KfieldGui::KfieldGui(KLocalization & KLocObj) {
KfieldGui();
display_particles(KLocObj.SIRParticles);
}
/**
user function called before resampling starts. No particles are processed in the filter steps.
In this function the state can be estimated (using the particles p), a new reference data can
be set (observations may be usefull) and the filter can be repartitioned using the
set_..._hw/sw functions.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
!!!!! U S E R F U N C T I O N !!!!!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
@param p: pointer to particle array
@param o: pointer to observation array
@param ref: pointer to reference data
@param number: number of particles / observations
*/
void iteration_done(particle * p, observation * o, observation * ref, int number){
#ifndef NO_VGA_FRAMEBUFFER
//timing_t t_start = 0, t_stop = 0, t_result = 0;
//t_start = gettime();
// display all N particles
display_particles( p, number);
// best particle only
display_best_particle( p);
//t_stop = gettime();
//t_result = calc_timediff(t_start, t_stop);
//printf("\nUser Thread (Output): %d", t_result);
#endif
// sorting demo
//diag_printf("number of sortings: %d\n", (sort_counter - old_number_of_sortings));
//old_number_of_sortings = sort_counter;
///////////////////////////////////////////////////////////////////////////////////////
// R E C O N F I G U R A T I O N S T A R T //
///////////////////////////////////////////////////////////////////////////////////////
/*
// 1) calculate number of pixels in block
framecounter4++;
if (framecounter4%50 == 0)
{
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
diag_printf("\n+ 14 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
sort_assign_priority(14);
} else
{
if (framecounter4%25 == 0)
{
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
//diag_printf("\n++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++");
diag_printf("\n+ 17 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");
//sort_assign_priority(17);
}
}
int scaling = 0;
int i;
for (i=0; i<block_size; i++)
{
scaling += particles[i].s;
}*/
//diag_printf("\n///////////////// SCALING FACTOR: %d ////////////////", scaling);
// 2) check if a threshold is passed
/*if (reconf_mode_observation_on == TRUE)
{
//if (scaling < RECONF_THRESHOLD_1)
if (scaling < RECONF_THRESHOLD_3)
{
//diag_printf("AAAAAAAAAAAAAAAAAAAAAAA [HW SAMPLING ON] AAAAAAAAAAAAAAAAAAAAAAAAA\n");
diag_printf("\nAAAAAAAAAAAAAAAAAAAAAAA [FREE FIRST SLOT] AAAAAAAAAAAAAAAAAAAAAAAAA");
// a) exit hw thread for observation
//set_observe_hw_dynamic(1, &hw_thread_o_circuit, parameter_o, 2);
set_observe_hw_dynamic(1, &hw_thread_o_circuit, parameter_o, 2);
// b) start hw sampling threadS
//set_sample_hw_dynamic(1, &hw_thread_s_circuit, parameter_s, 5);
// c) start hw sorting demo
set_sort8k_hw_dynamic (1);
// d) set reconfiguration mode
reconf_mode_observation_on = FALSE;
reconf_mode_observation_last_slot_on = TRUE;
}
}
else
{
if (reconf_mode_observation_last_slot_on == TRUE)
{
//if (scaling > RECONF_THRESHOLD_2)
if (scaling < RECONF_THRESHOLD_4)
{
//diag_printf("BBBBBBBBBBBBBBBBBBBBBBB [HW OBSERVATION ON] BBBBBBBBBBBBBBBBBBBBBB\n");
diag_printf("\nBBBBBBBBBBBBBBBBBBBBBBB [FREE SECOND SLOT] BBBBBBBBBBBBBBBBBBBBBB");
// a) exit hw thread for sampling
//set_sample_hw_dynamic(0, &hw_thread_s_circuit, parameter_s, 5);
// b) start hw observation thread
set_observe_hw_dynamic(0, &hw_thread_o_circuit, parameter_o, 2);
// c) start hw sorting demo
set_sort8k_hw_dynamic (2);
// d) set reconfiguration mode
reconf_mode_observation_last_slot_on = FALSE;
// e) start importance sw thread
//set_importance_sw(1);
}
}
}*/
///////////////////////////////////////////////////////////////////////////////////////
// R E C O N F I G U R A T I O N E N D //
///////////////////////////////////////////////////////////////////////////////////////
#ifndef HWMEASURE
/*diag_printf("\n[iteration_done.c]---------delay...");
cyg_thread_delay(50);
// 1) reset hsv image
reset_hsvImage();
diag_printf("\n[iteration_done.c]---------wait for frame");
// 2) start thread for reading new frame
cyg_semaphore_post(sem_read_new_frame_start);*/
// wait for semaphore, that last frame has been read
cyg_semaphore_wait(sem_read_new_frame_stop);
//diag_printf("\n[iteration_done.c]---------received frame");
// switch framebuffer
switch_framebuffer_on_screen();
// reset observations input address
set_observations_input(tft_editing.fb);
#endif
}
