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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 "demo.h"

#include "pclab.h"

#include <kernel/func.h>

#include <modules/cabs.h>

#include <stdio.h>

#include <drivers/pxc.h>

#include "string.h"

#include "ll/i386/x-dos.h"

#include "modules/hartport.h"

#define LUNGH  35.

// extern struct Data_cab2 tmp;

static CAB frameCAB;    // CAB di deposito dgelle immagini

static CAB trackingCAB; // CAB di deposito delle info di tracking

int img_border    =  10; // 10;

int img_border_y  =  130; // new!!

int window_width  =  40; //40;

int window_height =  40; //40;

TPixel pix_threshold = 128;

// a 256 GRAYscale palette

WORD GRAY_palette[256];

// the image to be put on the screen

WORD converted_image[IMG_COL * IMG_ROW];

TDataObj sequence[N_FRAMES];

char scan_window_frame(TDataObj *data, TPixel *in_frame, \

                       unsigned int xc, unsigned int yc, int border, int border_y)

{

  unsigned long int offset;

  unsigned int i, j;

  TPixel pix;

  double sum_x = 0.0, sum_y = 0.0;

  unsigned int n_pix = 0;

  int x1, y1, x2, y2;  // Must be int!!!

  char found;

  data->x1 = N_COL;

  data->y1 = N_ROW;

  data->x2 = data->y2 = 0;

  data->xb = data->yb = -1;

  data->time_stamp = -1;

  found = 0;

  x1 = MAX_NUM((xc - window_width / 2), (border));

  y1 = MAX_NUM((yc - window_height / 2), (border_y));

  x2 = MIN_NUM((xc + window_width / 2), (N_COL - border));

  y2 = MIN_NUM((yc + window_height / 2), (N_ROW - border_y));

  for (i = y1; i < y2; i++) {

    for (j = x1; j < x2; j++) {

      offset = i * N_COL + j;

      pix = *(in_frame + offset);

#ifdef __BLACK_ON_WHITE

      // Pixel found (object is BLACK, background is WHITE)

      if (pix < pix_threshold) {

#else

      // Pixel found (object is WHITE, background is BLACK)

      if (pix > pix_threshold) {

#endif

        data->time_stamp = sys_gettime(NULL);

        found = 1;

        n_pix++;

        sum_x += j;

        sum_y += i;

//        *(in_frame + offset) = 0;

        if (i < data->y1)

          data->y1 = i;

        if (i > data->y2)

          data->y2 = i;

        if (j < data->x1)

          data->x1 = j;

        if (j > data->x2)

          data->x2 = j;

      } else {

//        *(in_frame + offset) = 255;

      }

    }

  }

  data->xb = sum_x / n_pix;

  data->yb = sum_y / n_pix;

  return(found);

}

char scan_all_frame(TDataObj *data, TPixel *in_frame)

{

  unsigned long int offset;

  unsigned int i, j;

  TPixel pix;

  double sum_x = 0.0, sum_y = 0.0;

  unsigned int n_pix = 0;

  char found;

  data->x1 = N_COL;

  data->y1 = N_ROW;

  data->x2 = data->y2 = 0;

  data->xb = data->yb = -1;

  data->time_stamp = -1;

  found = 0;

  // In a single image scanning it performs thresholding and computation

  for (i = img_border_y; i < N_ROW - img_border_y; i++) {

    for (j = img_border; j < N_COL - img_border; j++) {

      offset = i * N_COL + j;

      pix = *(in_frame + offset);

#ifdef __BLACK_ON_WHITE

      // Pixel found (object is BLACK, background is WHITE)

      if (pix < pix_threshold) {

#else

      // Pixel found (object is WHITE, background is BLACK)

      if (pix > pix_threshold) {

#endif

        data->time_stamp = sys_gettime(NULL);

        found = 1;

        n_pix++;

        sum_x += j;

        sum_y += i;

//        *(in_frame + offset) = 0;

        if (i < data->y1)

          data->y1 = i;

        if (i > data->y2)

          data->y2 = i;

        if (j < data->x1)

          data->x1 = j;

        if (j > data->x2)

          data->x2 = j;

      } else {

//        *(in_frame + offset) = 255;

      }

    }

  }

  data->xb = sum_x / n_pix;

  data->yb = sum_y / n_pix;

  return(found);

}

void tracking(int top_frame, int *track_x, int *track_y, int *int_vx, int *int_vy, int time_to)

{

  float vx, vy;

  vx = (float)(sequence[top_frame - 1].xb - sequence[top_frame - 2].xb) /

       (float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);

  vx *= 1000;

  vy = (float)(sequence[top_frame - 1].yb - sequence[top_frame - 2].yb) /

       (float)(sequence[top_frame - 1].time_stamp - sequence[top_frame - 2].time_stamp);

  vy *= 1000;

  *track_x = sequence[top_frame - 1].xb + vx * time_to;

  *track_y = sequence[top_frame - 1].yb + vy * time_to;

  *int_vx = vx * 1000;

  *int_vy = vy * 1000;

}

  char                found;

  TPixel              *grabber_frame;

  int                 top_frame = 0;

  TDataObj            current;

  TTracking           *track;

void init_tracking_task(void)

  {

    frameCAB = PXC_GetCab();

    grabber_frame = cab_getmes(frameCAB);

  // Executes first time

       found = scan_all_frame(&current, grabber_frame);

  if (found) {

    memcpy(&sequence[top_frame], &current, sizeof(TDataObj));

    top_frame++;

  }

  cab_unget(frameCAB, grabber_frame);

  }

TASK tracking_task(void *arg)

{

//  static unsigned int n_frame = 0;

/*  char                found;

  TPixel              *grabber_frame;

  int                 top_frame = 0;

  TDataObj            current;

  TTracking           *track;

  */

/*  frameCAB = PXC_GetCab();

  grabber_frame = cab_getmes(frameCAB);

  // Executes first time

  found = scan_all_frame(&current, grabber_frame);

  if (found) {

    memcpy(&sequence[top_frame], &current, sizeof(TDataObj));

    top_frame++;

  }

   cab_unget(frameCAB, grabber_frame);

   task_endcycle();

   */

  while (1) {

    // Acquisizione immagine corrente

    grabber_frame = (TPixel *)cab_getmes(frameCAB);

    track = (TTracking *)cab_reserve(trackingCAB);

    // Estrazione della nuova trasformata sul frame corrente

    if (found) {

      found = scan_window_frame(&current, grabber_frame, current.xb, current.yb, img_border,img_border_y);

    } else {

      found = scan_all_frame(&current, grabber_frame);

    }

    track->found = found;

    if (found) {

      if (top_frame < N_FRAMES) {

        memcpy(&sequence[top_frame], &current, sizeof(TDataObj));

        top_frame++;

      } else {

        top_frame = 0;

        memcpy(&sequence[top_frame], &current, sizeof(TDataObj));

      }

      track->top_frame = top_frame;

      memcpy(&track->current, &current, sizeof(TDataObj));

      if (top_frame > 1) {

        tracking(top_frame, &track->predx, &track->predy,

                            &track->vx, &track->vy, 100);

      }

    } else {

      track->top_frame = top_frame = 0;

    }

//  parte di acquisizione dal sensore x

    {

      float   y[2], yp[2],x3ist=0;

      long int k=0;

      char *pun2;

      struct Data_cab2 posiz;

      float yout1;

      task_nopreempt();

      yout1=ad_conv(11);

      task_preempt();

       {  // filtraggio dati ottenuti dal sensore di x

#define AVR 10

		  int i;

		  static float oyout1[AVR];

		  float avy;

		  static int index=0, flag=1;

		  if(flag==1) {

		    for(i=0; i<AVR;++i) { oyout1[i]=yout1;}

		    flag=0;

		  }

		  avy=0;

		  for(i=0;i<AVR;++i) { avy += oyout1[i]; }

		  avy /= AVR;

		  if(fabs(yout1-avy)>=prm.NOISE) { yout1=avy;}

		  oyout1[index]=yout1;

		  index = (index+1) % AVR ;

		}

#ifndef CAMERA_X

		x3ist=v2x(yout1);

		y[0]=bass1(x3ist);

		yp[0] = bass2(dx(y[0]));

		posiz.x = y[0] ; posiz.y = yp[0] ;

#else

		posiz.x=bass1( -(LUNGH/2.0)+ ((float)(current.x1 + current.x2))*LUNGH/( 2.0 *N_COL)  );

		posiz.y=bass2(dx(posiz.x));

//		posiz.y=((float) (track->vx *LUNGH )) /(N_COL);

#endif

		pun2 = cab_reserve(cab2);

		memcpy(pun2, &posiz, sizeof(struct Data_cab2));

		cab_putmes(cab2, pun2);

    }

    // Release CABs

    cab_putmes(trackingCAB, (char *)track);

    cab_unget(frameCAB, grabber_frame);

    task_endcycle();

  }

}

/*

 *

 *

 *

 * Camera task

 *

 *

 *

 *

 */

TASK camera_task(void *arg)

{

  register int        i,j,col,row;

  static unsigned int n_frame = 0;

  TPixel              *grabber_frame;

  TTracking           *track;

//  char                st[600];

  // Inizializzazione del task

  frameCAB = PXC_GetCab();

  while (1) {

    n_frame++;

    /* Acquisizione immagine corrente */

    grabber_frame = cab_getmes(frameCAB);

    for (i=0; i<IMG_ROW; 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[*(grabber_frame+row*N_COL+col)];

      }

    // Release CAB

    cab_unget(frameCAB, grabber_frame);

    for (j=0; j<IMG_COL; j++) {

      converted_image[j] = GRAY_palette[0];

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

    }

    /*  scrive l'immagine della camera su video!!!   */

#ifdef PLOTIMG

    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);

#endif

      mutex_lock(&mutex);

        /*  prende dati sul tracking !!!   */

    track = (TTracking *)cab_getmes(trackingCAB);

        /*  scrive l'immagine del tracking  su video!!!   */

    if (track->found) {

      if (track->top_frame > 1) {

        int px, py;

        if (track->predx < img_border)

          px = img_border;

        else if (track->predx > N_COL-img_border)

          px = N_COL-img_border;

        else

          px = track->predx;

        if (track->predy < img_border_y)

          py = img_border_y;

        else if (track->predy > N_ROW-img_border_y)

          py = N_ROW-img_border_y;

        else

          py = track->predy;

#ifdef PLOTIMG

        grx_disc(IMG_X+(px*IMG_COL)/N_COL, IMG_Y+(py*IMG_ROW)/N_ROW, 3, 127);

        grx_rect(IMG_X+(track->current.x1*IMG_COL)/N_COL, IMG_Y+(track->current.y1*IMG_ROW)/N_ROW, IMG_X+(track->current.x2*IMG_COL)/N_COL, IMG_Y+(track->current.y2*IMG_ROW)/N_ROW, 127);

//        grx_disc(IMG_X+(px*2)/3, IMG_Y+(py*2)/3, 3, 127);

//        grx_rect(IMG_X+(track->current.x1*2)/3, IMG_Y+(track->current.y1*2)/3, IMG_X+(track->current.x2*2)/3, IMG_Y+(track->current.y2*2)/3, 127);

#endif

      }

    }

    cab_unget(trackingCAB, (char *)track);

      mutex_unlock(&mutex);

    task_endcycle();

  }

}

/*

 *

 *

 *

 * Framegrabber Initialization

 *

 *

 *

 *

 */

void start_listener(void); //(TIME p);

void framegrabber_close(void *arg)

{

  PXC_Close();

}

void init_framegrabber(void)

{

  int i;

  KEY_EVT my_key;

  TIME period;

  // Aggiusta la palette

    for (i = 0; i < 256; i++)

      GRAY_palette[i] = rgb16(i,i,i);

  period = PXC_Initiate(4);

  if (!period) {

    grx_close();

    cprintf("Problemi nell'inizializz. del framegrabber. premi un tasto \n");

    keyb_getchar();

	halt();

    sys_end();

  }

  else {

    TTracking *trdata;

    // tracking CAB init

    trackingCAB = cab_create("trackingCAB", sizeof(TTracking), 3);

    trdata = (TTracking *)cab_reserve(trackingCAB);

    trdata->found = 0;

    cab_putmes(trackingCAB, (char *)trdata);

    PXC_Start();

    init_tracking_task();

  //  start_listener();

  }

  sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);

}

/* crea i TASK  tracking_task e camera_task */

/*

void start_listener(void) //(TIME period)

{

  SOFT_TASK_MODEL m1, m2;

  HARD_TASK_MODEL m3;

#ifdef SOFTPROG

  soft_task_default_model(m1);

  soft_task_def_level(m1,1);

  soft_task_def_met(m1,WCET_TRACKING);

  soft_task_def_usemath(m1);

  soft_task_def_period(m1,(PERIOD_TRACKING));

  soft_task_def_group(m1,1);

  soft_task_def_ctrl_jet(m1);

//  soft_task_def_skip_arrivals(m1);

  tracking_PID = task_create("track", tracking_task, &m1, NULL);

  if (tracking_PID == -1) {

    sys_end();

    exit(4);

  }

#else

  hard_task_default_model(m3);

  //hard_task_def_level(m3,1);

  hard_task_def_wcet(m3,WCET_TRACKING);

  hard_task_def_mit(m3,(PERIOD_TRACKING));

  hard_task_def_usemath(m3);

  hard_task_def_group(m3,1);

  hard_task_def_ctrl_jet(m3);

  tracking_PID = task_create("track", tracking_task, &m3, NULL);

  if (tracking_PID == -1) {

    sys_end();

    exit(4);

  }

#endif

  soft_task_default_model(m2);

  soft_task_def_level(m2,1);

  soft_task_def_met(m2,WCET_CAMERA);

  soft_task_def_usemath(m2);

  soft_task_def_period(m2,PERIOD_CAMERA);

  soft_task_def_group(m2,1);

  soft_task_def_ctrl_jet(m2);

  camera_PID = task_create("cam", camera_task, &m2, NULL);

  if (camera_PID == -1) {

    sys_end();

    exit(4);

  }

}

*/