reserved memory
free((void*)cmd);
free((void*)par);
//Close serial's file descriptor
close(fd);
}
int main() {
CvPoint pt1,pt2;
CvRect regt;
CvPoint cir_center;
CvPoint frame_center;
CvPoint A,B,C,D;
CvPoint temp;
double angle,spinsize;
int cir_radius=1;
int frame_width=160, frame_height=120;
unsigned char sendBuf;
int serial;
serial = openSerial("/dev/ttyACM0");
if (serial == -1)
serial = openSerial("/dev/ttyACM1");
if (serial == -1)
serial = openSerial("/dev/ttyACM2");
if (serial == -1)
serial = openSerial("/dev/ttyACM3");
if (serial == -1)
serial = openSerial("/dev/ttyACM4");
if (serial == -1)
serial = openSerial("/dev/ttyACM5");
if (serial == -1)
serial = openSerial("/dev/ttyACM6");
if (serial == -1)
serial = openSerial("/dev/ttyACM7");
if (serial == -1)
serial = openSerial("/dev/ttyACM8");
if( serial == -1 ) {
return -1;
}
//CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
CvCapture* capture = cvCaptureFromCAM( 0 );
if ( !capture ) {
fprintf(stderr, "ERROR: capture is NULL \n" );
getchar();
return -1;
}
cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_WIDTH,frame_width);// 120x160
cvSetCaptureProperty(capture,CV_CAP_PROP_FRAME_HEIGHT,frame_height);
cvSetCaptureProperty(capture, CV_CAP_PROP_FPS,10);
// cvSetCaptureProperty(capture,CV_CAP_PROP_POS_FRAMES,5);
// Create a window in which the captured images will be presented
cvNamedWindow( "mywindow", CV_WINDOW_AUTOSIZE );
// Show the image captured from the camera in the window and repeat
while ( 1 ) {
// Get one frame
IplImage* frame = cvQueryFrame( capture );
if ( !frame ) {
fprintf( stderr, "ERROR: frame is null...\n" );
getchar();
break;
}
int modfheight, modfwidth;
modfheight = frame->height;
modfwidth = frame->width;
// create modified frame with 1/4th the original size
IplImage* modframe = cvCreateImage(cvSize((int)(modfwidth/4),(int)(modfheight/4)),frame->depth,frame->nChannels); //cvCreateImage(size of frame, depth, noofchannels)
cvResize(frame, modframe,CV_INTER_LINEAR);
// create HSV(Hue, Saturation, Value) frame
IplImage* hsvframe = cvCreateImage(cvGetSize(modframe),8, 3);
cvCvtColor(modframe, hsvframe, CV_BGR2HSV); //cvCvtColor(input frame,outputframe,method)
// create a frame within threshold.
IplImage* threshframe = cvCreateImage(cvGetSize(hsvframe),8,1);
cvInRangeS(hsvframe,cvScalar(10, 180, 130),cvScalar(40, 240, 245),threshframe); //cvInRangeS(input frame, cvScalar(min range),cvScalar(max range),output frame)
// created dilated image
IplImage* dilframe = cvCreateImage(cvGetSize(threshframe),8,1);
cvDilate(threshframe,dilframe,NULL,2); //cvDilate(input frame, output frame, mask, number of times to dilate)
CBlobResult blobs;
blobs = CBlobResult(dilframe,NULL,0); // CBlobresult(inputframe, mask, threshold) Will filter all white parts of image
blobs.Filter(blobs,B_EXCLUDE,CBlobGetArea(),B_LESS,50);//blobs.Filter(input, cond, criteria, cond, const) Filter all images whose area is less than 50 pixels
CBlob biggestblob;
blobs.GetNthBlob(CBlobGetArea(),0,biggestblob); //GetNthBlob(criteria, number, output) Get only the largest blob based on CblobGetArea()
// get 4 points to define the rectangle
pt1.x = biggestblob.MinX()*4;
pt1.y = biggestblob.MinY()*4;
pt2.x = biggestblob.MaxX()*4;
pt2.y = biggestblob.MaxY()*4;
cir_center.x=(pt1.x+pt2.x)/2;
cir_center.y=(pt1.y+pt2.y)/2;
frame_center.x=frame_width/2;
frame_center.y=frame_height/2;
A.x=frame_center.x-4;
A.y=frame_center.y;
B.x=frame_center.x+4;
B.y=frame_center.y;
C.y=frame_center.y-4;
C.x=frame_center.x;
D.y=frame_center.y+4;
D.x=frame_center.x;
cvRectangle(frame,pt1,pt2,cvScalar(255,0,0),1,8,0); // draw rectangle around the biggest blob
cvCircle( frame, cir_center, cir_radius, cvScalar(0,255,255), 1, 8, 0 ); // center point of the rectangle
cvLine(frame, A, B,cvScalar(255,0,255),2,8,0);
cvLine(frame, C, D,cvScalar(255,0,255),2,8,0);
if (cir_center.x!=0&&cir_center.y!=0){
spinsize=sqrt((cir_center.x-frame_center.x)*(cir_center.x-frame_center.x) +(cir_center.y-frame_center.y)*(cir_center.y-frame_center.y));
angle = atan2((double)cir_center.y-frame_center.y,(double)cir_center.x-frame_center.x);
//printf("%f, %f \n",angle*180/3.1416,spinsize/10);
temp.x=(int)(frame_center.x+spinsize/5*cos(angle+3.1416/4));
temp.y=(int)(frame_center.y+spinsize/5*sin(angle+3.1415/4));
cvLine(frame, temp, frame_center,cvScalar(0,255,0),1,8,0);
temp.x=(int)(frame_center.x+spinsize/5*cos(angle-3.1416/4));
temp.y=(int)(frame_center.y+spinsize/5*sin(angle-3.1415/4));
cvLine(frame, temp, frame_center,cvScalar(0,255,0),1,8,0);
cvLine(frame, cir_center, frame_center,cvScalar(0,255,0),1,8,0);
sendBuf=88;
write(serial, &sendBuf,1);
sendBuf=cir_center.x;
write(serial, &sendBuf,1);
sendBuf=89;
write(serial, &sendBuf,1);
sendBuf=cir_center.y;
write(serial, &sendBuf,1);
//printf("%d %d %f\n",cir_center.x,cir_center.y, angle*180/3.1415);
//sendvalue(serial, angle*180/3.1416);
//cvCircle( frame, frame_center, cir_radius, cvScalar(0,255,255), 2, 8, 0 );
}
cvShowImage( "mywindow", frame); // show output image
// Do not release the frame!
//If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),
//remove higher bits using AND operator
if ( (cvWaitKey(10) & 255) == 27 ) break;
}
// Release the capture device housekeeping
cvReleaseCapture( &capture );
cvDestroyWindow( "mywindow" );
return 0;
}
void openSerialAtDefaultSpeed(unsigned char serialPortIndex) {
openSerial(serialPortIndex, 0);
}
int
main (int argc, char **argv)
{
int c;
extern char *optarg;
extern int optind, opterr, optopt;
dsd_opts opts;
dsd_state state;
char versionstr[25];
mbe_printVersion (versionstr);
printf ("Digital Speech Decoder 1.7.0-dev (build:%s)\n", GIT_TAG);
printf ("mbelib version %s\n", versionstr);
initOpts (&opts);
initState (&state);
exitflag = 0;
signal (SIGINT, sigfun);
while ((c = getopt (argc, argv, "hep:qstv:z:i:o:d:g:nw:B:C:R:f:m:u:x:A:S:M:rl")) != -1)
{
opterr = 0;
switch (c)
{
case 'h':
usage ();
exit (0);
case 'e':
opts.errorbars = 1;
opts.datascope = 0;
break;
case 'p':
if (optarg[0] == 'e')
{
opts.p25enc = 1;
}
else if (optarg[0] == 'l')
{
opts.p25lc = 1;
}
else if (optarg[0] == 's')
{
opts.p25status = 1;
}
else if (optarg[0] == 't')
{
opts.p25tg = 1;
}
else if (optarg[0] == 'u')
{
opts.unmute_encrypted_p25 = 1;
}
break;
case 'q':
opts.errorbars = 0;
opts.verbose = 0;
break;
case 's':
opts.errorbars = 0;
opts.p25enc = 0;
opts.p25lc = 0;
opts.p25status = 0;
opts.p25tg = 0;
opts.datascope = 1;
opts.symboltiming = 0;
break;
case 't':
opts.symboltiming = 1;
opts.errorbars = 1;
opts.datascope = 0;
break;
case 'v':
sscanf (optarg, "%d", &opts.verbose);
break;
case 'z':
sscanf (optarg, "%d", &opts.scoperate);
opts.errorbars = 0;
opts.p25enc = 0;
opts.p25lc = 0;
opts.p25status = 0;
opts.p25tg = 0;
opts.datascope = 1;
opts.symboltiming = 0;
printf ("Setting datascope frame rate to %i frame per second.\n", opts.scoperate);
break;
case 'i':
strncpy(opts.audio_in_dev, optarg, 1023);
opts.audio_in_dev[1023] = '\0';
break;
case 'o':
strncpy(opts.audio_out_dev, optarg, 1023);
opts.audio_out_dev[1023] = '\0';
break;
case 'd':
strncpy(opts.mbe_out_dir, optarg, 1023);
opts.mbe_out_dir[1023] = '\0';
printf ("Writing mbe data files to directory %s\n", opts.mbe_out_dir);
break;
case 'g':
sscanf (optarg, "%f", &opts.audio_gain);
if (opts.audio_gain < (float) 0 )
{
printf ("Disabling audio out gain setting\n");
}
else if (opts.audio_gain == (float) 0)
{
opts.audio_gain = (float) 0;
printf ("Enabling audio out auto-gain\n");
}
else
{
printf ("Setting audio out gain to %f\n", opts.audio_gain);
state.aout_gain = opts.audio_gain;
}
break;
case 'n':
opts.audio_out = 0;
printf ("Disabling audio output to soundcard.\n");
break;
case 'w':
strncpy(opts.wav_out_file, optarg, 1023);
opts.wav_out_file[1023] = '\0';
printf ("Writing audio to file %s\n", opts.wav_out_file);
openWavOutFile (&opts, &state);
break;
case 'B':
sscanf (optarg, "%d", &opts.serial_baud);
break;
case 'C':
strncpy(opts.serial_dev, optarg, 1023);
opts.serial_dev[1023] = '\0';
break;
case 'R':
sscanf (optarg, "%d", &opts.resume);
printf ("Enabling scan resume after %i TDULC frames\n", opts.resume);
break;
case 'f':
if (optarg[0] == 'a')
{
opts.frame_dstar = 1;
opts.frame_x2tdma = 1;
opts.frame_p25p1 = 1;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 1;
opts.frame_dmr = 1;
opts.frame_provoice = 0;
}
else if (optarg[0] == 'd')
{
opts.frame_dstar = 1;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 0;
opts.frame_provoice = 0;
printf ("Decoding only D-STAR frames.\n");
}
else if (optarg[0] == 'x')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 1;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 0;
opts.frame_provoice = 0;
printf ("Decoding only X2-TDMA frames.\n");
}
else if (optarg[0] == 'p')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 0;
opts.frame_provoice = 1;
state.samplesPerSymbol = 5;
state.symbolCenter = 2;
opts.mod_c4fm = 0;
opts.mod_qpsk = 0;
opts.mod_gfsk = 1;
state.rf_mod = 2;
printf ("Setting symbol rate to 9600 / second\n");
printf ("Enabling only GFSK modulation optimizations.\n");
printf ("Decoding only ProVoice frames.\n");
}
else if (optarg[0] == '1')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 1;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 0;
opts.frame_provoice = 0;
printf ("Decoding only P25 Phase 1 frames.\n");
}
else if (optarg[0] == 'i')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 1;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 0;
opts.frame_provoice = 0;
state.samplesPerSymbol = 20;
state.symbolCenter = 10;
opts.mod_c4fm = 0;
opts.mod_qpsk = 0;
opts.mod_gfsk = 1;
state.rf_mod = 2;
printf ("Setting symbol rate to 2400 / second\n");
printf ("Enabling only GFSK modulation optimizations.\n");
printf ("Decoding only NXDN 4800 baud frames.\n");
}
else if (optarg[0] == 'n')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 1;
opts.frame_dmr = 0;
opts.frame_provoice = 0;
opts.mod_c4fm = 0;
opts.mod_qpsk = 0;
opts.mod_gfsk = 1;
state.rf_mod = 2;
printf ("Enabling only GFSK modulation optimizations.\n");
printf ("Decoding only NXDN 9600 baud frames.\n");
}
else if (optarg[0] == 'r')
{
opts.frame_dstar = 0;
opts.frame_x2tdma = 0;
opts.frame_p25p1 = 0;
opts.frame_nxdn48 = 0;
opts.frame_nxdn96 = 0;
opts.frame_dmr = 1;
opts.frame_provoice = 0;
printf ("Decoding only DMR/MOTOTRBO frames.\n");
}
break;
case 'm':
if (optarg[0] == 'a')
{
opts.mod_c4fm = 1;
opts.mod_qpsk = 1;
opts.mod_gfsk = 1;
state.rf_mod = 0;
}
else if (optarg[0] == 'c')
{
opts.mod_c4fm = 1;
opts.mod_qpsk = 0;
opts.mod_gfsk = 0;
state.rf_mod = 0;
printf ("Enabling only C4FM modulation optimizations.\n");
}
else if (optarg[0] == 'g')
{
opts.mod_c4fm = 0;
opts.mod_qpsk = 0;
opts.mod_gfsk = 1;
state.rf_mod = 2;
printf ("Enabling only GFSK modulation optimizations.\n");
}
else if (optarg[0] == 'q')
{
opts.mod_c4fm = 0;
opts.mod_qpsk = 1;
opts.mod_gfsk = 0;
state.rf_mod = 1;
printf ("Enabling only QPSK modulation optimizations.\n");
}
break;
case 'u':
sscanf (optarg, "%i", &opts.uvquality);
if (opts.uvquality < 1)
{
opts.uvquality = 1;
}
else if (opts.uvquality > 64)
{
opts.uvquality = 64;
}
printf ("Setting unvoice speech quality to %i waves per band.\n", opts.uvquality);
break;
case 'x':
if (optarg[0] == 'x')
{
opts.inverted_x2tdma = 0;
printf ("Expecting non-inverted X2-TDMA signals.\n");
}
else if (optarg[0] == 'r')
{
opts.inverted_dmr = 1;
printf ("Expecting inverted DMR/MOTOTRBO signals.\n");
}
break;
case 'A':
sscanf (optarg, "%i", &opts.mod_threshold);
printf ("Setting C4FM/QPSK auto detection threshold to %i\n", opts.mod_threshold);
break;
case 'S':
sscanf (optarg, "%i", &opts.ssize);
if (opts.ssize > 128)
{
opts.ssize = 128;
}
else if (opts.ssize < 1)
{
opts.ssize = 1;
}
printf ("Setting QPSK symbol buffer to %i\n", opts.ssize);
break;
case 'M':
sscanf (optarg, "%i", &opts.msize);
if (opts.msize > 1024)
{
opts.msize = 1024;
}
else if (opts.msize < 1)
{
opts.msize = 1;
}
printf ("Setting QPSK Min/Max buffer to %i\n", opts.msize);
break;
case 'r':
opts.playfiles = 1;
opts.errorbars = 0;
opts.datascope = 0;
state.optind = optind;
break;
case 'l':
opts.use_cosine_filter = 0;
break;
default:
usage ();
exit (0);
}
}
if (opts.resume > 0)
{
openSerial (&opts, &state);
}
if (opts.playfiles == 1)
{
opts.split = 1;
opts.playoffset = 0;
opts.delay = 0;
if(strlen(opts.wav_out_file) > 0) {
openWavOutFile (&opts, &state);
}
else {
openAudioOutDevice (&opts, 8000);
}
}
else if (strcmp (opts.audio_in_dev, opts.audio_out_dev) != 0)
{
opts.split = 1;
opts.playoffset = 0;
opts.delay = 0;
if(strlen(opts.wav_out_file) > 0) {
openWavOutFile (&opts, &state);
}
else {
openAudioOutDevice (&opts, 8000);
}
openAudioInDevice (&opts);
}
else
{
opts.split = 0;
opts.playoffset = 25; // 38
opts.delay = 0;
openAudioInDevice (&opts);
opts.audio_out_fd = opts.audio_in_fd;
}
if (opts.playfiles == 1)
{
playMbeFiles (&opts, &state, argc, argv);
}
else
{
liveScanner (&opts, &state);
}
cleanupAndExit (&opts, &state);
return (0);
}
