int main( void )
{
init();
// main program
while (1)
{
switch ( action() )
{
case CTRL_OK_ACTION:
menu();
break;
case CTRL_DN_ACTION:
COUNT_DN
enterProgram( program.number, true );
break;
case CTRL_UP_ACTION:
COUNT_UP
enterProgram( program.number, true );
break;
case COM_ACTION:
execCMD( receive_com( 10 ) );
break;
default:
continue;
}
}
return 0;
}
/*static void sig_chld_handler(int SIGNO){
if(waitpid(0, NULL,WNOHANG))
printf("child process toally exit\n");
}
*/
int
main(int argc,char **argv){
struct sockaddr_in servaddr;
struct hostent *host;
FILE *fp;
char ipstr[20] = LOCAL_IP;
char *p;
//open spi device/
spi_fd = open("/dev/spidev0.2", O_RDWR);
if (spi_fd < 0) {
perror("open");
return 1;
}
/*if you execv this programme like this:a.out -l ,it means that you want to start
* a local transfer.In a local transfer ,you need not get the serv_ip from txt message
* (actually the serv_ip is included in default ffmpeg parameters(19.168.6.8)).
* otherwise,it means that you get serv_ip from txt message
*/
if((argc >=2) && (!strcmp(argv[1],"-l"))){
pFFMPEG = ffmpeg_av;
goto main_work;
}
//start a child process to read serv_ip from txt message,and save it in a temp file--------
pc = vfork();
if(pc < 0){
perror("Error Refork:");
}
else if (pc == 0){ //in child first
if (execl("/bin/ccs","ccs",(char *)0) < 0)
perror("execv ccs error!");
exit(0);
}
else {
pid_ccs = pc; //save the child pid
printf("waiting txt command\n");
}
if(waitpid(pid_ccs, NULL,0)>0)
printf("child process toally exit\n");
else{
printf("unexpected result\n");
}
//end of get serv_ip from txt message-------------------------------------
/*read the tmp file to get serv_ip------------------------------------*/
if((fp=fopen("/usr/nuf","r"))==NULL){
perror("open file error");
return -1;
}
p = ipstr;
*p = fgetc(fp);
//get the server ip/
while(*p!= EOF && *p != 10){
++p;
*p=fgetc(fp);
}
*p='\0';
fclose(fp);
/*Remember to close your open files when you do not use it any more*/
//Begin to FFMPEG and transfer avdieo at first !!//////////////////////
pFFMPEG = ffmpeg_av;
// char rtp[] = "rtp:";
char port_a[] = ":12386";
char port_v[] = ":12346";
char rtp_port_a[30] = "rtp:" ; //[rtp:xxx.xxx.xxx.xxx:port]
char rtp_port_v[30] = "rtp:" ; //[rtp:xxx.xxx.xxx.xxx:port]
//ip should be modified at first time
ffmpeg_av[17] = strcat(strcat(rtp_port_v,ipstr),port_v);
// strcpy(rtp_port,rtp); //override rtp_port
ffmpeg_av[32] = strcat(strcat(rtp_port_a,ipstr),port_a);
//strcpy(rtp_port,rtp);
ffmpeg_audio[15] = rtp_port_a; //strcat(strcat(rtp_port_a,ipstr),port_a);
//strcpy(rtp_port,rtp);
ffmpeg_video[17] = rtp_port_v; //strcat(strcat(rtp_port_v,ipstr),port_v);
//printf("ffmpeg_av:%s",ffmpeg_av[30]);
int num_net_test = 0;
while(get_if_stat("ppp0") < 0){
sleep(1);
//after ry tMAX_NET_TEST times,the net interface is still down,we give up,and give a report
if (num_net_test++ > MAX_NET_TEST){
printf("try to get PPP0 not success and exit now!\n");
return 1;
}
}
/*child process for ffmpeg,and father process for socket connection----------------------------*/
main_work:
pc = vfork();
if(pc < 0)
perror("Error Fork:");
//child process-----------------
else if (pc == 0){
if (execv("/usr/bin/ffmpeg",pFFMPEG) < 0) //start ffmpeg with default parameters
perror("execv FFMPG error!");
exit(0);
}
//END of child process ---------
else{
///father process---------------------------
pid_ffmpeg = pc; //save the child process id ,just for kill/wait the child
while(1){
if((host=gethostbyname(ipstr))==NULL){
fprintf(stderr,"Gethostname error\n");
exit(-1);
}
if( (sock_fd = socket( AF_INET,SOCK_STREAM,0))<0){
printf("create socket error\n");
exit(-1);
}
else printf("create socket success\n");
servaddr.sin_family = AF_INET;
servaddr.sin_port = htons(PORT);
servaddr.sin_addr = *((struct in_addr *)host->h_addr);
while(1){
/*TCP three times handshakes-*/
if(connect(sock_fd,(struct sockaddr *) &servaddr,sizeof(struct sockaddr))<0) {
//server is down or time out /;
sleep(1); //wait for one minute to avoid asking for connection too frequently
continue;
}
else{
printf("connect success\n");
break;
}
} //end of three handshakes
char sendBuf[]="quit robot's control";
while(1){
if(revcCMD(sock_fd,cmd) != 0){
printf("recv command error or server is down!\n");
close(sock_fd);
break;
}
if(strstr(cmd,"quit")!=NULL){
//sprintf(sendBuf,"quit robot's control");
send(sock_fd,sendBuf,strlen(sendBuf)+1,0);
close(sock_fd);
break;
}
if(execCMD(cmd) != 0) {
printf("unknow command\n");
}
} //end of loop for(recv--exec)
} //end of loop for (creat socket--connect--recv--exec)
close(spi_fd);
return 0;
///END of father process---------------------------
}
}
