Subversion Repositories shark

#include <stdlib.h>

#include "kernel/kern.h"

#include "kernel/func.h"

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

#include "modules/cabs.h"

#include "modules/hartport.h"

#include "string.h"

#include <math.h>

#include <drivers/glib.h>

#include <drivers/keyb.h>

#include <drivers/pxc.h>

//#include "modules/pi.h"

//#include "modules/nop.h"

//#define PI

//#define CAMERA_X

//#define TIMEJET  //e` incompatibile con PLOTIMG on

//#define DATAPLANT

/*//#define SOFTCARR

//#define SOFTTRACK   unused!!!!

*/

#define SOFTPROG

#define PLOTIMG  // e` incompatibile con TIMEJET on (???perche`?)

#define FRAMEGRABBER_ON

#define JET_ON

/*

 * WCET, Periods and Models

 */

/* define if you want NRT or SOFT... */

// dipendono dalla macchina !!!!

#define TASK_TYPE SOFT

// SOFT + HARD tasks !!!!!!!!!!!!!!!!!!

/*

// TASK carrello

#ifdef SOFTCARR      //  SOFT

//#define WCET_CARRELLO    240   //460

//#define PERIOD_CARRELLO  1200

#else                  //  HARD

#define WCET_CARRELLO    600//500

//#define PERIOD_CARRELLO  1800//1800

#endif

// TASK tracking

#ifdef SOFTTRACK      //  SOFT

//#define WCET_TRACKING     7200  //5000

//#define PERIOD_TRACKING  12000

#else                  //  HARD

#define WCET_TRACKING    10000 //10000

//#define PERIOD_TRACKING  22200 //30000

#endif

*/

#ifdef SOFTPROG

extern long int PERIOD_CARRELLO, WCET_CARRELLO, PERIOD_TRACKING, WCET_TRACKING;

#else

#define WCET_CARRELLO    600//500

#define WCET_TRACKING    10000 //10000

extern long int PERIOD_CARRELLO , PERIOD_TRACKING;

#endif

/*+ altri TASKS   +*/

// TIMEJET non viene attivato nei run.Incompatibile con i tasks JETCTRL

#define WCET_TIMEJET     900

#define PERIOD_TIMEJET  2000

#define WCET_DESIGN    4000 // 4000

#define PERIOD_DESIGN  100000 // 50000

#define WCET_CAMERA    5000  // 5000

#define PERIOD_CAMERA 100000 // 50000

#define WCET_JETCTRL      1000

#define WCET_JETDUMMY    WCET_JETCTRL

#define WCET_JETSLIDE     WCET_JETCTRL

#define PERIOD_JETCTRL  100000

#define PERIOD_JETDUMMY 100000

#define PERIOD_JETSLIDE 100000

/*   controllo stuffs  */

struct  Data_cab1 {

	float   rif;

	int     imp;

};

struct  Data_cab2 {

	float   x;

	float   y;

} ;

struct Parametri{

  float GUAD[4];

  float COST;

  float NOISE;

  float WCUT;

  float WCUT1;

  float OFFSVAL;

  int DEADLINE;

  int SCAN;

  float XTRASL;

};

extern mutex_t mutex, mutexadc;

extern CAB cab1, cab2;

extern struct Parametri prm;

void app_mutex_init(mutex_t *);

int da_motor(float v);

float v2x(float v);

float v2theta(float v);

float bass1(float u);

float bass2(float u);

float bass3(float u);

float bass4(float u);

float  dx(float u);

float  dth(float u);

/* scenario */

#define SCENARIO_NLABEL 16

/*

 * Global Stuffs

 */

/* graphic mutex... */

extern mutex_t mutex;

/* useful colors... */

int white;

int black;

int red;

int gray;

int green;

int blue;

void init_jetcontrol();

void init_framegrabber();

/*

 *

 * JETCONTROL stuffs

 *

 */

#define JET_NTASK   13

#define JET_Y_NAME  480  //500

#define DUMMY_PID    1

#define JET_DUMMY_WIDTH    210

#define JET_DUMMY_HEIGHT    40

/* the point (x, y) is the top left corner */

#define JET_DUMMY_X        60

#define JET_DUMMY_Y        514

#define JET_SLIDE_WIDTH     50

#define JET_SLIDE_X        (384+200)

/*

 *

 * FRAMEGRABBER stuffs

 *

 */

// if defined... object black on a white background

#ifndef __BLACK_ON_WHITE

#define __BLACK_ON_WHITE

#endif

#define ABS_NUM(a) ((a >= 0) ? a : -a)

#define MIN_NUM(a, b) ((a < b) ? a : b)

#define MAX_NUM(a, b) ((a > b) ? a : b)

// Cols and rows  of the framegrabber image

#define N_COL     384 //   384

#define N_ROW        288

#define N_BPS        8   // Bits per pixel

#define N_GRIGI     256

#define N_FRAMES    20 //  100

/* pixel of the video image */

#define IMG_COL 230    //  230 //256

#define IMG_ROW 160   // 160 //192

/* position of the video image */

#define IMG_X   500  //   644  // 384

#define IMG_Y   32   // 200     // 32

// I singoli pixel sono caratteri a 8 bit

typedef unsigned char TPixel;

typedef struct {

  int x1, y1;

  int x2, y2;

  int xb, yb;

  TIME time_stamp;

} TDataObj;

typedef struct {

  int found;

  int top_frame;

  int vx,vy;

  int predx;

  int predy;

  TDataObj current;

} TTracking;

float distance(unsigned int x1, unsigned int y1,

               unsigned int x2, unsigned int y2);

char scan_all_frame(TDataObj *data, TPixel *in_frame);

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

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

void threshold_up_function(KEY_EVT key);

void threshold_down_function(KEY_EVT key);

void border_up_function(KEY_EVT key);

void border_down_function(KEY_EVT key);

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

TASK elab_image_TASK(void);