Merge branch 'icam_app-communication'

* icam_app-communication:
  コマンド体系整理

Author: mnakada

configs/overlay_rootfs/scripts/motor_init

@@ -1,9 +1,8 @@
 #!/bin/sh
 
-# getpos -> <pan(deg)> <tilt(deg)>
-pos=`/scripts/cmd getpos`
-
-# setpos <pan(0-355 deg)> <tilt(0-180 deg)> <pri 0:top, 1:high, 2:normal, 3:weak>
-/scripts/cmd setpos 0 0 1
-/scripts/cmd setpos 355 180 1
-/scripts/cmd setpos $pos 1
+# move [<pan(0-355 deg)> <tilt(0-180 deg)> [<pri 0:top, 1:high, 2:normal, 3:weak>]]
+# move -> <pan(deg)> <tilt(deg)>
+pos=`/scripts/cmd move`
+/scripts/cmd move 0 0 1
+/scripts/cmd move 355 180 1
+/scripts/cmd move $pos 1

libcallback/audio_callback.c

@@ -22,7 +22,7 @@ static int AudioCaptureEnable = 0;
 char *AudioCapture(int fd, char *tokenPtr) {
 
   char *p = strtok_r(NULL, " \t\r\n", &tokenPtr);
-  if(!p) return "error";
+  if(!p) return AudioCaptureEnable ? "on" : "off";
   if(!strcmp(p, "on")) {
     AudioCaptureEnable = 1;
     fprintf(stderr, "[command] audio capute on\n", p);

libcallback/command.c

@@ -17,8 +17,7 @@ static int SelfPipe[2];
 extern char *JpegCapture(int fd, char *tokenPtr);
 extern char *VideoCapture(int fd, char *tokenPtr);
 extern char *AudioCapture(int fd, char *tokenPtr);
-extern char *MotorGetPos(int fd, char *tokenPtr);
-extern char *MotorSetPos(int fd, char *tokenPtr);
+extern char *MotorMove(int fd, char *tokenPtr);
 
 struct CommandTableSt {
   const char *cmd;
@@ -29,8 +28,7 @@ struct CommandTableSt CommandTable[] = {
   { "video",  &VideoCapture },
   { "audio",  &AudioCapture },
   { "jpeg",   &JpegCapture },
-  { "getpos", &MotorGetPos },
-  { "setpos", &MotorSetPos },
+  { "move",   &MotorMove },
 };
 
 void CommandResponse(int fd, const char *res) {

libcallback/motor.c

@@ -7,16 +7,6 @@ extern int local_sdk_motor_get_position(float *step,float *angle);
 extern int local_sdk_motor_move_abs_angle(float pan, float tilt, int speed, void (*done)(float a, float b), void (*canceled)(void), int mode);
 extern void CommandResponse(int fd, const char *res);
 
-char *MotorGetPos(int fd, char *tokenPtr) {
-
-  float pan; // 0-355
-  float tilt; // 0-180
-  int ret = local_sdk_motor_get_position(&pan, &tilt);
-  static char motorResBuf[256];
-  sprintf(motorResBuf, "%f %f\n", pan, tilt);
-  return motorResBuf;
-}
-
 static int motorFd = 0;
 static void motor_move_done(float a, float b) {
 
@@ -30,10 +20,17 @@ static void motor_move_canceled() {
   motorFd = 0;
 }
 
-char *MotorSetPos(int fd, char *tokenPtr) {
+char *MotorMove(int fd, char *tokenPtr) {
 
   char *p = strtok_r(NULL, " \t\r\n", &tokenPtr);
-  if(!p) return "error";
+  if(!p) {
+    float pan; // 0-355
+    float tilt; // 0-180
+    int ret = local_sdk_motor_get_position(&pan, &tilt);
+    static char motorResBuf[256];
+    sprintf(motorResBuf, "%f %f\n", pan, tilt);
+    return motorResBuf;
+  }
   float pan = atof(p); // 0-355
   if((pan < 0.0) || (pan > 355.0)) return "error";
 

libcallback/video_callback.c

@@ -26,7 +26,7 @@ static int VideoCaptureEnable = 0;
 char *VideoCapture(int fd, char *tokenPtr) {
 
   char *p = strtok_r(NULL, " \t\r\n", &tokenPtr);
-  if(!p) return "error";
+  if(!p) return VideoCaptureEnable ? "on" : "off";
   if(!strcmp(p, "on")) {
     VideoCaptureEnable = 1;
     fprintf(stderr, "[command] video capute on\n", p);