void blobProcess(void)
{
uint32_t result, i, j=0;
uint32_t x, y, loseCount=0, *memory = (uint32_t *)RLS_MEMORY;
int16_t bdata[8];
move(1);
// get first frame (primer)
result = cc_getRLSFrame(memory, RLS_MEMORY_SIZE, LUT_MEMORY, &g_numRls);
while(1)
{
if (!g_loop)
{
// service calls
while(g_chirpUsb->service());
handleButton();
}
else
{
// copy
if (g_numRls>QMEMSIZE)
g_numRls = QMEMSIZE;
for (i=0; i<g_numRls; i++)
g_qmem[i] = memory[i];
// kick off next frame
cc_getRLSFrame(memory, RLS_MEMORY_SIZE, LUT_MEMORY, NULL, false);
// process this one
cc_getMaxBlob(g_qmem, g_numRls, bdata);
if (bdata[0]>0)
{
loseCount = 0;
x = bdata[0]+(bdata[1]-bdata[0])/2;
y = bdata[2]+(bdata[3]-bdata[2])/2;
//servo(x, y);
//printf("%d %d\n", x, y);
if (detect(x, y))
{
//printf("***\n");
move(0);
}
}
else
{
loseCount++;
if (loseCount==10)
move(1);
}
// check for result
while(!g_chirpM0->service());
// service calls
while(g_chirpUsb->service());
}
}
}
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;
}
void blobProcess(void)
{
uint32_t result, i, j=0;
uint32_t x, y, *memory = (uint32_t *)RLS_MEMORY;
int16_t bdata[8];
// get first frame (primer)
result = cc_getRLSFrame(memory, RLS_MEMORY_SIZE, LUT_MEMORY, &g_numRls);
while(1)
{
if (!g_loop)
{
// service calls
#ifdef SERVO
servo(XCENTER, YCENTER);
#else
motor(XCENTER, YTRACK);
#endif
while(g_chirpUsb->service());
handleButton();
}
else
{
// copy
if (g_numRls>QMEMSIZE)
g_numRls = QMEMSIZE;
for (i=0; i<g_numRls; i++)
g_qmem[i] = memory[i];
// kick off next frame
cc_getRLSFrame(memory, RLS_MEMORY_SIZE, LUT_MEMORY, NULL, false);
// process this one
cc_getMaxBlob(g_qmem, g_numRls, bdata);
if (bdata[0]>0)
{
x = bdata[0]+(bdata[1]-bdata[0])/2;
y = bdata[2]+(bdata[3]-bdata[2])/2;
#ifdef SERVO
servo(x, y);
#else
motor(x, y);
#endif
}
else
#ifdef SERVO
servo(XCENTER, YCENTER);
#else
motor(XCENTER, YTRACK);
#endif
#if 0
if (j%10==0)
{
if (bdata[0]>0)
printf("%d %d\n", x, y);
else
printf("**\n");
}
j++;
#endif
// check for result
while(!g_chirpM0->service());
// service calls
while(g_chirpUsb->service());
}
}
}
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;
}
