void elu_print_camera_image(const el_camera_image*frame,el_uint32 n){
int X,Y,i;
char *p;
while(el_uart_is_sending(EL_UART_1)){
el_process_cooperate();
}
el_uart_send_string(EL_UART_1,"<p>\n");
p = elu_stdio_buffer;
p += elu_snprintf(p,16,"NUM: %lu\n",n);
p += elu_snprintf(p,16,"DIM: %d,%d\n",EL_CAMERA_FRAME_DIM_X,EL_CAMERA_FRAME_DIM_Y);
p += elu_snprintf(p,16,"LEN: %d,%d\n",frame->Width,frame->Height);
while(el_uart_is_sending(EL_UART_1)){
el_process_cooperate();
}
el_uart_send_string(EL_UART_1,elu_stdio_buffer);
for(Y=0;Y<EL_CAMERA_FRAME_DIM_Y;Y++){
X = 0;
while(X < EL_CAMERA_FRAME_DIM_X){
p = elu_stdio_buffer;
for(i=0;i<10;i++){
p += elu_snprintf(p,16,"%4.4X",frame->Data[Y][X]);
X++;
}
if(X==EL_CAMERA_FRAME_DIM_X){
*p++ = '\n';
}
while(el_uart_is_sending(EL_UART_1)){
el_process_cooperate();
}
el_uart_send_string(EL_UART_1,elu_stdio_buffer);
}
}
while(el_uart_is_sending(EL_UART_1)){
el_process_cooperate();
}
el_uart_send_string(EL_UART_1,"</p>\n");
}
EL_PROCESS Process_IRRC(void*data){
int k;
int check,address,command;
while(1){
el_ir_receiver_reset();
k = el_ir_receiver_get_check();
do{
el_process_cooperate();
check = el_ir_receiver_get_check();
}while(check==k);//wait until "check" being changed
address = el_ir_receiver_get_address();
command = el_ir_receiver_get_data();
elu_println("[IRRC]\nCHECK\tADDRESS\tCOMMAND");
elu_println("%d\t%d\t%d",check,address,command);
if(address==5){
el_led_set(4,EL_TOGGLE);
}
}
}
void Process_LED_Control(void*arg){
char c;
while(1){
// wait until something is received
do{
/*
* In a process, "el_process_cooperate" need to be called in any
* polling loops. See the documentation of the Process module to
* learn more details.
*/
el_process_cooperate();
}while(el_uart_get_char_counter(EL_UART_1)==0);
c = el_uart_get_char(EL_UART_1);
if(c=='f'){
el_led_set(EL_LED_FRONT,EL_TOGGLE);
}
}
}
void Process_ConsoleLoop(void*arg){
char c;
int i;
elu_printf("EL_EXAMPLE_04\n");
// setup the task
Task_ObjectFollowing_Setup();
el_process_wait(500);// wait for 500 ms
el_uart_flush_char(EL_UART_1);
while(1){
do{
el_process_cooperate();
}while(el_uart_get_char_counter(EL_UART_1)==0);
c = el_uart_get_char(EL_UART_1);
switch(c){
case 'f':
el_led_set(EL_LED_FRONT,EL_TOGGLE);
break;
case 'r':// report ir proximity sensor outputs
elu_println("<IR>");
el_ir_proximity_get(EL_IR_PROXIMITY_SENSOR_ALL,EL_IR_ALL_3V,(el_int16*)ProximitySensor);
elu_printf("AMB:");
for(i=0;i<8;i++){
elu_printf("\t%d",ProximitySensor[i].Ambient);
}
elu_putchar('\n');
elu_printf("REF:");
for(i=0;i<8;i++){
elu_printf("\t%d",ProximitySensor[i].Reflection);
}
elu_putchar('\n');
break;
case 'p':// report image processing result
elu_println("<IMG>");
elu_println("MASS:\t%d\t%d\t%d",vision_mass_red,vision_mass_green,vision_mass_blue);
elu_println("BIAS:\t%d\t%d\t%d",vision_bias_red,vision_bias_green,vision_bias_blue);
elu_putchar('\n');
break;
case '1':
Task_ObjectColor = TASK_OBJECT_RED;
elu_println("FOLLOW RED");
break;
case '2':
Task_ObjectColor = TASK_OBJECT_GREEN;
elu_println("FOLLOW GREEN");
break;
case '3':
Task_ObjectColor = TASK_OBJECT_BLUE;
elu_println("FOLLOW BLUE");
break;
}
}
Task_ObjectFollowing_Clear();
}
