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nuclear@2
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1 #include <stdio.h>
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nuclear@2
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2 #include <stdlib.h>
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nuclear@2
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3 #include <string.h>
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nuclear@2
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4 #include <errno.h>
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nuclear@2
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5 #include <signal.h>
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nuclear@2
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6 #include <pthread.h>
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nuclear@2
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7 #include <wcam.h>
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nuclear@2
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8 #include "srv.h"
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nuclear@2
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9
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nuclear@2
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10 void *frame_proc(void *arg);
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nuclear@2
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11 int save_image(const char *fname, unsigned char *pixels, int xsz, int ysz);
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nuclear@2
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12 void sighandler(int s);
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nuclear@4
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13 int parse_args(int argc, char **argv);
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nuclear@2
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14
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nuclear@4
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15 const char *devfile = "/dev/video0";
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nuclear@4
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16 int fd = -1;
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nuclear@4
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17 int port = 2828;
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nuclear@7
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18 int width = 320;
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nuclear@7
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19 int height = 240;
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nuclear@7
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20 int framerate = 15;
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nuclear@2
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21 unsigned char *frame;
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nuclear@2
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22 int done;
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nuclear@2
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23 int frame_available;
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nuclear@2
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24 pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
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nuclear@2
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25 pthread_cond_t condvar = PTHREAD_COND_INITIALIZER;
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nuclear@2
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26
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nuclear@2
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27 int main(int argc, char **argv)
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nuclear@2
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28 {
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nuclear@2
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29 pthread_t thread;
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30
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nuclear@4
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31 if(parse_args(argc, argv) == -1) {
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nuclear@4
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32 return 1;
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nuclear@2
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33 }
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nuclear@2
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34
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nuclear@2
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35 signal(SIGINT, sighandler);
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nuclear@2
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36 signal(SIGQUIT, sighandler);
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nuclear@2
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37 signal(SIGSEGV, sighandler);
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nuclear@2
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38
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nuclear@4
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39 if(srv_init(port) == -1) {
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nuclear@2
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40 return 1;
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nuclear@2
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41 }
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nuclear@2
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42
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nuclear@2
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43 if(!(frame = malloc(width * height * 4))) {
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nuclear@2
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44 perror("failed to allocate frame");
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nuclear@2
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45 return 1;
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nuclear@2
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46 }
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nuclear@4
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47 if(devfile) {
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nuclear@4
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48 if((fd = wcam_open(devfile, width, height, framerate)) == -1) {
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nuclear@4
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49 fprintf(stderr, "failed to open video device: %s\n", devfile);
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nuclear@4
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50 return 1;
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nuclear@4
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51 }
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nuclear@4
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52 wcam_start(fd);
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nuclear@4
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53 } else {
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nuclear@4
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54 int i, j;
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nuclear@4
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55 unsigned char *pptr = frame;
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nuclear@4
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56 for(i=0; i<height; i++) {
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nuclear@4
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57 for(j=0; j<width; j++) {
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nuclear@4
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58 int p = (i ^ j) & 0xff;
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nuclear@4
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59 pptr[0] = p;
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nuclear@4
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60 pptr[1] = p << 1;
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nuclear@4
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61 pptr[2] = p << 2;
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nuclear@4
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62 pptr[3] = 255;
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nuclear@4
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63 pptr += 4;
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nuclear@4
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64 }
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nuclear@4
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65 }
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nuclear@4
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66 printf("serving test pattern\n");
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nuclear@2
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67 }
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nuclear@2
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68
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nuclear@2
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69 if(pthread_create(&thread, 0, frame_proc, 0) == -1) {
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nuclear@2
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70 fprintf(stderr, "failed to create frame processing thread\n");
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nuclear@2
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71 return 1;
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nuclear@2
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72 }
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nuclear@2
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73
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nuclear@2
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74 while(!done) {
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nuclear@2
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75 int i, res;
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nuclear@2
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76 int *sock = srv_sockets();
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nuclear@2
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77 int num_sockets = srv_num_sockets();
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nuclear@2
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78 int maxfd = srv_max_socket();
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nuclear@2
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79 fd_set rdset;
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nuclear@2
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80
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nuclear@4
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81 FD_ZERO(&rdset);
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nuclear@2
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82
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nuclear@4
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83 if(fd != -1) {
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nuclear@4
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84 if(fd > maxfd) maxfd = fd;
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nuclear@4
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85 FD_SET(fd, &rdset);
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nuclear@4
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86 }
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nuclear@2
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87
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nuclear@2
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88 for(i=0; i<num_sockets; i++) {
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nuclear@2
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89 FD_SET(sock[i], &rdset);
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nuclear@2
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90 }
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nuclear@2
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91
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nuclear@4
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92 while((res = select(maxfd + 1, &rdset, 0, 0, 0)) == -1 &&
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nuclear@4
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93 errno == EINTR && !done);
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nuclear@4
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94 if(done) break;
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nuclear@2
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95 if(res == -1) {
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nuclear@2
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96 fprintf(stderr, "unexpected failure while waiting for I/O\n");
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nuclear@2
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97 break;
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nuclear@2
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98 }
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nuclear@2
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99
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nuclear@4
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100 if(fd != -1 && FD_ISSET(fd, &rdset)) {
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nuclear@2
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101 wcam_wait(fd);
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nuclear@2
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102 pthread_mutex_lock(&mutex);
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nuclear@2
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103 frame_available = 1;
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nuclear@2
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104 pthread_mutex_unlock(&mutex);
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nuclear@2
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105 pthread_cond_signal(&condvar);
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nuclear@2
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106 }
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nuclear@2
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107
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nuclear@2
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108 for(i=0; i<num_sockets; i++) {
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nuclear@2
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109 if(FD_ISSET(sock[i], &rdset)) {
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nuclear@2
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110 srv_handle(sock[i]);
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nuclear@5
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111 if(fd == -1) {
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nuclear@5
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112 pthread_mutex_lock(&mutex);
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nuclear@5
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113 frame_available = 1;
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nuclear@5
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114 pthread_mutex_unlock(&mutex);
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nuclear@5
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115 pthread_cond_signal(&condvar);
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nuclear@5
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116 }
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nuclear@2
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117 }
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nuclear@2
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118 }
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nuclear@2
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119 }
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nuclear@2
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120
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nuclear@2
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121 frame_available = 1;
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nuclear@2
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122 pthread_cond_signal(&condvar);
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nuclear@2
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123 pthread_join(thread, 0);
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nuclear@2
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124 free(frame);
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nuclear@4
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125 if(fd != -1) {
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nuclear@4
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126 wcam_stop(fd);
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nuclear@4
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127 wcam_close(fd);
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nuclear@4
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128 }
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nuclear@2
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129 return 0;
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nuclear@2
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130 }
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nuclear@2
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131
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nuclear@2
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132 void *frame_proc(void *arg)
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nuclear@2
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133 {
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nuclear@2
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134 for(;;) {
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nuclear@2
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135 pthread_mutex_lock(&mutex);
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nuclear@2
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136 while(!frame_available) {
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nuclear@2
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137 pthread_cond_wait(&condvar, &mutex);
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nuclear@2
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138 }
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nuclear@2
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139 frame_available = 0;
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nuclear@2
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140 pthread_mutex_unlock(&mutex);
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nuclear@2
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141
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nuclear@2
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142 if(done) break;
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nuclear@2
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143
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nuclear@4
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144 if(fd != -1) {
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nuclear@4
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145 wcam_read_frame_rgb(fd, frame);
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nuclear@5
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146 /*save_image("output.ppm", frame, width, height);*/
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nuclear@4
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147 }
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nuclear@5
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148 srv_send_frame(frame, width, height);
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nuclear@2
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149 }
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nuclear@2
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150 return 0;
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nuclear@2
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151 }
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nuclear@2
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152
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nuclear@2
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153 int save_image(const char *fname, unsigned char *pixels, int xsz, int ysz)
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nuclear@2
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154 {
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nuclear@2
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155 int i, num_pixels = xsz * ysz;
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nuclear@2
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156 FILE *fp = fopen(fname, "wb");
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nuclear@2
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157 if(!fp) return -1;
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nuclear@2
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158
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nuclear@2
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159 fprintf(fp, "P6\n%d %d\n255\n", xsz, ysz);
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nuclear@2
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160 for(i=0; i<num_pixels; i++) {
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nuclear@2
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161 fputc(*pixels++, fp);
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nuclear@2
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162 fputc(*pixels++, fp);
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nuclear@2
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163 fputc(*pixels++, fp);
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nuclear@2
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164 ++pixels;
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nuclear@2
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165 }
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nuclear@2
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166 fclose(fp);
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nuclear@2
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167 return 0;
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nuclear@2
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168 }
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nuclear@2
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169
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nuclear@2
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170 void sighandler(int s)
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nuclear@2
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171 {
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nuclear@2
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172 done = 1;
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nuclear@2
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173 }
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nuclear@4
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174
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nuclear@4
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175 void print_usage(const char *argv0)
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nuclear@4
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176 {
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nuclear@4
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177 printf("Usage: %s [options]\n", argv0);
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nuclear@4
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178 printf("options:\n");
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nuclear@4
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179 printf(" -s,-size <WxH>\n");
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nuclear@4
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180 printf(" -f,-fps <framerate>\n");
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nuclear@4
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181 printf(" -d,-device <devfile>\n");
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nuclear@4
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182 printf(" -p,-port <port>\n");
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nuclear@4
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183 printf(" -novideo\n");
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nuclear@4
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184 printf(" -h,-help\n");
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nuclear@4
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185 }
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nuclear@4
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186
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nuclear@4
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187 int parse_args(int argc, char **argv)
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nuclear@4
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188 {
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nuclear@4
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189 int i;
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nuclear@4
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190
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nuclear@4
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191 for(i=1; i<argc; i++) {
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nuclear@4
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192 if(argv[i][0] == '-') {
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nuclear@4
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193 if(strcmp(argv[i], "-s") == 0 || strcmp(argv[i], "-size") == 0) {
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nuclear@4
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194 if(sscanf(argv[++i], "%dx%d", &width, &height) != 2) {
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nuclear@4
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195 fprintf(stderr, "invalid size specified: %s\n", argv[i - 1]);
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nuclear@4
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196 return -1;
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nuclear@4
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197 }
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nuclear@4
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198 } else if(strcmp(argv[i], "-f") == 0 || strcmp(argv[i], "-fps") == 0) {
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nuclear@4
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199 framerate = atoi(argv[++i]);
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nuclear@4
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200 if(framerate <= 0) {
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nuclear@4
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201 fprintf(stderr, "invalid framerate specified: %s\n", argv[i - 1]);
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nuclear@4
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202 return -1;
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nuclear@4
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203 }
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nuclear@4
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204 } else if(strcmp(argv[i], "-novideo") == 0) {
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nuclear@4
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205 devfile = 0;
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nuclear@4
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206 } else if(strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "-device") == 0) {
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nuclear@4
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207 devfile = argv[++i];
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nuclear@4
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208 } else if(strcmp(argv[i], "-p") == 0 || strcmp(argv[i], "-port") == 0) {
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nuclear@4
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209 port = atoi(argv[++i]);
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nuclear@4
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210 if(port <= 0 || port >= 65535) {
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nuclear@4
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211 fprintf(stderr, "invalid port specified: %s\n", argv[i - 1]);
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nuclear@4
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212 return -1;
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nuclear@4
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213 }
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nuclear@4
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214 } else {
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nuclear@4
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215 int help = strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "-help") == 0;
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nuclear@4
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216 if(!help) fprintf(stderr, "unrecognized option: %s\n", argv[i]);
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nuclear@4
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217 print_usage(argv[0]);
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nuclear@4
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218 exit(help ? 0 : 1);
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nuclear@4
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219 }
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nuclear@4
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220 } else {
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nuclear@4
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221 fprintf(stderr, "unexpected argument: %s\n", argv[i]);
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nuclear@4
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222 print_usage(argv[0]);
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nuclear@4
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223 return -1;
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nuclear@4
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224 }
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nuclear@4
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225 }
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nuclear@4
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226 return 0;
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nuclear@4
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227 }
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