int32_t exec_version(Chirp *chirp)
{
uint16_t ver[] = {FW_MAJOR_VER, FW_MINOR_VER, FW_BUILD_VER};
cprintf("Pixy firmware version %d.%d.%d\n", ver[0], ver[1], ver[2]);
if (chirp)
CRP_RETURN(chirp, UINTS16(sizeof(ver), ver), END);
return 0;
}
int cc_sendBlobs(Chirp *chirp, const BlobA *blobs, uint32_t len, const BlobB *ccBlobs, uint32_t ccLen, uint8_t renderFlags)
{
CRP_RETURN(chirp, HTYPE(FOURCC('C','C','B','2')), HINT8(renderFlags), HINT16(CAM_RES2_WIDTH), HINT16(CAM_RES2_HEIGHT), UINTS16(len*sizeof(BlobA)/sizeof(uint16_t), blobs), UINTS16(ccLen*sizeof(BlobB)/sizeof(uint16_t), ccBlobs), END);
return 0;
}
int32_t cc_getRLSCCChirp(Chirp *chirp)
{
int16_t* c_components = new int16_t[MAX_BLOBS*4];
uint32_t numRls, result;//, prebuf;
uint32_t *memory = (uint32_t *)RLS_MEMORY;
result = cc_getRLSFrame(memory, LUT_MEMORY, &numRls);
CBlobAssembler blobber;
int32_t row;
uint32_t i, startCol, length;
uint8_t model;
for (i=0, row=-1; i<numRls; i++)
{
if (memory[i]==0)
{
row++;
continue;
}
model = memory[i]&0x03;
memory[i] >>= 3;
startCol = memory[i]&0x1ff;
memory[i] >>= 9;
length = memory[i]&0x1ff;
if(!handleRL(&blobber, model, row, startCol, length))
break;
}
blobber.EndFrame();
blobber.SortFinished();
//
// Take Finished blobs and return with chirp
//
CBlob *blob, *temp;
blob = blobber.finishedBlobs;
uint32_t cc_num = 0;
temp = blob;
while (temp)
{
int16_t top, right, bottom, left;
temp->getBBox(left, top, right, bottom);
// Don't want objects with area less than 9...
if ((right-left)*(bottom-top) < 9)
break;
temp = temp->next;
cc_num++;
}
// Remove the rest that we don't care about
/*while(temp)
{
CBlob *next = temp->next;
temp->~CBlob();
temp = NULL;
temp = next;
}*/
cc_num = (cc_num < 15) ? cc_num : MAX_BLOBS;
// Populate return w/ result
//void* mem = malloc(sizeof(int16_t)*cc_num*4);
//if (mem == NULL)
// int i = 0;
//free(mem);
//int16_t* c_components = new int16_t[cc_num*4];
//g_mem += sizeof(int16_t)*cc_num*4;
memset((void *)c_components, 0, sizeof(uint16_t)*cc_num*4);
for (int i = 0; i < cc_num; i++)
{
int16_t top, right, bottom, left;
blob->getBBox(left, top, right, bottom);
c_components[(i*4)+0] = top;
c_components[(i*4)+1] = right;
c_components[(i*4)+2] = bottom;
c_components[(i*4)+3] = left;
blob = blob->next;
}
//CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, SRAM0_LOC), HTYPE(0), UINT16(0), UINT16(0), UINTS8(0, 0), END);
//prebuf = chirp->getPreBufLen();
blobber.Reset();
CRP_RETURN(chirp, HTYPE(FOURCC('V','I','S','U')), UINTS16(cc_num*4, c_components), END);
delete[] c_components;
//g_mem -= sizeof(int16_t)*cc_num*4;
return result;
}