mirror of
https://github.com/gtxaspec/wz_mini_hacks.git
synced 2024-11-22 13:37:19 +00:00
112 lines
3.5 KiB
C
112 lines
3.5 KiB
C
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <dlfcn.h>
|
|
#include <string.h>
|
|
#include <sys/time.h>
|
|
#include <pthread.h>
|
|
#include <errno.h>
|
|
#include <math.h>
|
|
|
|
extern void CommandResponse(int fd, const char *res);
|
|
extern int local_sdk_motor_get_position(float *step,float *angle);
|
|
extern int MotorFd;
|
|
extern struct timeval MotorLastMovedTime;
|
|
|
|
struct RectInfoSt {
|
|
int left;
|
|
int right;
|
|
int top;
|
|
int bottom;
|
|
int dummy1;
|
|
int dummt2;
|
|
};
|
|
|
|
static int (*original_local_sdk_video_osd_update_rect)(int ch, int display, struct RectInfoSt *rectInfo);
|
|
static int WaitMotionFd = -1;
|
|
static int Timeout = -1;
|
|
static pthread_mutex_t WaitMotionMutex = PTHREAD_MUTEX_INITIALIZER;
|
|
static pthread_cond_t WaitMotionCond = PTHREAD_COND_INITIALIZER;
|
|
|
|
char *WaitMotion(int fd, char *tokenPtr) {
|
|
|
|
if(WaitMotionFd >= 0) {
|
|
fprintf(stderr, "[command] wait motion error %d %d\n", WaitMotionFd, fd);
|
|
return "error : wait motion error";
|
|
}
|
|
char *p = strtok_r(NULL, " \t\r\n", &tokenPtr);
|
|
Timeout = p ? atoi(p) : 0;
|
|
if(Timeout < 10) {
|
|
fprintf(stderr, "[command] wait motion timeout error timeout = %d\n", Timeout);
|
|
return "error : wait motion timeout value error";
|
|
}
|
|
|
|
WaitMotionFd = fd;
|
|
pthread_mutex_unlock(&WaitMotionMutex);
|
|
return NULL;
|
|
}
|
|
|
|
int local_sdk_video_osd_update_rect(int ch, int display, struct RectInfoSt *rectInfo) {
|
|
|
|
if((WaitMotionFd >= 0) && (MotorFd <= 0) && !ch) {
|
|
struct timeval tv;
|
|
gettimeofday(&tv, NULL);
|
|
timersub(&tv, &MotorLastMovedTime, &tv);
|
|
if(tv.tv_sec || (tv.tv_usec >= 500000)) {
|
|
if(display) {
|
|
float pan; // 0-355
|
|
float tilt; // 0-180
|
|
int ret = local_sdk_motor_get_position(&pan, &tilt);
|
|
static char waitMotionResBuf[256];
|
|
if(!ret) {
|
|
pan += (rectInfo->left + rectInfo->right - 320 * 2) * 85 / (2 * 640);
|
|
if(pan < 0.0) pan = 0.0;
|
|
if(pan > 355.0) pan = 355;
|
|
tilt -= (rectInfo->top + rectInfo->bottom - 180 * 2) * 55 / (2 * 360);
|
|
if(tilt < 45.0) tilt = 45.0;
|
|
if(tilt > 180.0) tilt = 180.0;
|
|
sprintf(waitMotionResBuf, "detect %d %d %d %d %d %d\n",
|
|
rectInfo->left, rectInfo->right, rectInfo->top, rectInfo->bottom, lroundf(pan), lroundf(tilt));
|
|
} else {
|
|
sprintf(waitMotionResBuf, "detect %d %d %d %d - -\n",
|
|
rectInfo->left, rectInfo->right, rectInfo->top, rectInfo->bottom);
|
|
}
|
|
CommandResponse(WaitMotionFd, waitMotionResBuf);
|
|
} else {
|
|
CommandResponse(WaitMotionFd, "clear\n");
|
|
}
|
|
pthread_cond_signal(&WaitMotionCond);
|
|
}
|
|
}
|
|
return original_local_sdk_video_osd_update_rect(ch, display, rectInfo);
|
|
}
|
|
|
|
static void *WaitMotionThread() {
|
|
|
|
while(1) {
|
|
pthread_mutex_lock(&WaitMotionMutex);
|
|
if(WaitMotionFd >= 0) {
|
|
struct timeval now;
|
|
struct timespec timeout;
|
|
gettimeofday(&now, NULL);
|
|
timeout.tv_sec = now.tv_sec + Timeout;
|
|
timeout.tv_nsec = now.tv_usec * 1000;
|
|
int ret = pthread_cond_timedwait(&WaitMotionCond, &WaitMotionMutex, &timeout);
|
|
if(ret == ETIMEDOUT) CommandResponse(WaitMotionFd, "timeout\n");
|
|
}
|
|
WaitMotionFd = -1;
|
|
}
|
|
}
|
|
|
|
static void __attribute ((constructor)) osd_rect_hook_init(void) {
|
|
|
|
original_local_sdk_video_osd_update_rect = dlsym(dlopen ("/system/lib/liblocalsdk.so", RTLD_LAZY), "local_sdk_video_osd_update_rect");
|
|
|
|
pthread_mutex_lock(&WaitMotionMutex);
|
|
pthread_t thread;
|
|
if(pthread_create(&thread, NULL, WaitMotionThread, NULL)) {
|
|
fprintf(stderr, "pthread_create error\n");
|
|
pthread_mutex_unlock(&WaitMotionMutex);
|
|
return;
|
|
}
|
|
}
|