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// framegrabber stuffs

/* File name ......... : ELABOR.C

 * Project............ :

 * Object ............ :

 * Author ............ : Facchinetti Tullio

 * Language .......... : C

 * Compiler .......... : GNU C

 * Operative system .. : MS-DOS/HARTIK

 * Creation data ..... : 04/03/2000

 * Last modify ....... : 19/11/99

 */

#include <kernel/func.h>

#include <modules/cabs.h>

#include <stdio.h>

#include <drivers/pxc.h>

#include "demo.h"

PID image_elab_PID;

TIME periodo;

CAB PXC_CAB;

static CAB frameCAB; // CAB di deposito delle immagini

static TDataObj current, older;

// extern in INIT.C

int img_border    =  10;

int window_width  =  40;

int window_height =  40;

// a 256 grayscale palette

WORD gray_palette[256];

// the image to be putted on the screen

WORD converted_image[IMG_COL*IMG_ROW];

#ifdef __BLACK_ON_WHITE

TPixel pix_threshold = 64;

#else

TPixel pix_threshold = 243;

#endif

// Global for testing!!!

static char st[50];

TIME before;

TDataObj sequence[N_FRAMES];

int top_frame = 0;

double dist, speed;

static TPixel *grabber_frame;

void put_frame(TPixel *frame)

{

    register int i,j,col,row;

    for (i=1; i<IMG_ROW-1; i++)

      for (j=0; j<IMG_COL; j++) {

        col = (j*(N_COL-1))/(IMG_COL-1);

        row = (i*(N_ROW-1))/(IMG_ROW-1);

        converted_image[i*IMG_COL+j] = gray_palette[*(frame+row*N_COL+col)];

      }

    for (j=0; j<IMG_COL; j++) {

      converted_image[j] = gray_palette[0];

      converted_image[(IMG_ROW-1)*IMG_COL+j] = gray_palette[0];

    }

    mutex_lock(&mutex);

    grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,

                 (BYTE *)converted_image);

    mutex_unlock(&mutex);

}

TASK elab_image_TASK(void)

{

//  register int i, j;

  static unsigned int n_frame = 0;

  char found;

  int pred_x, pred_y;

  // Inizializzazione del task

  frameCAB = PXC_GetCab();

  while (1) {

    n_frame++;

    sprintf(st, "frame n. %5d", n_frame);

    mutex_lock(&mutex);

    grx_text(st, 400, 290, 255, 0);

    mutex_unlock(&mutex);

    // Acquisizione immagine corrente

    grabber_frame = cab_getmes(frameCAB);

    put_frame(grabber_frame);

    // Release CAB

    cab_unget(frameCAB, grabber_frame);

    task_endcycle();

  }

}

void start_listener(void);

void framegrabber_close(void *arg)

{

  PXC_Close();

}

void init_framegrabber(void)

{

  register int i;

  KEY_EVT my_key;

  // Aggiusta la palette

    for (i = 0; i < 256; i++)

      gray_palette[i] = rgb16(i,i,i);

  periodo = PXC_Initiate(3);

  PXC_CAB = PXC_GetCab();

  if (!periodo) {

    grx_close();

    cprintf("Problemi nell'inizializzazione del driver\n");

    sys_end();

  } else {

    start_listener();

  }

  sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);

}

void start_listener(void)

{

  SOFT_TASK_MODEL m_soft;

  soft_task_default_model(m_soft);

  soft_task_def_met(m_soft,IMAGING_WCET);

  soft_task_def_usemath(m_soft);

  soft_task_def_aperiodic(m_soft);

  soft_task_def_period(m_soft,(periodo));

  soft_task_def_group(m_soft,1);

  soft_task_def_ctrl_jet(m_soft);

  image_elab_PID = task_create("imaging", elab_image_TASK, &m_soft, NULL);

/*  task_activate(  image_elab_PID);

  PXC_Push_Listener(image_elab_PID,2);

  PXC_Start();*/

}

void start_framegrabber()

{

  PXC_Push_Listener(image_elab_PID,1);

  PXC_Start();

}