Changeset 415

Timestamp:

02/17/07 15:37:54 (2 years ago)

Author:

anthony_rowe

Message:

no more GUI hang leaving line mode

Files:

• trunk/lib/cc3-ilp/cc3_ilp.c (modified) (1 diff)
• trunk/lib/cc3-ilp/cc3_ilp.h (modified) (1 diff)
• trunk/projects/cmucam2/cmucam2.c (modified) (18 diffs)

trunk/lib/cc3-ilp/cc3_ilp.c

@@ -22 +22 @@
-#include <stdio.h>
-#include <stdlib.h>
-
-void cc3_send_image_direct (void)
-{
-  cc3_pixbuf_load ();
-
-  uint32_t x, y;
-  uint32_t size_x, size_y;
-  uint8_t *row = cc3_malloc_rows(1);
-  uint8_t num_channels = cc3_g_pixbuf_frame.coi == CC3_CHANNEL_ALL ? 3 : 1;
-
-
-  size_x = cc3_g_pixbuf_frame.width;
-  size_y = cc3_g_pixbuf_frame.height;
-
-  putchar (1);
-  putchar (size_x);
-  if (size_y > 255)
-    size_y = 255;
-  putchar (size_y);
-  for (y = 0; y < size_y; y++) {
-    putchar (2);
-    
-    cc3_pixbuf_read_rows(row, 1);
-    for (x = 0; x < size_x * num_channels; x++) {
-      uint8_t p = row[x];
-      putchar (p);
-    }
-  }
-  putchar (3);
-  
-  free(row);
-}
-
-uint8_t cc3_load_img_rows (cc3_image_t * img, uint16_t rows)

trunk/lib/cc3-ilp/cc3_ilp.h

@@ -31 +31 @@
-
-
-void cc3_send_image_direct(void);
-void cc3_get_pixel(cc3_image_t *img, uint16_t x, uint16_t y, cc3_pixel_t *out_pix);
-void cc3_set_pixel(cc3_image_t *img, uint16_t x, uint16_t y, cc3_pixel_t *in_pix);

trunk/projects/cmucam2/cmucam2.c

@@ -25 +25 @@
-
-
-1
+2
-static const int MAX_LINE = 128;
-
@@ -49 +49 @@
-  TRACK_WINDOW,
-  GET_WINDOW,
+  LED_0,
-  CMUCAM2_CMD_END               // Must be last entry so array sizes are correct
-} cmucam2_command_t;
@@ -60 +61 @@
-static void cmucam2_track_color (cc3_track_pkt_t * t_pkt,
-                                 bool poll_mode,
-
+auto_led, bool 
-static int32_t cmucam2_get_command (int32_t * cmd, int32_t * arg_list);
-static void set_cmucam2_commands (void);
@@ -66 +67 @@
-static void print_NCK (void);
-static void cmucam2_write_t_packet (cc3_track_pkt_t * pkt);
+void cmucam2_send_image_direct (bool auto_led);
-
-int main (void)
@@ -72 +74 @@
-  int32_t val, n;
-  uint32_t arg_list[MAX_ARGS];
-
+,auto_led
-  cc3_track_pkt_t t_pkt;
-  cc3_color_info_pkt_t s_pkt;
@@ -79 +81 @@
-
-cmucam2_start:
+  auto_led= true; 
-  poll_mode = false;
-  line_mode = false;
+  t_pkt.lower_bound.channel[0] = 16;
+  t_pkt.upper_bound.channel[0] = 240;
+  t_pkt.lower_bound.channel[1] = 16;
+  t_pkt.upper_bound.channel[1] = 240;
+  t_pkt.lower_bound.channel[2] = 16;
+  t_pkt.upper_bound.channel[2] = 240;
-  cc3_system_setup ();
-
@@ -134 +143 @@
-        break;
-
+     case LED_0:
+        if (n != 1 && arg_list[0]>2 ) {
+          error = true;
+          break;
+        }
+        else
+          print_ACK ();
+          auto_led=false; 
+        if (arg_list[0] == 0)
+          cc3_clr_led(0); 
+        if (arg_list[0] == 1)
+          cc3_set_led(0); 
+        if (arg_list[0] == 2)
+          auto_led=true; 
+        break;
-
-      case POLL_MODE:
@@ -214 +238 @@
-        else
-          print_ACK ();
-c3_send_image_direct (
+mucam2_send_image_direct (auto_led
-        cc3_pixbuf_set_coi(old_coi);
-        break;
@@ -281 +305 @@
-          t_pkt.upper_bound.channel[2] = arg_list[5];
-        }
-
+auto_led,
-        break;
-
@@ -317 +341 @@
-          tmp= s_pkt.mean.channel[2]-threshold; if(tmp<16) tmp=16; if(tmp>240) tmp=240;t_pkt.lower_bound.channel[2] = tmp;
-          tmp= s_pkt.mean.channel[2]+threshold; if(tmp<16) tmp=16; if(tmp>240) tmp=240; t_pkt.upper_bound.channel[2] = tmp;
-  cmucam2_track_color (&t_pkt, poll_mode, line_mode
+cmucam2_track_color (&t_pkt, poll_mode, line_mode,auto_led
-        }
-        break;
@@ -404 +428 @@
-
-
+void cmucam2_send_image_direct (bool auto_led)
+{
+  cc3_pixbuf_load ();
+
+  uint32_t x, y;
+  uint32_t size_x, size_y;
+  uint8_t *row = cc3_malloc_rows(1);
+  uint8_t num_channels = cc3_g_pixbuf_frame.coi == CC3_CHANNEL_ALL ? 3 : 1;
+
+
+  size_x = cc3_g_pixbuf_frame.width;
+  size_y = cc3_g_pixbuf_frame.height;
+
+  putchar (1);
+  putchar (size_x);
+  if (size_y > 255)
+    size_y = 255;
+  putchar (size_y);
+  for (y = 0; y < size_y; y++) {
+    putchar (2);
+    if(auto_led)
+           {
+                if(y%4==0) cc3_set_led(0);
+                else cc3_clr_led(0);
+           } 
+    cc3_pixbuf_read_rows(row, 1);
+    for (x = 0; x < size_x * num_channels; x++) {
+      uint8_t p = row[x];
+      putchar (p);
+    }
+  }
+  putchar (3);
+  
+  cc3_clr_led(0);
+  free(row);
+}
+
-void cmucam2_get_mean (cc3_color_info_pkt_t * s_pkt,
-                       bool poll_mode,
@@ -420 +481 @@
-      }
-      cc3_color_info_scanline_finish (s_pkt);
+      while (!cc3_uart_has_data (0)) { if(fgetc(stdin)=='\r' ) free(img.pix); return; }
-      if(!quite) cmucam2_write_s_packet (s_pkt);
-    }
@@ -434 +496 @@
-void cmucam2_track_color (cc3_track_pkt_t * t_pkt,
-                          bool poll_mode,
-
+auto_led, bool 
-{
-  cc3_image_t img;
@@ -469 +531 @@
-        cc3_track_color_scanline (&img, t_pkt);
-        if (line_mode) {
-
-
+
+
+
-            if (lm[j] == 0xAA)
-            {
@@ -481 +544 @@
-        }
-      }
+      // keep this check here if you don't want the CMUcam2 GUI to hang after exiting a command in line mode
+      while (!cc3_uart_has_data (0)) { if(fgetc(stdin)=='\r' ) free(img.pix); return; }
-      cc3_track_color_scanline_finish (t_pkt);
-      if (line_mode) {
@@ -486 +551 @@
-        if(!quite) putchar (0xAA);
-      }
+      if(auto_led) {
+        if(t_pkt->int_density>2 ) cc3_set_led(0);
+        else cc3_clr_led(0);
+      }
-      if(!quite) cmucam2_write_t_packet (t_pkt);
-
-if
+ else return 0;
+while
-    {
-      if(fgetc(stdin)=='\r' )
@@ -494 +563 @@
-    }
-  } while (!poll_mode);
-
-  free (img.pix);
+  return 1;
-}
-
@@ -566 +635 @@
-  cmucam2_cmds[TRACK_WINDOW] = "TW";
-  cmucam2_cmds[GET_WINDOW] = "GW";
+  cmucam2_cmds[LED_0] = "L0";
-}
-