Tham khảo tài liệu 'open-source robotics and proces control cookbook edwards l 242p newnes elsevier 2005 part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 4 memset buf 0 sizeof buf cr read lirc_fd buf 80 if cr 0 char key 16 int count char p buf key 0 0 skip serial while p p p if p p skip count count atoi p while p p p if p p if count We ignore repeat codes. You can process them if you wish. if p count 0 CON_Buf_Insert p if p count 0 if cr 0 while 1 Call this function once at program startup. It connects to the LIRC daemon and starts a subprocess that scans the incoming data stream. void Init_LIRC void AF_UNIX strcpy dev lircd lirc_fd socket AF_UNIX SOCK_STREAM 0 connect lirc_fd struct sockaddr addr sizeof addr 188 The Linux-Based Controller A Soft Task start subprocess clone Do_LlRC LlRCStack sizeof LlRCStack - 4 CLONE_VM CLONE_FILES NULL One final note about LIRC and system performance this module is only well-behaved if it is running on a real infra-red UART. If your machine lacks this hardware and you re running with one of the homebrewed adapters discussed in the LIRC documentation you will notice a significant drain on system resources. When using those simple bit-banged dongles LIRC has to measure all the mark-space timings in software which is excruciatingly CPU-intensive. Introduction to Machine Vision Using Video4Linux Acquiring Image Data from Cameras The E-2 is equipped with several low-resolution color cameras connected directly to the controlling SBC via USB. Besides providing interesting underwater pictures these cameras are used for autonomous target-seeking. In this section we ll briefly look at some of the simple machine vision concepts that I use in the E-2 project. Please note that what I m concentrating on here is how to acquire real-time images in a Linux environment that is the input side of the machine vision equation. Algorithms for analyzing image data like this are explained in thick dry and generally rather expensive books that you are welcome to acquire and study separately. Here I m primarily offering you the acquisition infrastructure you .
