OSC_ERR StateControl( void)
{
OSC_ERR err;
MainState mainState;
uint8 *pCurRawImg = NULL;
/* Setup main state machine. Start with idle mode. */
MainStateConstruct(&mainState);
HsmOnStart((Hsm *)&mainState);
/*----------- infinite main loop */
while( TRUE)
{
/*----------- wait for captured picture */
while (TRUE)
{
/*----------- Alternating a) check for new connections
* b) check for commands (and do process)
* c) check for available picture */
err = Comm_AcceptConnections(&data.comm, ACCEPT_CONNS_TIMEOUT);
if(err != SUCCESS && err != -ETIMEOUT)
{
OscLog(ERROR, "%s: Error accepting new connections (%d)!\n",
__func__, err);
}
err = Comm_HandleCommands(&data.comm, &mainState, GET_CMDS_TIMEOUT);
if(err != SUCCESS && err != -ETIMEOUT)
{
OscLog(ERROR, "%s: Error handling commands (%d)!\n",
__func__, err);
} else if(err == SUCCESS)
{
OscLog(INFO, "Command received.\n");
}
err = OscCamReadPicture(OSC_CAM_MULTI_BUFFER, &pCurRawImg, 0, CAMERA_TIMEOUT);
if ((err != -ETIMEOUT) ||(err != -ENO_CAPTURE_STARTED) )
{
/* Anything other than a timeout or no pending capture means that we should
* stop trying and analyze the situation. */
break;
}
}
if( err == SUCCESS) /* only if breaked due to CamReadPic() */
{
data.pCurRawImg = pCurRawImg;
OscLog(DEBUG, "---image available\n");
}
else
{
pCurRawImg = NULL;
}
/*----------- process frame by state engine (pre-setup) Sequentially with next capture */
if( pCurRawImg)
{
ThrowEvent(&mainState, FRAMESEQ_EVT);
}
/*----------- prepare next capture */
if( pCurRawImg)
{
err = OscCamSetupCapture( OSC_CAM_MULTI_BUFFER);
if (err != SUCCESS)
{
OscLog(ERROR, "%s: Unable to setup capture (%d)!\n", __func__, err);
break;
}
}
/*----------- do self-triggering (if required) */
ThrowEvent(&mainState, TRIGGER_EVT);
/*----------- process frame by state engine (post-setup) Parallel with next capture */
if( pCurRawImg)
{
ThrowEvent(&mainState, FRAMEPAR_EVT);
}
} /* end while ever */
return SUCCESS;
}
OSC_ERR StateControl( void)
{
OSC_ERR camErr, err;
MainState mainState;
uint8 *pCurRawImg = NULL;
/* Setup main state machine */
MainStateConstruct(&mainState);
HsmOnStart((Hsm *)&mainState);
OscSimInitialize();
/*----------- initial capture preparation*/
camErr = OscCamSetupCapture( OSC_CAM_MULTI_BUFFER);
if (camErr != SUCCESS)
{
OscLog(ERROR, "%s: Unable to setup initial capture (%d)!\n", __func__, camErr);
return camErr;
}
err = OscGpioTriggerImage();
if (err != SUCCESS)
{
OscLog(ERROR, "%s: Unable to trigger initial capture (%d)!\n", __func__, err);
}
/*----------- infinite main loop */
while (TRUE)
{
/*----------- wait for captured picture */
while (TRUE)
{
err = HandleIpcRequests(&mainState);
if (err != SUCCESS)
{
OscLog(ERROR, "%s: IPC error! (%d)\n", __func__, err);
Unload();
return err;
}
camErr = OscCamReadPicture(OSC_CAM_MULTI_BUFFER, &pCurRawImg, 0, CAMERA_TIMEOUT);
if (camErr != -ETIMEOUT)
{
/* Anything other than a timeout means that we should
* stop trying and analyze the situation. */
break;
}
else
{
/*----------- procress CGI request
* Check for CGI request only if ReadPicture generated a
* time out. Process request directely or involve state
* engine with event */
/* Read request. */
err = HandleIpcRequests(&mainState);
if (err != SUCCESS)
{
OscLog(ERROR, "%s: IPC error! (%d)\n", __func__, err);
Unload();
return err;
}
}
}
if (camErr == -EPICTURE_TOO_OLD)
{
/* We have a picture, but it already has been laying
* around for a while. Most likely we won't be able to
* make the deadline for this picture, so we better just
* give it up and don't portrude our delay to the next
* frame. */
OscLog(WARN, "%s: Captured picture too old!\n", __func__);
/*----------- prepare next capture */
camErr = OscCamSetupCapture( OSC_CAM_MULTI_BUFFER);
if (camErr != SUCCESS)
{
OscLog(ERROR, "%s: Unable to setup capture (%d)!\n", __func__, camErr);
break;
}
err = OscGpioTriggerImage();
if (err != SUCCESS)
{
OscLog(ERROR, "%s: Unable to trigger capture (%d)!\n", __func__, err);
break;
}
continue;
}
else if (camErr != SUCCESS)
{
/* Fatal error, giving up. */
OscLog(ERROR, "%s: Unable to read picture from cam!\n", __func__);
break;
}
data.pCurRawImg = pCurRawImg;
/*----------- process frame by state engine (pre-setup) Sequentially with next capture */
ThrowEvent(&mainState, FRAMESEQ_EVT);
/*----------- prepare next capture */
camErr = OscCamSetupCapture( OSC_CAM_MULTI_BUFFER);
if (camErr != SUCCESS)
{
OscLog(ERROR, "%s: Unable to setup capture (%d)!\n", __func__, camErr);
break;
}
err = OscGpioTriggerImage();
if (err != SUCCESS)
{
OscLog(ERROR, "%s: Unable to trigger capture (%d)!\n", __func__, err);
break;
}
/*----------- process frame by state engine (post-setup) Parallel with next capture */
ThrowEvent(&mainState, FRAMEPAR_EVT);
/* Advance the simulation step counter. */
OscSimStep();
} /* end while ever */
return SUCCESS;
}