Subversion Repositories shark

/* Fast Frame Grabber for SHARK

 *

 * Giacomo Guidi

 * <giacomo@gandalf.sssup.it>

 *

 */

#include <drivers/bttv.h>

#include <drivers/fg.h>

#include <kernel/kern.h>

#include <unistd.h>

extern void bttv_start(struct bttv *btv);

extern int bttv_ioctl(struct bttv *btv, unsigned int cmg, void *arg);

extern void bttv_close(struct bttv *btv);

extern unsigned int gbufsize;

static struct bttv btv;

static struct video_mmap vmm;

static void * fbuf_pointer;

PID refresh_PID;

HARD_TASK_MODEL ht_refresh;

static void (*elaborate_frame_hook)(void * ptrframe);

void dummy_elaborate_frame(void * ptrframe)

{

}

TASK FG_refresh(void)

{

  int err;

  while(1) {

    if (vmm.frame == 0) {

            vmm.frame = 1;

            fbuf_pointer = btv.fbuffer;

/*          *(BYTE *)fbuf_pointer = 255;

 *          *(BYTE *)(fbuf_pointer+1) = 0;

 */

    } else {

            vmm.frame = 0;

            fbuf_pointer = btv.fbuffer+gbufsize;

/*          *(BYTE *)fbuf_pointer = 0;

 *          *(BYTE *)(fbuf_pointer+1) = 255;

 */

    }

    task_testcancel();

    err = bttv_ioctl(&btv, VIDIOCMCAPTURE, &vmm);

    if (err) kern_printf("(BTTV_IOCTL Error: %d)",err);

    elaborate_frame_hook(fbuf_pointer);

    task_endcycle();

  }

}

int FG_init(unsigned int period, unsigned int wcet, unsigned int width,

                unsigned int height, unsigned int color, unsigned int channel) {

  int err;

  struct video_window vw;

  struct video_picture p;

  struct video_channel ch;

  hard_task_default_model(ht_refresh);

  hard_task_def_wcet(ht_refresh, wcet);

  hard_task_def_mit(ht_refresh, period);

  hard_task_def_ctrl_jet(ht_refresh);

  refresh_PID = task_create("FG_refresh", FG_refresh, &ht_refresh, NULL);

  if (refresh_PID == -1) {

    cprintf("could not create task, err no=%d\n",errno);

    sys_end();

  }

  bttv_start(&btv);

  err = bttv_ioctl(&btv, VIDIOCGWIN, &vw);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCGWIN Error: %d)",err);

        sys_end();

  }

  vw.x = 0;

  vw.y = 0;

  vw.width = width;

  vw.height = height;

  err = bttv_ioctl(&btv, VIDIOCSWIN, &vw);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCSWIN Error: %d)",err);

        sys_end();

  }

  err = bttv_ioctl(&btv, VIDIOCGPICT, &p);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCGPICT Error: %d)",err);

        sys_end();

  }

  if (color == FG_RGB24) {

    p.palette = VIDEO_PALETTE_RGB24;

    p.depth = 24;

  }

  if (color == FG_MONO) {

    p.palette = VIDEO_PALETTE_GREY;

    p.depth = 8;

  }    

  if (color == FG_YUYV) {

    p.palette = VIDEO_PALETTE_YUYV;

    p.depth = 16;

  }

  err = bttv_ioctl(&btv, VIDIOCSPICT, &p);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCSPICT Error: %d)",err);

        sys_end();

  }

  ch.channel = channel;

  err = bttv_ioctl(&btv, VIDIOCGCHAN, &ch);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCGCHAN Error: %d)",err);

        sys_end();

  }

   ch.norm = VIDEO_MODE_PAL;

   ch.type = VIDEO_TYPE_CAMERA;

  err = bttv_ioctl(&btv, VIDIOCSCHAN, &ch);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCSCHAN Error: %d)",err);

        sys_end();

  }

  vmm.frame = 0;

  vmm.height = vw.height;

  vmm.width = vw.width;

  vmm.format = p.palette;

  err = bttv_ioctl(&btv, VIDIOCMCAPTURE, &vmm);

  if (err) {

        kern_printf("(BTTV_IOCTL VIDIOCMCAPTURE Error: %d)",err);

        sys_end();

  }

  elaborate_frame_hook = dummy_elaborate_frame;

  sleep(1);

  return 0;

}

void FG_start_grabbing(void)

{

  task_activate(refresh_PID);

}

void FG_close(void)

{

  task_kill(refresh_PID);  

/*   sleep(1);

 */

  bttv_close(&btv);

}

void * FG_getbuffer(void)

{

  return fbuf_pointer;

}

void FG_set_hook(void * funptr)

{

  elaborate_frame_hook = (void *)funptr;

}