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1085 pj 1
 
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#include <ll/ll.h>
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#include <kernel/types.h>
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#include <kernel/descr.h>
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#include <math.h>
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#include <drivers/glib.h>
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#include <drivers/keyb.h>
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#define FFT_ON
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#define FRAMEGRABBER_ON
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#define JET_ON
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#define BALL_ON
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/*
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 *
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 * WCET, Periods and Models
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 *
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 */
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/* define if you want NRT or SOFT... */
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#define TASK_TYPE SOFT
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//#define TASK_TYPE NRT
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// on Celeron 366
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#define WCET_WAVE          450
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#define WCET_FFT           722
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#define WCET_EQU          1000
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#define WCET_EQU2D         318
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#define PERIOD_WAVE      40000
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#define PERIOD_FFT        3000
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#define PERIOD_EQU       40000
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#define PERIOD_EQU2D      3000
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#define WCET_TRACKING     4000
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#define WCET_CAMERA       7000
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#define PERIOD_TRACKING  40000
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#define PERIOD_CAMERA    40000
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#define WCET_JETCTRL      2600
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#define WCET_JETDUMMY     1000
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#define WCET_JETSLIDE     1000
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#define PERIOD_JETCTRL  100000
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#define PERIOD_JETDUMMY 100000
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#define PERIOD_JETSLIDE 100000
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#define WCET_BALL          60
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#define PERIOD_BALL      10000
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/*
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 *
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 * Soundcard related defines
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 *
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 */
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/* Samples are 16-bit signed integers */
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typedef short SAMPLE;
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#define MAX_SAMPLE 32768
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/*
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 *
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 * FFT defines
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 *
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 */
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/* Numbers of samples of the sample window */
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#define WINDATA_NSAMPLES  512
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/* task WAVE */
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/* the point (wave_x,wave_y) is on the center left of the area... */
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#define WAVE_NSAMPLES 384
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#define WAVE_X        0
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#define WAVE_Y        64
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#define WAVE_HEIGHT   32
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/* task FFT */
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#define FFT_NSAMPLES  512
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#define PWR_NSAMPLES  (FFT_NSAMPLES/2+1)
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/* task EQU */
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/* the point (equ_x, equ_y) is the top right corner */
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#define EQU_NSAMPLES  PWR_NSAMPLES
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#define EQU_X         64
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#define EQU_Y         128
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#define EQU_HEIGHT    64
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#define EQU_SHADE
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/* task EQU2D */
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/* the point (equ2d_x, equ2d_y) is the top left corner */
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#define EQU2D_NSAMPLES  EQU_NSAMPLES
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#define EQU2D_X         128
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#define EQU2D_Y         EQU_Y
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#define EQU2D_WIDTH     255
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#define EQU2D_CLIP      255
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/* scenario */
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#define SCENARIO_NLABEL 16
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/* Scale factors */
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#define FFT_SCALE   (16384.0)
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#define EQU_SCALE   (32.0)
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#define EQU2D_SCALE (8.0)
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//#define EQU_SCALE   (64.0)
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//#define EQU2D_SCALE (16.0)
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/* Informations about the sampling rate and buffers */
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extern WORD rawdata_nsamples;
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extern WORD rawdata_buffer_size;
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extern WORD rawdata_freq;
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/*
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 *
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 * Global Stuffs
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 *
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 */
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/* graphic mutex... */
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extern mutex_t mutex;
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/* useful colors... */
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extern int white;
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extern int black;
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extern int red;
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extern int gray;
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/* define if shorts critical sections wanted */
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#define SHORT_CRITICAL_SECTIONS(x) \
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  if (!((x)%64))                   \
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    {                              \
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      mutex_lock(&mutex);          \
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      mutex_unlock(&mutex);        \
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    }
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void init_fftplay(int freq);
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void init_framegrabber();
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void init_jetcontrol();
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void init_ball(void);
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void start_framegrabber();
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void scenario_jetcontrol(void);
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void scenario_fftplay(int f);
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void scenario_framegrabber();
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void scenario_ball();
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void compute_params(int *freq,WORD *nsamp);
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char * itoa(int n, char *s);
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/*
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 *
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 * Framegrabber stuffs
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 *
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 */
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// if defined... object black on a white background
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#ifndef __BLACK_ON_WHITE
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#define __BLACK_ON_WHITE
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#endif
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#define ABS_NUM(a) ((a >= 0) ? a : -a)
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#define MIN_NUM(a, b) ((a < b) ? a : b)
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#define MAX_NUM(a, b) ((a > b) ? a : b)
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// Cols and rows  of the framegrabber image
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#define N_COL         384
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#define N_ROW         288
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#define N_BPS           8   // Bits per pixel
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#define N_GRIGI       256
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#define N_FRAMES      100
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/* pixel of the video image */
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#define IMG_COL       256
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#define IMG_ROW       192
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/* position of the video image */
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#define IMG_X         384
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#define IMG_Y         32
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// I singoli pixel sono caratteri a 8 bit
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typedef unsigned char TPixel;
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typedef struct {
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  int x1, y1;
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  int x2, y2;
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  int xb, yb;
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  TIME time_stamp;
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} TDataObj;
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typedef struct {
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  int found;
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  int top_frame;
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  int vx,vy;
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  int predx;
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  int predy;
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  TDataObj current;
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} TTracking;
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float distance(unsigned int x1, unsigned int y1,
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               unsigned int x2, unsigned int y2);
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char scan_all_frame(TDataObj *data, TPixel *in_frame);
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char scan_window_frame(TDataObj *data, TPixel *in_frame,
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                       unsigned int xc, unsigned int yc, int border);
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void threshold_up_function(KEY_EVT key);
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void threshold_down_function(KEY_EVT key);
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void border_up_function(KEY_EVT key);
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void border_down_function(KEY_EVT key);
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void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to);
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TASK elab_image_TASK(void);
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/*
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 *
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 * JETCONTROL stuffs
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 *
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 */
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#define JET_NTASK   18
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#define JET_Y_NAME 320
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#define DUMMY_PID    1
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#define JET_DUMMY_WIDTH    210
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#define JET_DUMMY_HEIGHT    40
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/* the point (x, y) is the top left corner */
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#define JET_DUMMY_X        428
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#define JET_DUMMY_Y        264
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#define JET_SLIDE_WIDTH     50
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#define JET_SLIDE_X        576
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/*
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 *
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 * BALL stuffs
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 *
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 */
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// x and y corners are specified whithout consider a border of 3 pixels
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#define BALL_Y     475          /* position of the floor        */
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#define BALL_HEIGHT 70          /* initial height of the ball   */
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#define BALL_XMIN    3          /* min position X of the ball   */
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#define BALL_XMAX  380          /* max position X of the ball   */
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#define BALL_VELX    5.         /* horizontal ball velocity     */
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#define BALL_VYMIN  11.         /* velocitů minima per suono    */
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#define BALL_MAX_P  50          /* max number of balls          */
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#define BALL_GROUP   2          /* task group of the balls */