| 1 | #include <cc3.h> |
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| 2 | #include <cc3_ilp.h> |
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| 3 | #include <cc3_color_track.h> |
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| 4 | #include <cc3_color_info.h> |
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| 5 | #include <cc3_histogram.h> |
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| 6 | #include <cc3_frame_diff.h> |
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| 7 | #include <math.h> |
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| 8 | #include <stdbool.h> |
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| 9 | #include <stdio.h> |
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| 10 | #include <string.h> |
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| 11 | #include <ctype.h> |
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| 12 | #include <stdlib.h> |
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| 13 | #include <cc3_jpg.h> |
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| 14 | #include <cc3_math.h> |
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| 15 | #include <cc3_hsv.h> |
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| 16 | |
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| 17 | // Uncomment line below to reverse servo direction for auto-servo and demo mode |
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| 18 | #define SERVO_REVERSE_DIRECTION_PAN |
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| 19 | #define SERVO_REVERSE_DIRECTION_TILT |
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| 20 | |
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| 21 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_230400 |
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| 22 | #define SERIAL_BAUD_RATE CC3_UART_RATE_115200 |
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| 23 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_57600 |
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| 24 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_38400 |
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| 25 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_19200 |
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| 26 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_9600 |
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| 27 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_4800 |
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| 28 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_2400 |
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| 29 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_1200 |
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| 30 | //#define SERIAL_BAUD_RATE CC3_UART_RATE_300 |
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| 31 | |
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| 32 | #define SERVO_MIN 0 |
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| 33 | #define SERVO_MID 128 |
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| 34 | #define SERVO_MAX 255 |
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| 35 | // Define a jitter guard such that more than SERVO_GUARD pixels are required |
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| 36 | // for the servo to move. |
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| 37 | |
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| 38 | #define DEFAULT_COLOR 0 |
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| 39 | #define HSV_COLOR 1 |
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| 40 | |
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| 41 | static const unsigned int MAX_ARGS = 10; |
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| 42 | static const unsigned int MAX_LINE = 128; |
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| 43 | |
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| 44 | static const char VERSION_BANNER[] = "CMUcam2 v1.00 c6"; |
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| 45 | |
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| 46 | typedef struct { |
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| 47 | uint8_t pan_step, tilt_step; |
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| 48 | uint8_t pan_range_near, tilt_range_near; |
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| 49 | uint8_t pan_range_far, tilt_range_far; |
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| 50 | int16_t x; |
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| 51 | int16_t y; |
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| 52 | bool y_control; |
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| 53 | bool x_control; |
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| 54 | bool y_report; |
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| 55 | bool x_report; |
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| 56 | } cmucam2_servo_t; |
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| 57 | |
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| 58 | |
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| 59 | typedef enum { |
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| 60 | RESET, |
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| 61 | TRACK_COLOR, |
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| 62 | SEND_FRAME, |
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| 63 | HI_RES, |
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| 64 | FRAME_DIFF, |
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| 65 | GET_VERSION, |
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| 66 | GET_MEAN, |
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| 67 | SET_SERVO, |
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| 68 | CAMERA_REG, |
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| 69 | CAMERA_POWER, |
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| 70 | POLL_MODE, |
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| 71 | LINE_MODE, |
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| 72 | SEND_JPEG, |
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| 73 | VIRTUAL_WINDOW, |
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| 74 | DOWN_SAMPLE, |
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| 75 | GET_HISTOGRAM, |
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| 76 | TRACK_WINDOW, |
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| 77 | GET_TRACK, |
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| 78 | GET_WINDOW, |
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| 79 | LED_0, |
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| 80 | NOISE_FILTER, |
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| 81 | TRACK_INVERT, |
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| 82 | SERVO_MASK, |
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| 83 | SERVO_PARAMETERS, |
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| 84 | SERVO_OUTPUT, |
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| 85 | GET_SERVO, |
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| 86 | SET_INPUT, |
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| 87 | GET_INPUT, |
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| 88 | SET_TRACK, |
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| 89 | BUF_MODE, |
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| 90 | READ_FRAME, |
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| 91 | OUTPUT_MASK, |
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| 92 | PACKET_FILTER, |
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| 93 | CONF_HISTOGRAM, |
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| 94 | GET_BUTTON, |
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| 95 | FRAME_DIFF_CHANNEL, |
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| 96 | LOAD_FRAME, |
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| 97 | RAW_MODE, |
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| 98 | COLOR_SPACE, |
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| 99 | HIRES_DIFF, |
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| 100 | FRAME_STREAM, |
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| 101 | |
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| 102 | RETURN, // Must be second to last |
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| 103 | CMUCAM2_CMDS_COUNT // Must be last entry so array sizes are correct |
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| 104 | } cmucam2_command_t; |
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| 105 | |
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| 106 | static const char cmucam2_cmds[CMUCAM2_CMDS_COUNT][3] = { |
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| 107 | [RETURN] = "", |
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| 108 | |
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| 109 | /* Buffer Commands */ |
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| 110 | [BUF_MODE] = "BM", |
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| 111 | [READ_FRAME] = "RF", |
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| 112 | |
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| 113 | /* Camera Module Commands */ |
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| 114 | [CAMERA_REG] = "CR", |
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| 115 | [CAMERA_POWER] = "CP", |
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| 116 | // CT camera type |
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| 117 | |
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| 118 | /* Data Rate Commands */ |
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| 119 | // DM delay mode |
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| 120 | [FRAME_STREAM] = "FS", |
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| 121 | [POLL_MODE] = "PM", |
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| 122 | // PS packet skip |
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| 123 | [RAW_MODE] = "RM", |
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| 124 | [PACKET_FILTER] = "PF", |
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| 125 | [OUTPUT_MASK] = "OM", |
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| 126 | |
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| 127 | /* Servo Commands */ |
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| 128 | [SET_SERVO] = "SV", |
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| 129 | [GET_SERVO] = "GS", |
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| 130 | [SERVO_OUTPUT] = "SO", |
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| 131 | [SERVO_MASK] = "SM", |
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| 132 | [SERVO_PARAMETERS] = "SP", |
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| 133 | |
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| 134 | /* Image Windowing Commands */ |
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| 135 | [SEND_FRAME] = "SF", |
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| 136 | [DOWN_SAMPLE] = "DS", |
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| 137 | [VIRTUAL_WINDOW] = "VW", |
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| 138 | // FS frame stream |
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| 139 | [HI_RES] = "HR", |
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| 140 | [GET_WINDOW] = "GW", |
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| 141 | // PD pixel difference |
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| 142 | |
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| 143 | /* Auxiliary I/O Commands */ |
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| 144 | [GET_INPUT] = "GI", |
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| 145 | [SET_INPUT] = "SI", // new for cmucam3 |
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| 146 | [GET_BUTTON] = "GB", |
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| 147 | [LED_0] = "L0", |
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| 148 | // L1 LED control |
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| 149 | |
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| 150 | /* Color Tracking Commands */ |
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| 151 | [TRACK_COLOR] = "TC", |
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| 152 | [TRACK_INVERT] = "TI", |
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| 153 | [TRACK_WINDOW] = "TW", |
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| 154 | [NOISE_FILTER] = "NF", |
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| 155 | [LINE_MODE] = "LM", |
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| 156 | [GET_TRACK] = "GT", |
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| 157 | [SET_TRACK] = "ST", |
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| 158 | |
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| 159 | /* Histogram Commands */ |
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| 160 | [GET_HISTOGRAM] = "GH", |
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| 161 | [CONF_HISTOGRAM] = "HC", |
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| 162 | // HT histogram track |
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| 163 | |
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| 164 | /* Frame Differencing Commands */ |
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| 165 | [FRAME_DIFF] = "FD", |
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| 166 | [LOAD_FRAME] = "LF", |
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| 167 | [FRAME_DIFF_CHANNEL] = "DC", |
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| 168 | [HIRES_DIFF] = "HD", |
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| 169 | // MD mask difference |
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| 170 | // UD upload difference |
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| 171 | |
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| 172 | /* Color Statistics Commands */ |
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| 173 | [GET_MEAN] = "GM", |
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| 174 | |
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| 175 | /* System Level Commands */ |
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| 176 | // SD sleep deeply |
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| 177 | // SL sleep |
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| 178 | [RESET] = "RS", |
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| 179 | [GET_VERSION] = "GV", |
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| 180 | |
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| 181 | [COLOR_SPACE] = "CS", |
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| 182 | |
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| 183 | /* CMUcam3 New Commands */ |
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| 184 | [SEND_JPEG] = "SJ", |
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| 185 | }; |
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| 186 | |
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| 187 | |
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| 188 | static void cmucam2_load_frame (cc3_frame_diff_pkt_t * pkt, bool buf_mode, uint8_t sw_color_space); |
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| 189 | static void cmucam2_get_histogram (cc3_histogram_pkt_t * h_pkt, |
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| 190 | bool poll_mode, bool buf_mode, uint8_t sw_color_space, bool quiet); |
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| 191 | static void cmucam2_get_mean (cc3_color_info_pkt_t * t_pkt, bool poll_mode, |
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| 192 | bool line_mode, bool buf_mode, uint8_t sw_color_space, bool quiet); |
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| 193 | static void cmucam2_write_s_packet (cc3_color_info_pkt_t * pkt); |
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| 194 | static void cmucam2_track_color (cc3_track_pkt_t * t_pkt, |
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| 195 | bool poll_mode, |
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| 196 | int8_t line_mode, bool auto_led, |
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| 197 | cmucam2_servo_t * servo_settings, |
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| 198 | bool buf_mode, uint8_t sw_color_space, bool quiet); |
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| 199 | static void cmucam2_frame_diff (cc3_frame_diff_pkt_t * pkt, |
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| 200 | bool poll_mode, bool line_mode, bool buf_mode, |
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| 201 | bool auto_led, uint8_t sw_color_space, bool quiet); |
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| 202 | static int32_t cmucam2_get_command (cmucam2_command_t * cmd, |
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| 203 | uint32_t arg_list[]); |
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| 204 | static int32_t cmucam2_get_command_raw (cmucam2_command_t * cmd, |
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| 205 | uint32_t arg_list[]); |
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| 206 | static void print_ACK (void); |
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| 207 | static void print_NCK (void); |
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| 208 | static void print_prompt (void); |
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| 209 | static void print_cr (void); |
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| 210 | static void cmucam2_write_t_packet (cc3_track_pkt_t * pkt, |
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| 211 | cmucam2_servo_t * servo_settings); |
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| 212 | static void cmucam2_write_h_packet (cc3_histogram_pkt_t * pkt); |
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| 213 | static void cmucam2_send_image_direct (bool auto_led,uint8_t sw_color_space); |
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| 214 | |
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| 215 | static void raw_print (uint8_t val); |
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| 216 | |
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| 217 | static bool packet_filter_flag; |
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| 218 | static uint8_t t_pkt_mask; |
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| 219 | static uint8_t s_pkt_mask; |
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| 220 | |
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| 221 | static bool raw_mode_output; |
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| 222 | static bool raw_mode_no_confirmations; |
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| 223 | static bool raw_mode_input; |
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| 224 | |
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| 225 | int main (void) |
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| 226 | { |
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| 227 | cmucam2_command_t command; |
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| 228 | int32_t val, n; |
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| 229 | uint32_t arg_list[MAX_ARGS]; |
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| 230 | uint32_t start_time; |
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| 231 | uint8_t sw_color_space; |
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| 232 | bool error, poll_mode, auto_led, demo_mode, buf_mode,frame_stream_mode; |
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| 233 | int8_t line_mode; |
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| 234 | cc3_track_pkt_t t_pkt; |
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| 235 | cc3_color_info_pkt_t s_pkt; |
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| 236 | cc3_histogram_pkt_t h_pkt; |
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| 237 | cc3_frame_diff_pkt_t fd_pkt; |
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| 238 | cmucam2_servo_t servo_settings; |
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| 239 | |
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| 240 | //cc3_filesystem_init (); |
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| 241 | |
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| 242 | cc3_uart_init (0, |
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| 243 | SERIAL_BAUD_RATE, |
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| 244 | CC3_UART_MODE_8N1, CC3_UART_BINMODE_BINARY); |
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| 245 | val = setvbuf (stdout, NULL, _IONBF, 0); |
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| 246 | |
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| 247 | if (!cc3_camera_init ()) { |
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| 248 | cc3_led_set_state (0, true); |
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| 249 | exit (1); |
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| 250 | } |
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| 251 | |
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| 252 | servo_settings.x_control = false; |
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| 253 | servo_settings.y_control = false; |
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| 254 | servo_settings.x_report = false; |
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| 255 | servo_settings.y_report = false; |
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| 256 | demo_mode = false; |
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| 257 | |
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| 258 | // Keep this memory in the bank for frame differencing |
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| 259 | fd_pkt.previous_template = malloc (16 * 16 * sizeof (uint32_t)); |
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| 260 | if (fd_pkt.previous_template == NULL) |
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| 261 | printf ("Malloc FD startup error!\r"); |
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| 262 | start_time = cc3_timer_get_current_ms (); |
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| 263 | |
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| 264 | do { |
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| 265 | if (cc3_button_get_state () == 1) { |
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| 266 | // Demo Mode flag |
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| 267 | demo_mode = true; |
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| 268 | servo_settings.x_control = true; |
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| 269 | servo_settings.y_control = true; |
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| 270 | servo_settings.x_report = true; |
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| 271 | servo_settings.y_report = true; |
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| 272 | // Debounce Switch |
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| 273 | cc3_led_set_state (0, false); |
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| 274 | cc3_timer_wait_ms (500); |
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| 275 | break; |
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| 276 | } |
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| 277 | |
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| 278 | } while (cc3_timer_get_current_ms () < (start_time + 2000)); |
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| 279 | |
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| 280 | |
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| 281 | cmucam2_start: |
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| 282 | sw_color_space=DEFAULT_COLOR; |
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| 283 | auto_led = true; |
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| 284 | poll_mode = false; |
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| 285 | frame_stream_mode = false; |
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| 286 | line_mode = 0; |
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| 287 | buf_mode = false; |
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| 288 | packet_filter_flag = false; |
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| 289 | t_pkt_mask = 0xFF; |
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| 290 | s_pkt_mask = 0xFF; |
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| 291 | h_pkt.bins = 28; |
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| 292 | fd_pkt.coi = 1; |
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| 293 | fd_pkt.template_width = 8; |
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| 294 | fd_pkt.template_height = 8; |
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| 295 | t_pkt.track_invert = false; |
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| 296 | t_pkt.noise_filter = 0; |
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| 297 | |
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| 298 | // set to 0 since cmucam2 appears to initialize to this |
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| 299 | t_pkt.lower_bound.channel[0] = 0; |
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| 300 | t_pkt.upper_bound.channel[0] = 0; |
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| 301 | t_pkt.lower_bound.channel[1] = 0; |
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| 302 | t_pkt.upper_bound.channel[1] = 0; |
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| 303 | t_pkt.lower_bound.channel[2] = 0; |
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| 304 | t_pkt.upper_bound.channel[2] = 0; |
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| 305 | |
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| 306 | raw_mode_output = false; |
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| 307 | raw_mode_no_confirmations = false; |
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| 308 | raw_mode_input = false; |
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| 309 | |
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| 310 | servo_settings.x = SERVO_MID; |
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| 311 | servo_settings.y = SERVO_MID; |
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| 312 | servo_settings.pan_range_far = 32; |
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| 313 | servo_settings.pan_range_near = 20; |
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| 314 | servo_settings.pan_step = 20; |
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| 315 | servo_settings.tilt_range_far = 32; |
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| 316 | servo_settings.tilt_range_near = 20; |
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| 317 | servo_settings.tilt_step = 20; |
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| 318 | |
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| 319 | |
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| 320 | cc3_camera_set_power_state (true); |
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| 321 | cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW); |
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| 322 | |
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| 323 | printf ("%s\r", VERSION_BANNER); |
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| 324 | |
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| 325 | cc3_gpio_set_mode (0, CC3_GPIO_MODE_SERVO); |
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| 326 | cc3_gpio_set_mode (1, CC3_GPIO_MODE_SERVO); |
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| 327 | cc3_gpio_set_mode (2, CC3_GPIO_MODE_SERVO); |
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| 328 | cc3_gpio_set_mode (3, CC3_GPIO_MODE_SERVO); |
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| 329 | |
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| 330 | cc3_gpio_set_servo_position (0, SERVO_MID); |
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| 331 | cc3_gpio_set_servo_position (1, SERVO_MID); |
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| 332 | cc3_gpio_set_servo_position (2, SERVO_MID); |
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| 333 | cc3_gpio_set_servo_position (3, SERVO_MID); |
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| 334 | |
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| 335 | cc3_pixbuf_frame_set_subsample (CC3_SUBSAMPLE_NEAREST, 2, 1); |
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| 336 | |
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| 337 | if (demo_mode) { |
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| 338 | cc3_led_set_state (0, true); |
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| 339 | cc3_timer_wait_ms (5000); |
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| 340 | cc3_camera_set_auto_exposure (false); |
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| 341 | cc3_camera_set_auto_white_balance (false); |
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| 342 | // Wait for second button press as target lock |
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| 343 | while (1) { |
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| 344 | cc3_led_set_state (0, true); |
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| 345 | cc3_timer_wait_ms (100); |
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| 346 | cc3_led_set_state (0, false); |
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| 347 | cc3_timer_wait_ms (100); |
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| 348 | if (cc3_button_get_state () == 1) |
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| 349 | break; |
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| 350 | } |
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| 351 | |
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| 352 | } |
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| 353 | while (true) { |
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| 354 | cc3_channel_t old_coi; |
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| 355 | |
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| 356 | print_prompt (); |
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| 357 | error = false; |
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| 358 | if (demo_mode == true) { |
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| 359 | n = 0; |
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| 360 | command = TRACK_WINDOW; |
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| 361 | } |
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| 362 | else if (raw_mode_input) { |
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| 363 | n = cmucam2_get_command_raw (&command, arg_list); |
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| 364 | } |
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| 365 | else { |
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| 366 | n = cmucam2_get_command (&command, arg_list); |
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| 367 | } |
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| 368 | if (n != -1) { |
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| 369 | switch (command) { |
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| 370 | |
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| 371 | case RESET: |
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| 372 | if (n != 0) { |
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| 373 | error = true; |
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| 374 | break; |
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| 375 | } |
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| 376 | |
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| 377 | print_ACK (); |
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| 378 | print_cr (); |
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| 379 | goto cmucam2_start; |
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| 380 | break; |
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| 381 | |
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| 382 | case READ_FRAME: |
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| 383 | if (n != 0) { |
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| 384 | error = true; |
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| 385 | break; |
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| 386 | } |
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| 387 | print_ACK (); |
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| 388 | cc3_pixbuf_load (); |
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| 389 | break; |
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| 390 | |
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| 391 | case OUTPUT_MASK: |
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| 392 | if (n != 2 || arg_list[0] > 1) { |
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| 393 | error = true; |
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| 394 | break; |
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| 395 | } |
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| 396 | if (arg_list[0] == 0) |
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| 397 | t_pkt_mask = arg_list[1]; |
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| 398 | if (arg_list[0] == 1) |
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| 399 | s_pkt_mask = arg_list[1]; |
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| 400 | print_ACK (); |
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| 401 | break; |
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| 402 | |
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| 403 | |
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| 404 | case GET_VERSION: |
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| 405 | if (n != 0) { |
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| 406 | error = true; |
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| 407 | break; |
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| 408 | } |
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| 409 | |
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| 410 | print_ACK (); |
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| 411 | // no different in raw mode |
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| 412 | printf ("%s", VERSION_BANNER); |
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| 413 | break; |
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| 414 | |
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| 415 | case LED_0: |
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| 416 | if (n != 1 || arg_list[0] > 2) { |
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| 417 | error = true; |
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| 418 | break; |
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| 419 | } |
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| 420 | |
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| 421 | print_ACK (); |
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| 422 | auto_led = false; |
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| 423 | if (arg_list[0] == 0) |
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| 424 | cc3_led_set_state (0, false); |
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| 425 | if (arg_list[0] == 1) |
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| 426 | cc3_led_set_state (0, true); |
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| 427 | if (arg_list[0] == 2) |
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| 428 | auto_led = true; |
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| 429 | break; |
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| 430 | |
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| 431 | case BUF_MODE: |
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| 432 | if (n != 1 || arg_list[0] > 1) { |
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| 433 | error = true; |
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| 434 | break; |
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| 435 | } |
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| 436 | |
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| 437 | print_ACK (); |
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| 438 | if (arg_list[0] == 1) |
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| 439 | buf_mode = true; |
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| 440 | else |
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| 441 | buf_mode = false; |
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| 442 | break; |
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| 443 | |
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| 444 | case PACKET_FILTER: |
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| 445 | if (n != 1 || arg_list[0] > 1) { |
|---|
| 446 | error = true; |
|---|
| 447 | break; |
|---|
| 448 | } |
|---|
| 449 | |
|---|
| 450 | print_ACK (); |
|---|
| 451 | if (arg_list[0] == 1) |
|---|
| 452 | packet_filter_flag = true; |
|---|
| 453 | else |
|---|
| 454 | packet_filter_flag = false; |
|---|
| 455 | break; |
|---|
| 456 | |
|---|
| 457 | case POLL_MODE: |
|---|
| 458 | if (n != 1 || arg_list[0] > 1) { |
|---|
| 459 | error = true; |
|---|
| 460 | break; |
|---|
| 461 | } |
|---|
| 462 | |
|---|
| 463 | print_ACK (); |
|---|
| 464 | if (arg_list[0] == 1) |
|---|
| 465 | poll_mode = true; |
|---|
| 466 | else |
|---|
| 467 | poll_mode = false; |
|---|
| 468 | break; |
|---|
| 469 | |
|---|
| 470 | |
|---|
| 471 | case FRAME_STREAM: |
|---|
| 472 | if (n != 1 || arg_list[0] > 1) { |
|---|
| 473 | error = true; |
|---|
| 474 | break; |
|---|
| 475 | } |
|---|
| 476 | |
|---|
| 477 | print_ACK (); |
|---|
| 478 | if (arg_list[0] == 1) |
|---|
| 479 | frame_stream_mode = true; |
|---|
| 480 | else |
|---|
| 481 | frame_stream_mode = false; |
|---|
| 482 | break; |
|---|
| 483 | |
|---|
| 484 | case SERVO_PARAMETERS: |
|---|
| 485 | if (n != 6) { |
|---|
| 486 | error = true; |
|---|
| 487 | break; |
|---|
| 488 | } |
|---|
| 489 | |
|---|
| 490 | print_ACK (); |
|---|
| 491 | servo_settings.pan_range_far = arg_list[0]; |
|---|
| 492 | servo_settings.pan_range_near = arg_list[1]; |
|---|
| 493 | servo_settings.pan_step = arg_list[2]; |
|---|
| 494 | servo_settings.tilt_range_far = arg_list[3]; |
|---|
| 495 | servo_settings.tilt_range_near = arg_list[4]; |
|---|
| 496 | servo_settings.tilt_step = arg_list[5]; |
|---|
| 497 | break; |
|---|
| 498 | |
|---|
| 499 | case SERVO_MASK: |
|---|
| 500 | if (n != 1) { |
|---|
| 501 | error = true; |
|---|
| 502 | break; |
|---|
| 503 | } |
|---|
| 504 | |
|---|
| 505 | print_ACK (); |
|---|
| 506 | servo_settings.x_control = !!(arg_list[0] & 0x1); |
|---|
| 507 | servo_settings.y_control = !!(arg_list[0] & 0x2); |
|---|
| 508 | servo_settings.x_report = !!(arg_list[0] & 0x4); |
|---|
| 509 | servo_settings.y_report = !!(arg_list[0] & 0x8); |
|---|
| 510 | break; |
|---|
| 511 | |
|---|
| 512 | case HI_RES: |
|---|
| 513 | if (n != 1) { |
|---|
| 514 | error = true; |
|---|
| 515 | break; |
|---|
| 516 | } |
|---|
| 517 | |
|---|
| 518 | print_ACK (); |
|---|
| 519 | if (arg_list[0] == 1) |
|---|
| 520 | cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_HIGH); |
|---|
| 521 | else |
|---|
| 522 | cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW); |
|---|
| 523 | cc3_pixbuf_frame_set_subsample (CC3_SUBSAMPLE_NEAREST, 2, 1); |
|---|
| 524 | break; |
|---|
| 525 | |
|---|
| 526 | |
|---|
| 527 | |
|---|
| 528 | case LOAD_FRAME: |
|---|
| 529 | if (n != 0) { |
|---|
| 530 | error = true; |
|---|
| 531 | break; |
|---|
| 532 | } |
|---|
| 533 | print_ACK (); |
|---|
| 534 | fd_pkt.total_x = cc3_g_pixbuf_frame.width; |
|---|
| 535 | fd_pkt.total_y = cc3_g_pixbuf_frame.height; |
|---|
| 536 | fd_pkt.load_frame = 1; // load a new frame |
|---|
| 537 | cmucam2_load_frame (&fd_pkt, buf_mode, sw_color_space); |
|---|
| 538 | break; |
|---|
| 539 | |
|---|
| 540 | case HIRES_DIFF: |
|---|
| 541 | if (n != 1 || arg_list[0] > 1) { |
|---|
| 542 | error = true; |
|---|
| 543 | break; |
|---|
| 544 | } |
|---|
| 545 | print_ACK (); |
|---|
| 546 | if (arg_list[0] == 0) { |
|---|
| 547 | fd_pkt.template_width = 8; |
|---|
| 548 | fd_pkt.template_height = 8; |
|---|
| 549 | } |
|---|
| 550 | else { |
|---|
| 551 | fd_pkt.template_width = 16; |
|---|
| 552 | fd_pkt.template_height = 16; |
|---|
| 553 | } |
|---|
| 554 | break; |
|---|
| 555 | |
|---|
| 556 | case FRAME_DIFF: |
|---|
| 557 | if (n != 1) { |
|---|
| 558 | error = true; |
|---|
| 559 | break; |
|---|
| 560 | } |
|---|
| 561 | print_ACK (); |
|---|
| 562 | fd_pkt.threshold = arg_list[0]; |
|---|
| 563 | fd_pkt.load_frame = 0; |
|---|
| 564 | fd_pkt.total_x = cc3_g_pixbuf_frame.width; |
|---|
| 565 | fd_pkt.total_y = cc3_g_pixbuf_frame.height; |
|---|
| 566 | cmucam2_frame_diff (&fd_pkt, poll_mode, line_mode, buf_mode, auto_led, sw_color_space, |
|---|
| 567 | 0); |
|---|
| 568 | break; |
|---|
| 569 | |
|---|
| 570 | case FRAME_DIFF_CHANNEL: |
|---|
| 571 | if (n != 1 || arg_list[0] > 2) { |
|---|
| 572 | error = true; |
|---|
| 573 | break; |
|---|
| 574 | } |
|---|
| 575 | print_ACK (); |
|---|
| 576 | fd_pkt.coi = arg_list[0]; |
|---|
| 577 | break; |
|---|
| 578 | |
|---|
| 579 | |
|---|
| 580 | case CONF_HISTOGRAM: |
|---|
| 581 | if (n != 1 || arg_list[0] < 1) { |
|---|
| 582 | error = true; |
|---|
| 583 | break; |
|---|
| 584 | } |
|---|
| 585 | h_pkt.bins = arg_list[0]; |
|---|
| 586 | print_ACK (); |
|---|
| 587 | |
|---|
| 588 | break; |
|---|
| 589 | |
|---|
| 590 | |
|---|
| 591 | case TRACK_INVERT: |
|---|
| 592 | if (n != 1 || arg_list[0] > 1) { |
|---|
| 593 | error = true; |
|---|
| 594 | break; |
|---|
| 595 | } |
|---|
| 596 | |
|---|
| 597 | print_ACK (); |
|---|
| 598 | if (arg_list[0] == 0) |
|---|
| 599 | t_pkt.track_invert = 0; |
|---|
| 600 | else |
|---|
| 601 | t_pkt.track_invert = 1; |
|---|
| 602 | break; |
|---|
| 603 | |
|---|
| 604 | case COLOR_SPACE: |
|---|
| 605 | if (n != 1) { |
|---|
| 606 | error = true; |
|---|
| 607 | break; |
|---|
| 608 | } |
|---|
| 609 | |
|---|
| 610 | print_ACK (); |
|---|
| 611 | sw_color_space= arg_list[0]; |
|---|
| 612 | break; |
|---|
| 613 | |
|---|
| 614 | case NOISE_FILTER: |
|---|
| 615 | if (n != 1) { |
|---|
| 616 | error = true; |
|---|
| 617 | break; |
|---|
| 618 | } |
|---|
| 619 | |
|---|
| 620 | print_ACK (); |
|---|
| 621 | t_pkt.noise_filter = arg_list[0]; |
|---|
| 622 | break; |
|---|
| 623 | |
|---|
| 624 | case LINE_MODE: |
|---|
| 625 | if (n != 2) { |
|---|
| 626 | error = true; |
|---|
| 627 | break; |
|---|
| 628 | } |
|---|
| 629 | |
|---|
| 630 | print_ACK (); |
|---|
| 631 | // FIXME: Make bitmasks later |
|---|
| 632 | if (arg_list[0] == 0) { |
|---|
| 633 | if (arg_list[1] == 1) |
|---|
| 634 | line_mode = 1; |
|---|
| 635 | else if (arg_list[1] == 2) |
|---|
| 636 | line_mode=2; |
|---|
| 637 | else |
|---|
| 638 | line_mode = 0; |
|---|
| 639 | } |
|---|
| 640 | break; |
|---|
| 641 | |
|---|
| 642 | |
|---|
| 643 | case SEND_JPEG: |
|---|
| 644 | if (n != 0 && n != 1) { |
|---|
| 645 | error = true; |
|---|
| 646 | break; |
|---|
| 647 | } |
|---|
| 648 | |
|---|
| 649 | print_ACK (); |
|---|
| 650 | // ignore raw mode |
|---|
| 651 | cc3_jpeg_send_simple (); |
|---|
| 652 | printf ("JPG_END\r"); |
|---|
| 653 | break; |
|---|
| 654 | |
|---|
| 655 | |
|---|
| 656 | case SEND_FRAME: |
|---|
| 657 | old_coi = cc3_g_pixbuf_frame.coi; |
|---|
| 658 | if (n == 1) { |
|---|
| 659 | if (arg_list[0] > 4) { |
|---|
| 660 | error = true; |
|---|
| 661 | break; |
|---|
| 662 | } |
|---|
| 663 | cc3_pixbuf_frame_set_coi (arg_list[0]); |
|---|
| 664 | } |
|---|
| 665 | else if (n > 1) { |
|---|
| 666 | error = true; |
|---|
| 667 | break; |
|---|
| 668 | } |
|---|
| 669 | |
|---|
| 670 | print_ACK (); |
|---|
| 671 | do { |
|---|
| 672 | cmucam2_send_image_direct (auto_led,sw_color_space); |
|---|
| 673 | // Check to see if data is on the UART to break from frame_stream_mode |
|---|
| 674 | if (!cc3_uart_has_data (0)) { |
|---|
| 675 | if (getchar () == '\r') |
|---|
| 676 | break; |
|---|
| 677 | } |
|---|
| 678 | } while (frame_stream_mode); |
|---|
| 679 | |
|---|
| 680 | cc3_pixbuf_frame_set_coi (old_coi); |
|---|
| 681 | break; |
|---|
| 682 | |
|---|
| 683 | case RAW_MODE: |
|---|
| 684 | if (n != 1) { |
|---|
| 685 | error = true; |
|---|
| 686 | break; |
|---|
| 687 | } |
|---|
| 688 | |
|---|
| 689 | raw_mode_output = arg_list[0] & 1; |
|---|
| 690 | raw_mode_no_confirmations = arg_list[0] & 2; |
|---|
| 691 | raw_mode_input = arg_list[0] & 4; |
|---|
| 692 | print_ACK (); // last because ACK may be supressed |
|---|
| 693 | break; |
|---|
| 694 | |
|---|
| 695 | case CAMERA_REG: |
|---|
| 696 | if (n % 2 != 0 || n < 2) { |
|---|
| 697 | error = true; |
|---|
| 698 | break; |
|---|
| 699 | } |
|---|
| 700 | |
|---|
| 701 | print_ACK (); |
|---|
| 702 | for (int i = 0; i < n; i += 2) |
|---|
| 703 | cc3_camera_set_raw_register (arg_list[i], arg_list[i + 1]); |
|---|
| 704 | break; |
|---|
| 705 | |
|---|
| 706 | case CAMERA_POWER: |
|---|
| 707 | if (n != 1) { |
|---|
| 708 | error = true; |
|---|
| 709 | break; |
|---|
| 710 | } |
|---|
| 711 | |
|---|
| 712 | print_ACK (); |
|---|
| 713 | { |
|---|
| 714 | // save |
|---|
| 715 | uint16_t x_0 = cc3_g_pixbuf_frame.x0; |
|---|
| 716 | uint16_t y_0 = cc3_g_pixbuf_frame.y0; |
|---|
| 717 | uint16_t x_1 = cc3_g_pixbuf_frame.x1; |
|---|
| 718 | uint16_t y_1 = cc3_g_pixbuf_frame.y1; |
|---|
| 719 | uint8_t x_step = cc3_g_pixbuf_frame.x_step; |
|---|
| 720 | uint8_t y_step = cc3_g_pixbuf_frame.y_step; |
|---|
| 721 | cc3_subsample_mode_t ss_mode = cc3_g_pixbuf_frame.subsample_mode; |
|---|
| 722 | |
|---|
| 723 | cc3_camera_set_power_state (arg_list[0]); |
|---|
| 724 | |
|---|
| 725 | // restore |
|---|
| 726 | cc3_pixbuf_frame_set_roi (x_0, y_0, x_1, y_1); |
|---|
| 727 | cc3_pixbuf_frame_set_subsample (ss_mode, x_step, y_step); |
|---|
| 728 | } |
|---|
| 729 | break; |
|---|
| 730 | |
|---|
| 731 | case VIRTUAL_WINDOW: |
|---|
| 732 | if (n != 4) { |
|---|
| 733 | error = true; |
|---|
| 734 | break; |
|---|
| 735 | } |
|---|
| 736 | |
|---|
| 737 | print_ACK (); |
|---|
| 738 | cc3_pixbuf_frame_set_roi (arg_list[0] * 2, |
|---|
| 739 | arg_list[1], arg_list[2] * 2, arg_list[3]); |
|---|
| 740 | break; |
|---|
| 741 | |
|---|
| 742 | case GET_TRACK: |
|---|
| 743 | if (n != 0) { |
|---|
| 744 | error = true; |
|---|
| 745 | break; |
|---|
| 746 | } |
|---|
| 747 | |
|---|
| 748 | print_ACK (); |
|---|
| 749 | if (raw_mode_output) { |
|---|
| 750 | putchar (255); |
|---|
| 751 | raw_print (t_pkt.lower_bound.channel[0]); |
|---|
| 752 | raw_print (t_pkt.lower_bound.channel[1]); |
|---|
| 753 | raw_print (t_pkt.lower_bound.channel[2]); |
|---|
| 754 | raw_print (t_pkt.upper_bound.channel[0]); |
|---|
| 755 | raw_print (t_pkt.upper_bound.channel[1]); |
|---|
| 756 | raw_print (t_pkt.upper_bound.channel[2]); |
|---|
| 757 | } |
|---|
| 758 | else { |
|---|
| 759 | printf ("%d %d %d %d %d %d\r", t_pkt.lower_bound.channel[0], |
|---|
| 760 | t_pkt.lower_bound.channel[1], t_pkt.lower_bound.channel[2], |
|---|
| 761 | t_pkt.upper_bound.channel[0], t_pkt.upper_bound.channel[1], |
|---|
| 762 | t_pkt.upper_bound.channel[2]); |
|---|
| 763 | } |
|---|
| 764 | break; |
|---|
| 765 | |
|---|
| 766 | case GET_WINDOW: |
|---|
| 767 | if (n != 0) { |
|---|
| 768 | error = true; |
|---|
| 769 | break; |
|---|
| 770 | } |
|---|
| 771 | |
|---|
| 772 | print_ACK (); |
|---|
| 773 | if (raw_mode_output) { |
|---|
| 774 | putchar (255); |
|---|
| 775 | raw_print (cc3_g_pixbuf_frame.x0 / 2); |
|---|
| 776 | raw_print (cc3_g_pixbuf_frame.y0); |
|---|
| 777 | raw_print (cc3_g_pixbuf_frame.x1 / 2); |
|---|
| 778 | raw_print (cc3_g_pixbuf_frame.y1); |
|---|
| 779 | } |
|---|
| 780 | else { |
|---|
| 781 | printf ("%d %d %d %d\r", cc3_g_pixbuf_frame.x0 / 2, |
|---|
| 782 | cc3_g_pixbuf_frame.y0, cc3_g_pixbuf_frame.x1 / 2, |
|---|
| 783 | cc3_g_pixbuf_frame.y1); |
|---|
| 784 | } |
|---|
| 785 | break; |
|---|
| 786 | |
|---|
| 787 | case DOWN_SAMPLE: |
|---|
| 788 | if (n != 2) { |
|---|
| 789 | error = true; |
|---|
| 790 | break; |
|---|
| 791 | } |
|---|
| 792 | |
|---|
| 793 | print_ACK (); |
|---|
| 794 | cc3_pixbuf_frame_set_subsample (CC3_SUBSAMPLE_NEAREST, |
|---|
| 795 | arg_list[0] * 2, arg_list[1]); |
|---|
| 796 | break; |
|---|
| 797 | |
|---|
| 798 | case SET_TRACK: |
|---|
| 799 | if (n != 0 && n != 6) { |
|---|
| 800 | error = true; |
|---|
| 801 | break; |
|---|
| 802 | } |
|---|
| 803 | print_ACK (); |
|---|
| 804 | if (n == 6) { |
|---|
| 805 | t_pkt.lower_bound.channel[0] = arg_list[0]; |
|---|
| 806 | t_pkt.upper_bound.channel[0] = arg_list[1]; |
|---|
| 807 | t_pkt.lower_bound.channel[1] = arg_list[2]; |
|---|
| 808 | t_pkt.upper_bound.channel[1] = arg_list[3]; |
|---|
| 809 | t_pkt.lower_bound.channel[2] = arg_list[4]; |
|---|
| 810 | t_pkt.upper_bound.channel[2] = arg_list[5]; |
|---|
| 811 | } |
|---|
| 812 | break; |
|---|
| 813 | |
|---|
| 814 | case TRACK_COLOR: |
|---|
| 815 | if (n != 0 && n != 6) { |
|---|
| 816 | error = true; |
|---|
| 817 | break; |
|---|
| 818 | } |
|---|
| 819 | |
|---|
| 820 | print_ACK (); |
|---|
| 821 | if (n == 6) { |
|---|
| 822 | t_pkt.lower_bound.channel[0] = arg_list[0]; |
|---|
| 823 | t_pkt.upper_bound.channel[0] = arg_list[1]; |
|---|
| 824 | t_pkt.lower_bound.channel[1] = arg_list[2]; |
|---|
| 825 | t_pkt.upper_bound.channel[1] = arg_list[3]; |
|---|
| 826 | t_pkt.lower_bound.channel[2] = arg_list[4]; |
|---|
| 827 | t_pkt.upper_bound.channel[2] = arg_list[5]; |
|---|
| 828 | } |
|---|
| 829 | cmucam2_track_color (&t_pkt, poll_mode, line_mode, auto_led, |
|---|
| 830 | &servo_settings, buf_mode, sw_color_space, 0); |
|---|
| 831 | break; |
|---|
| 832 | |
|---|
| 833 | case TRACK_WINDOW: |
|---|
| 834 | if (n != 0 && n != 1) { |
|---|
| 835 | error = true; |
|---|
| 836 | break; |
|---|
| 837 | } |
|---|
| 838 | else { |
|---|
| 839 | uint32_t threshold, x0, y0, x1, y1; |
|---|
| 840 | int32_t tmp; |
|---|
| 841 | threshold = 30; |
|---|
| 842 | if (n == 1) |
|---|
| 843 | threshold = arg_list[0]; |
|---|
| 844 | print_ACK (); |
|---|
| 845 | // set window to 1/2 size |
|---|
| 846 | x0 = cc3_g_pixbuf_frame.x0 + cc3_g_pixbuf_frame.width / 4; |
|---|
| 847 | x1 = cc3_g_pixbuf_frame.x1 - cc3_g_pixbuf_frame.width / 4; |
|---|
| 848 | y0 = cc3_g_pixbuf_frame.y0 + cc3_g_pixbuf_frame.width / 4; |
|---|
| 849 | y1 = cc3_g_pixbuf_frame.y1 - cc3_g_pixbuf_frame.width / 4; |
|---|
| 850 | cc3_pixbuf_frame_set_roi (x0, y0, x1, y1); |
|---|
| 851 | // call get mean |
|---|
| 852 | cmucam2_get_mean (&s_pkt, 1, line_mode, buf_mode,sw_color_space, 1); |
|---|
| 853 | // set window back to full size |
|---|
| 854 | x0 = 0; |
|---|
| 855 | x1 = cc3_g_pixbuf_frame.raw_width; |
|---|
| 856 | y0 = 0; |
|---|
| 857 | y1 = cc3_g_pixbuf_frame.raw_height; |
|---|
| 858 | cc3_pixbuf_frame_set_roi (x0, y0, x1, y1); |
|---|
| 859 | // fill in parameters and call track color |
|---|
| 860 | tmp = s_pkt.mean.channel[0] - threshold; |
|---|
| 861 | if (tmp < 16) |
|---|
| 862 | tmp = 16; |
|---|
| 863 | if (tmp > 240) |
|---|
| 864 | tmp = 240; |
|---|
| 865 | t_pkt.lower_bound.channel[0] = tmp; |
|---|
| 866 | tmp = s_pkt.mean.channel[0] + threshold; |
|---|
| 867 | if (tmp < 16) |
|---|
| 868 | tmp = 16; |
|---|
| 869 | if (tmp > 240) |
|---|
| 870 | tmp = 240; |
|---|
| 871 | t_pkt.upper_bound.channel[0] = tmp; |
|---|
| 872 | tmp = s_pkt.mean.channel[1] - threshold; |
|---|
| 873 | if (tmp < 16) |
|---|
| 874 | tmp = 16; |
|---|
| 875 | if (tmp > 240) |
|---|
| 876 | tmp = 240; |
|---|
| 877 | t_pkt.lower_bound.channel[1] = tmp; |
|---|
| 878 | tmp = s_pkt.mean.channel[1] + threshold; |
|---|
| 879 | if (tmp < 16) |
|---|
| 880 | tmp = 16; |
|---|
| 881 | if (tmp > 240) |
|---|
| 882 | tmp = 240; |
|---|
| 883 | t_pkt.upper_bound.channel[1] = tmp; |
|---|
| 884 | tmp = s_pkt.mean.channel[2] - threshold; |
|---|
| 885 | if (tmp < 16) |
|---|
| 886 | tmp = 16; |
|---|
| 887 | if (tmp > 240) |
|---|
| 888 | tmp = 240; |
|---|
| 889 | t_pkt.lower_bound.channel[2] = tmp; |
|---|
| 890 | tmp = s_pkt.mean.channel[2] + threshold; |
|---|
| 891 | if (tmp < 16) |
|---|
| 892 | tmp = 16; |
|---|
| 893 | if (tmp > 240) |
|---|
| 894 | tmp = 240; |
|---|
| 895 | t_pkt.upper_bound.channel[2] = tmp; |
|---|
| 896 | cmucam2_track_color (&t_pkt, poll_mode, line_mode, auto_led, |
|---|
| 897 | &servo_settings, buf_mode,sw_color_space, 0); |
|---|
| 898 | } |
|---|
| 899 | demo_mode = false; |
|---|
| 900 | break; |
|---|
| 901 | |
|---|
| 902 | |
|---|
| 903 | case GET_MEAN: |
|---|
| 904 | if (n != 0) { |
|---|
| 905 | error = true; |
|---|
| 906 | break; |
|---|
| 907 | } |
|---|
| 908 | |
|---|
| 909 | print_ACK (); |
|---|
| 910 | cmucam2_get_mean (&s_pkt, poll_mode, line_mode, buf_mode,sw_color_space, 0); |
|---|
| 911 | break; |
|---|
| 912 | |
|---|
| 913 | |
|---|
| 914 | case GET_HISTOGRAM: |
|---|
| 915 | if (n != 1 || arg_list[0] > 2) { |
|---|
| 916 | error = true; |
|---|
| 917 | break; |
|---|
| 918 | } |
|---|
| 919 | |
|---|
| 920 | print_ACK (); |
|---|
| 921 | h_pkt.channel = arg_list[0]; |
|---|
| 922 | cmucam2_get_histogram (&h_pkt, poll_mode, buf_mode,sw_color_space, 0); |
|---|
| 923 | break; |
|---|
| 924 | |
|---|
| 925 | |
|---|
| 926 | case SET_SERVO: |
|---|
| 927 | if (n != 2 || arg_list[0] > 4) { |
|---|
| 928 | error = true; |
|---|
| 929 | break; |
|---|
| 930 | } |
|---|
| 931 | |
|---|
| 932 | print_ACK (); |
|---|
| 933 | cc3_gpio_set_mode (arg_list[0], CC3_GPIO_MODE_SERVO); |
|---|
| 934 | cc3_gpio_set_servo_position (arg_list[0], arg_list[1]); |
|---|
| 935 | if (arg_list[0] == 0) |
|---|
| 936 | servo_settings.x = arg_list[1]; |
|---|
| 937 | if (arg_list[0] == 1) |
|---|
| 938 | servo_settings.y = arg_list[1]; |
|---|
| 939 | break; |
|---|
| 940 | |
|---|
| 941 | case GET_SERVO: |
|---|
| 942 | if (n != 1) { |
|---|
| 943 | error = true; |
|---|
| 944 | break; |
|---|
| 945 | } |
|---|
| 946 | |
|---|
| 947 | print_ACK (); |
|---|
| 948 | |
|---|
| 949 | { |
|---|
| 950 | uint8_t servo = cc3_gpio_get_servo_position (arg_list[0]); |
|---|
| 951 | if (raw_mode_output) { |
|---|
| 952 | putchar (255); |
|---|
| 953 | raw_print (servo); |
|---|
| 954 | } |
|---|
| 955 | else { |
|---|
| 956 | printf ("%d\r", servo); |
|---|
| 957 | } |
|---|
| 958 | break; |
|---|
| 959 | } |
|---|
| 960 | |
|---|
| 961 | case GET_INPUT: |
|---|
| 962 | if (n != 0) { |
|---|
| 963 | error = true; |
|---|
| 964 | break; |
|---|
| 965 | } |
|---|
| 966 | |
|---|
| 967 | print_ACK (); |
|---|
| 968 | { |
|---|
| 969 | uint8_t input = |
|---|
| 970 | (cc3_gpio_get_value (arg_list[0])) | |
|---|
| 971 | (cc3_gpio_get_value (arg_list[1]) << 1) | |
|---|
| 972 | (cc3_gpio_get_value (arg_list[2]) << 2) | |
|---|
| 973 | (cc3_gpio_get_value (arg_list[3]) << 3); |
|---|
| 974 | if (raw_mode_output) { |
|---|
| 975 | putchar (255); |
|---|
| 976 | raw_print (input); |
|---|
| 977 | } |
|---|
| 978 | else { |
|---|
| 979 | printf ("%d\r", input); |
|---|
| 980 | } |
|---|
| 981 | } |
|---|
| 982 | break; |
|---|
| 983 | |
|---|
| 984 | |
|---|
| 985 | case SET_INPUT: |
|---|
| 986 | if (n != 1) { |
|---|
| 987 | error = true; |
|---|
| 988 | break; |
|---|
| 989 | } |
|---|
| 990 | print_ACK (); |
|---|
| 991 | cc3_gpio_set_mode (arg_list[0], CC3_GPIO_MODE_INPUT); |
|---|
| 992 | |
|---|
| 993 | break; |
|---|
| 994 | |
|---|
| 995 | case GET_BUTTON: |
|---|
| 996 | if (n != 0) { |
|---|
| 997 | error = true; |
|---|
| 998 | break; |
|---|
| 999 | } |
|---|
| 1000 | |
|---|
| 1001 | print_ACK (); |
|---|
| 1002 | |
|---|
| 1003 | { |
|---|
| 1004 | int button = cc3_button_get_and_reset_trigger ()? 1 : 0; |
|---|
| 1005 | if (raw_mode_output) { |
|---|
| 1006 | putchar (255); |
|---|
| 1007 | raw_print (button); |
|---|
| 1008 | } |
|---|
| 1009 | else { |
|---|
| 1010 | printf ("%d\r", button); |
|---|
| 1011 | } |
|---|
| 1012 | } |
|---|
| 1013 | break; |
|---|
| 1014 | |
|---|
| 1015 | case SERVO_OUTPUT: |
|---|
| 1016 | if (n != 2) { |
|---|
| 1017 | error = true; |
|---|
| 1018 | break; |
|---|
| 1019 | } |
|---|
| 1020 | print_ACK (); |
|---|
| 1021 | cc3_gpio_set_mode (arg_list[0], CC3_GPIO_MODE_OUTPUT); |
|---|
| 1022 | cc3_gpio_set_value (arg_list[0], arg_list[1]); |
|---|
| 1023 | |
|---|
| 1024 | break; |
|---|
| 1025 | |
|---|
| 1026 | default: |
|---|
| 1027 | print_ACK (); |
|---|
| 1028 | break; |
|---|
| 1029 | } |
|---|
| 1030 | } |
|---|
| 1031 | else |
|---|
| 1032 | error = true; |
|---|
| 1033 | |
|---|
| 1034 | if (error) |
|---|
| 1035 | print_NCK (); |
|---|
| 1036 | } |
|---|
| 1037 | |
|---|
| 1038 | |
|---|
| 1039 | return 0; |
|---|
| 1040 | } |
|---|
| 1041 | |
|---|
| 1042 | |
|---|
| 1043 | void cmucam2_send_image_direct (bool auto_led, uint8_t sw_color_space) |
|---|
| 1044 | { |
|---|
| 1045 | cc3_pixbuf_load (); |
|---|
| 1046 | |
|---|
| 1047 | uint32_t x, y; |
|---|
| 1048 | uint32_t size_x, size_y; |
|---|
| 1049 | uint8_t *row = cc3_malloc_rows (1); |
|---|
| 1050 | uint8_t num_channels = cc3_g_pixbuf_frame.coi == CC3_CHANNEL_ALL ? 3 : 1; |
|---|
| 1051 | |
|---|
| 1052 | |
|---|
| 1053 | size_x = cc3_g_pixbuf_frame.width; |
|---|
| 1054 | size_y = cc3_g_pixbuf_frame.height; |
|---|
| 1055 | |
|---|
| 1056 | putchar (1); |
|---|
| 1057 | putchar (size_x); |
|---|
| 1058 | if (size_y > 255) |
|---|
| 1059 | size_y = 255; |
|---|
| 1060 | putchar (size_y); |
|---|
| 1061 | for (y = 0; y < size_y; y++) { |
|---|
| 1062 | putchar (2); |
|---|
| 1063 | if (auto_led) { |
|---|
| 1064 | if (y % 4 == 0) |
|---|
| 1065 | cc3_led_set_state (0, true); |
|---|
| 1066 | else |
|---|
| 1067 | cc3_led_set_state (0, false); |
|---|
| 1068 | } |
|---|
| 1069 | cc3_pixbuf_read_rows (row, 1); |
|---|
| 1070 | if(sw_color_space==HSV_COLOR && num_channels==CC3_CHANNEL_ALL ) cc3_rgb2hsv_row(row,size_x); |
|---|
| 1071 | for (x = 0; x < size_x * num_channels; x++) { |
|---|
| 1072 | uint8_t p = row[x]; |
|---|
| 1073 | |
|---|
| 1074 | // avoid confusion from FIFO corruptions |
|---|
| 1075 | if (p < 16) { |
|---|
| 1076 | p = 16; |
|---|
| 1077 | } |
|---|
| 1078 | else if (p > 240) { |
|---|
| 1079 | p = 240; |
|---|
| 1080 | } |
|---|
| 1081 | putchar (p); |
|---|
| 1082 | } |
|---|
| 1083 | } |
|---|
| 1084 | putchar (3); |
|---|
| 1085 | |
|---|
| 1086 | cc3_led_set_state (0, false); |
|---|
| 1087 | free (row); |
|---|
| 1088 | } |
|---|
| 1089 | |
|---|
| 1090 | |
|---|
| 1091 | |
|---|
| 1092 | void cmucam2_get_histogram (cc3_histogram_pkt_t * h_pkt, bool poll_mode, |
|---|
| 1093 | bool buf_mode, uint8_t sw_color_space, bool quiet) |
|---|
| 1094 | { |
|---|
| 1095 | cc3_image_t img; |
|---|
| 1096 | img.channels = 3; |
|---|
| 1097 | img.width = cc3_g_pixbuf_frame.width; |
|---|
| 1098 | img.height = 1; // image will hold just 1 row for scanline processing |
|---|
| 1099 | img.pix = malloc (3 * img.width); |
|---|
| 1100 | h_pkt->hist = malloc (h_pkt->bins * sizeof (uint32_t)); |
|---|
| 1101 | if (img.pix == NULL || h_pkt->hist == NULL) { |
|---|
| 1102 | printf ("INTERNAL ERROR\r"); |
|---|
| 1103 | return; |
|---|
| 1104 | } |
|---|
| 1105 | do { |
|---|
| 1106 | if (!buf_mode) |
|---|
| 1107 | cc3_pixbuf_load (); |
|---|
| 1108 | else |
|---|
| 1109 | cc3_pixbuf_rewind (); |
|---|
| 1110 | if (cc3_histogram_scanline_start (h_pkt) != 0) { |
|---|
| 1111 | while (cc3_pixbuf_read_rows (img.pix, 1)) { |
|---|
| 1112 | if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL) cc3_rgb2hsv_row(img.pix,img.width); |
|---|
| 1113 | cc3_histogram_scanline (&img, h_pkt); |
|---|
| 1114 | } |
|---|
| 1115 | cc3_histogram_scanline_finish (h_pkt); |
|---|
| 1116 | while (!cc3_uart_has_data (0)) { |
|---|
| 1117 | if (getchar () == '\r') { |
|---|
| 1118 | free (img.pix); |
|---|
| 1119 | free (h_pkt->hist); |
|---|
| 1120 | return; |
|---|
| 1121 | } |
|---|
| 1122 | } |
|---|
| 1123 | if (!quiet) |
|---|
| 1124 | cmucam2_write_h_packet (h_pkt); |
|---|
| 1125 | } |
|---|
| 1126 | if (!cc3_uart_has_data (0)) { |
|---|
| 1127 | if (getchar () == '\r') |
|---|
| 1128 | break; |
|---|
| 1129 | } |
|---|
| 1130 | } while (!poll_mode); |
|---|
| 1131 | |
|---|
| 1132 | free (img.pix); |
|---|
| 1133 | free (h_pkt->hist); |
|---|
| 1134 | |
|---|
| 1135 | |
|---|
| 1136 | } |
|---|
| 1137 | |
|---|
| 1138 | void cmucam2_load_frame (cc3_frame_diff_pkt_t * pkt, bool buf_mode, uint8_t sw_color_space) |
|---|
| 1139 | { |
|---|
| 1140 | cc3_image_t img; |
|---|
| 1141 | uint8_t old_coi; |
|---|
| 1142 | |
|---|
| 1143 | old_coi = cc3_g_pixbuf_frame.coi; |
|---|
| 1144 | cc3_pixbuf_frame_set_coi (pkt->coi); |
|---|
| 1145 | |
|---|
| 1146 | img.channels = 1; |
|---|
| 1147 | img.width = cc3_g_pixbuf_frame.width; |
|---|
| 1148 | img.height = 1; // image will hold just 1 row for scanline processing |
|---|
| 1149 | img.pix = malloc (img.width); |
|---|
| 1150 | |
|---|
| 1151 | if (!buf_mode) |
|---|
| 1152 | cc3_pixbuf_load (); |
|---|
| 1153 | else |
|---|
| 1154 | cc3_pixbuf_rewind (); |
|---|
| 1155 | |
|---|
| 1156 | if (cc3_frame_diff_scanline_start (pkt) != 0) { |
|---|
| 1157 | while (cc3_pixbuf_read_rows (img.pix, 1)) { |
|---|
| 1158 | if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL) cc3_rgb2hsv_row(img.pix,img.width); |
|---|
| 1159 | cc3_frame_diff_scanline (&img, pkt); |
|---|
| 1160 | } |
|---|
| 1161 | cc3_frame_diff_scanline_finish (pkt); |
|---|
| 1162 | } |
|---|
| 1163 | else |
|---|
| 1164 | printf ("frame diff start error\r"); |
|---|
| 1165 | |
|---|
| 1166 | cc3_pixbuf_frame_set_coi (old_coi); |
|---|
| 1167 | free (img.pix); |
|---|
| 1168 | |
|---|
| 1169 | |
|---|
| 1170 | } |
|---|
| 1171 | |
|---|
| 1172 | void cmucam2_frame_diff (cc3_frame_diff_pkt_t * pkt, |
|---|
| 1173 | bool poll_mode, bool line_mode, bool buf_mode, |
|---|
| 1174 | bool auto_led, uint8_t sw_color_space, bool quiet) |
|---|
| 1175 | { |
|---|
| 1176 | cc3_track_pkt_t t_pkt; |
|---|
| 1177 | cc3_image_t img; |
|---|
| 1178 | uint8_t old_coi; |
|---|
| 1179 | |
|---|
| 1180 | bool prev_packet_empty = true; |
|---|
| 1181 | |
|---|
| 1182 | old_coi = cc3_g_pixbuf_frame.coi; |
|---|
| 1183 | cc3_pixbuf_frame_set_coi (pkt->coi); |
|---|
| 1184 | img.channels = 1; |
|---|
| 1185 | img.width = cc3_g_pixbuf_frame.width; |
|---|
| 1186 | img.height = 1; // image will hold just 1 row for scanline processing |
|---|
| 1187 | img.pix = malloc (img.width); |
|---|
| 1188 | pkt->current_template = |
|---|
| 1189 | malloc (pkt->template_width * pkt->template_height * sizeof (uint32_t)); |
|---|
| 1190 | if (pkt->current_template == NULL) |
|---|
| 1191 | printf ("Malloc failed in frame diff\r"); |
|---|
| 1192 | do { |
|---|
| 1193 | if (!buf_mode) |
|---|
| 1194 | cc3_pixbuf_load (); |
|---|
| 1195 | else |
|---|
| 1196 | cc3_pixbuf_rewind (); |
|---|
| 1197 | |
|---|
| 1198 | if (cc3_frame_diff_scanline_start (pkt) != 0) { |
|---|
| 1199 | |
|---|
| 1200 | while (cc3_pixbuf_read_rows (img.pix, 1)) { |
|---|
| 1201 | if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL) cc3_rgb2hsv_row(img.pix,img.width); |
|---|
| 1202 | cc3_frame_diff_scanline (&img, pkt); |
|---|
| 1203 | } |
|---|
| 1204 | cc3_frame_diff_scanline_finish (pkt); |
|---|
| 1205 | |
|---|
| 1206 | while (!cc3_uart_has_data (0)) { |
|---|
| 1207 | if (getchar () == '\r') { |
|---|
| 1208 | cc3_pixbuf_frame_set_coi (old_coi); |
|---|
| 1209 | free (pkt->current_template); |
|---|
| 1210 | free (img.pix); |
|---|
| 1211 | return; |
|---|
| 1212 | } |
|---|
| 1213 | } |
|---|
| 1214 | if (!quiet) { |
|---|
| 1215 | t_pkt.x0 = pkt->x0 + 1; |
|---|
| 1216 | t_pkt.y0 = pkt->y0 + 1; |
|---|
| 1217 | t_pkt.x1 = pkt->x1 + 1; |
|---|
| 1218 | t_pkt.y1 = pkt->y1 + 1; |
|---|
| 1219 | t_pkt.num_pixels = pkt->num_pixels; |
|---|
| 1220 | t_pkt.centroid_x = pkt->centroid_x + 1; |
|---|
| 1221 | t_pkt.centroid_y = pkt->centroid_y + 1; |
|---|
| 1222 | t_pkt.int_density = pkt->int_density; |
|---|
| 1223 | if (auto_led) { |
|---|
| 1224 | if (t_pkt.num_pixels > 2) |
|---|
| 1225 | cc3_led_set_state (0, true); |
|---|
| 1226 | else |
|---|
| 1227 | cc3_led_set_state (0, false); |
|---|
| 1228 | } |
|---|
| 1229 | |
|---|
| 1230 | if (!(packet_filter_flag && |
|---|
| 1231 | t_pkt.num_pixels == 0 && prev_packet_empty)) { |
|---|
| 1232 | cmucam2_write_t_packet (&t_pkt, NULL); |
|---|
| 1233 | } |
|---|
| 1234 | prev_packet_empty = t_pkt.num_pixels == 0; |
|---|
| 1235 | } |
|---|
| 1236 | } |
|---|
| 1237 | |
|---|
| 1238 | |
|---|
| 1239 | if (!cc3_uart_has_data (0)) { |
|---|
| 1240 | if (getchar () == '\r') |
|---|
| 1241 | break; |
|---|
| 1242 | } |
|---|
| 1243 | } while (!poll_mode); |
|---|
| 1244 | |
|---|
| 1245 | cc3_pixbuf_frame_set_coi (old_coi); |
|---|
| 1246 | free (pkt->current_template); |
|---|
| 1247 | free (img.pix); |
|---|
| 1248 | } |
|---|
| 1249 | |
|---|
| 1250 | void cmucam2_get_mean (cc3_color_info_pkt_t * s_pkt, |
|---|
| 1251 | bool poll_mode, bool line_mode, bool buf_mode, uint8_t sw_color_space, |
|---|
| 1252 | bool quiet) |
|---|
| 1253 | { |
|---|
| 1254 | cc3_image_t img; |
|---|
| 1255 | img.channels = 3; |
|---|
| 1256 | img.width = cc3_g_pixbuf_frame.width; |
|---|
| 1257 | img.height = 1; // image will hold just 1 row for scanline processing |
|---|
| 1258 | img.pix = malloc (3 * img.width); |
|---|
| 1259 | do { |
|---|
| 1260 | if (!buf_mode) |
|---|
| 1261 | cc3_pixbuf_load (); |
|---|
| 1262 | else |
|---|
| 1263 | cc3_pixbuf_rewind (); |
|---|
| 1264 | if (cc3_color_info_scanline_start (s_pkt) != 0) { |
|---|
| 1265 | while (cc3_pixbuf_read_rows (img.pix, 1)) { |
|---|
| 1266 | if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL) cc3_rgb2hsv_row(img.pix,img.width); |
|---|
| 1267 | cc3_color_info_scanline (&img, s_pkt); |
|---|
| 1268 | } |
|---|
| 1269 | cc3_color_info_scanline_finish (s_pkt); |
|---|
| 1270 | while (!cc3_uart_has_data (0)) { |
|---|
| 1271 | if (getchar () == '\r') { |
|---|
| 1272 | free (img.pix); |
|---|
| 1273 | return; |
|---|
| 1274 | } |
|---|
| 1275 | } |
|---|
| 1276 | if (!quiet) |
|---|
| 1277 | cmucam2_write_s_packet (s_pkt); |
|---|
| 1278 | } |
|---|
| 1279 | if (!cc3_uart_has_data (0)) { |
|---|
| 1280 | if (getchar () == '\r') |
|---|
| 1281 | break; |
|---|
| 1282 | } |
|---|
| 1283 | } while (!poll_mode); |
|---|
| 1284 | |
|---|
| 1285 | free (img.pix); |
|---|
| 1286 | } |
|---|
| 1287 | |
|---|
| 1288 | void cmucam2_track_color (cc3_track_pkt_t * t_pkt, |
|---|
| 1289 | bool poll_mode, |
|---|
| 1290 | int8_t line_mode, bool auto_led, |
|---|
| 1291 | cmucam2_servo_t * servo_settings, bool buf_mode, uint8_t sw_color_space, |
|---|
| 1292 | bool quiet) |
|---|
| 1293 | { |
|---|
| 1294 | cc3_image_t img; |
|---|
| 1295 | uint16_t x_mid, y_mid; |
|---|
| 1296 | int8_t t_step; |
|---|
| 1297 | |
|---|
| 1298 | bool prev_packet_empty = true; |
|---|
| 1299 | |
|---|
| 1300 | img.channels = 3; |
|---|
| 1301 | img.width = cc3_g_pixbuf_frame.width; |
|---|
| 1302 | img.height = 1; // image will hold just 1 row for scanline processing |
|---|
| 1303 | img.pix = cc3_malloc_rows (1); |
|---|
| 1304 | if (img.pix == NULL) { |
|---|
| 1305 | return; |
|---|
| 1306 | } |
|---|
| 1307 | |
|---|
| 1308 | x_mid = cc3_g_pixbuf_frame.x0 + (cc3_g_pixbuf_frame.width / 2); |
|---|
| 1309 | y_mid = cc3_g_pixbuf_frame.y0 + (cc3_g_pixbuf_frame.height / 2); |
|---|
| 1310 | |
|---|
| 1311 | |
|---|
| 1312 | do { |
|---|
| 1313 | if (!buf_mode) |
|---|
| 1314 | cc3_pixbuf_load (); |
|---|
| 1315 | else |
|---|
| 1316 | cc3_pixbuf_rewind (); |
|---|
| 1317 | if (cc3_track_color_scanline_start (t_pkt) != 0) { |
|---|
| 1318 | uint8_t lm_width, lm_height; |
|---|
| 1319 | uint8_t *lm; |
|---|
| 1320 | lm_width = 0; |
|---|
| 1321 | lm_height = 0; |
|---|
| 1322 | if (line_mode==1) { |
|---|
| 1323 | // FIXME: This doesn't make sense |
|---|
| 1324 | lm = &t_pkt->binary_scanline; |
|---|
| 1325 | lm_width = img.width / 8; |
|---|
| 1326 | if (img.width % 8 != 0) |
|---|
| 1327 | lm_width++; |
|---|
| 1328 | if (!quiet) |
|---|
| 1329 | putchar (0xAA); |
|---|
| 1330 | if (cc3_g_pixbuf_frame.height > 255) |
|---|
| 1331 | lm_height = 255; |
|---|
| 1332 | else |
|---|
| 1333 | lm_height = cc3_g_pixbuf_frame.height; |
|---|
| 1334 | if (!quiet) |
|---|
| 1335 | putchar (img.width); |
|---|
| 1336 | if (!quiet) |
|---|
| 1337 | putchar (lm_height); |
|---|
| 1338 | } |
|---|
| 1339 | |
|---|
| 1340 | if (line_mode==2) { |
|---|
| 1341 | // FIXME: This still doesn't make sense |
|---|
| 1342 | lm = &t_pkt->binary_scanline; |
|---|
| 1343 | lm_width = img.width / 8; |
|---|
| 1344 | if (img.width % 8 != 0) |
|---|
| 1345 | lm_width++; |
|---|
| 1346 | if (!quiet) |
|---|
| 1347 | putchar (0xFE); |
|---|
| 1348 | if (cc3_g_pixbuf_frame.height > 255) |
|---|
| 1349 | lm_height = 255; |
|---|
| 1350 | else |
|---|
| 1351 | lm_height = cc3_g_pixbuf_frame.height; |
|---|
| 1352 | //if (!quiet) |
|---|
| 1353 | //putchar (img.width); |
|---|
| 1354 | if (!quiet) |
|---|
| 1355 | putchar (lm_height); |
|---|
| 1356 | } |
|---|
| 1357 | |
|---|
| 1358 | |
|---|
| 1359 | while (cc3_pixbuf_read_rows (img.pix, 1)) { |
|---|
| 1360 | if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL) cc3_rgb2hsv_row(img.pix,img.width); |
|---|
| 1361 | cc3_track_color_scanline (&img, t_pkt); |
|---|
| 1362 | |
|---|
| 1363 | if (line_mode==1) { |
|---|
| 1364 | // keep this check here if you don't want the CMUcam2 GUI to hang after exiting a command in line mode |
|---|
| 1365 | while (!cc3_uart_has_data (0)) { |
|---|
| 1366 | if (getchar () == '\r') { |
|---|
| 1367 | free (img.pix); |
|---|
| 1368 | return; |
|---|
| 1369 | } |
|---|
| 1370 | } |
|---|
| 1371 | for (int j = 0; j < lm_width; j++) { |
|---|
| 1372 | if (lm[j] == 0xAA) { |
|---|
| 1373 | if (!quiet) |
|---|
| 1374 | putchar (0xAB); |
|---|
| 1375 | } |
|---|
| 1376 | else { |
|---|
| 1377 | if (!quiet) |
|---|
| 1378 | putchar (lm[j]); |
|---|
| 1379 | } |
|---|
| 1380 | } |
|---|
| 1381 | } |
|---|
| 1382 | |
|---|
| 1383 | |
|---|
| 1384 | if (line_mode==2) { |
|---|
| 1385 | uint8_t min,max,p_count,conf; |
|---|
| 1386 | uint32_t mean; |
|---|
| 1387 | // keep this check here if you don't want the CMUcam2 GUI to hang after exiting a command in line mode |
|---|
| 1388 | while (!cc3_uart_has_data (0)) { |
|---|
| 1389 | if (getchar () == '\r') { |
|---|
| 1390 | free (img.pix); |
|---|
| 1391 | return; |
|---|
| 1392 | } |
|---|
| 1393 | } |
|---|
| 1394 | mean=0; |
|---|
| 1395 | min=255; |
|---|
| 1396 | max=0; |
|---|
| 1397 | p_count=0; |
|---|
| 1398 | for (int j = 0; j < img.width; j++) { |
|---|
| 1399 | uint8_t block, offset; |
|---|
| 1400 | block = j / 8; |
|---|
| 1401 | offset = j % 8; |
|---|
| 1402 | offset = 7 - offset; |
|---|
| 1403 | if((lm[block] & (1<<offset))!=0) |
|---|
| 1404 | { |
|---|
| 1405 | // bit detected |
|---|
| 1406 | if(j<min) min=j; |
|---|
| 1407 | if(j>max) max=j; |
|---|
| 1408 | p_count++; |
|---|
| 1409 | mean+=j; |
|---|
| 1410 | } |
|---|
| 1411 | } |
|---|
| 1412 | mean=mean/p_count; |
|---|
| 1413 | conf=((max-min)*100)/p_count; |
|---|
| 1414 | if (!quiet) |
|---|
| 1415 | printf( "%c%c%c%c%c",(uint8_t)mean,min,max,p_count,conf); |
|---|
| 1416 | } |
|---|
| 1417 | |
|---|
| 1418 | |
|---|
| 1419 | |
|---|
| 1420 | } |
|---|
| 1421 | // keep this check here if you don't want the CMUcam2 GUI to hang after exiting a command in line mode |
|---|
| 1422 | while (!cc3_uart_has_data (0)) { |
|---|
| 1423 | if (getchar () == '\r') { |
|---|
| 1424 | free (img.pix); |
|---|
| 1425 | return; |
|---|
| 1426 | } |
|---|
| 1427 | } |
|---|
| 1428 | cc3_track_color_scanline_finish (t_pkt); |
|---|
| 1429 | if (line_mode==1) { |
|---|
| 1430 | if (!quiet) |
|---|
| 1431 | putchar (0xAA); |
|---|
| 1432 | if (!quiet) |
|---|
| 1433 | putchar (0xAA); |
|---|
| 1434 | } |
|---|
| 1435 | |
|---|
| 1436 | if (line_mode==2) { |
|---|
| 1437 | if (!quiet) |
|---|
| 1438 | putchar (0xFD); |
|---|
| 1439 | } |
|---|
| 1440 | |
|---|
| 1441 | if (auto_led) { |
|---|
| 1442 | if (t_pkt->int_density > 2) |
|---|
| 1443 | cc3_led_set_state (0, true); |
|---|
| 1444 | else |
|---|
| 1445 | cc3_led_set_state (0, false); |
|---|
| 1446 | } |
|---|
| 1447 | |
|---|
| 1448 | if (t_pkt->int_density > 5 && servo_settings != NULL) { |
|---|
| 1449 | if (servo_settings->x_control) { |
|---|
| 1450 | t_step = 0; |
|---|
| 1451 | if (t_pkt->centroid_x > x_mid + servo_settings->pan_range_far) |
|---|
| 1452 | t_step = servo_settings->pan_step; |
|---|
| 1453 | else if (t_pkt->centroid_x > x_mid + servo_settings->pan_range_near) |
|---|
| 1454 | t_step = (servo_settings->pan_step / 2); |
|---|
| 1455 | |
|---|
| 1456 | if (t_pkt->centroid_x < x_mid - servo_settings->pan_range_far) |
|---|
| 1457 | t_step = -servo_settings->pan_step; |
|---|
| 1458 | else if (t_pkt->centroid_x < x_mid - servo_settings->pan_range_near) |
|---|
| 1459 | t_step = -(servo_settings->pan_step / 2); |
|---|
| 1460 | |
|---|
| 1461 | |
|---|
| 1462 | #ifdef SERVO_REVERSE_DIRECTION_PAN |
|---|
| 1463 | servo_settings->x -= t_step; |
|---|
| 1464 | #else |
|---|
| 1465 | servo_settings->x += t_step; |
|---|
| 1466 | #endif |
|---|
| 1467 | t_step = 0; |
|---|
| 1468 | if (servo_settings->x > SERVO_MAX) |
|---|
| 1469 | servo_settings->x = SERVO_MAX; |
|---|
| 1470 | if (servo_settings->x < SERVO_MIN) |
|---|
| 1471 | servo_settings->x = SERVO_MIN; |
|---|
| 1472 | cc3_gpio_set_servo_position (0, servo_settings->x); |
|---|
| 1473 | } |
|---|
| 1474 | if (servo_settings->y_control) { |
|---|
| 1475 | if (t_pkt->centroid_y > y_mid + servo_settings->tilt_range_far) |
|---|
| 1476 | t_step = servo_settings->tilt_step; |
|---|
| 1477 | else if (t_pkt->centroid_y > |
|---|
| 1478 | y_mid + servo_settings->tilt_range_near) |
|---|
| 1479 | t_step = servo_settings->tilt_step / 2; |
|---|
| 1480 | |
|---|
| 1481 | if (t_pkt->centroid_y < y_mid - servo_settings->tilt_range_far) |
|---|
| 1482 | t_step = -(servo_settings->tilt_step); |
|---|
| 1483 | else if (t_pkt->centroid_y < |
|---|
| 1484 | y_mid - servo_settings->tilt_range_near) |
|---|
| 1485 | t_step = -(servo_settings->tilt_step / 2); |
|---|
| 1486 | |
|---|
| 1487 | #ifdef SERVO_REVERSE_DIRECTION_TILT |
|---|
| 1488 | servo_settings->y -= t_step; |
|---|
| 1489 | #else |
|---|
| 1490 | servo_settings->y += t_step; |
|---|
| 1491 | #endif |
|---|
| 1492 | |
|---|
| 1493 | if (servo_settings->y > SERVO_MAX) |
|---|
| 1494 | servo_settings->y = SERVO_MAX; |
|---|
| 1495 | if (servo_settings->y < SERVO_MIN) |
|---|
| 1496 | servo_settings->y = SERVO_MIN; |
|---|
| 1497 | cc3_gpio_set_servo_position (1, servo_settings->y); |
|---|
| 1498 | } |
|---|
| 1499 | } |
|---|
| 1500 | |
|---|
| 1501 | if (!quiet) { |
|---|
| 1502 | if (!(packet_filter_flag && |
|---|
| 1503 | t_pkt->num_pixels == 0 && prev_packet_empty)) { |
|---|
| 1504 | cmucam2_write_t_packet (t_pkt, servo_settings); |
|---|
| 1505 | } |
|---|
| 1506 | } |
|---|
| 1507 | prev_packet_empty = t_pkt->num_pixels == 0; |
|---|
| 1508 | } |
|---|
| 1509 | else |
|---|
| 1510 | return; |
|---|
| 1511 | |
|---|
| 1512 | while (!cc3_uart_has_data (0)) { |
|---|
| 1513 | if (getchar () == '\r') |
|---|
| 1514 | break; |
|---|
| 1515 | } |
|---|
| 1516 | } while (!poll_mode); |
|---|
| 1517 | free (img.pix); |
|---|
| 1518 | return; |
|---|
| 1519 | } |
|---|
| 1520 | |
|---|
| 1521 | void cmucam2_write_t_packet (cc3_track_pkt_t * pkt, |
|---|
| 1522 | cmucam2_servo_t * servo_settings) |
|---|
| 1523 | { |
|---|
| 1524 | |
|---|
| 1525 | // cap at 255 |
|---|
| 1526 | if (pkt->centroid_x > 255) |
|---|
| 1527 | pkt->centroid_x = 255; |
|---|
| 1528 | if (pkt->centroid_y > 255) |
|---|
| 1529 | pkt->centroid_y = 255; |
|---|
| 1530 | if (pkt->x0 > 255) |
|---|
| 1531 | pkt->x0 = 255; |
|---|
| 1532 | if (pkt->x1 > 255) |
|---|
| 1533 | pkt->x1 = 255; |
|---|
| 1534 | if (pkt->y1 > 255) |
|---|
| 1535 | pkt->y1 = 255; |
|---|
| 1536 | if (pkt->y0 > 255) |
|---|
| 1537 | pkt->y0 = 255; |
|---|
| 1538 | if (pkt->num_pixels > 255) |
|---|
| 1539 | pkt->num_pixels = 255; |
|---|
| 1540 | if (pkt->int_density > 255) |
|---|
| 1541 | pkt->int_density = 255; |
|---|
| 1542 | |
|---|
| 1543 | // values to print |
|---|
| 1544 | uint8_t p[8]; |
|---|
| 1545 | |
|---|
| 1546 | if (pkt->num_pixels == 0) { |
|---|
| 1547 | p[0] = p[1] = p[2] = p[3] = p[4] = p[5] = p[6] = p[7] = 0; |
|---|
| 1548 | } |
|---|
| 1549 | else { |
|---|
| 1550 | p[0] = pkt->centroid_x; |
|---|
| 1551 | p[1] = pkt->centroid_y; |
|---|
| 1552 | p[2] = pkt->x0; |
|---|
| 1553 | p[3] = pkt->y0; |
|---|
| 1554 | p[4] = pkt->x1; |
|---|
| 1555 | p[5] = pkt->y1; |
|---|
| 1556 | p[6] = pkt->num_pixels; |
|---|
| 1557 | p[7] = pkt->int_density; |
|---|
| 1558 | } |
|---|
| 1559 | |
|---|
| 1560 | uint8_t mask = t_pkt_mask; |
|---|
| 1561 | if (raw_mode_output) { |
|---|
| 1562 | putchar (255); |
|---|
| 1563 | } |
|---|
| 1564 | printf ("T"); |
|---|
| 1565 | |
|---|
| 1566 | // print out fields using mask |
|---|
| 1567 | for (int i = 0; i < 8; i++) { |
|---|
| 1568 | if (mask & 0x1) { |
|---|
| 1569 | if (raw_mode_output) { |
|---|
| 1570 | raw_print (p[i]); |
|---|
| 1571 | } |
|---|
| 1572 | else { |
|---|
| 1573 | printf (" %d", p[i]); |
|---|
| 1574 | } |
|---|
| 1575 | } |
|---|
| 1576 | mask >>= 1; |
|---|
| 1577 | } |
|---|
| 1578 | |
|---|
| 1579 | // print servo settings? |
|---|
| 1580 | if (servo_settings != NULL) { |
|---|
| 1581 | uint8_t sx = servo_settings->x; |
|---|
| 1582 | uint8_t sy = servo_settings->y; |
|---|
| 1583 | |
|---|
| 1584 | if (servo_settings->x_report) { |
|---|
| 1585 | if (raw_mode_output) { |
|---|
| 1586 | raw_print (sx); |
|---|
| 1587 | } |
|---|
| 1588 | else { |
|---|
| 1589 | printf (" %d", sx); |
|---|
| 1590 | } |
|---|
| 1591 | } |
|---|
| 1592 | if (servo_settings->y_report) { |
|---|
| 1593 | if (raw_mode_output) { |
|---|
| 1594 | raw_print (sy); |
|---|
| 1595 | } |
|---|
| 1596 | else { |
|---|
| 1597 | printf (" %d", sy); |
|---|
| 1598 | } |
|---|
| 1599 | } |
|---|
| 1600 | } |
|---|
| 1601 | |
|---|
| 1602 | print_cr (); |
|---|
| 1603 | } |
|---|
| 1604 | |
|---|
| 1605 | void cmucam2_write_h_packet (cc3_histogram_pkt_t * pkt) |
|---|
| 1606 | { |
|---|
| 1607 | uint32_t i; |
|---|
| 1608 | uint32_t total_pix; |
|---|
| 1609 | |
|---|
| 1610 | total_pix = cc3_g_pixbuf_frame.width * cc3_g_pixbuf_frame.height; |
|---|
| 1611 | |
|---|
| 1612 | if (raw_mode_output) { |
|---|
| 1613 | putchar (255); |
|---|
| 1614 | } |
|---|
| 1615 | printf ("H"); |
|---|
| 1616 | |
|---|
| 1617 | for (i = 0; i < pkt->bins; i++) { |
|---|
| 1618 | pkt->hist[i] = (pkt->hist[i] * 256) / total_pix; |
|---|
| 1619 | if (pkt->hist[i] > 255) |
|---|
| 1620 | pkt->hist[i] = 255; |
|---|
| 1621 | |
|---|
| 1622 | if (raw_mode_output) { |
|---|
| 1623 | raw_print (pkt->hist[i]); |
|---|
| 1624 | } |
|---|
| 1625 | else { |
|---|
| 1626 | printf (" %d", pkt->hist[i]); |
|---|
| 1627 | } |
|---|
| 1628 | } |
|---|
| 1629 | |
|---|
| 1630 | print_cr (); |
|---|
| 1631 | } |
|---|
| 1632 | |
|---|
| 1633 | void cmucam2_write_s_packet (cc3_color_info_pkt_t * pkt) |
|---|
| 1634 | { |
|---|
| 1635 | uint8_t pkt2[6]; |
|---|
| 1636 | uint8_t mask = s_pkt_mask; |
|---|
| 1637 | |
|---|
| 1638 | if (raw_mode_output) { |
|---|
| 1639 | putchar (255); |
|---|
| 1640 | } |
|---|
| 1641 | |
|---|
| 1642 | pkt2[0] = pkt->mean.channel[0]; |
|---|
| 1643 | pkt2[1] = pkt->mean.channel[1]; |
|---|
| 1644 | pkt2[2] = pkt->mean.channel[2]; |
|---|
| 1645 | pkt2[3] = pkt->deviation.channel[0]; |
|---|
| 1646 | pkt2[4] = pkt->deviation.channel[1]; |
|---|
| 1647 | pkt2[5] = pkt->deviation.channel[2]; |
|---|
| 1648 | |
|---|
| 1649 | printf ("S"); |
|---|
| 1650 | |
|---|
| 1651 | for (int i = 0; i < 6; i++) { |
|---|
| 1652 | if (mask & 0x1) { |
|---|
| 1653 | if (raw_mode_output) { |
|---|
| 1654 | putchar (pkt2[i]); |
|---|
| 1655 | } |
|---|
| 1656 | else { |
|---|
| 1657 | printf (" %d", pkt2[i]); |
|---|
| 1658 | } |
|---|
| 1659 | } |
|---|
| 1660 | mask >>= 1; |
|---|
| 1661 | } |
|---|
| 1662 | |
|---|
| 1663 | print_cr (); |
|---|
| 1664 | } |
|---|
| 1665 | |
|---|
| 1666 | void print_ACK () |
|---|
| 1667 | { |
|---|
| 1668 | if (!raw_mode_no_confirmations) |
|---|
| 1669 | printf ("ACK\r"); |
|---|
| 1670 | } |
|---|
| 1671 | |
|---|
| 1672 | void print_NCK () |
|---|
| 1673 | { |
|---|
| 1674 | if (!raw_mode_no_confirmations) |
|---|
| 1675 | printf ("NCK\r"); |
|---|
| 1676 | } |
|---|
| 1677 | |
|---|
| 1678 | void print_prompt () |
|---|
| 1679 | { |
|---|
| 1680 | printf (":"); |
|---|
| 1681 | } |
|---|
| 1682 | |
|---|
| 1683 | void print_cr () |
|---|
| 1684 | { |
|---|
| 1685 | if (!raw_mode_output) { |
|---|
| 1686 | printf ("\r"); |
|---|
| 1687 | } |
|---|
| 1688 | } |
|---|
| 1689 | |
|---|
| 1690 | int32_t cmucam2_get_command (cmucam2_command_t * cmd, uint32_t * arg_list) |
|---|
| 1691 | { |
|---|
| 1692 | char line_buf[MAX_LINE]; |
|---|
| 1693 | int c; |
|---|
| 1694 | char *token; |
|---|
| 1695 | bool fail = false; |
|---|
| 1696 | uint32_t length, argc; |
|---|
| 1697 | uint32_t i; |
|---|
| 1698 | |
|---|
| 1699 | length = 0; |
|---|
| 1700 | c = 0; |
|---|
| 1701 | while (c != '\r') { |
|---|
| 1702 | c = getchar (); |
|---|
| 1703 | |
|---|
| 1704 | if (length < (MAX_LINE - 1) && c != EOF) { |
|---|
| 1705 | line_buf[length] = c; |
|---|
| 1706 | length++; |
|---|
| 1707 | } |
|---|
| 1708 | else { |
|---|
| 1709 | // too long or EOF |
|---|
| 1710 | return -1; |
|---|
| 1711 | } |
|---|
| 1712 | } |
|---|
| 1713 | // null terminate |
|---|
| 1714 | line_buf[length] = '\0'; |
|---|
| 1715 | |
|---|
| 1716 | // check for empty command |
|---|
| 1717 | if (line_buf[0] == '\r' || line_buf[0] == '\n') { |
|---|
| 1718 | *cmd = RETURN; |
|---|
| 1719 | return 0; |
|---|
| 1720 | } |
|---|
| 1721 | |
|---|
| 1722 | // start looking for command |
|---|
| 1723 | token = strtok (line_buf, " \r\n"); |
|---|
| 1724 | |
|---|
| 1725 | if (token == NULL) { |
|---|
| 1726 | // no command ? |
|---|
| 1727 | return -1; |
|---|
| 1728 | } |
|---|
| 1729 | |
|---|
| 1730 | // get name of the command |
|---|
| 1731 | for (i = 0; i < strlen (token); i++) { |
|---|
| 1732 | token[i] = toupper (token[i]); |
|---|
| 1733 | } |
|---|
| 1734 | |
|---|
| 1735 | // do lookup of command |
|---|
| 1736 | fail = true; |
|---|
| 1737 | for (i = 0; i < CMUCAM2_CMDS_COUNT; i++) { |
|---|
| 1738 | if (strcmp (token, cmucam2_cmds[i]) == 0) { |
|---|
| 1739 | fail = false; |
|---|
| 1740 | *cmd = i; |
|---|
| 1741 | break; |
|---|
| 1742 | } |
|---|
| 1743 | } |
|---|
| 1744 | if (fail) { |
|---|
| 1745 | return -1; |
|---|
| 1746 | } |
|---|
| 1747 | |
|---|
| 1748 | // now get the arguments |
|---|
| 1749 | argc = 0; |
|---|
| 1750 | while (true) { |
|---|
| 1751 | // extract string from string sequence |
|---|
| 1752 | token = strtok (NULL, " \r\n"); |
|---|
| 1753 | // check if there is nothing else to extract |
|---|
| 1754 | if (token == NULL) { |
|---|
| 1755 | // printf("Tokenizing complete\n"); |
|---|
| 1756 | return argc; |
|---|
| 1757 | } |
|---|
| 1758 | |
|---|
| 1759 | // make sure the argument is fully numeric |
|---|
| 1760 | for (i = 0; i < strlen (token); i++) { |
|---|
| 1761 | if (!isdigit (token[i])) |
|---|
| 1762 | return -1; |
|---|
| 1763 | } |
|---|
| 1764 | |
|---|
| 1765 | // we have a valid token, add it |
|---|
| 1766 | arg_list[argc] = atoi (token); |
|---|
| 1767 | argc++; |
|---|
| 1768 | } |
|---|
| 1769 | |
|---|
| 1770 | return -1; |
|---|
| 1771 | } |
|---|
| 1772 | |
|---|
| 1773 | int32_t cmucam2_get_command_raw (cmucam2_command_t * cmd, uint32_t * arg_list) |
|---|
| 1774 | { |
|---|
| 1775 | bool fail; |
|---|
| 1776 | int c; |
|---|
| 1777 | unsigned int i; |
|---|
| 1778 | uint32_t argc; |
|---|
| 1779 | |
|---|
| 1780 | char cmd_str[3]; |
|---|
| 1781 | cmd_str[2] = '\0'; |
|---|
| 1782 | |
|---|
| 1783 | // read characters |
|---|
| 1784 | for (i = 0; i < 2; i++) { |
|---|
| 1785 | c = getchar (); |
|---|
| 1786 | if (c == EOF) { |
|---|
| 1787 | return -1; |
|---|
| 1788 | } |
|---|
| 1789 | |
|---|
| 1790 | cmd_str[i] = c; |
|---|
| 1791 | } |
|---|
| 1792 | |
|---|
| 1793 | // do lookup of command |
|---|
| 1794 | fail = true; |
|---|
| 1795 | for (i = 0; i < CMUCAM2_CMDS_COUNT; i++) { |
|---|
| 1796 | if (strcmp (cmd_str, cmucam2_cmds[i]) == 0) { |
|---|
| 1797 | fail = false; |
|---|
| 1798 | *cmd = i; |
|---|
| 1799 | break; |
|---|
| 1800 | } |
|---|
| 1801 | } |
|---|
| 1802 | if (fail) { |
|---|
| 1803 | return -1; |
|---|
| 1804 | } |
|---|
| 1805 | |
|---|
| 1806 | // read argc |
|---|
| 1807 | c = getchar (); |
|---|
| 1808 | if (c == EOF) { |
|---|
| 1809 | return -1; |
|---|
| 1810 | } |
|---|
| 1811 | argc = c; |
|---|
| 1812 | if (argc > MAX_ARGS) { |
|---|
| 1813 | return -1; |
|---|
| 1814 | } |
|---|
| 1815 | |
|---|
| 1816 | // read args |
|---|
| 1817 | for (i = 0; i < argc; i++) { |
|---|
| 1818 | c = getchar (); |
|---|
| 1819 | if (c == EOF) { |
|---|
| 1820 | return -1; |
|---|
| 1821 | } |
|---|
| 1822 | |
|---|
| 1823 | arg_list[i] = toupper (c); |
|---|
| 1824 | } |
|---|
| 1825 | |
|---|
| 1826 | // done |
|---|
| 1827 | return argc; |
|---|
| 1828 | } |
|---|
| 1829 | |
|---|
| 1830 | |
|---|
| 1831 | void raw_print (uint8_t val) |
|---|
| 1832 | { |
|---|
| 1833 | if (val == 255) { |
|---|
| 1834 | putchar (254); // avoid confusion |
|---|
| 1835 | } |
|---|
| 1836 | else { |
|---|
| 1837 | putchar (val); |
|---|
| 1838 | } |
|---|
| 1839 | } |
|---|