Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | // framegrabber stuffs |
| 2 | |||
| 3 | /* File name ......... : ELABOR.C |
||
| 4 | * Project............ : |
||
| 5 | * Object ............ : |
||
| 6 | * Author ............ : Facchinetti Tullio |
||
| 7 | * Language .......... : C |
||
| 8 | * Compiler .......... : GNU C |
||
| 9 | * Operative system .. : MS-DOS/HARTIK |
||
| 10 | * Creation data ..... : 04/03/2000 |
||
| 11 | * Last modify ....... : 19/11/99 |
||
| 12 | */ |
||
| 13 | |||
| 14 | |||
| 15 | |||
| 16 | |||
| 17 | #include <kernel/func.h> |
||
| 18 | #include <modules/cabs.h> |
||
| 19 | #include <stdio.h> |
||
| 20 | #include <drivers/pxc.h> |
||
| 21 | #include "demo.h" |
||
| 22 | |||
| 23 | PID image_elab_PID; |
||
| 24 | TIME periodo; |
||
| 25 | CAB PXC_CAB; |
||
| 26 | |||
| 27 | static CAB frameCAB; // CAB di deposito delle immagini |
||
| 28 | static TDataObj current, older; |
||
| 29 | |||
| 30 | // extern in INIT.C |
||
| 31 | int img_border = 10; |
||
| 32 | int window_width = 40; |
||
| 33 | int window_height = 40; |
||
| 34 | |||
| 35 | // a 256 grayscale palette |
||
| 36 | WORD gray_palette[256]; |
||
| 37 | |||
| 38 | // the image to be putted on the screen |
||
| 39 | WORD converted_image[IMG_COL*IMG_ROW]; |
||
| 40 | |||
| 41 | |||
| 42 | #ifdef __BLACK_ON_WHITE |
||
| 43 | TPixel pix_threshold = 64; |
||
| 44 | #else |
||
| 45 | TPixel pix_threshold = 243; |
||
| 46 | #endif |
||
| 47 | |||
| 48 | |||
| 49 | // Global for testing!!! |
||
| 50 | static char st[50]; |
||
| 51 | TIME before; |
||
| 52 | |||
| 53 | TDataObj sequence[N_FRAMES]; |
||
| 54 | int top_frame = 0; |
||
| 55 | |||
| 56 | double dist, speed; |
||
| 57 | |||
| 58 | static TPixel *grabber_frame; |
||
| 59 | |||
| 60 | void put_frame(TPixel *frame) |
||
| 61 | { |
||
| 62 | register int i,j,col,row; |
||
| 63 | |||
| 64 | for (i=1; i<IMG_ROW-1; i++) |
||
| 65 | for (j=0; j<IMG_COL; j++) { |
||
| 66 | col = (j*(N_COL-1))/(IMG_COL-1); |
||
| 67 | row = (i*(N_ROW-1))/(IMG_ROW-1); |
||
| 68 | converted_image[i*IMG_COL+j] = gray_palette[*(frame+row*N_COL+col)]; |
||
| 69 | } |
||
| 70 | |||
| 71 | for (j=0; j<IMG_COL; j++) { |
||
| 72 | converted_image[j] = gray_palette[0]; |
||
| 73 | converted_image[(IMG_ROW-1)*IMG_COL+j] = gray_palette[0]; |
||
| 74 | } |
||
| 75 | |||
| 76 | mutex_lock(&mutex); |
||
| 77 | grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1, |
||
| 78 | (BYTE *)converted_image); |
||
| 79 | mutex_unlock(&mutex); |
||
| 80 | } |
||
| 81 | |||
| 82 | |||
| 83 | TASK elab_image_TASK(void) |
||
| 84 | { |
||
| 85 | // register int i, j; |
||
| 86 | static unsigned int n_frame = 0; |
||
| 87 | char found; |
||
| 88 | int pred_x, pred_y; |
||
| 89 | |||
| 90 | // Inizializzazione del task |
||
| 91 | frameCAB = PXC_GetCab(); |
||
| 92 | |||
| 93 | while (1) { |
||
| 94 | n_frame++; |
||
| 95 | sprintf(st, "frame n. %5d", n_frame); |
||
| 96 | |||
| 97 | mutex_lock(&mutex); |
||
| 98 | grx_text(st, 400, 290, 255, 0); |
||
| 99 | mutex_unlock(&mutex); |
||
| 100 | |||
| 101 | // Acquisizione immagine corrente |
||
| 102 | grabber_frame = cab_getmes(frameCAB); |
||
| 103 | |||
| 104 | put_frame(grabber_frame); |
||
| 105 | |||
| 106 | // Release CAB |
||
| 107 | cab_unget(frameCAB, grabber_frame); |
||
| 108 | |||
| 109 | task_endcycle(); |
||
| 110 | } |
||
| 111 | } |
||
| 112 | |||
| 113 | |||
| 114 | void start_listener(void); |
||
| 115 | |||
| 116 | void framegrabber_close(void *arg) |
||
| 117 | { |
||
| 118 | PXC_Close(); |
||
| 119 | } |
||
| 120 | |||
| 121 | void init_framegrabber(void) |
||
| 122 | { |
||
| 123 | register int i; |
||
| 124 | KEY_EVT my_key; |
||
| 125 | |||
| 126 | // Aggiusta la palette |
||
| 127 | for (i = 0; i < 256; i++) |
||
| 128 | gray_palette[i] = rgb16(i,i,i); |
||
| 129 | |||
| 130 | periodo = PXC_Initiate(3); |
||
| 131 | PXC_CAB = PXC_GetCab(); |
||
| 132 | |||
| 133 | if (!periodo) { |
||
| 134 | grx_close(); |
||
| 135 | cprintf("Problemi nell'inizializzazione del driver\n"); |
||
| 136 | sys_end(); |
||
| 137 | } else { |
||
| 138 | start_listener(); |
||
| 139 | } |
||
| 140 | |||
| 141 | sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT); |
||
| 142 | } |
||
| 143 | |||
| 144 | |||
| 145 | void start_listener(void) |
||
| 146 | { |
||
| 147 | SOFT_TASK_MODEL m_soft; |
||
| 148 | |||
| 149 | soft_task_default_model(m_soft); |
||
| 150 | soft_task_def_met(m_soft,IMAGING_WCET); |
||
| 151 | soft_task_def_usemath(m_soft); |
||
| 152 | soft_task_def_aperiodic(m_soft); |
||
| 153 | soft_task_def_period(m_soft,(periodo)); |
||
| 154 | soft_task_def_group(m_soft,1); |
||
| 155 | soft_task_def_ctrl_jet(m_soft); |
||
| 156 | |||
| 157 | image_elab_PID = task_create("imaging", elab_image_TASK, &m_soft, NULL); |
||
| 158 | |||
| 159 | /* task_activate( image_elab_PID); |
||
| 160 | PXC_Push_Listener(image_elab_PID,2); |
||
| 161 | PXC_Start();*/ |
||
| 162 | } |
||
| 163 | |||
| 164 | void start_framegrabber() |
||
| 165 | { |
||
| 166 | PXC_Push_Listener(image_elab_PID,1); |
||
| 167 | PXC_Start(); |
||
| 168 | } |