/**
* Function to capture a ppm
*/
void capture_ppm(FILE *f) {
uint32_t x, y;
uint32_t size_x, size_y;
uint32_t time, time2;
int write_time;
cc3_pixbuf_load ();
uint8_t *row = cc3_malloc_rows(1);
size_x = cc3_g_pixbuf_frame.width;
size_y = cc3_g_pixbuf_frame.height;
fprintf(f,"P6\n%d %d\n255\n",size_x,size_y );
time = cc3_timer_get_current_ms();
for (y = 0; y < size_y; y++) {
cc3_pixbuf_read_rows(row, 1);
for (x = 0; x < size_x * 3U; x++) {
uint8_t p = row[x];
if (fputc(p, f) == EOF) {
perror("fputc failed");
}
}
fprintf(stderr, ".");
fflush(stderr);
}
time2 = cc3_timer_get_current_ms();
write_time = time2 - time;
free(row);
}
void simple_track_color(cc3_track_pkt_t * t_pkt)
{
cc3_image_t img;
img.channels = 3;
img.width = cc3_g_pixbuf_frame.width;
img.height = 1; // image will hold just 1 row for scanline processing
img.pix = cc3_malloc_rows (1);
if (img.pix == NULL) {
return;
}
cc3_pixbuf_load ();
if (cc3_track_color_scanline_start (t_pkt) != 0) {
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// This does the HSV conversion
// cc3_rgb2hsv_row(img.pix,img.width);
cc3_track_color_scanline (&img, t_pkt);
}
}
cc3_track_color_scanline_finish (t_pkt);
free (img.pix);
return;
}
/**
* Function to take a picure using the CMUcam3. Just a wrapper of
* cc3_pixbuf_load. Note that this function
* only takes a picture and loads it into the pixbuf -- you need to call
* something else if you want to write the picture to file or anything else.
*/
int take_picture(lua_State *_l) {
cc3_pixbuf_load();
// reset line buffer in case image properties changed
g_img_prev_y=-1;
g_img_prev_x=-1;
if(g_img.pix!=NULL) free(g_img.pix);
g_img.pix = cc3_malloc_rows(1);
g_img.channels = cc3_g_pixbuf_frame.channels;
return 0;
}
void simple_get_mean (cc3_color_info_pkt_t * s_pkt)
{
cc3_image_t img;
img.channels = 3;
img.width = cc3_g_pixbuf_frame.width;
img.height = 1; // image will hold just 1 row for scanline processing
img.pix = malloc (3 * img.width);
cc3_pixbuf_load ();
if (cc3_color_info_scanline_start (s_pkt) != 0) {
while (cc3_pixbuf_read_rows (img.pix, 1)) {
cc3_color_info_scanline (&img, s_pkt);
}
cc3_color_info_scanline_finish (s_pkt);
}
free (img.pix);
}
int get_PPM_size(ParamBodyByteStream* bstream) {
// Let's make sure we didn't call this twice!
if (bstream->state.blob != NULL ) {
return ((PPMData*)(bstream->state.blob))->size;
}
// OK. First time for this parameter...
PPMData* ppm = malloc(sizeof(PPMData));
// TODO: We should check that there's no other message using our ONLY buffer
cc3_pixbuf_load ();
ppm->row = cc3_malloc_rows(1);
ppm->size_x = cc3_g_pixbuf_frame.width;
ppm->size_y = cc3_g_pixbuf_frame.height;
ppm->x = 0;
ppm->y = 0;
ppm->header = malloc(20);
sprintf(ppm->header,"P6\n%d %d\n255\n",ppm->size_x,ppm->size_y);
bstream->state.blob = ppm;
ppm->size = strlen(ppm->header) + ppm->size_x * ppm->size_y * 3;
return ppm->size;
}
bool initialize()
{
char* config_buff = (char*)malloc(sizeof(char)*100);
// init some variables
prevTime = 0;
deltaTime = 0;
deltaDist = 0;
power_save = false;
cam_focus_delay = 8000;
// init parser structures for gps and config
parse_init();
// turn on leds so we know it started working
cc3_led_set_state (1, true);
cc3_led_set_state (2, true);
// configure uart for gps serial communication
cc3_uart_init (0, CC3_UART_RATE_4800, CC3_UART_MODE_8N1,
CC3_UART_BINMODE_BINARY);
// init the camera and file system
cc3_camera_init ();
cc3_filesystem_init();
#ifdef LOG
snprintf(log_str, 100, "**********\n\rNew Session\n\r");
write_log();
snprintf(log_str, 100, "\n\rReading config file\r\n");
write_log();
#endif
// read config file from MMC
memory = fopen ("c:/config.txt", "r");
if (memory == NULL) {
perror ("fopen failed\r\n");
return false;
}
// get config file
fscanf(memory, "%s", config_buff);
if (fclose (memory) == EOF) {
perror ("fclose failed\r\n");
return false;
}
// parse config file
parse_Config(config_buff);
// if the config is not good then quit
if(!config->good)
{
#ifdef LOG
snprintf(log_str, 100, "\n\rconfig.txt INVALID\r\n");
write_log();
#endif
return false;
}
#ifdef LOG
snprintf(log_str, 100, "\r\nConfig File:\n\rDelay(ms) - %d\tMin Dist(mm) - %d",(int)config->delay,(int)(config->min_dist*1000));
write_log();
if(config->halo)
{
snprintf(log_str, 100, "\tHalo - true\r\n");
write_log();
snprintf(log_str, 100, "\tHalo %s:\t Lat*1000000 - %d\tLon*1000000 - %d\tRange(mm) - %d\r\n",
config->halo_info->name,
(int)(config->halo_info->lat*1000000),
(int)(config->halo_info->lon*1000000),
(int)(config->halo_info->range*1000) );
write_log();
}
else
{
snprintf(log_str, 100, "\tHalo - false\r\n");
write_log();
}
#endif
//configure camera
cc3_camera_set_colorspace (CC3_COLORSPACE_RGB);
cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_HIGH);
cc3_camera_set_auto_white_balance (true);
cc3_camera_set_auto_exposure (true);
// init pixbuf with width and height and JPEG compression
cc3_pixbuf_load();
init_jpeg();
// try to open picNum.txt if exist that will be the
// picture number we will start with if not start at 0
#ifdef LOG
snprintf(log_str, 100, "\n\rReading picNum file\r\n");
write_log();
#endif
memory = fopen ("c:/picNum.txt", "r");
if (memory == NULL) {
picNum = 0;
}
else
{
char* picNum_buff = (char*)malloc(sizeof(char)*100);
fscanf(memory, "%s", picNum_buff);
picNum = atoi(picNum_buff);
free(picNum_buff);
}
if (fclose (memory) == EOF) {
perror ("fclose failed\r\n");
return false;
}
#ifdef LOG
snprintf(log_str, 100, "Starting picture numbering at: %d\r\n",picNum);
write_log();
#endif
// starts out awake with no gps signal
cc3_led_set_state (1, false);
cc3_led_set_state (2, true);
cc3_timer_wait_ms(1000);
free(config_buff);
return true;
}
int main (void)
{
cc3_histogram_pkt_t my_hist;
cc3_color_info_pkt_t s_pkt;
cc3_frame_diff_pkt_t fd_pkt;
cc3_timer_wait_ms (500);
cc3_gpio_set_mode (0, CC3_GPIO_MODE_SERVO);
cc3_gpio_set_mode (1, CC3_GPIO_MODE_SERVO);
cc3_gpio_set_mode (2, CC3_GPIO_MODE_SERVO);
cc3_gpio_set_mode (3, CC3_GPIO_MODE_SERVO);
// configure uarts
cc3_uart_init (0,
CC3_UART_RATE_115200,
CC3_UART_MODE_8N1,
CC3_UART_BINMODE_TEXT);
cc3_uart_init (1,
CC3_UART_RATE_38400,//CC3_UART_RATE_115200,
CC3_UART_MODE_8N1,
CC3_UART_BINMODE_BINARY);
// Make it so that stdout and stdin are not buffered
setvbuf (stdout, NULL, _IONBF, 0);
setvbuf (stdin, NULL, _IONBF, 0);
printf( "Opening UART1 file pointer\n" );
FILE *fp = cc3_uart_fopen(1, "r");
if (fp)
{
printf("Success");
int i = 0;
while (1)
{
fprintf(fp, "i = %08d\n", i++);
}
}
printf( "Calling camera init\n" );
cc3_camera_init ();
cc3_camera_set_colorspace (CAM_COLOURS);
cc3_camera_set_resolution (CAM_FORMAT);
cc3_pixbuf_frame_set_coi (CC3_CHANNEL_ALL);//for full 'colour_info'
//cc3_camera_set_colorspace (CC3_COLORSPACE_YCRCB);?All switches handled?
//cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_HIGH);// 352, 288
//cc3_pixbuf_frame_set_subsample(CC3_SUBSAMPLE_RANDOM, 2, 2);
printf( "Camera init done\n%d x %d\n",
cc3_g_pixbuf_frame.raw_width, cc3_g_pixbuf_frame.raw_height );
// frame difference
fd_pkt.coi = CC3_CHANNEL_ALL;
fd_pkt.template_width = 16;//8;
fd_pkt.template_height = 16;//8;
fd_pkt.total_x = cc3_g_pixbuf_frame.width;
fd_pkt.total_y = cc3_g_pixbuf_frame.height;
fd_pkt.load_frame = 1; // load a new frame
fd_pkt.previous_template = malloc (fd_pkt.template_width * fd_pkt.template_height * sizeof (uint32_t));
if (fd_pkt.previous_template == NULL)
printf ("Malloc FD startup error!\r");
cc3_camera_set_auto_white_balance (true);
cc3_camera_set_auto_exposure (true);
// The LED test masks the stabilization delays (~2000ms)
printf ("Waiting for image to stabilize\n");
led_test ();
cc3_camera_set_auto_white_balance (false);
cc3_camera_set_auto_exposure (false);
// printf ("\nPush button on camera back to continue\n");
// while (!cc3_button_get_state ())
// ;
cc3_led_set_state (0, true);
cc3_pixbuf_load ();
my_hist.channel = CC3_CHANNEL_ALL;
my_hist.bins = 24;
my_hist.hist = malloc (my_hist.bins * sizeof (uint32_t));
while (true) {
printf ("<3 EE\n 0x%02X\n ", (unsigned int)cc3_timer_get_current_ms());
// Grab an image and take a frame difference of it
cc3_pixbuf_load ();
frame_diff (&fd_pkt);
// Rewind and take a histogram of it
cc3_pixbuf_rewind ();
//get_histogram (&my_hist);
// Rewind and get some stats
cc3_pixbuf_rewind ();
get_mean(&s_pkt);
printf( "min = [%d,%d,%d] mean = [%d,%d,%d] max = [%d,%d,%d] deviation = [%d,%d,%d] ",
s_pkt.min.channel[0],s_pkt.min.channel[1],s_pkt.min.channel[2],
s_pkt.mean.channel[0],s_pkt.mean.channel[1],s_pkt.mean.channel[2],
s_pkt.max.channel[0],s_pkt.max.channel[1],s_pkt.max.channel[2],
s_pkt.deviation.channel[0],s_pkt.deviation.channel[1],s_pkt.deviation.channel[2]
);
/* printf ("hist[%d] = ", my_hist.bins);
for (uint32_t i = 0; i < my_hist.bins; i++)
{
printf ("%08X ", my_hist.hist[i]);
// sample non-blocking serial routine
if (!cc3_uart_has_data (1))
{
cc3_gpio_set_servo_position (0, SERVO_MID);
cc3_gpio_set_servo_position (1, SERVO_MID);
}
}
*/
printf ("\n");
cc3_timer_wait_ms(400);
// if (cc3_button_get_state())
// break;
}
printf("\n\nAll done!\n");
return 0;
}
/* simple hello world, showing features and compiling*/
int main (void)
{
uint32_t start_time, end_time, val;
char c;
FILE *fp;
cc3_image_t img;
// init filesystem driver
cc3_filesystem_init ();
// configure uarts
cc3_uart_init (0, CC3_UART_RATE_115200, CC3_UART_MODE_8N1,
CC3_UART_BINMODE_TEXT);
// Make it so that stdout and stdin are not buffered
val = setvbuf (stdout, NULL, _IONBF, 0);
val = setvbuf (stdin, NULL, _IONBF, 0);
printf( "Calling camera init\n" );
cc3_camera_init ();
printf( "Camera init done\n" );
cc3_camera_set_colorspace (CC3_COLORSPACE_RGB);
cc3_camera_set_resolution (CC3_CAMERA_RESOLUTION_LOW);
cc3_camera_set_auto_white_balance (true);
cc3_camera_set_auto_exposure (true);
printf ("Hello World...\n");
cc3_led_set_state (0, false);
cc3_led_set_state (1, false);
cc3_led_set_state (2, false);
// sample wait command in ms
cc3_timer_wait_ms (1000);
cc3_led_set_state (0, true);
// sample showing how to write to the MMC card
printf ("Type y to test MMC card, type n if you do not have the card\n");
c = getchar ();
if (c == 'y' || c == 'Y') {
int result;
printf ("\nMMC test...\n");
fp = fopen ("c:/test.txt", "w");
if (fp == NULL) {
perror ("fopen failed");
}
fprintf (fp, "This will be written to the MMC...\n");
result = fclose (fp);
if (result == EOF) {
perror ("fclose failed");
}
printf ("A string was written to test.txt on the mmc card.\n");
}
// sample showing how to read button
printf ("push button on camera back to continue\n");
start_time = cc3_timer_get_current_ms ();
while (!cc3_button_get_state ());
cc3_led_set_state (1, true);
// sample showing how to use timer
printf ("It took you %dms to press the button\n",
cc3_timer_get_current_ms () - start_time);
// setup an image structure
cc3_pixbuf_load ();
img.channels = 3;
img.width = cc3_g_pixbuf_frame.width;
img.height = 1; // image will hold just 1 row for scanline processing
img.pix = cc3_malloc_rows (1);
printf ("Now we will use image data...\n");
val = 0;
/*
* Track the brightest red spot on the image
*/
while (1) {
int y;
uint16_t my_x, my_y;
uint8_t max_red;
cc3_pixel_t my_pix;
if (val & 0x1)
cc3_led_set_state (0, true);
else
cc3_led_set_state (0, false);
if (val & 0x2)
cc3_led_set_state (1, true);
else
cc3_led_set_state (1, false);
if (val & 0x3)
cc3_led_set_state (2, true);
else
cc3_led_set_state (2, false);
if (val & 0x4)
cc3_led_set_state (3, true);
else
cc3_led_set_state (3, false);
val++;
// This tells the camera to grab a new frame into the fifo and reset
// any internal location information.
cc3_pixbuf_frame_set_coi(CC3_CHANNEL_ALL);
cc3_pixbuf_load ();
// red search!
// *** slow method for red search
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width; x++) {
// get a pixel from the img row memory
cc3_get_pixel (&img, x, 0, &my_pix);
if (my_pix.channel[CC3_CHANNEL_RED] > max_red) {
max_red = my_pix.channel[CC3_CHANNEL_RED];
my_x = x;
my_y = y;
}
}
y++;
}
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" cc3_get_pixel version took %d ms to complete\n",
end_time - start_time);
// *** faster method for red search
cc3_pixbuf_rewind(); // use exactly the same pixbuf contents
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width * 3; x+=3) {
uint8_t red = ((uint8_t *) img.pix)[x + CC3_CHANNEL_RED];
if (red > max_red) {
max_red = red;
my_x = x;
my_y = y;
}
}
y++;
}
my_x /= 3; // correct channel offset
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" faster version took %d ms to complete\n",
end_time - start_time);
// *** even faster method for red search
cc3_pixbuf_rewind(); // use exactly the same pixbuf contents
cc3_pixbuf_frame_set_coi(CC3_CHANNEL_RED);
start_time = cc3_timer_get_current_ms();
max_red = 0;
my_x = 0;
my_y = 0;
y = 0;
while (cc3_pixbuf_read_rows (img.pix, 1)) {
// read a row into the image picture memory from the camera
for (uint16_t x = 0; x < img.width; x++) {
uint8_t red = ((uint8_t *) img.pix)[x];
if (red > max_red) {
max_red = red;
my_x = x;
my_y = y;
}
}
y++;
}
end_time = cc3_timer_get_current_ms();
printf ("Found max red value %d at %d, %d\n", max_red, my_x, my_y);
printf (" even faster version took %d ms to complete\n",
end_time - start_time);
printf("\n");
// sample non-blocking serial routine
if (!cc3_uart_has_data (0))
break;
}
free (img.pix); // don't forget to free!
printf ("You pressed %c to escape\n", fgetc (stdin));
// stdio actually works...
printf ("Type in a number followed by return to test scanf: ");
scanf ("%d", &val);
printf ("You typed %d\n", val);
printf ("Good work, now try something on your own...\n");
while (1);
return 0;
}
static int cc3_load (lua_State *L) {
cc3_pixbuf_load();
return 0;
}