discover.cpp

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// Author: Blaise Gassend

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <string>
#include <vector>

#include <net/if.h>

#include "wge100_camera/wge100lib.h"
#include "wge100_camera/host_netutil.h"

int discover(const std::string &if_name, bool verbose, bool report_rp_filter)
{
  // Create a new IpCamList to hold the camera list
  IpCamList camList;
  wge100CamListInit(&camList);

  // Set anti-spoofing filter off on camera interface. Needed to prevent
  // the first reply from the camera from being filtered out.
  // @todo Should we be setting rp_filter to zero here? This may violate
  // the user's secutity preferences?
//  std::string rp_str = "sysctl net.ipv4.conf."+if_name+".rp_filter|grep -q 0||sysctl -q -w net.ipv4.conf."+if_name+".rp_filter=0 2> /dev/null";
//  int retval = system(rp_str.c_str());
//  if ((retval == -1 || !WIFEXITED(retval) || WEXITSTATUS(retval)) && report_rp_filter)
//  {
//    fprintf(stderr, "Unable to set rp_filter to 0 on interface %s. Camera discovery is likely to fail.\n", if_name.c_str());
//  }

  // Discover any connected cameras, wait for 0.5 second for replies
  if( wge100Discover(if_name.c_str(), &camList, NULL, SEC_TO_USEC(0.5)) == -1) {
    if (verbose)
      fprintf(stderr, "Discover error on interface %s.\n", if_name.c_str());
    return -1;
  }

  if (wge100CamListNumEntries(&camList) == 0) {
    if (verbose)
      fprintf(stderr, "No cameras found on interface %s\n", if_name.c_str());
    return 1;
  }

  for (int i = 0; i < wge100CamListNumEntries(&camList); i++)
  {
    IpCamList *camera = wge100CamListGetEntry(&camList, i);
    uint8_t *mac = camera->mac;
    uint8_t *ip = (uint8_t *) &camera->ip;
    char pcb_rev = 0x0A + (0x0000000F & camera->hw_version);
    int hdl_rev = 0x00000FFF & (camera->hw_version>>4);
    printf("Found camera serial://%u ", camera->serial);
    if (camera->cam_name[0])
      printf("name://%s ", camera->cam_name);
    else
      printf("<unnamed> ");
    printf("MAC: %02x:%02x:%02x:%02x:%02x:%02x iface: %s current IP: %i.%i.%i.%i, PCB rev: %X HDL rev: %3X FW rev: %3X\n", 
        mac[0], mac[1], mac[2], mac[3], mac[4], mac[5], camera->ifName, ip[0], ip[1], ip[2], ip[3], 
        pcb_rev, hdl_rev, camera->fw_version);
  }

  return 0;
}

int main(int argc, char **argv)
{
  if (argc > 1 && !strcmp(argv[1], "--help"))
  {} // We want usage.
  if (argc == 2)
    return discover(argv[1], true, true);
  else if (argc == 1)
    return discover("", true, true);
    
  fprintf(stderr, "usage: discover [<interface>]\n");
  return 1;
}