mirror of
https://github.com/gtxaspec/wz_mini_hacks.git
synced 2024-12-23 12:43:35 +00:00
112 lines
3.5 KiB
C
112 lines
3.5 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <dlfcn.h>
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#include <string.h>
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#include <sys/time.h>
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#include <pthread.h>
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#include <errno.h>
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#include <math.h>
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extern void CommandResponse(int fd, const char *res);
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extern int local_sdk_motor_get_position(float *step,float *angle);
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extern int MotorFd;
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extern struct timeval MotorLastMovedTime;
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struct RectInfoSt {
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int left;
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int right;
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int top;
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int bottom;
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int dummy1;
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int dummt2;
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};
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static int (*original_local_sdk_video_osd_update_rect)(int ch, int display, struct RectInfoSt *rectInfo);
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static int WaitMotionFd = -1;
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static int Timeout = -1;
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static pthread_mutex_t WaitMotionMutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_cond_t WaitMotionCond = PTHREAD_COND_INITIALIZER;
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char *WaitMotion(int fd, char *tokenPtr) {
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if(WaitMotionFd >= 0) {
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fprintf(stderr, "[command] wait motion error %d %d\n", WaitMotionFd, fd);
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return "error : wait motion error";
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}
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char *p = strtok_r(NULL, " \t\r\n", &tokenPtr);
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Timeout = p ? atoi(p) : 0;
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if(Timeout < 10) {
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fprintf(stderr, "[command] wait motion timeout error timeout = %d\n", Timeout);
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return "error : wait motion timeout value error";
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}
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WaitMotionFd = fd;
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pthread_mutex_unlock(&WaitMotionMutex);
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return NULL;
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}
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int local_sdk_video_osd_update_rect(int ch, int display, struct RectInfoSt *rectInfo) {
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if((WaitMotionFd >= 0) && (MotorFd <= 0) && !ch) {
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struct timeval tv;
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gettimeofday(&tv, NULL);
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timersub(&tv, &MotorLastMovedTime, &tv);
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if(tv.tv_sec || (tv.tv_usec >= 500000)) {
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if(display) {
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float pan; // 0-355
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float tilt; // 0-180
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int ret = local_sdk_motor_get_position(&pan, &tilt);
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static char waitMotionResBuf[256];
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if(!ret) {
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pan += (rectInfo->left + rectInfo->right - 320 * 2) * 85 / (2 * 640);
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if(pan < 0.0) pan = 0.0;
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if(pan > 355.0) pan = 355;
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tilt -= (rectInfo->top + rectInfo->bottom - 180 * 2) * 55 / (2 * 360);
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if(tilt < 45.0) tilt = 45.0;
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if(tilt > 180.0) tilt = 180.0;
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sprintf(waitMotionResBuf, "detect %d %d %d %d %d %d\n",
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rectInfo->left, rectInfo->right, rectInfo->top, rectInfo->bottom, lroundf(pan), lroundf(tilt));
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} else {
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sprintf(waitMotionResBuf, "detect %d %d %d %d - -\n",
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rectInfo->left, rectInfo->right, rectInfo->top, rectInfo->bottom);
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}
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CommandResponse(WaitMotionFd, waitMotionResBuf);
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} else {
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CommandResponse(WaitMotionFd, "clear\n");
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}
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pthread_cond_signal(&WaitMotionCond);
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}
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}
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return original_local_sdk_video_osd_update_rect(ch, display, rectInfo);
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}
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static void *WaitMotionThread() {
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while(1) {
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pthread_mutex_lock(&WaitMotionMutex);
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if(WaitMotionFd >= 0) {
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struct timeval now;
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struct timespec timeout;
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gettimeofday(&now, NULL);
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timeout.tv_sec = now.tv_sec + Timeout;
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timeout.tv_nsec = now.tv_usec * 1000;
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int ret = pthread_cond_timedwait(&WaitMotionCond, &WaitMotionMutex, &timeout);
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if(ret == ETIMEDOUT) CommandResponse(WaitMotionFd, "timeout\n");
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}
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WaitMotionFd = -1;
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}
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}
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static void __attribute ((constructor)) osd_rect_hook_init(void) {
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original_local_sdk_video_osd_update_rect = dlsym(dlopen ("/system/lib/liblocalsdk.so", RTLD_LAZY), "local_sdk_video_osd_update_rect");
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pthread_mutex_lock(&WaitMotionMutex);
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pthread_t thread;
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if(pthread_create(&thread, NULL, WaitMotionThread, NULL)) {
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fprintf(stderr, "pthread_create error\n");
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pthread_mutex_unlock(&WaitMotionMutex);
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return;
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}
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}
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