134 lines
3.1 KiB
C
134 lines
3.1 KiB
C
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#include <stdio.h>
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#include <ctype.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include "strfunc.h"
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#include "piris.h"
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int main(int argc , char* argv[])
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{
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int fd = -1;
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int ret = 0;
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unsigned int piris_pos;
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PIRIS_STATUS_E sta;
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int step = 0;
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int toclose = 0;
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int i = 0;
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unsigned int TestSample = 0;
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if (argc < 2)
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{
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printf("usage: %s \n <cmd(a: action, o: origin, s: status, t: test IRIS sample)> \n <pos> . \n sample: %s a 92\n", argv[0], argv[0]);
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return -1;
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}
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fd = open("/dev/piris", 0);
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if (fd < 0)
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{
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printf("Open piris error!\n");
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return -1;
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}
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if (*argv[1] == 'a')
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{
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if (StrToNumber(argv[2], (unsigned int*)&piris_pos))
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{
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close(fd);
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return 0;
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}
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ret = ioctl(fd, PIRIS_SET_ACT_ARGS, &piris_pos);
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}
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else if (*argv[1] == 'o')
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{
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ret = ioctl(fd, PIRIS_SET_ORGIN, &piris_pos);
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}
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else if (*argv[1] == 's')
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{
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ret = ioctl(fd, PIRIS_GET_STATUS, &sta);
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if (sta == PIRIS_BUSY)
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{
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printf("piris running!!!\n");
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}
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else
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{
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printf("piris idle!!\n");
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}
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}
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else if (*argv[1] == 't')
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{
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if (StrToNumber(argv[2], (unsigned int*)&TestSample))
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{
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close(fd);
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return 0;
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}
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switch (TestSample)
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{
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case 0:
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i = 0;
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step = 0;
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toclose = 0;
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while (i < 10000)
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{
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ioctl(fd, PIRIS_GET_STATUS, &sta);
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if (sta != PIRIS_BUSY)
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{
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if (toclose == 1)
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{
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step = 92;
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toclose = 0;
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}
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else
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{
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step = 0;
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toclose = 1;
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}
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piris_pos = step;
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ioctl(fd, PIRIS_SET_ACT_ARGS, &piris_pos);
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i++;
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}
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}
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break;
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case 1:
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step = 0;
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toclose = 0;
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while (step != 92)
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{
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ioctl(fd, PIRIS_GET_STATUS, &sta);
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if (sta != PIRIS_BUSY)
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{
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if (toclose == 1)
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{
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step -= 19;
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toclose = 0;
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}
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else
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{
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step += 20;
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toclose = 1;
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}
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piris_pos = step;
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ioctl(fd, PIRIS_SET_ACT_ARGS, &piris_pos);
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}
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}
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break;
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default:
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break;
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}
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}
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close(fd);
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return ret;
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}
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