int main(int argc, char ** argv){
long start_time, end_time ;
double diff_time ;
struct timespec cpu_time ;
unsigned short vsync1, vsync2 ;
FILE * rgb_fd, * yuv_fd ;
int i,j, res, inc = 0;
unsigned int nbFrames = 1 ;
unsigned int pos = 0 ;
unsigned char * image_buffer, * start_buffer, * end_ptr; //yuv frame buffer
unsigned char * rgb_buffer ;
unsigned short fifo_state, fifo_data ;
float y, u, v ;
float r, g, b ;
if(argc > 1){
nbFrames = atoi(argv[1]);
}
if(fifo_open(1) < 0 || image_buffer == 0){
printf("Error opening fifo 0 \n");
return -1 ;
}
image_buffer = (unsigned char *) malloc(IMAGE_WIDTH*IMAGE_HEIGHT*3);
for(inc = 0 ; inc < nbFrames ; ){
sprintf(yuv_file_name, "./grabbed_frame%04d.jpg", inc);
yuv_fd = fopen(yuv_file_name, "w");
if(yuv_fd == NULL){
perror("Error opening output file");
exit(EXIT_FAILURE);
}
//fifo_reset(1);
clock_gettime(CLOCK_REALTIME, &cpu_time);
start_time = cpu_time.tv_nsec ;
fifo_reset(1);
fifo_read(1, image_buffer, IMAGE_WIDTH*IMAGE_HEIGHT*3);
clock_gettime(CLOCK_REALTIME, &cpu_time);
end_time = cpu_time.tv_nsec ;
diff_time = end_time - start_time ;
diff_time = diff_time/1000000000 ;
printf("transffered %d bytes in %f s : %f B/s \n", (IMAGE_WIDTH * IMAGE_HEIGHT*3), diff_time, (IMAGE_WIDTH * IMAGE_HEIGHT*3)/diff_time);
start_buffer = image_buffer ;
end_ptr = &image_buffer[IMAGE_WIDTH*IMAGE_HEIGHT*3];
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[(IMAGE_WIDTH*IMAGE_HEIGHT)+2]) ;
while(vsync1 != 0x55AA && vsync2 != 0x55AA && start_buffer < end_ptr){
start_buffer+=2 ;
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[(IMAGE_WIDTH*IMAGE_HEIGHT)+2]) ;
//printf("vsync2 : %x \n", vsync2);
}
if(vsync1 == 0x55AA && vsync2 == 0x55AA){
inc ++ ;
printf("frame found !\n");
}else{
//fclose(yuv_fd);
//continue ;
start_buffer = image_buffer ;
inc ++ ;
}
start_buffer += 2 ;
printf("frame captures \n");
write_jpegfile(start_buffer, IMAGE_WIDTH, IMAGE_HEIGHT, 1, yuv_fd, 100);
fclose(yuv_fd);
}
fifo_close(1);
return 0 ;
}
int grab_frame(void){
unsigned short cmd_buffer[8] ;
unsigned short vsync1, vsync2 ;
FILE * yuv_fd, * jpeg_fd ;
int i,j, res, inc ;
unsigned int nbFrames = 1 ;
unsigned int pos = 0 ;
unsigned int nb = 0 ;
unsigned char * image_buffer, * start_buffer, * end_ptr; //yuv frame buffer
unsigned char *y_buffer ;
unsigned short fifo_state, fifo_data ;
unsigned int retry_counter = 0 ;
unsigned int retry_pixel = 0 ;
image_buffer = (unsigned char *) malloc((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN*4)/8+32);// 32 are the frame start, frame end indicators
y_buffer = (unsigned char *) malloc(IMAGE_WIDTH*IMAGE_HEIGHT);
if(image_buffer == NULL || y_buffer == NULL){
printf("allocation error ! \n");
return -1 ;
}
for(inc = 0 ; inc < (nbFrames && retry_counter < 5) ; ){
sprintf(jpeg_file_name, "./grabbed_frame%04d.jpg", inc);
jpeg_fd = fopen(jpeg_file_name, "wb");
if(jpeg_fd == NULL){
printf("Error opening output file \n");
exit(EXIT_FAILURE);
}
sprintf(yuv_file_name, "./grabbed_frame%04d.yuv", inc);
yuv_fd = fopen(yuv_file_name, "wb");
if(yuv_fd == NULL){
printf("Error opening output file \n");
exit(EXIT_FAILURE);
}
printf("issuing reset to fifo \n");
cmd_buffer[0] = 0 ;
cmd_buffer[1] = 0 ;
cmd_buffer[2] = 0 ;
logi_write((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
printf("fifo size : %d, free : %d, available : %d \n", cmd_buffer[0], cmd_buffer[1], cmd_buffer[2]); // reading and printing fifo states
nb = 0 ;
retry_pixel = 0 ;
while(nb < (((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)*3)){
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
while(cmd_buffer[2] < 512){
logi_read((unsigned char *) cmd_buffer, 6, FIFO_ADDR+FIFO_CMD_OFFSET);
//printf("%u\n", cmd_buffer[2]);
}
logi_read(&image_buffer[nb], 1024, FIFO_ADDR);
nb += 1024 ;
}
if(retry_pixel == 10000){
printf("no camera detected !\n");
fclose(jpeg_fd);
return -1 ;
}
printf("nb : %u \n", nb);
start_buffer = image_buffer ;
end_ptr = &image_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)*3];
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)+2]) ;
while(vsync1 != 0x55AA && vsync2 != 0x55AA && start_buffer < end_ptr){
start_buffer+=2 ;
vsync1 = *((unsigned short *) start_buffer) ;
vsync2 = *((unsigned short *) &start_buffer[((IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN)/8)+2]) ;
}
if(vsync1 == 0x55AA && vsync2 == 0x55AA){
inc ++ ;
printf("frame found !\n");
}else{
printf("sync not found !\n");
/*fclose(rgb_fd);*/
fclose(yuv_fd);
fclose(jpeg_fd);
retry_counter ++ ;
continue ;
}
start_buffer += 2 ;
bin_to_gray(start_buffer, y_buffer);
fwrite(y_buffer, 1, IMAGE_WIDTH*IMAGE_HEIGHT*NB_CHAN, yuv_fd);
write_jpegfile(y_buffer, IMAGE_WIDTH, IMAGE_HEIGHT, 1, jpeg_fd, 100);
fclose(yuv_fd);
fclose(jpeg_fd);
}
if(retry_counter == 5){
return -1 ;
}
return 0 ;
}
int main(int argc, char ** argv){
int fd;
long start_time, end_time ;
double diff_time ;
struct timespec cpu_time ;
FILE * jpeg_fd ;
FILE * raw_file ;
int i, hsync_count = 0 ; ;
unsigned short testVsync = 0 ;
unsigned char vsyncFound = 0 ;
unsigned char hsyncFound = 0 ;
unsigned int pos = 0 ;
unsigned char reception_buffer[GRAB_SIZE] ;
unsigned char image_buffer[(320*240)] ; //monochrome frame buffer
fd = open("/dev/logibone0", O_RDWR | O_SYNC);
jpeg_fd = fopen("./grabbed_frame.jpg", "w");
//raw_fd = fopen("./raw_data.txt", "w");
if(fd == -1 || jpeg_fd == NULL){
perror("Error opening file");
printf("error opening /dev/LOGIBONE0 \n");
exit(EXIT_FAILURE);
}
printf("issuing reset to fifo \n");
//ioctl(fd, LOGIBONE_FIFO_RESET);
clock_gettime(CLOCK_REALTIME, &cpu_time);
start_time = cpu_time.tv_nsec ;
//while(pos < GRAB_SIZE){
i = read(fd, &reception_buffer[pos], GRAB_SIZE);
//if(i > 0){
// pos += i;
//}
//}
pos = i ;
if(i < 0){
printf("error in grabing \n");
}
clock_gettime(CLOCK_REALTIME, &cpu_time);
end_time = cpu_time.tv_nsec ;
diff_time = end_time - start_time ;
diff_time = diff_time/1000000000 ;
printf("transffered %d bytes in %f s : %f B/s \n", GRAB_SIZE, diff_time, GRAB_SIZE/diff_time);
pos = 0 ;
vsyncFound = 0 ;
i = 0 ;
while(!vsyncFound && i < GRAB_SIZE){
unsigned short * shortVal ;
shortVal = (unsigned short *) &reception_buffer[i];
if(*shortVal == 0xAA55){
vsyncFound = 1 ;
printf("vsync found ! \n");
memcpy(image_buffer, &reception_buffer[i+2], 320*240 );
}
i ++ ;
}
write_jpegfile(image_buffer, 320, 240, jpeg_fd, 100);
close(fd);
fclose(jpeg_fd);
return 0 ;
}
