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);
}
CameraController::CameraController(string serialPort, int target_x, int target_y)
{
this->last_x = 0;
this->last_y = 0;
this->target_x = target_x;
this->target_y = target_y;
this->lastAngle_x = 90;
this->lastAngle_y = 90;
int serial_status = this->serial.openPort(serialPort);
if (serial_status == -1)
{
printf("Failed to open serial port\n");
}
else
{
writeToSerial(this->lastAngle_x, this->lastAngle_y);
}
}
void CameraController::turnCamera(int new_x, int new_y)
{
int *angles = getNewAngleFromPoint(new_x, new_y);
int s = writeToSerial(angles[0], angles[1]);
if (s != -1)
{
printf("SENT %d %d\n", angles[0], angles[1]);
}
else
{
printf("Failed to send data to serial device");
}
this->last_x = new_x;
this->last_y = new_y;
this->lastAngle_x = angles[0];
this->lastAngle_y = angles[1];
delete [] angles;
}
