/*
---------------------------------------------------------------------------
* 函数名称：void Application(void)
* 函数功能：读取图像数据，进行图像处理根据处理结果控制舵机方向与车速
* 输入形参：无
* 返回值：无
---------------------------------------------------------------------------
*/
void Application(void)
{
Change_Speed(540);
while(1)
{
/*如果图像数据可读*/
if(OV_State==Read)
{
/*屏蔽中断*/
EXTI_Config(DIS);
/*读取图像*/
Read_Pic();
/*图像处理*/
Image_Process();
/*舵机、电调控制*/
Steer_control();
SpeedContiol(2500);
/*图像处理完毕状态转换*/
OV_State=Wait_Vsync1;
/*打开中断*/
EXTI_Config(EN);
}
}
}
/*
=================
LoadEntityIndexMap
based on LoadAlphaMap() from terrain.c, a little more generic
=================
*/
void LoadEntityIndexMap( entity_t *e )
{
int i, size, numLayers;
const char *value, *indexMapFilename, *shader;
char offset[ 4096 ], *search, *space;
rgbdata_t *image;
byte *pixels;
uint *pixels32;
indexMap_t *im;
brush_t *b;
parseMesh_t *p;
if( e->brushes == NULL && e->patches == NULL )
return;
value = ValueForKey( e, "_indexmap" );
if( value[0] == '\0' ) value = ValueForKey( e, "alphamap" );
if( value[0] == '\0' ) return;
indexMapFilename = value;
// get number of layers (support legacy "layers" key as well)
value = ValueForKey( e, "_layers" );
if( value[0] == '\0' ) value = ValueForKey( e, "layers" );
if( value[0] == '\0' )
{
Msg( "Warning: Entity with index/alpha map \"%s\" has missing \"_layers\" or \"layers\" key\n", indexMapFilename );
Msg( "Entity will not be textured properly. Check your keys/values.\n" );
return;
}
numLayers = com.atoi( value );
if( numLayers < 1 )
{
Msg( "Warning: Entity with index/alpha map \"%s\" has < 1 layer (%d)\n", indexMapFilename, numLayers );
Msg( "Entity will not be textured properly. Check your keys/values.\n" );
return;
}
// get base shader name (support legacy "shader" key as well)
value = ValueForKey( mapEnt, "_shader" );
if( value[0] == '\0' ) value = ValueForKey( e, "shader" );
if( value[0] == '\0' )
{
Msg( "Warning: Entity with index/alpha map \"%s\" has missing \"_shader\" or \"shader\" key\n", indexMapFilename );
Msg( "Entity will not be textured properly. Check your keys/values.\n" );
return;
}
shader = value;
MsgDev( D_NOTE, "Entity %d (%s) has shader index map \"%s\"\n", mapEnt->mapEntityNum, ValueForKey( e, "classname" ), indexMapFilename );
image = FS_LoadImage( indexMapFilename, NULL, 0 );
if( !image ) return;
Image_Process( &image, 0, 0, IMAGE_FORCE_RGBA );
size = image->width * image->height;
pixels = Malloc( size );
pixels32 = (uint *)image->buffer;
for( i = 0; i < size; i++ )
{
pixels[i] = ((pixels32[i] & 0xFF) * numLayers) / 256;
if( pixels[i] >= numLayers ) pixels[i] = numLayers - 1;
}
// the index map must be at least 2x2 pixels
if( image->width < 2 || image->height < 2 )
{
Msg( "Warning: Entity with index/alpha map \"%s\" is smaller than 2x2 pixels\n", indexMapFilename );
Msg( "Entity will not be textured properly. Check your keys/values.\n" );
FS_FreeImage( image );
return;
}
// create a new index map
im = Malloc( sizeof( *im ));
im->w = image->width;
im->h = image->height;
im->numLayers = numLayers;
com.strncpy( im->name, indexMapFilename, sizeof( im->name ));
com.strncpy( im->shader, shader, sizeof( im->shader ));
im->pixels = pixels;
value = ValueForKey( mapEnt, "_offsets" );
if( value[0] == '\0' ) value = ValueForKey( e, "offsets" );
if( value[0] != '\0' )
{
// value is a space-seperated set of numbers
com.strncpy( offset, value, sizeof( offset ));
search = offset;
for( i = 0; i < 256 && *search != '\0'; i++ )
{
space = com.strstr( search, " " );
if( space != NULL ) *space = '\0';
im->offsets[i] = com.atof( search );
if( space == NULL ) break;
search = space + 1;
}
}
// store the index map in every brush/patch in the entity
for( b = e->brushes; b != NULL; b = b->next ) b->im = im;
for( p = e->patches; p != NULL; p = p->next ) p->im = im;
FS_FreeImage( image );
}
/*
=================
VID_CubemapShot
=================
*/
qboolean VID_CubemapShot( const char *base, uint size, const float *vieworg, qboolean skyshot )
{
rgbdata_t *r_shot, *r_side;
byte *temp = NULL;
byte *buffer = NULL;
string basename;
int i = 1, flags, result;
if( !RI.drawWorld || !cl.worldmodel )
return false;
// make sure the specified size is valid
while( i < size ) i<<=1;
if( i != size ) return false;
if( size > glState.width || size > glState.height )
return false;
// setup refdef
RI.params |= RP_ENVVIEW; // do not render non-bmodel entities
// alloc space
temp = Mem_Alloc( r_temppool, size * size * 3 );
buffer = Mem_Alloc( r_temppool, size * size * 3 * 6 );
r_shot = Mem_Alloc( r_temppool, sizeof( rgbdata_t ));
r_side = Mem_Alloc( r_temppool, sizeof( rgbdata_t ));
// use client vieworg
if( !vieworg ) vieworg = cl.refdef.vieworg;
for( i = 0; i < 6; i++ )
{
// go into 3d mode
R_Set2DMode( false );
if( skyshot )
{
R_DrawCubemapView( vieworg, r_skyBoxInfo[i].angles, size );
flags = r_skyBoxInfo[i].flags;
}
else
{
R_DrawCubemapView( vieworg, r_envMapInfo[i].angles, size );
flags = r_envMapInfo[i].flags;
}
pglReadPixels( 0, 0, size, size, GL_RGB, GL_UNSIGNED_BYTE, temp );
r_side->flags = IMAGE_HAS_COLOR;
r_side->width = r_side->height = size;
r_side->type = PF_RGB_24;
r_side->size = r_side->width * r_side->height * 3;
r_side->buffer = temp;
if( flags ) Image_Process( &r_side, 0, 0, 0.0f, flags, NULL );
Q_memcpy( buffer + (size * size * 3 * i), r_side->buffer, size * size * 3 );
}
RI.params &= ~RP_ENVVIEW;
r_shot->flags = IMAGE_HAS_COLOR;
r_shot->flags |= (skyshot) ? IMAGE_SKYBOX : IMAGE_CUBEMAP;
r_shot->width = size;
r_shot->height = size;
r_shot->type = PF_RGB_24;
r_shot->size = r_shot->width * r_shot->height * 3 * 6;
r_shot->palette = NULL;
r_shot->buffer = buffer;
// make sure what we have right extension
Q_strncpy( basename, base, MAX_STRING );
FS_StripExtension( basename );
FS_DefaultExtension( basename, ".tga" );
// write image as 6 sides
result = FS_SaveImage( basename, r_shot );
FS_FreeImage( r_shot );
FS_FreeImage( r_side );
return result;
}
qboolean VID_ScreenShot( const char *filename, int shot_type )
{
rgbdata_t *r_shot;
uint flags = IMAGE_FLIP_Y;
int width = 0, height = 0;
qboolean result;
r_shot = Mem_Alloc( r_temppool, sizeof( rgbdata_t ));
r_shot->width = (glState.width + 3) & ~3;
r_shot->height = (glState.height + 3) & ~3;
r_shot->flags = IMAGE_HAS_COLOR | IMAGE_HAS_ALPHA;
r_shot->type = PF_RGBA_32;
r_shot->size = r_shot->width * r_shot->height * PFDesc[r_shot->type].bpp;
r_shot->palette = NULL;
r_shot->buffer = Mem_Alloc( r_temppool, r_shot->size );
// get screen frame
pglPixelStorei(GL_PACK_ALIGNMENT, 1); // PANDORA, just in case
pglReadPixels( 0, 0, r_shot->width, r_shot->height, GL_RGBA, GL_UNSIGNED_BYTE, r_shot->buffer );
switch( shot_type )
{
case VID_SCREENSHOT:
if( !gl_overview->integer )
VID_ImageAdjustGamma( r_shot->buffer, r_shot->width, r_shot->height ); // scrshot gamma
break;
case VID_SNAPSHOT:
if( !gl_overview->integer )
VID_ImageAdjustGamma( r_shot->buffer, r_shot->width, r_shot->height ); // scrshot gamma
FS_AllowDirectPaths( true );
break;
case VID_LEVELSHOT:
flags |= IMAGE_RESAMPLE;
if( glState.wideScreen )
{
height = 480;
width = 800;
}
else
{
height = 480;
width = 640;
}
break;
case VID_MINISHOT:
flags |= IMAGE_RESAMPLE;
height = 200;
width = 320;
break;
case VID_MAPSHOT:
V_WriteOverviewScript(); // store overview script too
flags |= IMAGE_RESAMPLE|IMAGE_QUANTIZE; // GoldSrc request overviews in 8-bit format
height = 768;
width = 1024;
break;
}
Image_Process( &r_shot, width, height, 0.0f, flags, NULL );
// write image
result = FS_SaveImage( filename, r_shot );
host.write_to_clipboard = false; // disable write to clipboard
FS_AllowDirectPaths( false ); // always reset after store screenshot
FS_FreeImage( r_shot );
return result;
}
