void* camera_action(void* parameters)
{
struct arguments* p = (struct arguments*) parameters;
Set_Up_Camera();
Capture(&My_Buffer);
thresholded=threshold(My_Buffer,Width,Height,refR_YELLOW,refG_YELLOW,refB_YELLOW,disD_YELLOW,refR_RED,refG_RED,refB_RED,disD_RED);
make_bmp(My_Buffer,"Img1",Width,Height);
make_bmp(thresholded,"Img2",Width,Height);
find_XY(My_Buffer,Width,Height,refR_YELLOW,refG_YELLOW,refB_YELLOW,disD_YELLOW,&x_YELLOW,&y_YELLOW,refR_RED,refG_RED,refB_RED,disD_RED,&x_RED,&y_RED);
p->curr_x=x_YELLOW;
p->curr_y=y_YELLOW;
p->prev_x=x_YELLOW;
p->prev_y=y_YELLOW;
while(1)
{
lock1=1;
p->prev_x=p->curr_x;
p->prev_y=p->curr_y;
Capture(&My_Buffer);
find_XY(My_Buffer,Width,Height,refR_YELLOW,refG_YELLOW,refB_YELLOW,disD_YELLOW,&x_YELLOW,&y_YELLOW,refR_RED,refG_RED,refB_RED,disD_RED,&x_RED,&y_RED);
p->curr_x=x_YELLOW;
p->curr_y=y_YELLOW;
lock1=0;
//printf("(%d,%d,%d,%d)\n",x_YELLOW,y_YELLOW,x_RED,y_RED);
//handle_clicks();
if(abs(x_YELLOW-x_RED)<70&&abs(y_YELLOW-y_RED)<70&&left_pressed==0&&y_YELLOW>y_RED)
{
report_left_mouse_press();
printf("Mouse Pressed\n");
left_pressed=1;
}
if((!(abs(x_YELLOW-x_RED)<70&&abs(y_YELLOW-y_RED)<70)&&y_YELLOW>y_RED)&&left_pressed==1)
{
report_left_mouse_released();
printf("Mouse Released\n");
left_pressed=0;
}
usleep(200000);
}
return NULL;
}
void *stream_func(void *ptr)
{
unsigned char *rgb_buffer;
int ready_buf;
char cur_name[64];
int i;
if( b_shared_mem )
{
rgb_buffer = p_shm;
}
else
{
rgb_buffer = (unsigned char *)malloc(req_width*req_height*3);
}
for(i=0; i<total_buffers; i++)
{
queue_buffer(i);
}
for(;;)
{
/* get the idx of ready buffer */
for(i=0; i<total_buffers; i++)
{
/* Check if the thread should stop. */
if( stream_finish ) return NULL;
ready_buf = dequeue_buffer();
if( b_verbose )
{
printf("Buffer %d ready. Length: %uB\n", ready_buf, image_buffers[ready_buf].length);
}
switch( check_pixelformat() )
{
case V4L2_PIX_FMT_YUYV:
/* convert data to rgb */
if( b_shared_mem )
sem_down(&shm_sem);
if( convert_yuv_to_rgb_buffer(
(unsigned char *)(image_buffers[ready_buf].start),
rgb_buffer, req_width, req_height) == 0 )
{
if( b_verbose )
{
printf("\tConverted to rgb.\n");
}
}
if( b_shared_mem )
sem_up(&shm_sem);
break;
default:
print_pixelformat(stderr);
fprintf(stderr,"\n");
return NULL;
}
/* make the image */
/* create the file name */
if( b_named_pipe )
sprintf(cur_name, "%s", psz_named_pipe);
switch( e_outfmt )
{
case FORMAT_BMP:
if( b_shared_mem )
{
printf("Unsupported!\n");
break;
}
make_bmp(rgb_buffer,
cur_name,
req_width,
req_height);
break;
case FORMAT_RGB:
if( b_shared_mem )
{
/* The buffer is already rgb :) */
break;
}
make_rgb(rgb_buffer,
cur_name,
req_width,
req_height);
break;
default:
fprintf(stderr, "Not supported format requested!\n");
break;
}
queue_buffer(ready_buf);
}
}
return NULL;
}
void *capture_func(void *ptr)
{
unsigned char *rgb_buffer;
int ready_buf;
char cur_name[64];
int i;
struct timeval timestamp;
if( b_shared_mem )
{
rgb_buffer = p_shm;
}
else
{
rgb_buffer = (unsigned char *)malloc(req_width*req_height*3);
}
for(;;)
{
/* Wait for the start condition */
pthread_mutex_lock(&cond_mutex);
pthread_cond_wait(&condition, &cond_mutex);
pthread_mutex_unlock(&cond_mutex);
/* queue one buffer and 'refresh it' */
/* @todo Change 2 to some #define */
for(i=0; i<2; i++)
{
queue_buffer(i);
}
for(i=0; i<2 - 1; i++)
{
dequeue_buffer();
}
/* get the idx of ready buffer */
ready_buf = dequeue_buffer();
if( b_verbose )
{
printf("Buffer %d ready. Length: %uB\n", ready_buf, image_buffers[ready_buf].length);
}
switch( check_pixelformat() )
{
case V4L2_PIX_FMT_YUYV:
/* convert data to rgb */
if( convert_yuv_to_rgb_buffer(
(unsigned char *)(image_buffers[ready_buf].start),
rgb_buffer, req_width, req_height) == 0 )
{
if( b_verbose )
{
printf("\tConverted to rgb.\n");
}
}
break;
default:
print_pixelformat(stderr);
fprintf(stderr,"\n");
return NULL;
}
timestamp = query_buffer(0);
/* make the image */
/* create the file name */
if( b_named_filename )
{
sprintf(cur_name, "%s%s", psz_output_dir, psz_output_filename);
}
else if( !b_named_pipe )
sprintf(cur_name, "%scamshot_%lu.bmp", psz_output_dir, timestamp.tv_sec);
else
sprintf(cur_name, "%s", psz_named_pipe);
switch( e_outfmt )
{
case FORMAT_BMP:
make_bmp(rgb_buffer,
cur_name,
req_width,
req_height);
break;
case FORMAT_RGB:
make_rgb(rgb_buffer,
cur_name,
req_width,
req_height);
break;
default:
fprintf(stderr, "Not supported format requested!\n");
break;
}
}
return NULL;
}
