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1174 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * |
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11 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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12 | * |
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13 | * http://www.sssup.it |
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14 | * http://retis.sssup.it |
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15 | * http://shark.sssup.it |
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16 | */ |
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17 | |||
18 | /* |
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19 | * Copyright (C) 2003 Giacomo Guidi |
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20 | * |
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21 | * This program is free software; you can redistribute it and/or modify |
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22 | * it under the terms of the GNU General Public License as published by |
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23 | * the Free Software Foundation; either version 2 of the License, or |
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24 | * (at your option) any later version. |
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25 | * |
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26 | * This program is distributed in the hope that it will be useful, |
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27 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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28 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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29 | * GNU General Public License for more details. |
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30 | * |
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31 | * You should have received a copy of the GNU General Public License |
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32 | * along with this program; if not, write to the Free Software |
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33 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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34 | */ |
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35 | |||
36 | #include "kernel/kern.h" |
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1424 | giacomo | 37 | #include "stdlib.h" |
1432 | giacomo | 38 | #include "unistd.h" |
1174 | giacomo | 39 | |
1423 | giacomo | 40 | #include "drivers/shark_keyb26.h" |
41 | #include "drivers/shark_videodev26.h" |
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1424 | giacomo | 42 | #include "drivers/shark_fb26.h" |
1423 | giacomo | 43 | |
1174 | giacomo | 44 | #define WIDTH 640 |
45 | #define HEIGHT 480 |
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46 | #define BYTES_PP 2 |
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47 | |||
1443 | giacomo | 48 | //#define COLOR |
49 | |||
1174 | giacomo | 50 | #define FG_PERIOD 40000 |
51 | #define FG_WCET 30000 |
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52 | #define FG_W 320 |
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53 | #define FG_H 200 |
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54 | |||
1423 | giacomo | 55 | void program_end(void *arg) |
56 | { |
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1174 | giacomo | 57 | |
1423 | giacomo | 58 | sys_end(); |
59 | |||
60 | } |
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1174 | giacomo | 61 | |
1424 | giacomo | 62 | void elaborate_image(void *imageptr); |
63 | |||
1423 | giacomo | 64 | TASK grab_task(void *arg) { |
1174 | giacomo | 65 | |
1423 | giacomo | 66 | struct video_picture vpic; |
1425 | giacomo | 67 | struct video_buffer fbuf[2]; |
1423 | giacomo | 68 | struct video_window win; |
69 | struct video_channel chan; |
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1443 | giacomo | 70 | struct video_tuner tuner; |
1425 | giacomo | 71 | int on,display,temp,save; |
1174 | giacomo | 72 | |
1423 | giacomo | 73 | task_nopreempt(); |
1174 | giacomo | 74 | |
1432 | giacomo | 75 | /* Init videodev driver */ |
76 | VIDEODEV26_open(0); |
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77 | |||
1443 | giacomo | 78 | VIDEODEV26_ioctl(0,VIDIOCGCHAN,(unsigned long)&chan); |
79 | |||
1432 | giacomo | 80 | chan.channel = (int)(arg); |
1443 | giacomo | 81 | chan.type = VIDEO_VC_TUNER; |
1432 | giacomo | 82 | chan.norm = VIDEO_TYPE_CAMERA; |
1423 | giacomo | 83 | |
84 | VIDEODEV26_ioctl(0,VIDIOCSCHAN,(unsigned long)&chan); |
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1432 | giacomo | 85 | |
1443 | giacomo | 86 | VIDEODEV26_ioctl(0,VIDIOCGTUNER,(unsigned long)&tuner); |
87 | |||
88 | tuner.mode = VIDEO_MODE_PAL; |
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89 | |||
90 | VIDEODEV26_ioctl(0,VIDIOCSTUNER,(unsigned long)&tuner); |
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91 | |||
1427 | giacomo | 92 | /* Select palette and depth */ |
1423 | giacomo | 93 | VIDEODEV26_ioctl(0,VIDIOCGPICT,(unsigned long)&vpic); |
1443 | giacomo | 94 | |
95 | #ifdef COLOR |
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96 | vpic.palette = VIDEO_PALETTE_RGB24; |
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97 | vpic.depth = 24; |
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98 | #else |
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99 | vpic.palette = VIDEO_PALETTE_GREY; |
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100 | vpic.depth = 8; |
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101 | #endif |
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102 | |||
103 | vpic.brightness = 35000; |
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104 | vpic.hue = 32000; |
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105 | vpic.contrast = 32000; |
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106 | vpic.colour = 32000; |
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1424 | giacomo | 107 | |
1423 | giacomo | 108 | VIDEODEV26_ioctl(0,VIDIOCSPICT,(unsigned long)&vpic); |
1424 | giacomo | 109 | |
1427 | giacomo | 110 | /* Double Buffering Strategy */ |
111 | |||
1443 | giacomo | 112 | #ifdef COLOR |
113 | |||
114 | fbuf[0].base = malloc(FG_W*FG_H*3); |
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115 | fbuf[0].height = FG_H; |
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116 | fbuf[0].width = FG_W; |
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117 | fbuf[0].bytesperline = FG_W*3; |
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118 | fbuf[0].depth = 24; |
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1425 | giacomo | 119 | |
1443 | giacomo | 120 | fbuf[1].base = malloc(FG_W*FG_H*3); |
121 | fbuf[1].height = FG_H; |
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122 | fbuf[1].width = FG_W; |
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123 | fbuf[1].bytesperline = FG_W*3; |
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124 | fbuf[1].depth = 24; |
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1425 | giacomo | 125 | |
1443 | giacomo | 126 | #else |
1425 | giacomo | 127 | |
1443 | giacomo | 128 | fbuf[0].base = malloc(FG_W*FG_H); |
129 | fbuf[0].height = FG_H; |
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130 | fbuf[0].width = FG_W; |
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131 | fbuf[0].bytesperline = FG_W; |
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132 | fbuf[0].depth = 8; |
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133 | |||
134 | fbuf[1].base = malloc(FG_W*FG_H); |
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135 | fbuf[1].height = FG_H; |
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136 | fbuf[1].width = FG_W; |
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137 | fbuf[1].bytesperline = FG_W; |
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138 | fbuf[1].depth = 8; |
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139 | |||
140 | #endif |
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141 | |||
1427 | giacomo | 142 | /* Set grabbing window */ |
1423 | giacomo | 143 | VIDEODEV26_ioctl(0,VIDIOCGWIN,(unsigned long)&win); |
1424 | giacomo | 144 | |
1423 | giacomo | 145 | win.x = 0; |
146 | win.y = 0; |
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1432 | giacomo | 147 | win.width = FG_W; |
148 | win.height = FG_H; |
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1423 | giacomo | 149 | |
150 | VIDEODEV26_ioctl(0,VIDIOCSWIN,(unsigned long)&win); |
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1424 | giacomo | 151 | |
1423 | giacomo | 152 | task_preempt(); |
1425 | giacomo | 153 | |
154 | display = 1; |
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155 | save = 0; |
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156 | |||
1423 | giacomo | 157 | while(1) { |
158 | |||
159 | task_nopreempt(); |
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1443 | giacomo | 160 | |
161 | VIDEODEV26_ioctl(0,VIDIOCSFBUF,(unsigned long)&(fbuf[save])); |
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1424 | giacomo | 162 | |
1427 | giacomo | 163 | /* Start grabbing */ |
1424 | giacomo | 164 | on = 1; |
165 | VIDEODEV26_ioctl(0,VIDIOCCAPTURE,(unsigned long)&on); |
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1425 | giacomo | 166 | |
1423 | giacomo | 167 | task_preempt(); |
1443 | giacomo | 168 | |
1428 | giacomo | 169 | /* |
1443 | giacomo | 170 | printf_xy(1,20,WHITE,"%08x", |
171 | *(unsigned int *)(fbuf[display].base+50*320*3+50*3)); |
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1428 | giacomo | 172 | */ |
173 | |||
1425 | giacomo | 174 | elaborate_image(fbuf[display].base); |
1423 | giacomo | 175 | |
1427 | giacomo | 176 | /* Buffer switch */ |
1425 | giacomo | 177 | temp = display; |
178 | display = save; |
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179 | save = temp; |
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1424 | giacomo | 180 | |
1432 | giacomo | 181 | task_testcancel(); |
1424 | giacomo | 182 | task_endcycle(); |
183 | |||
1423 | giacomo | 184 | } |
185 | |||
1424 | giacomo | 186 | return NULL; |
187 | |||
1174 | giacomo | 188 | } |
189 | |||
1424 | giacomo | 190 | extern void *video_memory; |
191 | |||
1174 | giacomo | 192 | void elaborate_image(void *imageptr) |
193 | { |
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1424 | giacomo | 194 | |
1174 | giacomo | 195 | WORD x,y; |
196 | BYTE *col; |
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197 | |||
1443 | giacomo | 198 | #ifdef COLOR |
199 | |||
1174 | giacomo | 200 | for(y = 0; y < FG_H; y++) |
201 | for(x = 0; x < FG_W; x++) { |
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202 | |||
1443 | giacomo | 203 | col = (BYTE *)(imageptr + y * FG_W * 3 + x * 3); |
204 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col+2),*(BYTE *)(col+1),*(BYTE *)(col+0)); |
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1174 | giacomo | 205 | |
206 | } |
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207 | |||
1443 | giacomo | 208 | #else |
209 | |||
210 | for(y = 0; y < FG_H; y++) |
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211 | for(x = 0; x < FG_W; x++) { |
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212 | |||
213 | col = (BYTE *)(imageptr + y * FG_W + x); |
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214 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col)); |
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215 | |||
216 | } |
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217 | |||
218 | #endif |
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219 | |||
1174 | giacomo | 220 | } |
221 | |||
222 | int main(int argc, char **argv) |
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223 | { |
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224 | |||
1423 | giacomo | 225 | SOFT_TASK_MODEL st; |
226 | PID grab_task_pid; |
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1174 | giacomo | 227 | |
1432 | giacomo | 228 | if (argc < 2) return -1; |
229 | |||
1423 | giacomo | 230 | soft_task_default_model(st); |
1426 | giacomo | 231 | soft_task_def_period(st,40000); |
232 | soft_task_def_met(st,30000); |
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1432 | giacomo | 233 | soft_task_def_arg(st, (void *)(atoi(argv[1]))); |
1423 | giacomo | 234 | soft_task_def_ctrl_jet(st); |
1174 | giacomo | 235 | |
1423 | giacomo | 236 | grab_task_pid = task_create("GrabTask",grab_task,&st,NULL); |
237 | if (grab_task_pid == NIL) { |
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238 | cprintf("ERROR: Cannot create grab task\n"); |
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239 | sys_end(); |
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240 | } |
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1174 | giacomo | 241 | |
1423 | giacomo | 242 | task_activate(grab_task_pid); |
1174 | giacomo | 243 | |
1189 | giacomo | 244 | while(keyb_getch(BLOCK) != ESC); |
245 | |||
1432 | giacomo | 246 | task_kill(grab_task_pid); |
247 | |||
248 | sleep(1); |
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249 | |||
1423 | giacomo | 250 | sys_end(); |
1189 | giacomo | 251 | |
1174 | giacomo | 252 | return 0; |
253 | |||
254 | } |