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Rev | Author | Line No. | Line |
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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 | |
1474 | giacomo | 44 | #include "tracer.h" |
45 | |||
1174 | giacomo | 46 | #define WIDTH 640 |
47 | #define HEIGHT 480 |
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48 | #define BYTES_PP 2 |
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49 | |||
1443 | giacomo | 50 | //#define COLOR |
1551 | mauro | 51 | //#define MAX_SPEED |
1443 | giacomo | 52 | |
1444 | giacomo | 53 | #define FRAME_GRABBER_NUMBER 0 |
54 | |||
1480 | giacomo | 55 | #define FG_PERIOD 40000 //ONLY IF MAX_SPEED IS DISABLED |
1174 | giacomo | 56 | #define FG_WCET 30000 |
57 | #define FG_W 320 |
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1474 | giacomo | 58 | #define FG_H 240 |
1174 | giacomo | 59 | |
1487 | giacomo | 60 | unsigned int frame_number = 0; |
61 | |||
1423 | giacomo | 62 | void program_end(void *arg) |
63 | { |
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1174 | giacomo | 64 | |
1550 | pj | 65 | exit(0); |
1423 | giacomo | 66 | |
67 | } |
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1174 | giacomo | 68 | |
1424 | giacomo | 69 | void elaborate_image(void *imageptr); |
70 | |||
1470 | giacomo | 71 | void start_frame_grabber(PID elaborate_task_PID, int channel, struct video_buffer *fbuf) { |
1174 | giacomo | 72 | |
1423 | giacomo | 73 | struct video_window win; |
74 | struct video_channel chan; |
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1443 | giacomo | 75 | struct video_tuner tuner; |
1470 | giacomo | 76 | struct video_picture vpic; |
1474 | giacomo | 77 | int res; |
1174 | giacomo | 78 | |
1432 | giacomo | 79 | /* Init videodev driver */ |
1444 | giacomo | 80 | VIDEODEV26_open(FRAME_GRABBER_NUMBER); |
1432 | giacomo | 81 | |
1444 | giacomo | 82 | /* Select the input channel */ |
1474 | giacomo | 83 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGCHAN,(unsigned long)&chan); |
84 | //cprintf("res = %d\n",res); |
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1443 | giacomo | 85 | |
1470 | giacomo | 86 | chan.channel = channel; |
1443 | giacomo | 87 | chan.type = VIDEO_VC_TUNER; |
1432 | giacomo | 88 | chan.norm = VIDEO_TYPE_CAMERA; |
1423 | giacomo | 89 | |
1474 | giacomo | 90 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSCHAN,(unsigned long)&chan); |
91 | //cprintf("res = %d\n",res); |
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1432 | giacomo | 92 | |
1444 | giacomo | 93 | /* Enable the tuner */ |
1443 | giacomo | 94 | |
1474 | giacomo | 95 | tuner.tuner = 0; |
1443 | giacomo | 96 | tuner.mode = VIDEO_MODE_PAL; |
97 | |||
1474 | giacomo | 98 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSTUNER,(unsigned long)&tuner); |
99 | //cprintf("res = %d\n",res); |
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1443 | giacomo | 100 | |
1427 | giacomo | 101 | /* Select palette and depth */ |
1474 | giacomo | 102 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGPICT,(unsigned long)&vpic); |
103 | //cprintf("res = %d\n",res); |
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104 | |||
1443 | giacomo | 105 | #ifdef COLOR |
106 | vpic.palette = VIDEO_PALETTE_RGB24; |
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107 | vpic.depth = 24; |
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108 | #else |
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109 | vpic.palette = VIDEO_PALETTE_GREY; |
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110 | vpic.depth = 8; |
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111 | #endif |
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112 | |||
113 | vpic.brightness = 35000; |
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114 | vpic.hue = 32000; |
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115 | vpic.contrast = 32000; |
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116 | vpic.colour = 32000; |
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1424 | giacomo | 117 | |
1474 | giacomo | 118 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSPICT,(unsigned long)&vpic); |
119 | //cprintf("res = %d\n",res); |
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1424 | giacomo | 120 | |
1474 | giacomo | 121 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGWIN,(unsigned long)&win); |
122 | //cprintf("res = %d\n",res); |
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123 | |||
1423 | giacomo | 124 | win.x = 0; |
125 | win.y = 0; |
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1432 | giacomo | 126 | win.width = FG_W; |
127 | win.height = FG_H; |
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1424 | giacomo | 128 | |
1474 | giacomo | 129 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSWIN,(unsigned long)&win); |
130 | //cprintf("res = %d\n",res); |
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131 | |||
1471 | giacomo | 132 | /* Set the buffer */ |
1474 | giacomo | 133 | res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSFBUF,(unsigned long)(fbuf)); |
134 | //cprintf("res = %d\n",res); |
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1471 | giacomo | 135 | |
1470 | giacomo | 136 | /* IMPORTANT: Set the aperiodic elaboration task |
137 | * This is a SHARK change on VIDIOCSYNC. When the |
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138 | * new frame is ready, the task elaborate_task_PID |
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139 | * is activated. Elabortate_task must be aperiodic !! |
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140 | * To link the task to BTTV use this function: */ |
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141 | |||
142 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSYNC,(unsigned long)(elaborate_task_PID)); |
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143 | |||
144 | } |
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145 | |||
1471 | giacomo | 146 | /* Check if the frame grabber is ready */ |
1473 | giacomo | 147 | volatile int ready_to_grab = 1; |
1470 | giacomo | 148 | |
1485 | giacomo | 149 | void grab_command(void *arg) { |
150 | |||
151 | SYS_FLAGS f; |
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152 | |||
153 | f = kern_fsave(); |
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154 | |||
155 | int on = 1; |
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156 | VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCCAPTURE,(unsigned long)&on); |
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157 | |||
158 | kern_frestore(f); |
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159 | |||
160 | } |
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161 | |||
1470 | giacomo | 162 | /* Elaboration task, it is called when the frame |
163 | grabber buffer is ready */ |
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164 | TASK elaborate_task(void *arg) { |
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165 | |||
166 | struct video_buffer *fbuf = (struct video_buffer *)(arg); |
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1487 | giacomo | 167 | char txt[100]; |
1470 | giacomo | 168 | |
1423 | giacomo | 169 | while(1) { |
1443 | giacomo | 170 | |
1470 | giacomo | 171 | elaborate_image(fbuf->base); |
1472 | giacomo | 172 | //cprintf("E"); |
173 | |||
174 | //Text version |
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175 | //printf_xy(1,20,WHITE,"%08x", |
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1487 | giacomo | 176 | // *(unsigned int *)(fbuf->base+50*320*3+50*3)); |
1443 | giacomo | 177 | |
1487 | giacomo | 178 | frame_number++; |
179 | sprintf(txt,"Elapsed Time = %u us Frame = %u",(int)(sys_gettime(NULL)),frame_number); |
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180 | grx_text(txt, 10, 250, rgb16(255,255,255), 0); |
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181 | |||
1471 | giacomo | 182 | ready_to_grab = 1; |
183 | |||
1480 | giacomo | 184 | #ifdef MAX_SPEED |
1485 | giacomo | 185 | grab_command(NULL); |
1480 | giacomo | 186 | #endif |
187 | |||
1432 | giacomo | 188 | task_testcancel(); |
1424 | giacomo | 189 | task_endcycle(); |
190 | |||
1423 | giacomo | 191 | } |
192 | |||
1424 | giacomo | 193 | return NULL; |
194 | |||
1174 | giacomo | 195 | } |
196 | |||
1470 | giacomo | 197 | /* Send the grab command */ |
198 | TASK grab_task(void *arg) { |
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199 | |||
200 | while(1) { |
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1471 | giacomo | 201 | |
202 | if (ready_to_grab) { |
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1473 | giacomo | 203 | |
1471 | giacomo | 204 | /* Grab */ |
1485 | giacomo | 205 | grab_command(NULL); |
1470 | giacomo | 206 | |
1472 | giacomo | 207 | //cprintf("G"); |
208 | |||
1471 | giacomo | 209 | ready_to_grab = 0; |
210 | |||
211 | } else { |
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212 | |||
1472 | giacomo | 213 | //cprintf("S"); |
1471 | giacomo | 214 | /* Frame skipped */ |
215 | |||
216 | } |
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217 | |||
1470 | giacomo | 218 | task_testcancel(); |
219 | task_endcycle(); |
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220 | |||
221 | } |
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222 | |||
223 | return NULL; |
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224 | |||
225 | } |
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226 | |||
1424 | giacomo | 227 | extern void *video_memory; |
228 | |||
1174 | giacomo | 229 | void elaborate_image(void *imageptr) |
230 | { |
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1424 | giacomo | 231 | |
1174 | giacomo | 232 | WORD x,y; |
233 | BYTE *col; |
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234 | |||
1443 | giacomo | 235 | #ifdef COLOR |
236 | |||
1174 | giacomo | 237 | for(y = 0; y < FG_H; y++) |
238 | for(x = 0; x < FG_W; x++) { |
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239 | |||
1443 | giacomo | 240 | col = (BYTE *)(imageptr + y * FG_W * 3 + x * 3); |
241 | *(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 | 242 | |
243 | } |
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244 | |||
1443 | giacomo | 245 | #else |
246 | |||
247 | for(y = 0; y < FG_H; y++) |
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248 | for(x = 0; x < FG_W; x++) { |
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249 | |||
250 | col = (BYTE *)(imageptr + y * FG_W + x); |
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251 | *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col)); |
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252 | |||
253 | } |
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254 | |||
255 | #endif |
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256 | |||
1174 | giacomo | 257 | } |
258 | |||
259 | int main(int argc, char **argv) |
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260 | { |
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261 | |||
1470 | giacomo | 262 | HARD_TASK_MODEL gt; |
1485 | giacomo | 263 | SOFT_TASK_MODEL et; |
1470 | giacomo | 264 | PID grab_task_pid,elaborate_task_pid; |
1174 | giacomo | 265 | |
1470 | giacomo | 266 | struct video_buffer fbuf; |
267 | int channel = 0; |
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268 | |||
1444 | giacomo | 269 | if (argc < 2) { |
1445 | giacomo | 270 | sys_shutdown_message("ERROR: Enter the input channel [ex> %s 0]\n",argv[0]); |
1550 | pj | 271 | exit(1); |
1444 | giacomo | 272 | } |
1432 | giacomo | 273 | |
1470 | giacomo | 274 | channel = atoi(argv[1]); |
275 | |||
1485 | giacomo | 276 | soft_task_default_model(et); |
1487 | giacomo | 277 | soft_task_def_period(et,FG_PERIOD); |
1485 | giacomo | 278 | soft_task_def_arg(et,(void *)(&fbuf)); |
279 | soft_task_def_met(et,FG_WCET); |
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280 | soft_task_def_aperiodic(et); |
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281 | soft_task_def_ctrl_jet(et); |
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1470 | giacomo | 282 | |
283 | hard_task_default_model(gt); |
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1480 | giacomo | 284 | hard_task_def_mit(gt,FG_PERIOD); |
1473 | giacomo | 285 | hard_task_def_wcet(gt,5000); |
1470 | giacomo | 286 | hard_task_def_ctrl_jet(gt); |
287 | |||
288 | grab_task_pid = task_create("GrabTask",grab_task,>,NULL); |
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1423 | giacomo | 289 | if (grab_task_pid == NIL) { |
1444 | giacomo | 290 | sys_shutdown_message("ERROR: Cannot create grab task\n"); |
1550 | pj | 291 | exit(1); |
1423 | giacomo | 292 | } |
1174 | giacomo | 293 | |
1470 | giacomo | 294 | elaborate_task_pid = task_create("ElaborateTask",elaborate_task,&et,NULL); |
295 | if (grab_task_pid == NIL) { |
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296 | sys_shutdown_message("ERROR: Cannot create elaborate task\n"); |
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1550 | pj | 297 | exit(1); |
1470 | giacomo | 298 | } |
299 | |||
300 | #ifdef COLOR |
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301 | |||
302 | fbuf.base = malloc(FG_W*FG_H*3); |
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303 | fbuf.height = FG_H; |
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304 | fbuf.width = FG_W; |
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305 | fbuf.bytesperline = FG_W*3; |
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306 | fbuf.depth = 24; |
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307 | |||
308 | #else |
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309 | |||
310 | fbuf.base = malloc(FG_W*FG_H); |
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311 | fbuf.height = FG_H; |
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312 | fbuf.width = FG_W; |
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313 | fbuf.bytesperline = FG_W; |
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314 | fbuf.depth = 8; |
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315 | |||
316 | #endif |
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317 | |||
318 | start_frame_grabber(elaborate_task_pid,channel,&fbuf); |
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319 | |||
1480 | giacomo | 320 | #ifndef MAX_SPEED |
321 | /* Activate periodic grabbing */ |
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322 | task_activate(grab_task_pid); |
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323 | #else |
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324 | /* Grab */ |
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1485 | giacomo | 325 | grab_command(NULL); |
1480 | giacomo | 326 | #endif |
1174 | giacomo | 327 | |
1189 | giacomo | 328 | while(keyb_getch(BLOCK) != ESC); |
329 | |||
1480 | giacomo | 330 | #ifndef MAX_SPEED |
331 | task_kill(grab_task_pid); |
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332 | #endif |
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1432 | giacomo | 333 | |
334 | sleep(1); |
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335 | |||
1550 | pj | 336 | exit(1); |
1189 | giacomo | 337 | |
1174 | giacomo | 338 | return 0; |
339 | |||
340 | } |