/* * Command line interface to the VISCA(tm) Camera Control Library * based on the VISCA(tm) Camera Control Library Test Program * by Damien Douxchamps  *  * Copyright (C) 2003 Simon Bichler  *  * Written by Simon Bichler <bichlesi@in.tum.de> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. *  * This program 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 General Public License for more details. *  * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA *//*Commands without parameter:===========================set_zoom_tele            (set the zoom to maximum)set_zoom_wide            (set the zoom to minimum)set_zoom_stop            (stop zooming)set_focus_far            (set the focus to far)set_focus_near           (set the focus to near)set_focus_stop           (stop focusing)set_focus_one_push       (not for D30)set_focus_infinity       (not for D30)set_focus_autosense_high (not for D30)set_focus_autosense_low  (not for D30)set_whitebal_one_push    (push trigger for whitebalance in OnePush mode)set_rgain_up             (not for D30)set_rgain_down           (not for D30)set_rgain_reset          (not for D30)set_bgain_up             (not for D30)set_bgain_down           (not for D30)set_bgain_reset          (not for D30)set_shutter_up           (increase the shutter speed, available only with                           shutter_priority or AE_Manual)set_shutter_down         (decrease the shutter speed, available only with                           shutter_priority or AE_Manual)set_shutter_reset        (reset the shutter speed, available only with                           shutter_priority or AE_Manual)set_iris_up              (open up the iris, available only with                           iris_priority or AE_Manual)set_iris_down            (close the iris, available only with                           iris_priority or AE_Manual)set_iris_reset           (reset the iris, available only with                           iris_priority or AE_Manual)set_gain_up              (increase the gain, available only with AE_Manual)set_gain_down            (decrease the gain, available only with AE_Manual)set_gain_reset           (reset the gain, available only with AE_Manual)set_bright_up            (brighten the image, available only with bright_mode)set_bright_down          (darken the image, available only with bright_mode)set_bright_reset         (reset the image brightness,                           available only with bright_mode)set_aperture_up          (not for D30)set_aperture_down        (not for D30)set_aperture_reset       (not for D30)set_exp_comp_up          (not for D30)set_exp_comp_down        (not for D30)set_exp_comp_reset       (not for D30)set_title_clear          (not for D30)set_irreceive_on         (enable IR remote controller)set_irreceive_off        (disable IR remote controller)set_irreceive_onoff      (toggle IR remote controller)set_pantilt_home         (set pan/tilt position to center)set_pantilt_reset        (initialize pan/tilt motors)set_pantilt_limit_downleft_clear (remove pan/tilt limits                                   for lower left position)set_pantilt_limit_upright_clear (remove pan/tilt limits                                  for upper right position)set_datascreen_on         (show data display)set_datascreen_off        (hide data display)set_datascreen_onoff      (toggle data display)Commands with one boolean parameter (0|1):==========================================set_power             (set standby power state)set_keylock           (set or release keylock)set_dzoom             (not for D30)set_focus_auto        (turn autofocus on or off)set_exp_comp_power    (not for D30)set_slow_shutter_auto (not for D30)set_backlight_comp    (turn backlight compensation on or off)set_zero_lux_shot     (not for D30)set_ir_led            (not for D30)set_mirror            (not for D30)set_freeze            (not for D30)set_display           (not for D30)set_date_display      (not for D30)set_time_display      (not for D30)set_title_display     (not for D30)Commands with one integer parameter:====================================set_zoom_tele_speed <speed>      (set the zoom to maximum with a speed                                   between 2 and 7)set_zoom_wide_speed <speed>      (set the zoom to minimum with a speed                                   between 2 and 7)set_zoom_value <zoom>            (set the zoom to the given value                                   between 0 and 1023)set_focus_far_speed <speed>      (not for D30)set_focus_near_speed <speed>     (not for D30)set_focus_value <focus>          (set the focus to the given value                                   between 1000 and 40959)set_focus_near_limit <limit>     (not for D30)set_whitebal_mode <mode>         (set the whitebalance mode to                                   0: Auto, 1: Indoor, 2: Outdoor, 3: OnePush)set_rgain_value <value>          (not for D30)set_bgain_value <value>          (not for D30)set_shutter_value <value>        (set the shutter value between                                   0: 1/60 and 27: 1/10000)set_iris_value <value>           (set the iris opening to a value                                   between 0: closed and 17: F1.8)set_gain_value <value>           (set the gain value between                                   1: 0dB and 7: +18dB)set_bright_value <value>         (not for D30)set_aperture_value <value>       (not for D30)set_exp_comp_value <value>       (not for D30)set_auto_exp_mode <mode>         (set the AE mode to 0: Full Auto, 3: Manual,                                   10: Shutter priority, 11: Iris priority, 				  13: Bright Mode)set_wide_mode <mode>             (not for D30)set_picture_effect <mode>        (not for D30)set_digital_effect <mode>        (not for D30)set_digital_effect_level <level> (not for D30)memory_set <channel>             (save the current position to channel 0 to 5)memory_recall <channel>          (recall the current position from                                   channel 0 to 5)memory_reset <channel>           (reset a channel 0 to 5)Commands with two integer parameters:=====================================set_zoom_and_focus_value <zoom> <focus>             (not for D30,                                                      zoom 0 to 1023, 						     focus 1000 to 40959)set_pantilt_up <pan_speed> <tilt_speed>             (move up,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_down <pan_speed> <tilt_speed>           (move down,                                                     pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_left <pan_speed> <tilt_speed>           (move left,                                                     pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_right <pan_speed> <tilt_speed>          (move right,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_upleft <pan_speed> <tilt_speed>         (move up and left,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_upright <pan_speed> <tilt_speed>        (move up and right,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_downleft <pan_speed> <tilt_speed>       (move down and left,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_downright <pan_speed> <tilt_speed>      (move down and right,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_stop <pan_speed> <tilt_speed>           (stop moving,                                                      pan_speed from 1 to 24, 						     tilt speed from 1 to 20)set_pantilt_limit_upright <pan_limit> <tilt_limit>  (limit movement                                                      upper right corner, 						     pan limit: -879 to 880, 						     tilt limit: -299 to 300)set_pantilt_limit_downleft <pan_limit> <tilt_limit> (limit movement                                                      lower left corner, 						     pan limit: -879 to 880, 						     tilt limit: -299 to 300)Commands with four integer parameters:======================================set_pantilt_absolute_position <pan_speed> <tilt_speed>                                      <pan_position> <tilt_position> (set position,                                                     pan_speed from 1 to 24, 						     tilt speed from 1 to 20,						     pan_pos: -879 to 880, 						     tilt_pos: -299 to 300)set_pantilt_relative_position <pan_speed> <tilt_speed>                               <pan_position> <tilt_position> (set position,                                                     pan_speed from 1 to 24, 						     tilt speed from 1 to 20,						     pan_pos: -879 to 880, 						     tilt_pos: -299 to 300)set_title_params <vposition> <hposition> <color> <blink> (not for D30,                                                           set title params)Commands with five parameters:==============================set_date_time <year> <month> <day> <hour> <minute>       (not for D30,                                                           set date and time)set_title <vposition> <hposition> <color> <blink> <text> (not for D30,                                                           set title params                                                          and title text)Commands that return one boolean value:=======================================get_power          (returns 1 if in standby mode, 0 otherwise)get_dzoom          (not for D30)get_focus_auto     (returns 1 if autofocus, 0 otherwise)get_exp_comp_power (not for D30)get_backlight_comp (returns 1 if backlight compensation is on, 0 otherwise)get_zero_lux_shot  (not for D30)get_ir_led         (not for D30)get_mirror         (not for D30)get_freeze         (not for D30)get_display        (not for D30)get_datascreen     (returns 1 if a datascreen is displayed, 0 otherwise)Commands that return one integer value:=======================================get_zoom_value           (returns a value between 0 and 1023)get_focus_value          (returns a value between 1000 and 40959)get_focus_auto_sense     (not for D30)get_focus_near_limit     (not for D30)get_whitebal_mode        (returns the whitebalance mode:                           0: Auto, 1: Indoor, 2: Outdoor, 3: OnePush)get_rgain_value          (not for D30)get_bgain_value          (not for D30)get_auto_exp_mode        (returns the auto exposure mode:                           0: Full Auto, 3: Manual,                          10: Shutter priority, 11: Iris priority,                           13: Bright Mode)get_slow_shutter_auto    (not for D30)get_shutter_value        (returns the shutter value between                           0: 1/60 and 27: 1/10000)get_iris_value           (returns the iris value between                           0: closed and 17: F1.8get_gain_value           (returns the gain value between 1: 0dB and 7: +18dB)get_bright_value         (not for D30)get_exp_comp_value       (not for D30)get_aperture_value       (not for D30)get_wide_mode            (not for D30)get_picture_effect       (not for D30)get_digital_effect       (not for D30)get_digital_effect_level (not for D30)get_memory               (returns the current memory preset position 0 to 5)get_id                   (returns the camera id)get_videosystem          (returns the video sytstem: 0 for NTSC, 1 for PAL)get_pantilt_mode         (returns the pantilt status, what is this?)Commands that return two integer values:========================================get_pantilt_maxspeed (returns max_pan_speed and max_tilt_speed)get_pantilt_position (returns pan_position: -860..862                      and tilt_position: -281..283)==================================================Commands not yet in libVISCA:==================================================Commands without parameter:===========================set_at_mode_onoff           (Target tracking mode On/Off)set_at_ae_onoff             (Auto exposure for target tracking mode On/Off)set_at_autozoom_onoff       (Auto zoom for target tracking mode On/Off)set_atmd_framedisplay_onoff (Frame display for target tracking or                              motion detection mode On/Off)set_at_frameoffset_onoff    (Frame offset control for                              target tracking mode On/Off)set_atmd_startstop          (Start or stop target tracking or                              motion detection)set_at_chase_next           (Select target tracking chase mode 1/2/3)set_md_mode_onoff           (Motion detection mode On/Off)set_md_frame                (Set detection area/size for motion detection)set_md_detect               (Select detecting frame for motion detection,                              1, 2 or 1+2)set_at_lostinfo             (returns when target is lost                              in target tracking mode)set_md_lostinfo             (returns when motion is detected within frame                              in motion detection mode)set_md_measure_mode1_onoff  (Set motion detection measure mode 1 On/Off)set_md_measure_mode2_onoff  (Set motion detection measure mode 2 On/Off)Commands with one boolean parameter (0|1):==========================================set_at_mode           (Target tracking mode On/Off)set_at_ae             (Auto exposure for target tracking mode On/Off)set_at_autozoom       (Auto zoom for target tracking mode On/Off)set_atmd_framedisplay (Frame display for target tracking or                        motion detection mode On/Off)set_at_frameoffset    (Frame offset control for target tracking mode On/Off)set_md_mode           (Motion detection mode On/Off)set_md_measure_mode1  (Set motion detection measure mode 1 On/Off)set_md_measure_mode2  (Set motion detection measure mode 2 On/Off)Commands with one integer parameter:====================================set_wide_con_lens <conversion> (AT compensation when a wide conversion lens                                 is installed, 				0: No conversion to 7: X0.6 conversion)set_at_chase <chase_mode>      (Select target tracking chase mode 0, 1 or 2)set_at_entry <entry>           (Select target study mode for target tracking                                available modes: 0 to 3)set_md_adjust_ylevel <level>   (adjust level of detection from 0 to 15)set_md_adjust_huelevel <level> (adjust level of detection from 0 to 15)set_md_adjust_size <level>     (adjust level of detection from 0 to 15)set_md_adjust_disptime <level> (adjust level of detection from 0 to 15)set_md_adjust_refmode <mode>   (set refreshmode from 0 to 2)set_md_adjust_reftime <time>   (set refreshtime from 0 to 15)Commands that return one boolean value:=======================================get_keylock (returns 1 if keylock is set, 0 otherwise)Commands that return one integer value:=======================================get_wide_con_lens     (returns which wide conversion lens is installed,                        0: No conversion to 7: X0.6 conversion)get_atmd_mode         (returns the current AT or MD mode:                        0: Normal mode, 1: AT mode, 2: MD mode)get_at_mode           (returns the AT status,                        see D30/31 Command List for detailsget_at_entry          (returns the AT entry: 0 to 3)get_md_mode           (returns the MD status,                        see D30/31 Command List for details)get_md_ylevel         (returns level of detection from 0 to 15)get_md_huelevel       (returns level of detection from 0 to 15)get_md_size           (returns level of detection from 0 to 15)get_md_disptime       (returns level of detection from 0 to 15)get_md_refmode        (returns refreshmode from 0 to 2)get_md_reftime        (returns refreshtime from 0 to 15)Commands that return three integer values:==========================================get_at_obj_pos (returns the center position of the detection frame divided                by 48x30 pixels and a status: 0=Setting, 1=Tracking, 2=Lost)get_md_obj_pos (returns the center position of the detection frame divided                by 48x30 pixels and a status: 1=UnDetect, 2=Detected)*/#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 <string.h>#include "../src/libvisca.h"#define DEBUG 0#define D30ONLY 0/*The device the camera is attached to*/char *ttydev = "/dev/ttyS0";/*Structures needed for the VISCA library*/VISCAInterface_t interface;VISCACamera_t camera;/*print usage message and exit*/void print_usage() {  fprintf(stderr,"Usage: visca-cli [-d <serial port device>] command\n");  fprintf(stderr,"  default serial port device: /dev/ttyS0\n");        fprintf(stderr,"  for available commands see sourcecode...\n");  exit(1);  }/* This routine find the device the camera is attached to (if specified) * It concatenates the rest of the commandline and returnes that string */char *process_commandline(int argc, char **argv) {  /*loop counter*/  int i;  /*temporarily used to hold the length of a string*/  int length = 0;    /*used to hold the commandline that is returned*/  char *commandline;    /*at least a command has to be specified*/  if (argc < 2) {    print_usage();  }  /*Find the ttydev if specified*/  if (strncmp(argv[1], "-d", 2) == 0) {    /*after the -d and the device name at least one command has to follow*/    if (argc < 4) {      print_usage();    } else {      ttydev = argv[2];      /*we have used up two arguments*/      argv += 2;      argc -= 2;    }  }    /*concatenate command string*/  /*find total length of commandline*/  length = 0;  for (i=1; i < argc; i++) {    length += strlen(argv[i])+1;  }    /*allocate memory for commandline*/  commandline = (char *)malloc(sizeof(char) * length);    /*copy the first argument to the commandline*/  strcpy(commandline, argv[1]);  /*add the rest of the arguments, seperated by blanks*/  for (i=2; i < argc; i++) {    strcat(commandline, " ");    strcat(commandline, argv[i]);  }    return commandline;  }void open_interface() {  int camera_num;  if (VISCA_open_serial(&interface, ttydev)!=VISCA_SUCCESS) {    fprintf(stderr,"visca-cli: unable to open serial device %s\n",ttydev);    exit(1);  }  interface.broadcast=0;  VISCA_set_address(&interface, &camera_num);  camera.address=1;  VISCA_clear(&interface, &camera);  VISCA_get_camera_info(&interface, &camera);#if DEBUG   fprintf(stderr,"Camera initialisation successful.\n");#endif}void close_interface() {  unsigned char packet[3000];  int i, bytes;  // read the rest of the data: (should be empty)  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);}/* This subroutine tries to execute the commandline given in char *commandline *  * One of the following codes is returned: * * Success: * 10: command successfully executed * 11: command successfully executed, return value in ret1 * 12: command successfully executed, return values in ret1 and ret2 * 13: command successfully executed, return values in ret1, ret2 and ret3 * * Error: * 40: command unknow * 41: missing or unknown arg1 * 42: missing or unknown arg2 * 43: missing or unknown arg3 * 44: missing or unknown arg4 * 45: missing or unknown arg5 * 46: camera returned an error   */int doCommand(char *commandline, int *ret1, int *ret2, int *ret3) {  /*Variables for the user specified command and arguments*/