#include	<sys/types.h>

#include	<sys/stat.h>

#include	<sys/param.h>

#include	<limits.h>

#include	<stdio.h>

#include	<stdlib.h>

#include	<unistd.h>

#include	<sys/select.h>

#include 	<arpa/inet.h>

#include	<time.h>

#include	<fcntl.h>

#include	<errno.h>

#include	<unistd.h>

#include	<ctype.h>

#include	<stdarg.h>

#include	<string.h>



#include	<sched.h>

#include	<pthread.h>

#include	<semaphore.h>

#include    <net/if.h> 

#include    <net/if_arp.h>

#include    <sys/ioctl.h>

#include	<sys/types.h>

#include	<sys/socket.h>

#include	<netinet/in.h>

#include	<netdb.h>

#include	<poll.h>



#define CAM_VISCA_UDP		// use udp

//#define CAM_VISCA_TCP		// use tcp



#define CAM_IPADDRESS	"192.168.5.163"

#define CAM_VISCA_PORT	1259



static int       s_thread_run    = 0;

static pthread_t s_thread_handle = 0;

static unsigned long s_cam_ipaddr = 0;

static int s_socket_fd = -1;



static int socket_nonblock(int socket, int enable)

{

    if (enable)

        return fcntl(socket, F_SETFL, fcntl(socket, F_GETFL) | O_NONBLOCK);

    else

        return fcntl(socket, F_SETFL, fcntl(socket, F_GETFL) & ~O_NONBLOCK);

}



static long url_getipaddress(const char *insrc)

{

	unsigned long bRet = INADDR_NONE;

	struct hostent *hostname = NULL;

	

	bRet = inet_addr(insrc);

	if(bRet == INADDR_NONE)

	{

		hostname = gethostbyname(insrc);

		if(hostname)

		{

			bRet = *((unsigned long*)hostname->h_addr);

		}

	}

	return (long)bRet;

}



static int create_socket(void)

{

	int fd = -1;

	struct sockaddr_in sockAddr;

#if defined(CAM_VISCA_TCP)

	int iRet;

	fd_set write_set;

	struct timeval tv;

	fd = socket(AF_INET, SOCK_STREAM, 0);

	socket_nonblock(fd, 1);

	memset(&sockAddr, 0, sizeof(sockAddr));

	sockAddr.sin_family	  = AF_INET;

	sockAddr.sin_addr.s_addr = s_cam_ipaddr;

	sockAddr.sin_port = htons(CAM_VISCA_PORT);

	iRet = connect(fd, (struct sockaddr*)&sockAddr, sizeof(sockAddr));

	FD_ZERO(&write_set);

	FD_SET(fd, &write_set);

	tv.tv_sec  = 2;

	tv.tv_usec = 0;

	iRet = select(fd + 1, NULL, &write_set, NULL, &tv);

	if(iRet != 1 || !FD_ISSET(fd, &write_set))

	{

		printf("connect %s failed\n", CAM_IPADDRESS);

		close(fd);

		return -1;

	}

#elif defined(CAM_VISCA_UDP)

	fd = socket(AF_INET, SOCK_DGRAM, 0);

	memset(&sockAddr, 0, sizeof(sockAddr));

	sockAddr.sin_family	  = AF_INET;

	sockAddr.sin_addr.s_addr = htonl(INADDR_ANY);

	sockAddr.sin_port = htons(8889);

	if(bind(fd, (struct sockaddr*)&sockAddr, sizeof(sockAddr)) < 0)

	{

		printf("bind port failed\n");

		close(fd);

		return -1;

	}

#else

	#error "error for not define type"

#endif//CAM_VISCA_TCP



	return fd;

}



static void thread_recv(void)

{

	int i, iRet;

	struct timeval tv;

	fd_set read_set;

	unsigned char byBuffer[256];

	while(s_thread_run)

	{

		FD_ZERO(&read_set);

		FD_SET(s_socket_fd, &read_set);

		tv.tv_sec  = 1;

		tv.tv_usec = 0;

		iRet = select(s_socket_fd + 1, &read_set, NULL, NULL, &tv);

		if(iRet <= 0)

			continue;

		iRet = recv(s_socket_fd, (char*)byBuffer, sizeof(byBuffer), 0);

		if(iRet <= 0)

			continue;

		for(i=0; i<iRet; i++)

		{

			printf("%02X ", byBuffer[i]);

		}

		printf("\n");

	}

}

static int socked_send_cmd(unsigned char *pBuffer, int nLen)

{

	int iRet = 0;

#if defined(CAM_VISCA_UDP)

	struct sockaddr_in dest_addr;

	memset(&dest_addr, 0, sizeof(dest_addr));

	dest_addr.sin_family = AF_INET;

	dest_addr.sin_addr.s_addr = s_cam_ipaddr;

	dest_addr.sin_port = htons(CAM_VISCA_PORT);

	iRet = sendto(s_socket_fd, pBuffer, nLen, 0, (struct sockaddr*)&dest_addr, sizeof(dest_addr));

#elif defined(CAM_VISCA_TCP)

	iRet = send(s_socket_fd, pBuffer, nLen, 0);

#endif//CAM_VISCA_UDP

	return iRet == nLen ? 0 : -1;

}



static unsigned char s_PTDriveCmd[]   = {0x81, 0x01, 0x06, 0x01, 0x18, 0x14, 0x03, 0x01, 0xFF};

static unsigned char s_ZoomDriveCmd[] = {0x81, 0x01, 0x04, 0x07, 0x00, 0xFF};

int main(int argc, char *argv[])

{

	int nPTZMoveType = 0; // 1 - PT, 2 - Zoom

	s_cam_ipaddr = url_getipaddress(CAM_IPADDRESS);

	s_socket_fd  = create_socket();

	if(s_socket_fd == -1)

	{

		exit(-1);

		return 0;

	}

	s_thread_run = 1;

	pthread_create(&s_thread_handle, NULL, (void*)thread_recv, NULL);

	printf("net_visca run...\n");

	while(1)

	{

		char cc = getchar();

		if(cc == 'q')

			break;

		else if(cc == 'l')

		{

			// left

			nPTZMoveType = 1;

			s_PTDriveCmd[6] = 0x01;

			s_PTDriveCmd[7] = 0x03;

			socked_send_cmd(s_PTDriveCmd, sizeof(s_PTDriveCmd));

		}

		else if(cc == 'r')

		{

			// right

			nPTZMoveType = 1;

			s_PTDriveCmd[6] = 0x02;

			s_PTDriveCmd[7] = 0x01;

			socked_send_cmd(s_PTDriveCmd, sizeof(s_PTDriveCmd));

		}

		else if(cc == 'u')

		{

			// up

			nPTZMoveType = 1;

			s_PTDriveCmd[6] = 0x03;

			s_PTDriveCmd[7] = 0x01;

			socked_send_cmd(s_PTDriveCmd, sizeof(s_PTDriveCmd));

		}

		else if(cc == 'd')

		{

			// down

			nPTZMoveType = 1;

			s_PTDriveCmd[6] = 0x03;

			s_PTDriveCmd[7] = 0x02;

			socked_send_cmd(s_PTDriveCmd, sizeof(s_PTDriveCmd));

		}

		else if(cc == 'w')

		{

			// zoom wide

			nPTZMoveType = 2;

			s_ZoomDriveCmd[4] = 0x03;

			socked_send_cmd(s_ZoomDriveCmd, sizeof(s_ZoomDriveCmd));

		}

		else if(cc == 't')

		{

			// zoom tele

			nPTZMoveType = 2;

			s_ZoomDriveCmd[4] = 0x02;

			socked_send_cmd(s_ZoomDriveCmd, sizeof(s_ZoomDriveCmd));

		}

		else if(cc == 's')

		{

			// stop

			if(nPTZMoveType == 1)

			{

				s_PTDriveCmd[6] = 0x03;

				s_PTDriveCmd[7] = 0x03;

				socked_send_cmd(s_PTDriveCmd, sizeof(s_PTDriveCmd));

			}

			else if(nPTZMoveType == 2)

			{

				s_ZoomDriveCmd[4] = 0x00;

				socked_send_cmd(s_ZoomDriveCmd, sizeof(s_ZoomDriveCmd));

			}

			nPTZMoveType = 0;

		}

	}

	s_thread_run = 0;

	pthread_join(s_thread_handle, NULL);

	close(s_socket_fd);

	return 0;

}