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