int32_t cam_getFrameChirp(const uint8_t &type, const uint16_t &xOffset, const uint16_t &yOffset, const uint16_t &xWidth, const uint16_t &yWidth, Chirp *chirp)
{
int32_t result, prebuf;
uint8_t *frame = (uint8_t *)SRAM0_LOC;
// force an error to get prebuf length
CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, frame), HTYPE(0), UINT16(0), UINT16(0), UINTS8(0, 0), END);
prebuf = chirp->getPreBufLen();
if ((result=cam_getFrame(frame+prebuf, SRAM0_SIZE-prebuf, type, xOffset, yOffset, xWidth, yWidth))>=0)
// send frame, use in-place buffer
CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, frame), HTYPE(FOURCC('B','A','8','1')), UINT16(xWidth), UINT16(yWidth), UINTS8(xWidth*yWidth, frame+prebuf), END);
return result;
}
int32_t exec_versionType(Chirp *chirp)
{
if (chirp)
CRP_RETURN(chirp, STRING(FW_TYPE), END);
return 0;
}
int32_t prm_getAll(const uint16_t &index, Chirp *chirp)
{
int res;
uint16_t i;
uint32_t len;
uint8_t *data, argList[CRP_MAX_ARGS];
ParamRecord *rec;
Shadow *shadow;
for (i=0, rec=(ParamRecord *)PRM_FLASH_LOC; rec->crc!=0xffff && rec<(ParamRecord *)PRM_ENDREC; i++, rec++)
{
if(i==index)
{
shadow = prm_findShadow(prm_getId(rec));
if (shadow && shadow->data)
{
len = shadow->len;
data = shadow->data;
}
else
{
len = rec->len;
data = (uint8_t *)rec+prm_getDataOffset(rec);
}
res = Chirp::getArgList(data, rec->len, argList);
if (res<0)
return res;
CRP_RETURN(chirp, UINT32(rec->flags), STRING(argList), STRING(prm_getId(rec)), STRING(prm_getDesc(rec)), UINTS8(len, data), END);
return 0;
}
}
return -1;
}
int32_t exec_version(Chirp *chirp)
{
uint16_t ver[] = {FW_MAJOR_VER, FW_MINOR_VER, FW_BUILD_VER};
cprintf("Pixy firmware version %d.%d.%d\n", ver[0], ver[1], ver[2]);
if (chirp)
CRP_RETURN(chirp, UINTS16(sizeof(ver), ver), END);
return 0;
}
int32_t prm_getChirp(const char *id, Chirp *chirp)
{
ParamRecord *rec;
Shadow *shadow = prm_findShadow(id);
if (shadow && shadow->data)
CRP_RETURN(chirp, UINTS8(shadow->len, shadow->data), END);
else
{
rec = prm_find(id);
if (rec==NULL)
return -1;
CRP_RETURN(chirp, UINTS8(rec->len, (uint8_t *)rec+prm_getDataOffset(rec)), END);
}
return 0;
}
int32_t exec_getAction(const uint16_t &index, Chirp *chirp)
{
int n = sizeof(actions)/sizeof(ActionScriptlet);
if (index>=n)
return -1;
if (chirp)
CRP_RETURN(chirp, STRING(actions[index].action), STRING(actions[index].scriptlet), END);
return 0;
}
int32_t prm_getChirp(const char *id, Chirp *chirp)
{
ParamRecord *rec;
rec = prm_find(id);
if (rec==NULL)
return -1;
CRP_RETURN(chirp, UINTS8(rec->len, (uint8_t *)rec+prm_getDataOffset(rec)), END);
return 0;
}
int32_t prm_getInfo(const char *id, Chirp *chirp)
{
ParamRecord *rec;
for (rec=(ParamRecord *)PRM_FLASH_LOC; rec->crc!=0xffff && rec<(ParamRecord *)PRM_ENDREC; rec++)
{
if(strcmp(id, (char *)rec->data)==0)
{
CRP_RETURN(chirp, STRING(prm_getDesc(rec)));
return 0;
}
}
return -1;
}
int32_t prm_getAll(const uint16_t &index, Chirp *chirp)
{
uint16_t i;
ParamRecord *rec;
for (i=0, rec=(ParamRecord *)PRM_FLASH_LOC; rec->crc!=0xffff && rec<(ParamRecord *)PRM_ENDREC; i++, rec++)
{
if(i==index)
{
CRP_RETURN(chirp, STRING(prm_getId(rec)), STRING(prm_getDesc(rec)), UINTS8(rec->len, (uint8_t *)rec+prm_getDataOffset(rec)));
return 0;
}
}
return -1;
}
int cc_sendBlobs(Chirp *chirp, const BlobA *blobs, uint32_t len, const BlobB *ccBlobs, uint32_t ccLen, uint8_t renderFlags)
{
CRP_RETURN(chirp, HTYPE(FOURCC('C','C','B','2')), HINT8(renderFlags), HINT16(CAM_RES2_WIDTH), HINT16(CAM_RES2_HEIGHT), UINTS16(len*sizeof(BlobA)/sizeof(uint16_t), blobs), UINTS16(ccLen*sizeof(BlobB)/sizeof(uint16_t), ccBlobs), END);
return 0;
}
int32_t cc_getRLSCCChirp(Chirp *chirp)
{
int16_t* c_components = new int16_t[MAX_BLOBS*4];
uint32_t numRls, result;//, prebuf;
uint32_t *memory = (uint32_t *)RLS_MEMORY;
result = cc_getRLSFrame(memory, LUT_MEMORY, &numRls);
CBlobAssembler blobber;
int32_t row;
uint32_t i, startCol, length;
uint8_t model;
for (i=0, row=-1; i<numRls; i++)
{
if (memory[i]==0)
{
row++;
continue;
}
model = memory[i]&0x03;
memory[i] >>= 3;
startCol = memory[i]&0x1ff;
memory[i] >>= 9;
length = memory[i]&0x1ff;
if(!handleRL(&blobber, model, row, startCol, length))
break;
}
blobber.EndFrame();
blobber.SortFinished();
//
// Take Finished blobs and return with chirp
//
CBlob *blob, *temp;
blob = blobber.finishedBlobs;
uint32_t cc_num = 0;
temp = blob;
while (temp)
{
int16_t top, right, bottom, left;
temp->getBBox(left, top, right, bottom);
// Don't want objects with area less than 9...
if ((right-left)*(bottom-top) < 9)
break;
temp = temp->next;
cc_num++;
}
// Remove the rest that we don't care about
/*while(temp)
{
CBlob *next = temp->next;
temp->~CBlob();
temp = NULL;
temp = next;
}*/
cc_num = (cc_num < 15) ? cc_num : MAX_BLOBS;
// Populate return w/ result
//void* mem = malloc(sizeof(int16_t)*cc_num*4);
//if (mem == NULL)
// int i = 0;
//free(mem);
//int16_t* c_components = new int16_t[cc_num*4];
//g_mem += sizeof(int16_t)*cc_num*4;
memset((void *)c_components, 0, sizeof(uint16_t)*cc_num*4);
for (int i = 0; i < cc_num; i++)
{
int16_t top, right, bottom, left;
blob->getBBox(left, top, right, bottom);
c_components[(i*4)+0] = top;
c_components[(i*4)+1] = right;
c_components[(i*4)+2] = bottom;
c_components[(i*4)+3] = left;
blob = blob->next;
}
//CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, SRAM0_LOC), HTYPE(0), UINT16(0), UINT16(0), UINTS8(0, 0), END);
//prebuf = chirp->getPreBufLen();
blobber.Reset();
CRP_RETURN(chirp, HTYPE(FOURCC('V','I','S','U')), UINTS16(cc_num*4, c_components), END);
delete[] c_components;
//g_mem -= sizeof(int16_t)*cc_num*4;
return result;
}
