/* * VISCA(tm) Camera Control Library Test Program * Copyright (C) 2002 Damien Douxchamps  * * Written by Damien Douxchamps <douxchamps@ieee.org> * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA */#include <stdlib.h>#include <stdio.h>#include <unistd.h> /* UNIX standard function definitions */#include <fcntl.h> /* File control definitions */#include <errno.h> /* Error number definitions */#include <termios.h> /* POSIX terminal control definitions */#include <sys/ioctl.h>#include "../src/libvisca.h"#define EVI_D30intmain(int argc, char **argv){  VISCAInterface_t interface;  VISCACamera_t camera;  unsigned char packet[3000];  int i, bytes, camera_num;  UInt8_t value;  UInt16_t zoom;  int pan_pos, tilt_pos;  if (argc<2)    {      fprintf(stderr,"%s usage: %s <serial port device>\n",argv[0],argv[0]);      exit(1);    }  if (VISCA_open_serial(&interface, argv[1])!=VISCA_SUCCESS)    {      fprintf(stderr,"%s: unable to open serial device %s\n",argv[0],argv[1]);      exit(1);    }  interface.broadcast=0;  VISCA_set_address(&interface, &camera_num);  camera.address=1;  VISCA_clear(&interface, &camera);   VISCA_get_camera_info(&interface, &camera);  fprintf(stderr,"Some camera info:\n------------------\n");  fprintf(stderr,"vendor: 0x%04x\n model: 0x%04x\n ROM version: 0x%04x\n socket number: 0x%02x\n",	  camera.vendor, camera.model, camera.rom_version, camera.socket_num);  if (VISCA_set_zoom_value(&interface, &camera, 0x0000)!=VISCA_SUCCESS)    fprintf(stderr,"error setting zoom\n");  usleep(500000);  if (VISCA_set_zoom_value(&interface, &camera, 0x4000)!=VISCA_SUCCESS)    fprintf(stderr,"error setting zoom\n");  usleep(500000);  if (VISCA_set_zoom_value(&interface, &camera, 0x1234)!=VISCA_SUCCESS)    fprintf(stderr,"error setting zoom\n");  if (VISCA_get_zoom_value(&interface, &camera, &zoom)!=VISCA_SUCCESS)    fprintf(stderr,"error getting zoom\n");  else    fprintf(stderr,"Zoom value: 0x%04x\n",zoom);  usleep(500000);  if (VISCA_set_zoom_value(&interface, &camera, 0x0000)!=VISCA_SUCCESS)    fprintf(stderr,"error setting zoom\n");  if (VISCA_get_power(&interface, &camera, &value)!=VISCA_SUCCESS)    fprintf(stderr,"error getting power\n");  else    fprintf(stderr,"power status: 0x%02x\n",value);#ifdef EVI_D30  if (VISCA_set_pantilt_reset(&interface, &camera)!=VISCA_SUCCESS)    fprintf(stderr,"error setting pan tilt home\n");  else    fprintf(stderr,"Setting pan tilt home\n");  if (VISCA_set_pantilt_absolute_position(&interface, &camera,5,5,-500,-200)!=VISCA_SUCCESS)    fprintf(stderr,"error setting pan tilt absolute position with negative position\n");  else    fprintf(stderr,"Setting pan tilt absolute position\n");    if (VISCA_get_pantilt_position(&interface, &camera, &pan_pos, &tilt_pos)!=VISCA_SUCCESS)    fprintf(stderr,"error getting pan tilt absolute position\n");  else    fprintf(stderr,"Absolute position, Pan value: %d, Tilt value: %d\n",pan_pos,tilt_pos);  if (VISCA_set_pantilt_absolute_position(&interface, &camera,18,14,500,200)!=VISCA_SUCCESS)    fprintf(stderr,"error setting pan tilt absolute position with positive position\n");  else    fprintf(stderr,"Setting pan tilt absolute position\n");  if (VISCA_get_pantilt_position(&interface, &camera, &pan_pos, &tilt_pos)!=VISCA_SUCCESS)    fprintf(stderr,"error getting pan tilt absolute position\n");  else    fprintf(stderr,"Absolute position, Pan value: %d, Tilt value: %d\n",pan_pos,tilt_pos);  if (VISCA_set_pantilt_home(&interface, &camera)!=VISCA_SUCCESS)    fprintf(stderr,"error setting pan tilt home\n");  else    fprintf(stderr,"Setting pan tilt home\n");#endif  //if (VISCA_set_power(&interface, &camera, VISCA_ON)!=VISCA_SUCCESS)  //  fprintf(stderr,"error setting power\n");  // read the rest of the data: (should be empty)    VISCA_set_zoom_value(&interface, &camera, 0x0D00);  VISCA_set_shutter_value(&interface, &camera, 0x0D00);  //usleep(1000000);  ioctl(interface.port_fd, FIONREAD, &bytes);  if (bytes>0)    {      fprintf(stderr, "ERROR: %d bytes not processed: ", bytes);      read(interface.port_fd, &packet, bytes);      for (i=0;i<bytes;i++)	fprintf(stderr,"%2x ",packet[i]);      fprintf(stderr,"\n");    }  VISCA_close_serial(&interface);  exit(0);}