Changeset 523

Timestamp:

07/02/07 23:25:00 (1 year ago)

Author:

anthony_rowe

Message:

Track Color Line Mode 2 Added to cmucam2 emulation

Files:

• trunk/projects/cmucam2/cmucam2.c (modified) (10 diffs)

trunk/projects/cmucam2/cmucam2.c

@@ -192 +192 @@
-static void cmucam2_track_color (cc3_track_pkt_t * t_pkt,
-                                 bool poll_mode,
-bool
+int8_t
-                                 cmucam2_servo_t * servo_settings,
-                                 bool buf_mode, uint8_t sw_color_space, bool quiet);
@@ -228 +228 @@
-  uint32_t start_time;
-  uint8_t sw_color_space;
-
+
+
-  cc3_track_pkt_t t_pkt;
-  cc3_color_info_pkt_t s_pkt;
@@ -280 +281 @@
-  auto_led = true;
-  poll_mode = false;
-false
+0
-  buf_mode = false;
-  packet_filter_flag = false;
@@ -614 +615 @@
-        if (arg_list[0] == 0) {
-          if (arg_list[1] == 1)
-
-
-
+
+
+
+
+
-        }
-        break;
@@ -1260 +1263 @@
-void cmucam2_track_color (cc3_track_pkt_t * t_pkt,
-                          bool poll_mode,
-bool
+int8_t
-                          cmucam2_servo_t * servo_settings, bool buf_mode, uint8_t sw_color_space,
-                          bool quiet)
@@ -1292 +1295 @@
-      lm_width = 0;
-      lm_height = 0;
-
+==1
-        // FIXME: This doesn't make sense
-        lm = &t_pkt->binary_scanline;
@@ -1309 +1312 @@
-          putchar (lm_height);
-      }
+
+    if (line_mode==2) {
+        // FIXME: This still doesn't make sense
+        lm = &t_pkt->binary_scanline;
+        lm_width = img.width / 8;
+        if (img.width % 8 != 0)
+          lm_width++;
+        if (!quiet)
+          putchar (0xFE);
+        if (cc3_g_pixbuf_frame.height > 255)
+          lm_height = 255;
+        else
+          lm_height = cc3_g_pixbuf_frame.height;
+        //if (!quiet)
+          //putchar (img.width);
+        if (!quiet)
+          putchar (lm_height);
+      }
+
+      
-      while (cc3_pixbuf_read_rows (img.pix, 1)) {
-        if(sw_color_space==HSV_COLOR && img.channels==CC3_CHANNEL_ALL)  cc3_rgb2hsv_row(img.pix,img.width);
-        cc3_track_color_scanline (&img, t_pkt);
-
+
+
-          // 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)) {
@@ -1331 +1355 @@
-          }
-        }
+
+
+        if (line_mode==2) {
+          uint8_t min,max,p_count,conf;
+          uint32_t mean;
+          // 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 (getchar () == '\r') {
+              free (img.pix);
+              return;
+            }
+          }
+          mean=0;
+          min=255;
+          max=0;
+          p_count=0;
+          for (int j = 0; j < img.width; j++) {
+                uint8_t block, offset;
+                block = j / 8;
+                offset = j % 8;
+                offset = 7 - offset;    
+                if((lm[block] & (1<<offset))!=0) 
+                        {
+                        // bit detected
+                        if(j<min) min=j;
+                        if(j>max) max=j;
+                        p_count++;
+                        mean+=j;
+                        }
+          }
+        mean=mean/p_count;
+        conf=((max-min)*100)/p_count;
+        if (!quiet)
+                printf( "%c%c%c%c%c",(uint8_t)mean,min,max,p_count,conf);
+        }
+
+
+        
-      }
-      // keep this check here if you don't want the CMUcam2 GUI to hang after exiting a command in line mode
@@ -1340 +1402 @@
-      }
-      cc3_track_color_scanline_finish (t_pkt);
-
+==1
-        if (!quiet)
-          putchar (0xAA);
@@ -1346 +1408 @@
-          putchar (0xAA);
-      }
+
+     if (line_mode==2) {
+        if (!quiet)
+          putchar (0xFD);
+      }
+
-      if (auto_led) {
-        if (t_pkt->int_density > 2)