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/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Giacomo Guidi <giacomo@gandalf.sssup.it>
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/*
* Copyright (C) 2003 Giacomo Guidi
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "kernel/kern.h"
#include "stdlib.h"
#include "unistd.h"
#include "drivers/shark_keyb26.h"
#include "drivers/shark_videodev26.h"
#include "drivers/shark_fb26.h"
#include "tracer.h"
#define WIDTH 640
#define HEIGHT 480
#define BYTES_PP 2
//#define COLOR
#define FRAME_GRABBER_NUMBER 0
#define FG_PERIOD 40000
#define FG_WCET 30000
#define FG_W 320
#define FG_H 240
void program_end
(void *arg
)
{
sys_end
();
}
void elaborate_image
(void *imageptr
);
void start_frame_grabber
(PID elaborate_task_PID
, int channel
, struct video_buffer
*fbuf
) {
struct video_window win
;
struct video_channel chan
;
struct video_tuner tuner
;
struct video_picture vpic
;
int res
;
/* Init videodev driver */
VIDEODEV26_open
(FRAME_GRABBER_NUMBER
);
/* Select the input channel */
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCGCHAN
,(unsigned long)&chan
);
//cprintf("res = %d\n",res);
chan.
channel = channel
;
chan.
type = VIDEO_VC_TUNER
;
chan.
norm = VIDEO_TYPE_CAMERA
;
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSCHAN
,(unsigned long)&chan
);
//cprintf("res = %d\n",res);
/* Enable the tuner */
tuner.
tuner = 0;
tuner.
mode = VIDEO_MODE_PAL
;
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSTUNER
,(unsigned long)&tuner
);
//cprintf("res = %d\n",res);
/* Select palette and depth */
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCGPICT
,(unsigned long)&vpic
);
//cprintf("res = %d\n",res);
#ifdef COLOR
vpic.
palette = VIDEO_PALETTE_RGB24
;
vpic.
depth = 24;
#else
vpic.
palette = VIDEO_PALETTE_GREY
;
vpic.
depth = 8;
#endif
vpic.
brightness = 35000;
vpic.
hue = 32000;
vpic.
contrast = 32000;
vpic.
colour = 32000;
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSPICT
,(unsigned long)&vpic
);
//cprintf("res = %d\n",res);
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCGWIN
,(unsigned long)&win
);
//cprintf("res = %d\n",res);
win.
x = 0;
win.
y = 0;
win.
width = FG_W
;
win.
height = FG_H
;
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSWIN
,(unsigned long)&win
);
//cprintf("res = %d\n",res);
/* Set the buffer */
res
= VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSFBUF
,(unsigned long)(fbuf
));
//cprintf("res = %d\n",res);
/* IMPORTANT: Set the aperiodic elaboration task
* This is a SHARK change on VIDIOCSYNC. When the
* new frame is ready, the task elaborate_task_PID
* is activated. Elabortate_task must be aperiodic !!
* To link the task to BTTV use this function: */
VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCSYNC
,(unsigned long)(elaborate_task_PID
));
}
/* Check if the frame grabber is ready */
volatile int ready_to_grab
= 1;
/* Elaboration task, it is called when the frame
grabber buffer is ready */
TASK elaborate_task
(void *arg
) {
struct video_buffer
*fbuf
= (struct video_buffer
*)(arg
);
while(1) {
elaborate_image
(fbuf
->base
);
//cprintf("E");
//Text version
//printf_xy(1,20,WHITE,"%08x",
// *(unsigned int *)(fbuf->base+50*320*3+50*3));
ready_to_grab
= 1;
task_testcancel
();
task_endcycle
();
}
return NULL
;
}
/* Send the grab command */
TASK grab_task
(void *arg
) {
int on
;
while(1) {
if (ready_to_grab
) {
task_nopreempt
();
/* Grab */
on
= 1;
VIDEODEV26_ioctl
(FRAME_GRABBER_NUMBER
,VIDIOCCAPTURE
,(unsigned long)&on
);
task_preempt
();
//cprintf("G");
ready_to_grab
= 0;
} else {
//cprintf("S");
/* Frame skipped */
}
task_testcancel
();
task_endcycle
();
}
return NULL
;
}
extern void *video_memory
;
void elaborate_image
(void *imageptr
)
{
WORD x
,y
;
BYTE
*col
;
#ifdef COLOR
for(y
= 0; y
< FG_H
; y
++)
for(x
= 0; x
< FG_W
; x
++) {
col
= (BYTE
*)(imageptr
+ y
* FG_W
* 3 + x
* 3);
*(WORD
*)(video_memory
+ y
*(WIDTH
*2) + (x
*2)) = (WORD
)rgb16
(*(BYTE
*)(col
+2),*(BYTE
*)(col
+1),*(BYTE
*)(col
+0));
}
#else
for(y
= 0; y
< FG_H
; y
++)
for(x
= 0; x
< FG_W
; x
++) {
col
= (BYTE
*)(imageptr
+ y
* FG_W
+ x
);
*(WORD
*)(video_memory
+ y
*(WIDTH
*2) + (x
*2)) = (WORD
)rgb16
(*(BYTE
*)(col
),*(BYTE
*)(col
),*(BYTE
*)(col
));
}
#endif
}
int main
(int argc
, char **argv
)
{
HARD_TASK_MODEL gt
;
SOFT_TASK_MODEL et
;
PID grab_task_pid
,elaborate_task_pid
;
struct video_buffer fbuf
;
int channel
= 0;
if (argc
< 2) {
sys_shutdown_message
("ERROR: Enter the input channel [ex> %s 0]\n",argv
[0]);
sys_end
();
}
channel
= atoi(argv
[1]);
soft_task_default_model
(et
);
soft_task_def_period
(et
,40000);
soft_task_def_arg
(et
,(void *)(&fbuf
));
soft_task_def_met
(et
,20000);
soft_task_def_aperiodic
(et
);
soft_task_def_ctrl_jet
(et
);
hard_task_default_model
(gt
);
hard_task_def_mit
(gt
,40000);
hard_task_def_wcet
(gt
,5000);
hard_task_def_ctrl_jet
(gt
);
grab_task_pid
= task_create
("GrabTask",grab_task
,>
,NULL
);
if (grab_task_pid
== NIL
) {
sys_shutdown_message
("ERROR: Cannot create grab task\n");
sys_end
();
}
elaborate_task_pid
= task_create
("ElaborateTask",elaborate_task
,&et
,NULL
);
if (grab_task_pid
== NIL
) {
sys_shutdown_message
("ERROR: Cannot create elaborate task\n");
sys_end
();
}
#ifdef COLOR
fbuf.
base = malloc(FG_W
*FG_H
*3);
fbuf.
height = FG_H
;
fbuf.
width = FG_W
;
fbuf.
bytesperline = FG_W
*3;
fbuf.
depth = 24;
#else
fbuf.
base = malloc(FG_W
*FG_H
);
fbuf.
height = FG_H
;
fbuf.
width = FG_W
;
fbuf.
bytesperline = FG_W
;
fbuf.
depth = 8;
#endif
start_frame_grabber
(elaborate_task_pid
,channel
,&fbuf
);
/* Activate periodic grabbing */
task_activate
(grab_task_pid
);
while(keyb_getch
(BLOCK
) != ESC
);
task_kill
(grab_task_pid
);
sleep
(1);
sys_end
();
return 0;
}