华清远见实训机械手臂客户端和服务器代码源码.rar

#include <stdio.h> #include <stdlib.h> #include <unistd.h> #include <string.h> #include <errno.h> #include <fcntl.h> #include <pthread.h> #include <sys/mman.h> #include <sys/ioctl.h> #include <linux/videodev2.h> #include<stdio.h> /*标准输入输出定义*/ #include<stdlib.h> /*标准函数库定义*/ #include<unistd.h> /*Unix 标准函数定义*/ #include<sys/types.h> #include<sys/stat.h> #include<fcntl.h> /*文件控制定义*/ #include<termios.h> /*PPSIX 终端控制定义*/ #include<errno.h> /*错误号定义*/ #include<string.h> #include <stdio.h> #include <string.h> #include <stdlib.h> #include <sys/types.h> #include <sys/socket.h> #include <sys/un.h> #include <arpa/inet.h> #include <netinet/in.h> #include <sys/ioctl.h> #include <signal.h> #include <sys/types.h> /* See NOTES */ #include <sys/socket.h> #include <sys/socket.h> #include <netinet/in.h> #include <arpa/inet.h> #include <stdio.h> #include <pthread.h> #define REQBUFS_COUNT 4 struct cam_buf { void *start; size_t length; }; struct v4l2_requestbuffers reqbufs; struct cam_buf bufs[REQBUFS_COUNT]; int camera_init(char *devpath, unsigned int *width, unsigned int *height, unsigned int *size, unsigned int *ismjpeg) { int i; int fd = -1;; int ret; struct v4l2_buffer vbuf; struct v4l2_format format; struct v4l2_capability capability; /*open 打开设备文件*/ if((fd = open(devpath, O_RDWR)) == -1){ perror("open:"); return -1; } /*ioctl 查看支持的驱动*/ ret = ioctl(fd, VIDIOC_QUERYCAP, &capability); if (ret == -1) { perror("camera->init"); return -1; } /*判断设备是否支持视频采集*/ if(!(capability.capabilities & V4L2_CAP_VIDEO_CAPTURE)) { fprintf(stderr, "camera->init: device can not support V4L2_CAP_VIDEO_CAPTURE\n"); close(fd); return -1; } /*判断设备是否支持视频流采集*/ if(!(capability.capabilities & V4L2_CAP_STREAMING)) { fprintf(stderr, "camera->init: device can not support V4L2_CAP_STREAMING\n"); close(fd); return -1; } /*设置捕获的视频格式 MYJPEG*/ memset(&format, 0, sizeof(format)); format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; format.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG; format.fmt.pix.width = *width; format.fmt.pix.height = *height; format.fmt.pix.field = V4L2_FIELD_ANY; ret = ioctl(fd, VIDIOC_S_FMT, &format); if(ret == -1) { perror("camera init"); return -1; } else { *ismjpeg = 0; fprintf(stdout, "camera->init: picture format is mjpeg\n"); goto get_fmt; } /*设置捕获的视频格式 YUYV*/ memset(&format, 0, sizeof(format)); format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; //永远都是这个类型 format.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV; //设置采集图片的格式 format.fmt.pix.width = *width; format.fmt.pix.height = *height; format.fmt.pix.field = V4L2_FIELD_ANY; //设置图片一行一行的采集 ret = ioctl(fd, VIDIOC_S_FMT, &format); //ioctl 是设置生效 if(ret == -1) perror("camera init"); else { fprintf(stdout, "camera->init: picture format is yuyv\n"); *ismjpeg = 1; goto get_fmt; } get_fmt: ret = ioctl(fd, VIDIOC_G_FMT, &format); if (ret == -1) { perror("camera init"); return -1; } /*向驱动申请缓存*/ memset(&reqbufs, 0, sizeof(struct v4l2_requestbuffers)); reqbufs.count = REQBUFS_COUNT; //缓存区个数 reqbufs.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; reqbufs.memory = V4L2_MEMORY_MMAP; //设置操作申请缓存的方式:映射 MMAP ret = ioctl(fd, VIDIOC_REQBUFS, &reqbufs); if (ret == -1) { perror("camera init"); close(fd); return -1; } /*循环映射并入队*/ for (i = 0; i < reqbufs.count; i++){ /*真正获取缓存的地址大小*/ memset(&vbuf, 0, sizeof(struct v4l2_buffer)); vbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; vbuf.memory = V4L2_MEMORY_MMAP; vbuf.index = i; ret = ioctl(fd, VIDIOC_QUERYBUF, &vbuf); if (ret == -1) { perror("camera init"); close(fd); return -1; } /*映射缓存到用户空间,通过mmap讲内核的缓存地址映射到用户空间,并切和文件描述符fd相关联*/ bufs[i].length = vbuf.length; bufs[i].start = mmap(NULL, vbuf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd, vbuf.m.offset); if (bufs[i].start == MAP_FAILED) { perror("camera init"); close(fd); return -1; } /*每次映射都会入队,放入缓冲队列*/ vbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; vbuf.memory = V4L2_MEMORY_MMAP; ret = ioctl(fd, VIDIOC_QBUF, &vbuf); if (ret == -1) { perror("camera init"); close(fd); return -1; } } /*返回真正设置成功的宽.高.大小*/ *width = format.fmt.pix.width; *height = format.fmt.pix.height; *size = bufs[0].length; return fd; } int camera_start(int fd) { int ret; enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; /*ioctl控制摄像头开始采集*/ ret = ioctl(fd, VIDIOC_STREAMON, &type); if (ret == -1) { perror("camera->start"); return -1; } fprintf(stdout, "camera->start: start capture\n"); return 0; } int camera_dqbuf(int fd, void **buf, unsigned int *size, unsigned int *index) { int ret; fd_set fds; struct timeval timeout; struct v4l2_buffer vbuf; while (1) { FD_ZERO(&fds); FD_SET(fd, &fds); timeout.tv_sec = 2; timeout.tv_usec = 0; ret = select(fd + 1, &fds, NULL, NULL, &timeout); //使用select机制,保证fd有图片的时候才能出对 if (ret == -1) { perror("camera->dbytesusedqbuf"); if (errno == EINTR) continue; else return -1; } else if (ret == 0) { fprintf(stderr, "camera->dqbuf: dequeue buffer timeout\n"); return -1; } else { vbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; vbuf.memory = V4L2_MEMORY_MMAP; ret = ioctl(fd, VIDIOC_DQBUF, &vbuf); //出队,也就是从用户空间取出图片 if (ret == -1) { perror("camera->dqbuf"); return -1; } *buf = bufs[vbuf.index].start; *size = vbuf.bytesused; *index = vbuf.index; return 0; } } } int camera_eqbuf(int fd, unsigned int index) { int ret; struct v4l2_buffer vbuf; vbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; vbuf.memory = V4L2_MEMORY_MMAP; vbuf.index = index; ret = ioctl(fd, VIDIOC_QBUF, &vbuf); //入队 if (ret == -1) { perror("camera->eqbuf"); return -1; } return 0; } int camera_stop(int fd) { int ret; enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE; ret = ioctl(fd, VIDIOC_STREAMOFF, &type); if (ret == -1) { perror("camera->stop"); return -1; } fprintf(stdout, "camera->stop: stop capture\n"); return 0; } int camera_exit(int fd) { int i; int ret; struct v4l2_buffer vbuf; vbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; vbuf.memory = V4L2_MEMORY_MMAP; for (i = 0; i < reqbufs.count; i++) { ret = ioctl(fd, VIDIOC_DQBUF, &vbuf); if (ret == -1) break; } for (i = 0; i < reqbufs.count; i++) munmap(bufs[i].start, bufs[i].length); fprintf(stdout, "camera->exit: camera exit\n"); return close(fd); } int main(int argc, char **argv) { if(2 != argc) { printf("Usage: %s <video>\n", argv[0]); return -1; } int i; int fd; int ret; unsigned int width; unsigned int height; unsigned int size; unsigned int index; unsigned int ismjpeg; width = 640; height = 480; //1. 打开并初始化摄像头 fd = camera_init(argv[1], &width, &height, &size, &ismjpeg); if (fd == -1) return -1; ret = camera_start(fd); if (ret == -1) return -1; //2. 采集几张图片丢弃 char *jpeg_ptr = NULL; for (i = 0; i < 8; i++) { ret = camera_dqbuf(fd, (void **)&jpeg_ptr, &size, &index); if (ret == -1) exit(EXIT_FAILURE); ret = camera_eqbuf(fd, index); if (ret == -1) exit(EXIT_FAILURE); } fprintf(stdout, "init camera success\n"); //1)申请网络功能 socket() int sockfd = socket(AF_INET, SOCK_STREAM, 0); if(-1 == sockfd) { perror("socket"); return -1; } //2服务器wait for client struct sockaddr_in serveraddr = {0}; serveraddr.sin_family = AF_INET; serveraddr.sin_addr.s_addr = inet_addr("0.0.0.0"); serveraddr.sin_port = htons(8888); int len = sizeof(serveraddr); if(-1 == bind(sockfd, (struct sockaddr*)&serveraddr, len) ) { perror("bind"); return -1; } listen(sockfd, 10); printf("wait for connect !!!!!!!!!!\n"); int clientfd = accept(sockfd, NULL, NULL); //你需要弄懂的地方 while(1) { //3. 提取�