Created
January 24, 2013 17:08
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Simple PTZ test sample code
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teste |
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#include <stdio.h> | |
#include <unistd.h> | |
#include <termios.h> | |
#include <stdlib.h> | |
#include <string.h> | |
#include <assert.h> | |
#include <fcntl.h> | |
#include <time.h> | |
#define BAUDRATE B2400 | |
#define FALSE 0 | |
#define TRUE 1 | |
char devicename[80] = "/dev/ttyUSB0"; | |
int status; | |
int getch(void) { | |
int c=0; | |
struct termios org_opts, new_opts; | |
int res=0; | |
//----- store old settings ----------- | |
res=tcgetattr(fileno(stdin), &org_opts); | |
assert(res==0); | |
//---- set new terminal parms -------- | |
memcpy(&new_opts, &org_opts, sizeof(new_opts)); | |
new_opts.c_lflag &= ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL | ECHOPRT | ECHOKE | ICRNL); | |
tcsetattr(fileno(stdin), TCSANOW, &new_opts); | |
c=getchar(); | |
//------ restore old settings --------- | |
res=tcsetattr(fileno(stdin), TCSANOW, &org_opts); | |
assert(res==0); | |
return(c); | |
} | |
int main(int argc, char *argv[]) | |
{ | |
int fd, res, i; | |
int ch = 0, chant = 0; | |
struct termios newtio; | |
char buf[255]; | |
unsigned char cmd485[5][7]= | |
{{0xFF,0x01,0x00,0x10,0x2F,0x2F,0x6F}, | |
{0xFF,0x01,0x00,0x08,0x2F,0x2F,0x67}, | |
{0xFF,0x01,0x00,0x04,0x2F,0x2F,0x63}, | |
{0xFF,0x01,0x00,0x02,0x2F,0x2F,0x61}, | |
{0xFF,0x01,0x00,0x00,0x00,0x00,0x01}}; | |
//up,down,left,right,stop | |
//open the device in non-blocking way (read will return immediately) | |
fd = open(devicename, O_RDWR | O_NOCTTY); | |
if (fd < 0) | |
{ | |
perror(devicename); | |
exit(1); | |
} | |
// set new port settings for canonical input processing | |
//newtio.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD; | |
newtio.c_cflag = BAUDRATE | CS8 | CLOCAL | CREAD; | |
newtio.c_iflag = IGNPAR; | |
newtio.c_oflag = 0; | |
newtio.c_lflag = 0; | |
newtio.c_cc[VMIN]=1; | |
newtio.c_cc[VTIME]=0; | |
tcflush(fd, TCIFLUSH); | |
tcsetattr(fd,TCSANOW,&newtio); | |
// loop while ESC not pressed twice | |
while (!(chant == 27 && ch == 27)) | |
{ | |
// save previous pressed key | |
chant = ch; | |
// | |
// read characters typed by user in non-blocking way | |
ch = getch(); | |
if(ch > 0){ | |
if (ch == 65) //Up | |
{ | |
//printf("Up\n"); | |
write(fd, cmd485[0], 8); | |
} | |
if (ch == 66) //Down | |
{ | |
//printf("Down\n"); | |
write(fd, cmd485[1], 8); | |
} | |
if (ch == 67) //Right | |
{ | |
//printf("Right\n"); | |
write(fd, cmd485[3], 8); | |
} | |
if (ch == 68) //Left | |
{ | |
//printf("Left\n"); | |
write(fd, cmd485[2], 8); | |
} | |
if (ch == 32) //stop | |
{ | |
//printf("Stop\n"); | |
write(fd, cmd485[4], 8); | |
} | |
fsync(fd); | |
} | |
usleep(1000); | |
} | |
close(fd); | |
} |
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