// Initialize Camera and Sensors
void initDevices(void) {
struct pxacam_setting camset;
// Backboard uart init
fdBackBoard = openSerial();
// 3-axis sensor init
fdThreeAxis = open("/dev/MMA_ADC", O_RDONLY);
ASSERT(fdThreeAxis);
ioctl(fdThreeAxis,MMA_VIN_ON, 0);
ioctl(fdThreeAxis,MMA_SLEEP_MODE_ON, 0);
ioctl(fdThreeAxis,MMA_SENS_60G, 0);
// infrared sensor init
fdInfra = open("/dev/FOUR_ADC", O_NOCTTY);
ASSERT(fdInfra);
// Camera init
fdCamera = camera_open(NULL,0);
ASSERT(fdCamera);
memset(&camset,0,sizeof(camset));
camset.mode = CAM_MODE_VIDEO;
camset.format = pxavid_ycbcr422;
camset.width = 320;
camset.height = 240;
camera_config(fdCamera,&camset);
camera_start(fdCamera);
fdOverlay2 = overlay2_open(NULL,pxavid_ycbcr422,NULL, 320, 240, 0 , 0);
overlay2_getbuf(fdOverlay2, &vidbuf_overlay);
len_vidbuf = vidbuf_overlay.width * vidbuf_overlay.height;
cImg.width=camset.width*2;
cImg.height=camset.height;
// init finish
printf("Initializing Device Finished\n");
}
// Initialize Camera and Sensors
void initDevices(void) {
struct pxacam_setting camset;
printf("-----Initializing Device Started-----\n");
// Backboard uart init
fdBackBoard = openSerial();
printf("Initializing BackBoard complete!\n");
// 적외선 센서 init
fdInfra = open("/dev/FOUR_ADC", O_NOCTTY);
// Camera init
fdCamera = camera_open(NULL,0);
ASSERT(fdCamera);
system("echo b > /proc/invert/tb"); //LCD DriverIC top-bottom invert ctrl
memset(&camset,0,sizeof(camset));
camset.mode = CAM_MODE_VIDEO;
camset.format = pxavid_ycbcr422;
camset.width = MAX_X;
camset.height = MAX_Y;
camera_config(fdCamera,&camset);
camera_start(fdCamera);
fdOverlay2 = overlay2_open(NULL,pxavid_ycbcr422,NULL, MAX_X, MAX_Y, 0 , 0);
overlay2_getbuf(fdOverlay2, &vidbuf_overlay);
len_vidbuf = vidbuf_overlay.width * vidbuf_overlay.height;
printf("Initializing Camera complete!\n");
// init finish
printf("-----Initializing Device Finished-----\n");
}
int main(int argc, char *argv[])
{
/* definition of basic variables */
int state;
/* Handle signals. This is useful to intercept accidental Ctrl+C
* which would otherwise just kill the process without any cleanup.
* This could also be useful when the process is managed by some
* other program, e.g. systemD.
* - SIGINT will be send by pressing Ctrl+C
* - SIGTERM will be send by process managers, e.g. systemD
* wishing to stop the process
*
* Windows has its own ctrl handlers, we only really care about
* Ctrl+C, but others could be implemented as well (see above).
*/
#ifdef POSIX
struct sigaction sa, osa;
memset(&sa, 0, sizeof(sa));
sa.sa_handler = &stop_program;
sigaction(SIGINT, &sa, &osa);
sigaction(SIGTERM, &sa, &osa);
#else
if (!SetConsoleCtrlHandler((PHANDLER_ROUTINE) CtrlHandler, TRUE)) {
log_error("Control handler could not be installed, Ctrl+C won't work");
}
#endif
/* initiate the logfile and start logging */
state = log_init();
if (state != 0) {
/*
* if creating a logfile fails we have to terminate the program.
* The error message then has to go directly to the screen
*/
printf("creating a logfile failed. Program is aborting...\n");
stop_program(state);
return state;
}
/*
* set default values, read config file and process cli arguments,
* which override settings in the config file
*/
config.dHistMinInterval = 350;
config.dHistPercentage = 5;
config.dInterFrameDelay = 10;
config.dBufferlength = 1376256;
state = load_config("configurations//SO2Config.conf", &config);
if (state != 0) {
log_error("loading configuration failed");
stop_program(1);
return 1;
}
state = process_cli_arguments(argc, argv, &config);
if (state != 0) {
log_error("Could not handle command line arguments");
return state;
}
/* Initialise parameter structures */
structInit(&sParameters_A, &config, 'a');
structInit(&sParameters_B, &config, 'b');
/* initialize IO */
state = io_init(&config);
if (state != 0) {
log_error("io_init failed");
stop_program(1);
return state;
}
/* init filterwheel */
state = filterwheel_init(&config);
if (state != 0) {
log_error("failed to initialize filterwheel");
stop_program(1);
return state;
}
log_message("filterwheel initialized");
/* open filterwheel */
state = filterwheel_send(FILTERWHEEL_OPENED_A);
if (state != 0) {
/* this is critical if this function fails no camera handle is returned */
log_error("failed to open filterwheel");
stop_program(1);
return state;
}
log_message("filterwheel opened");
/* initiate camera */
state = camera_init(&sParameters_A);
if (state != 0) {
/* this is critical if this function fails no camera handle is returned */
log_error("camera_init for Camera A failed");
stop_program(1);
return state;
}
log_message("camera A initialized");
state = camera_init(&sParameters_B);
if (state != 0) {
/* this is critical if this function fails no camera handle is returned */
log_error("camera_init for Camera B failed");
stop_program(1);
return state;
}
log_message("camera B initialized");
/* configure camera */
state = camera_config(&sParameters_A);
if (state != 0) {
log_error("config camera A failed");
stop_program(1);
return 1;
}
log_message("camera A configured");
state = camera_config(&sParameters_B);
if (state != 0) {
log_error("config camera B failed");
stop_program(1);
return 1;
}
log_message("camera B configured");
/* set exposure */
state = setExposureTime(&sParameters_A, &config);
if (state != 0) {
log_error("setExposureTime for cam B failed");
stop_program(1);
return 1;
}
log_message("exposure time for cam A set");
state = setExposureTime(&sParameters_B, &config);
if (state != 0) {
log_error("setExposureTime for cam B failed");
stop_program(1);
return 1;
}
log_message("exposure time for cam B set");
/*
* Starting the acquisition with the exposure parameter set in
* configurations.c and exposureTimeControl.c
*/
state = startAquisition(&sParameters_A, &sParameters_B, &config);
log_message("Aquisition stopped");
if (state != 0) {
log_error("Aquisition failed");
stop_program(1);
return 1;
}
/* we're done! */
stop_program(0);
return 0;
}
