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wsk 1 year ago
commit 2f31c5fd10
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src/main.cpp
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#include <iostream>
#include <string>
#include <mutex>
#include <chrono>
#include <thread>
using namespace std;
#include "../../inc/ViewLink.h"
#include "cmdline.h"
bool g_bConnected = false;
int VLK_ConnStatusCallback(int iConnStatus, const char* szMessage, int iMsgLen, void* pUserParam)
{
if (VLK_CONN_STATUS_TCP_CONNECTED == iConnStatus)
{
cout << "TCP Gimbal connected !!!" << endl;
g_bConnected = true;
}
else if (VLK_CONN_STATUS_TCP_DISCONNECTED == iConnStatus)
{
cout << "TCP Gimbal disconnected !!!" << endl;
g_bConnected = false;
}
else if (VLK_CONN_STATUS_SERIAL_PORT_CONNECTED == iConnStatus)
{
cout << "serial port connected !!!" << endl;
g_bConnected = true;
}
else if (VLK_CONN_STATUS_SERIAL_PORT_DISCONNECTED == iConnStatus)
{
cout << "serial port disconnected !!!" << endl;
g_bConnected = false;
}
else
{
cout << "unknown connection stauts: " << iConnStatus << endl;
g_bConnected = false;
}
return 0;
}
int VLK_DevStatusCallback(int iType, const char* szBuffer, int iBufLen, void* pUserParam)
{
if (VLK_DEV_STATUS_TYPE_MODEL == iType)
{
VLK_DEV_MODEL* pModel = (VLK_DEV_MODEL*)szBuffer;
cout << "model code: " << pModel->cModelCode << ", model name: " << pModel->szModelName << endl;
}
else if (VLK_DEV_STATUS_TYPE_CONFIG == iType)
{
VLK_DEV_CONFIG* pDevConfig = (VLK_DEV_CONFIG*)szBuffer;
cout << "VersionNO: " << pDevConfig->cVersionNO << ", DeviceID: " << pDevConfig->cDeviceID << ", SerialNO: " << pDevConfig->cSerialNO << endl;
}
else if (VLK_DEV_STATUS_TYPE_TELEMETRY == iType)
{
/*
* once device is connected, telemetry information will keep updating,
* in order to avoid disturbing user input, comment out printing telemetry information
*/
// VLK_DEV_TELEMETRY* pTelemetry = (VLK_DEV_TELEMETRY*)szBuffer;
// cout << "Yaw: " << pTelemetry->dYaw << ", Pitch: " << pTelemetry->dPitch << ", sensor type: " << pTelemetry->emSensorType << ", Zoom mag times: " << pTelemetry->sZoomMagTimes << endl;
}
else
{
cout << "error: unknown status type: " << iType << endl;
}
return 0;
}
int main(int argc, char *argv[])
{
// parse cmd line
cmdline::parser a;
a.add<string>("type", 't', "connection type", true, "tcp", cmdline::oneof<string>("serial", "tcp"));
a.add<string>("ip", 'i', "gimbal tcp ip", false, "192.168.2.119");
a.add<int>("port", 'p', "gimbal tcp port", false, 2000);
a.add<string>("serial", 's', "serial port name", false, "/dev/ttyS0");
a.add<int>("baudrate", 'b', "serial port baudrate", false, 115200);
a.parse_check(argc, argv);
// print sdk version
cout << "ViewLink SDK version: " << GetSDKVersion() << endl;
// initialize sdk
int iRet = VLK_Init();
if (VLK_ERROR_NO_ERROR != iRet)
{
cout << "VLK_Init failed, error: " << iRet << endl;
return -1;
}
// register device status callback
VLK_RegisterDevStatusCB(VLK_DevStatusCallback, NULL);
// connect device
if (0 == a.get<string>("type").compare("tcp"))
{
VLK_CONN_PARAM param;
memset(&param, 0, sizeof(param));
param.emType = VLK_CONN_TYPE_TCP;
strncpy(param.ConnParam.IPAddr.szIPV4, a.get<string>("ip").c_str(), sizeof(param.ConnParam.IPAddr.szIPV4) - 1);
param.ConnParam.IPAddr.iPort = a.get<int>("port");
cout << "connecting gimbal ip: " << a.get<string>("ip") << ", port: " << a.get<int>("port") << "..." << endl;
iRet = VLK_Connect(&param, VLK_ConnStatusCallback, NULL);
if (VLK_ERROR_NO_ERROR != iRet)
{
cout << "VLK_Connect failed, error: " << iRet << endl;
goto quit;
}
}
else if (0 == a.get<string>("type").compare("serial"))
{
VLK_CONN_PARAM param;
memset(&param, 0, sizeof(param));
param.emType = VLK_CONN_TYPE_SERIAL_PORT;
strncpy(param.ConnParam.SerialPort.szSerialPortName, a.get<string>("serial").c_str(), sizeof(param.ConnParam.SerialPort.szSerialPortName) - 1);
param.ConnParam.SerialPort.iBaudRate = a.get<int>("baudrate");
cout << "connecting gimbal serial: " << a.get<string>("serial") << ", baudrate: " << a.get<int>("baudrate") << "..." << endl;
iRet = VLK_Connect(&param, VLK_ConnStatusCallback, NULL);
if (VLK_ERROR_NO_ERROR != iRet)
{
cout << "VLK_Connect failed, error: " << iRet << endl;
goto quit;
}
}
else
{
cout << "unknown conntion type !!!" << endl;
goto quit;
}
cout << "wait device connected..." << endl;
while (1)
{
if (g_bConnected)
{
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
while (1)
{
cout << "press \'w\' move up \n";
cout << "press \'s\' move down \n";
cout << "press \'a\' move left \n";
cout << "press \'d\' move right \n";
cout << "press \'h\' move to home posiion \n";
cout << "press \'1\' zoom in, \'2\' zoom out\n";
cout << "press \'3\' begin track, \'4\' stop track\n";
cout << "press \'5\' visible with ir pseudo , \'6\' visible with ir white , \'7\' visible with ir black\n";
cout << "press \'i\' open ir, \'v\' open visible\n";
cout << "press \'c\' exit"<< endl;
char input;
cin >> input;
if (input == 'w' || input == 'W')
{
VLK_Move(0, 1000);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_Stop();
}
else if (input == 's' || input == 'S')
{
VLK_Move(0, -1000);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_Stop();
}
else if (input == 'a' || input == 'A')
{
VLK_Move(-1000, 0);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_Stop();
}
else if (input == 'd' || input == 'D')
{
VLK_Move(1000, 0);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_Stop();
}
else if (input == 'h' || input == 'H')
{
VLK_Home();
}
else if (input == '1')
{
VLK_ZoomIn(1);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_StopZoom();
}
else if (input == '2')
{
VLK_ZoomOut(4);
std::this_thread::sleep_for(std::chrono::milliseconds(3000));
VLK_StopZoom();
}
else if (input == '3')
{
VLK_TRACK_MODE_PARAM param;
memset(&param, 0, sizeof(param));
param.emTrackSensor = VLK_SENSOR_VISIBLE1;
param.emTrackTempSize = VLK_TRACK_TEMPLATE_SIZE_AUTO;
VLK_TrackTargetPositionEx(&param, 100, 100, 1280, 720);
}
else if (input == '4')
{
VLK_DisableTrackMode();
}
else if (input == '5'){
VLK_SetImageColor(VLK_IMAGE_TYPE_VISIBLE1,1,VLK_IR_COLOR_PSEUDOHOT);
}
else if (input == '6'){
VLK_SetImageColor(VLK_IMAGE_TYPE_VISIBLE1,1,VLK_IR_COLOR_WHITEHOT);
}
else if (input == '7'){
VLK_SetImageColor(VLK_IMAGE_TYPE_VISIBLE1,1,VLK_IR_COLOR_BLACKHOT);
}
else if (input == 'i'){
VLK_SetImageColor(VLK_IMAGE_TYPE_IR1,0,VLK_IR_COLOR_WHITEHOT);
}
else if (input == 'v'){
VLK_SetImageColor(VLK_IMAGE_TYPE_VISIBLE1,0,VLK_IR_COLOR_WHITEHOT);
}
else if (input == 'c' || input == 'C')
{
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
quit:
// uninitial sdk
VLK_UnInit();
system("PAUSE");
return 0;
}
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