int32_t cam_getFrameChirp(const uint8_t &type, const uint16_t &xOffset, const uint16_t &yOffset, const uint16_t &xWidth, const uint16_t &yWidth, Chirp *chirp)
{
int32_t result, prebuf;
uint8_t *frame = (uint8_t *)SRAM0_LOC;
// force an error to get prebuf length
CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, frame), HTYPE(0), UINT16(0), UINT16(0), UINTS8(0, 0), END);
prebuf = chirp->getPreBufLen();
if ((result=cam_getFrame(frame+prebuf, SRAM0_SIZE-prebuf, type, xOffset, yOffset, xWidth, yWidth))>=0)
// send frame, use in-place buffer
CRP_RETURN(chirp, USE_BUFFER(SRAM0_SIZE, frame), HTYPE(FOURCC('B','A','8','1')), UINT16(xWidth), UINT16(yWidth), UINTS8(xWidth*yWidth, frame+prebuf), END);
return result;
}
int32_t cc_getRLSFrameChirp(Chirp *chirp)
{
int32_t result;
uint32_t len, numRls;
// figure out prebuf length (we need the prebuf length and the number of runlength segments, but there's a chicken and egg problem...)
len = Chirp::serialize(chirp, RLS_MEMORY, RLS_MEMORY_SIZE, HTYPE(0), UINT16(0), UINT16(0), UINTS32_NO_COPY(0), END);
result = cc_getRLSFrame((uint32_t *)(RLS_MEMORY+len), LUT_MEMORY, &numRls);
// send frame, use in-place buffer
Chirp::serialize(chirp, RLS_MEMORY, RLS_MEMORY_SIZE, HTYPE(FOURCC('C','C','Q','1')), UINT16(CAM_RES2_WIDTH), UINT16(CAM_RES2_HEIGHT), UINTS32_NO_COPY(numRls), END);
// copy from IPC memory to RLS_MEMORY
if (g_qqueue->readAll((Qval *)(RLS_MEMORY+len), (RLS_MEMORY_SIZE-len)/sizeof(Qval))!=numRls)
return -1;
chirp->useBuffer(RLS_MEMORY, len+numRls*4);
return result;
}
int32_t cam_getFrameChirpFlags(const uint8_t &type, const uint16_t &xOffset, const uint16_t &yOffset, const uint16_t &xWidth, const uint16_t &yWidth, Chirp *chirp, uint8_t renderFlags)
{
int32_t result, len;
uint8_t *frame = (uint8_t *)SRAM1_LOC;
// fill buffer contents manually for return data
len = Chirp::serialize(chirp, frame, SRAM1_SIZE, HTYPE(FOURCC('B','A','8','1')), HINT8(renderFlags), UINT16(xWidth), UINT16(yWidth), UINTS8_NO_COPY(xWidth*yWidth), END);
// write frame after chirp args
result = cam_getFrame(frame+len, SRAM1_SIZE-len, type, xOffset, yOffset, xWidth, yWidth);
// tell chirp to use this buffer
chirp->useBuffer(frame, len+xWidth*yWidth);
return result;
}
void sendCustom(uint8_t renderFlags=RENDER_FLAG_FLUSH)
{
int32_t len;
uint8_t *frame = (uint8_t *)SRAM1_LOC;
uint32_t fcc;
// fill buffer contents manually for return data
len = Chirp::serialize(g_chirpUsb, frame, SRAM1_SIZE, HTYPE(FOURCC('B','A','8','1')), HINT8(renderFlags), UINT16(CAM_RES2_WIDTH), UINT16(CAM_RES2_HEIGHT), UINTS8_NO_COPY(CAM_RES2_WIDTH*CAM_RES2_HEIGHT), END);
// write frame after chirp args
cam_getFrame(frame+len, SRAM1_SIZE-len, CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT);
//convolutionImage(CAM_RES2_WIDTH, CAM_RES2_HEIGHT, len, frame, true);
//inverceImage(CAM_RES2_WIDTH, CAM_RES2_HEIGHT, len, frame);
// tell chirp to use this buffer
g_chirpUsb->useBuffer(frame, len+CAM_RES2_WIDTH*CAM_RES2_HEIGHT);
// if (g_execArg==1)
// {
// cprintf("g_execArg==1");
// // fill buffer contents manually for return data
// len = Chirp::serialize(g_chirpUsb, frame, SRAM1_SIZE, HTYPE(FOURCC('C','M','V','2')), HINT8(renderFlags), UINT16(CAM_RES2_WIDTH), UINT16(CAM_RES2_HEIGHT), UINTS8_NO_COPY(CAM_RES2_WIDTH*CAM_RES2_HEIGHT), END);
// // write frame after chirp args
// cam_getFrame(frame+len, SRAM1_SIZE-len, CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT);
// //inverceImage(CAM_RES2_WIDTH, CAM_RES2_HEIGHT, len, frame);
// // tell chirp to use this buffer
// g_chirpUsb->useBuffer(frame, len+CAM_RES2_WIDTH*CAM_RES2_HEIGHT);
// }
// else if (100<=g_execArg && g_execArg<200)
// {
// cprintf("100<=g_execArg && g_execArg<200");
// fcc = FOURCC('E','X',(g_execArg%100)/10 + '0', (g_execArg%10) + '0');
// len = Chirp::serialize(g_chirpUsb, frame, SRAM1_SIZE, HTYPE(fcc), HINT8(renderFlags), UINT16(CAM_RES2_WIDTH), UINT16(CAM_RES2_HEIGHT), UINTS8_NO_COPY(CAM_RES2_WIDTH*CAM_RES2_HEIGHT), END);
// // write frame after chirp args
// cam_getFrame(frame+len, SRAM1_SIZE-len, CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT);
// //inverceImage(CAM_RES2_WIDTH, CAM_RES2_HEIGHT, len, frame);
// // tell chirp to use this buffer
// g_chirpUsb->useBuffer(frame, len+CAM_RES2_WIDTH*CAM_RES2_HEIGHT);
// }
// else
// {
// cprintf("sendCustom else");
// cam_getFrameChirp(CAM_GRAB_M1R2, 0, 0, CAM_RES2_WIDTH, CAM_RES2_HEIGHT, g_chirpUsb);
// }
}
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;
}
void exec_sendEvent(Chirp *chirp, uint32_t event)
{
if (chirp)
CRP_SEND_XDATA(chirp, HTYPE(FOURCC('E','V','T','1')), INT32(event));
}
