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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 * Copyright (C) 2003 Giacomo Guidi

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 */

#include "kernel/kern.h"

#include "stdlib.h"

#include "drivers/shark_keyb26.h"

#include "drivers/shark_videodev26.h"

#include "drivers/shark_fb26.h"

#define WIDTH 640

#define HEIGHT 480

#define BYTES_PP 2

unsigned char *video_buf = NULL; //Video Buffer

unsigned long int VMEMLONG = WIDTH * HEIGHT * BYTES_PP / 4; // Used by copy_videomem_16to16

unsigned long int RGB565MEM = WIDTH * HEIGHT * BYTES_PP; // Total video mem

#define FG_PERIOD 40000

#define FG_WCET 30000

#define FG_W 320                

#define FG_H 200

void program_end(void *arg)

{

  sys_end();

}

void elaborate_image(void *imageptr);

TASK grab_task(void *arg) {

  struct video_picture vpic;

  struct video_buffer fbuf;

  struct video_window win;

  struct video_channel chan;

  int on;

  task_nopreempt();

  VIDEODEV26_open(0);

  VIDEODEV26_ioctl(0,VIDIOCGCHAN,(unsigned long)&chan);

  chan.channel = (int)(arg);  

  VIDEODEV26_ioctl(0,VIDIOCSCHAN,(unsigned long)&chan);

  VIDEODEV26_ioctl(0,VIDIOCGPICT,(unsigned long)&vpic);

  vpic.palette = VIDEO_PALETTE_GREY;

  vpic.depth = 8;                            

  VIDEODEV26_ioctl(0,VIDIOCSPICT,(unsigned long)&vpic);

  fbuf.base = malloc(320*200);

  fbuf.height = 200;

  fbuf.width = 320;

  fbuf.bytesperline = 320;

  fbuf.depth = 8;

  VIDEODEV26_ioctl(0,VIDIOCSFBUF,(unsigned long)&fbuf);

  VIDEODEV26_ioctl(0,VIDIOCGWIN,(unsigned long)&win);

  win.x = 0;

  win.y = 0;

  win.width = 320;

  win.height = 200;

  VIDEODEV26_ioctl(0,VIDIOCSWIN,(unsigned long)&win);

  task_preempt();

  while(1) {

    task_nopreempt();

    VIDEODEV26_ioctl(0,VIDIOCSFBUF,(unsigned long)&fbuf);

    on = 1;

    VIDEODEV26_ioctl(0,VIDIOCCAPTURE,(unsigned long)&on);

    task_preempt();

    task_endcycle();

    elaborate_image(fbuf.base);

    task_endcycle();

  }

  return NULL;

}

extern void *video_memory;

void elaborate_image(void *imageptr)

{

  WORD x,y;

  BYTE *col;

    for(y = 0; y < FG_H; y++)

      for(x = 0; x < FG_W; x++) {

        col = (BYTE *)(imageptr + y * FG_W + x);

        *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col));

    }

}

int main(int argc, char **argv)

{

  SOFT_TASK_MODEL st;

  PID grab_task_pid;

  soft_task_default_model(st);

  soft_task_def_period(st,100000);

  soft_task_def_met(st,40000);

  soft_task_def_arg(st, (void *)(1));

  soft_task_def_ctrl_jet(st);

  grab_task_pid = task_create("GrabTask",grab_task,&st,NULL);

  if (grab_task_pid == NIL) {

        cprintf("ERROR: Cannot create grab task\n");

        sys_end();

  }

  task_activate(grab_task_pid);

  while(keyb_getch(BLOCK) != ESC);

  sys_end();

  return 0;

}