Subversion Repositories shark

#include <ll/ll.h>

#include <kernel/types.h>

#include <kernel/descr.h>

#include <math.h>

#include <drivers/glib.h>

#include <drivers/keyb.h>

#define FFT_ON

#define FRAMEGRABBER_ON

#define JET_ON

#define BALL_ON

/*

 *

 * WCET, Periods and Models

 *

 */

/* define if you want NRT or SOFT... */

#define TASK_TYPE SOFT

//#define TASK_TYPE NRT

// on Celeron 366

#define WCET_WAVE          450

#define WCET_FFT           722

#define WCET_EQU          1000

#define WCET_EQU2D         318

#define PERIOD_WAVE      40000

#define PERIOD_FFT        3000

#define PERIOD_EQU       40000

#define PERIOD_EQU2D      3000

#define WCET_TRACKING     4000

#define WCET_CAMERA       7000

#define PERIOD_TRACKING  40000

#define PERIOD_CAMERA    40000

#define WCET_JETCTRL      2600

#define WCET_JETDUMMY     1000

#define WCET_JETSLIDE     1000

#define PERIOD_JETCTRL  100000

#define PERIOD_JETDUMMY 100000

#define PERIOD_JETSLIDE 100000

#define WCET_BALL          60

#define PERIOD_BALL      10000

/*

 *

 * Soundcard related defines

 *

 */

/* Samples are 16-bit signed integers */

typedef short SAMPLE;

#define MAX_SAMPLE 32768

/*

 *

 * FFT defines

 *

 */

/* Numbers of samples of the sample window */

#define WINDATA_NSAMPLES  512

/* task WAVE */

/* the point (wave_x,wave_y) is on the center left of the area... */

#define WAVE_NSAMPLES 384

#define WAVE_X        0

#define WAVE_Y        64

#define WAVE_HEIGHT   32

/* task FFT */

#define FFT_NSAMPLES  512

#define PWR_NSAMPLES  (FFT_NSAMPLES/2+1)

/* task EQU */

/* the point (equ_x, equ_y) is the top right corner */

#define EQU_NSAMPLES  PWR_NSAMPLES

#define EQU_X         64

#define EQU_Y         128

#define EQU_HEIGHT    64

#define EQU_SHADE

/* task EQU2D */

/* the point (equ2d_x, equ2d_y) is the top left corner */

#define EQU2D_NSAMPLES  EQU_NSAMPLES

#define EQU2D_X         128

#define EQU2D_Y         EQU_Y

#define EQU2D_WIDTH     255

#define EQU2D_CLIP      255

/* scenario */

#define SCENARIO_NLABEL 16

/* Scale factors */

#define FFT_SCALE   (16384.0)

#define EQU_SCALE   (32.0)

#define EQU2D_SCALE (8.0)

//#define EQU_SCALE   (64.0)

//#define EQU2D_SCALE (16.0)

/* Informations about the sampling rate and buffers */

extern WORD rawdata_nsamples;

extern WORD rawdata_buffer_size;

extern WORD rawdata_freq;

/*

 *

 * Global Stuffs

 *

 */

/* graphic mutex... */

extern mutex_t mutex;

/* useful colors... */

extern int white;

extern int black;

extern int red;

extern int gray;

/* define if shorts critical sections wanted */

#define SHORT_CRITICAL_SECTIONS(x) \

  if (!((x)%64))                   \

    {                              \

      mutex_lock(&mutex);          \

      mutex_unlock(&mutex);        \

    }

void init_fftplay(int freq);

void init_framegrabber();

void init_jetcontrol();

void init_ball(void);

void start_framegrabber();

void scenario_jetcontrol(void);

void scenario_fftplay(int f);

void scenario_framegrabber();

void scenario_ball();

void compute_params(int *freq,WORD *nsamp);

char * itoa(int n, char *s);

/*

 *

 * Framegrabber stuffs

 *

 */

// if defined... object black on a white background

#ifndef __BLACK_ON_WHITE

#define __BLACK_ON_WHITE

#endif

#define ABS_NUM(a) ((a >= 0) ? a : -a)

#define MIN_NUM(a, b) ((a < b) ? a : b)

#define MAX_NUM(a, b) ((a > b) ? a : b)

// Cols and rows  of the framegrabber image

#define N_COL         384

#define N_ROW         288

#define N_BPS           8   // Bits per pixel

#define N_GRIGI       256

#define N_FRAMES      100

/* pixel of the video image */

#define IMG_COL       256

#define IMG_ROW       192

/* position of the video image */

#define IMG_X         384

#define IMG_Y         32

// I singoli pixel sono caratteri a 8 bit

typedef unsigned char TPixel;

typedef struct {

  int x1, y1;

  int x2, y2;

  int xb, yb;

  TIME time_stamp;

} TDataObj;

typedef struct {

  int found;

  int top_frame;

  int vx,vy;

  int predx;

  int predy;

  TDataObj current;

} TTracking;

float distance(unsigned int x1, unsigned int y1,

               unsigned int x2, unsigned int y2);

char scan_all_frame(TDataObj *data, TPixel *in_frame);

char scan_window_frame(TDataObj *data, TPixel *in_frame,

                       unsigned int xc, unsigned int yc, int border);

void threshold_up_function(KEY_EVT key);

void threshold_down_function(KEY_EVT key);

void border_up_function(KEY_EVT key);

void border_down_function(KEY_EVT key);

void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);

TASK elab_image_TASK(void);

/*

 *

 * JETCONTROL stuffs

 *

 */

#define JET_NTASK   18

#define JET_Y_NAME 320

#define DUMMY_PID    1

#define JET_DUMMY_WIDTH    210

#define JET_DUMMY_HEIGHT    40

/* the point (x, y) is the top left corner */

#define JET_DUMMY_X        428

#define JET_DUMMY_Y        264

#define JET_SLIDE_WIDTH     50

#define JET_SLIDE_X        576

/*

 *

 * BALL stuffs

 *

 */

// x and y corners are specified whithout consider a border of 3 pixels

#define BALL_Y     475          /* position of the floor        */

#define BALL_HEIGHT 70          /* initial height of the ball   */

#define BALL_XMIN    3          /* min position X of the ball   */

#define BALL_XMAX  380          /* max position X of the ball   */

#define BALL_VELX    5.         /* horizontal ball velocity     */

#define BALL_VYMIN  11.         /* velocit… minima per suono    */

#define BALL_MAX_P  50          /* max number of balls          */

#define BALL_GROUP   2          /* task group of the balls */