void process_output_command(void) {
uint8_t input_bytes[16];
// Process all 16 data bytes (6 bits of data per byte, 96 bits of data total)
for (int i = 0; i < 16; i++) {
if (! BYTE_IS_DATA(rs485_peek())) return;
input_bytes[i] = rs485_getc();
}
output_update(input_bytes);
}
/** Main loop. */
static void
main_loop (void)
{
main_timer[3] = timer_read ();
/* Compute absolute position. */
aux_pos_update ();
main_timer[4] = timer_read ();
/* Compute trajectory. */
aux_traj_update ();
/* Prepare control system. */
cs_update_prepare ();
main_timer[5] = timer_read ();
/* Wait for next cycle. */
timer_wait ();
/* Encoder update. */
encoder_update ();
main_timer[0] = timer_read ();
/* Control system update. */
cs_update ();
main_timer[1] = timer_read ();
/* Pwm setup. */
output_update ();
main_timer[2] = timer_read ();
/* Sequences. */
seq_update (&seq_aux[0], &cs_aux[0].state);
seq_update (&seq_aux[1], &cs_aux[1].state);
/* Stats. */
if (main_sequence_ack
&& (seq_aux[0].ack != seq_aux[0].finish
|| seq_aux[1].ack != seq_aux[1].finish)
&& !--main_sequence_ack_cpt)
{
//XXX here
proto_send2b ('A', seq_aux[0].finish, seq_aux[1].finish);
main_sequence_ack_cpt = main_sequence_ack;
}
if (main_stat_counter && !--main_stat_counter_cpt)
{
proto_send2w ('C', encoder_aux[0].cur, encoder_aux[1].cur);
main_stat_counter_cpt = main_stat_counter;
}
if (main_stat_aux_pos && !--main_stat_aux_pos_cpt)
{
proto_send2w ('Y', aux[0].pos, aux[1].pos);
main_stat_aux_pos_cpt = main_stat_aux_pos;
}
if (main_stat_speed && !--main_stat_speed_cpt)
{
proto_send2w ('S', cs_aux[0].speed.cur_f >> 8,
cs_aux[1].speed.cur_f >> 8);
main_stat_speed_cpt = main_stat_speed;
}
void
input_filters_and_outputs_update(void)
{
conditional_filter_update(get_filter_by_name((char*)"in_saccade_translated_filter"));
if(get_output_by_name((char*)"in_saccade_current_filtered_out"))
output_update(get_output_by_name((char*)"in_saccade_current_filtered_out"));
conditional_filter_update(get_filter_by_name((char*)"in_saccade_translated_scaled_filter"));
if(get_output_by_name((char*)"in_saccade_translated_scaled_out"))
output_update(get_output_by_name((char*)"in_saccade_translated_scaled_out"));
conditional_filter_update(get_filter_by_name((char*)"in_saccade_translated_scaled_gaussian_filter"));
if(get_output_by_name((char*)"in_saccade_translated_scaled_gaussian_out"))
output_update(get_output_by_name((char*)"in_saccade_translated_scaled_gaussian_out"));
conditional_filter_update(get_filter_by_name((char*)"in_saccade_trained_log_polar_filter"));
if(get_output_by_name((char*)"in_saccade_trained_log_polar_out"))
output_update(get_output_by_name((char*)"in_saccade_trained_log_polar_out"));
}
void input_generator (INPUT_DESC *input, int status)
{
FILTER_DESC *filter;
// Inicializacao executada apenas uma vez por janela
if (input->win == 0)
{
init_face_recog(input);
#ifdef NO_INTERFACE
input->win = 1;
#endif
}
else
{
if (status == MOVE)
{
if (input->wxd < 0)
GetNewFace (input, DIRECTION_REWIND);
else if (input->wxd >= IMAGE_WIDTH)
GetNewFace (input, DIRECTION_FORWARD);
// output_update(&out_face_recog_lp);
filter = get_filter_by_output(out_face_recog_lp.neuron_layer);
filter_update(filter);
output_update(&out_face_recog_lp);
filter = get_filter_by_output(out_face_recog_lp_f.neuron_layer);
filter_update(filter);
output_update(&out_face_recog_lp_f);
#ifndef NO_INTERFACE
glutSetWindow (input->win);
input_display ();
#endif
}
}
}
void
input_generator(INPUT_DESC *input, int status)
{
static int flag = 0;
if (flag == 0)
{
init_character_input(input);
flag = 1;
}
if (status == MOVE)
{
if (input->wx >= 0)
get_new_char(input, 1);
else
get_new_char(input, -1);
all_filters_update();
output_update(&character_gaussian_out);
}
}
void input_generator (INPUT_DESC *input, int status)
{
// Inicializacao executada apenas uma vez por janela
if (input->win == 0)
{
init_class_cnae(input);
}
else
{
if (status == MOVE)
{
if (input->wxd < 0)
GetNewDocument (input, DIRECTION_REWIND);
else if (input->wxd >= IN_WIDTH) /*BUG => BEFORE: IMAGE_WIDTH, NOW: IN_WIDTH */
GetNewDocument (input, DIRECTION_FORWARD);
output_update(&nl_class_cnae_out);
glutSetWindow (input->win);
input_display ();
}
}
}
void input_generator (INPUT_DESC *input, int status)
{
FILTER_DESC *filter;
// Inicializacao executada apenas uma vez por janela
if (input->win == 0)
{
init_face_recog(input);
}
else
{
if (status == MOVE)
{
if (input->wxd < 0)
GetNewFace (input, DIRECTION_REWIND);
else if (input->wxd >= IMAGE_WIDTH)
GetNewFace (input, DIRECTION_FORWARD);
LOG_POLAR_SCALE_FACTOR = sqrtf ((float) ((g_nLeftEyeX - g_nRightEyeX) * (g_nLeftEyeX - g_nRightEyeX) +
(g_nLeftEyeY - g_nRightEyeY) * (g_nLeftEyeY - g_nRightEyeY))) /
(EYE_BASELINE / FOV_HORIZONTAL * input->neuron_layer->dimentions.x);
LOG_POLAR_THETA_CORRECTION = (((g_nLeftEyeX + g_nRightEyeX) / 2 - input->wxd) != 0) ?
-atanf ((float) ((g_nLeftEyeX + g_nRightEyeX) / 2 - input->wxd) /
(float) ((g_nLeftEyeY + g_nRightEyeY) / 2 - input->wyd)) : 0.0;
printf ("LOG_POLAR_SCALE_FACTOR = %f [], LOG_POLAR_THETA_CORRECTION = %f [deg]\n", LOG_POLAR_SCALE_FACTOR, 180.0f / M_PI * LOG_POLAR_THETA_CORRECTION);
switch (g_nFacePart)
{
/*case EYE:
{
filter = get_filter_by_output(out_eye_v1.neuron_layer);
filter_update(filter);
output_update(&out_eye_v1);
filter = get_filter_by_output(out_eye_h1.neuron_layer);
filter_update(filter);
output_update(&out_eye_h1);
}
break;*/
case NOSE:
{
filter = get_filter_by_output(out_nose_v1.neuron_layer);
filter_update(filter);
output_update(&out_nose_v1);
filter = get_filter_by_output(out_nose_h1.neuron_layer);
filter_update(filter);
output_update(&out_nose_h1);
}
break;
/*case MOUTH:
{
filter = get_filter_by_output(out_mouth_v1.neuron_layer);
filter_update(filter);
output_update(&out_mouth_v1);
filter = get_filter_by_output(out_mouth_h1.neuron_layer);
filter_update(filter);
output_update(&out_mouth_h1);
}
break;*/
/*case VIEW_LOG_POLAR:
{
filter = get_filter_by_output(out_face_recog_lp.neuron_layer);
filter_update(filter);
output_update(&out_face_recog_lp);
}
break;*/
}
glutSetWindow (input->win);
input_display ();
}
}
}
