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1655 giacomo 1
// framegrabber stuffs
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/* File name ......... : ELABOR.C
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 * Project............ :
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 * Object ............ :
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 * Author ............ : Facchinetti Tullio
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 * Language .......... : C
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 * Compiler .......... : GNU C
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 * Operative system .. : MS-DOS/HARTIK
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 * Creation data ..... : 04/03/2000
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 * Last modify ....... : 19/11/99
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 */
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#include <kernel/func.h>
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#include <modules/cabs.h>
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#include <stdio.h>
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#include <drivers/pxc.h>
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#include "demo.h"
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PID image_elab_PID;
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TIME periodo;
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CAB PXC_CAB;
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static CAB frameCAB; // CAB di deposito delle immagini
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static TDataObj current, older;
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// extern in INIT.C
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int img_border    =  10;
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int window_width  =  40;
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int window_height =  40;
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// a 256 grayscale palette
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WORD gray_palette[256];
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// the image to be putted on the screen
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WORD converted_image[IMG_COL*IMG_ROW];
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#ifdef __BLACK_ON_WHITE
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TPixel pix_threshold = 64;
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#else
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TPixel pix_threshold = 243;
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#endif
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// Global for testing!!!
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static char st[50];
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TIME before;
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TDataObj sequence[N_FRAMES];
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int top_frame = 0;
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double dist, speed;
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static TPixel *grabber_frame;
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void put_frame(TPixel *frame)
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{
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    register int i,j,col,row;
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    for (i=1; i<IMG_ROW-1; i++)
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      for (j=0; j<IMG_COL; j++) {
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        col = (j*(N_COL-1))/(IMG_COL-1);
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        row = (i*(N_ROW-1))/(IMG_ROW-1);
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        converted_image[i*IMG_COL+j] = gray_palette[*(frame+row*N_COL+col)];
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      }
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    for (j=0; j<IMG_COL; j++) {
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      converted_image[j] = gray_palette[0];
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      converted_image[(IMG_ROW-1)*IMG_COL+j] = gray_palette[0];
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    }
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    mutex_lock(&mutex);
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    grx_putimage(IMG_X, IMG_Y, IMG_X+IMG_COL-1, IMG_Y+IMG_ROW-1,
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                 (BYTE *)converted_image);
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    mutex_unlock(&mutex);
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}
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TASK elab_image_TASK(void)
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{
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//  register int i, j;
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  static unsigned int n_frame = 0;
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  char found;
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  int pred_x, pred_y;
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  // Inizializzazione del task
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  frameCAB = PXC_GetCab();
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  while (1) {
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    n_frame++;
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    sprintf(st, "frame n. %5d", n_frame);
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    mutex_lock(&mutex);
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    grx_text(st, 400, 290, 255, 0);
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    mutex_unlock(&mutex);
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    // Acquisizione immagine corrente
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    grabber_frame = cab_getmes(frameCAB);
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    put_frame(grabber_frame);
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    // Release CAB
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    cab_unget(frameCAB, grabber_frame);
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    task_endcycle();
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  }
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}
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void start_listener(void);
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void framegrabber_close(void *arg)
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{
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  PXC_Close();
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}
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void init_framegrabber(void)
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{
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  register int i;
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  KEY_EVT my_key;
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  // Aggiusta la palette
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    for (i = 0; i < 256; i++)
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      gray_palette[i] = rgb16(i,i,i);
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  periodo = PXC_Initiate(3);
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  PXC_CAB = PXC_GetCab();
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  if (!periodo) {
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    grx_close();
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    cprintf("Problemi nell'inizializzazione del driver\n");
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    sys_end();
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  } else {
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    start_listener();
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  }
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  sys_atrunlevel(framegrabber_close, NULL, RUNLEVEL_BEFORE_EXIT);
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}
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void start_listener(void)
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{
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  SOFT_TASK_MODEL m_soft;
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  soft_task_default_model(m_soft);
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  soft_task_def_met(m_soft,IMAGING_WCET);
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  soft_task_def_usemath(m_soft);
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  soft_task_def_aperiodic(m_soft);
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  soft_task_def_period(m_soft,(periodo));
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  soft_task_def_group(m_soft,1);
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  soft_task_def_ctrl_jet(m_soft);
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  image_elab_PID = task_create("imaging", elab_image_TASK, &m_soft, NULL);
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/*  task_activate(  image_elab_PID);
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  PXC_Push_Listener(image_elab_PID,2);
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  PXC_Start();*/
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}
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void start_framegrabber()
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{
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  PXC_Push_Listener(image_elab_PID,1);
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  PXC_Start();
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}