/******************************************************************************
* Fifo_create
******************************************************************************/
Fifo_Handle Fifo_create(Fifo_Attrs *attrs)
{
Fifo_Handle hFifo;
BUF_Attrs bAttrs = BUF_ATTRS;
if (attrs == NULL) {
return NULL;
}
hFifo = MEM_calloc(Dmai_Bios_segid, sizeof(Fifo_Object), 0);
if (hFifo == NULL) {
Dmai_err0("Failed to allocate space for Fifo Object\n");
return NULL;
}
/* Allocate a buffer pool for messages */
bAttrs.segid = Dmai_Bios_segid;
hFifo->hBufPool = BUF_create(attrs->maxElems, sizeof(Fifo_Elem), 0, &bAttrs);
if (hFifo->hBufPool == NULL) {
Dmai_err0("Failed to allocate space for buffer pool\n");
MEM_free(Dmai_Bios_segid, hFifo, sizeof(Fifo_Object));
return NULL;
}
/* initialize the object */
QUE_new(&hFifo->queue);
SEM_new(&hFifo->sem, 0);
SEM_new(&hFifo->mutex, 1);
return hFifo;
}
Bool bfqCreate ( BufferQueue_Handle queue, BufferQueue_Frame * frames, Int BufCount, Int BufSize, Int SegID)
{
Int i;
Ptr p;
// Acquire the frames
queue->Frames = frames;
queue->bDynamicFrames = FALSE;
// Init the QUE and SEM objects.
SEM_new(&(queue->semFullBuffers), 0);
SEM_new(&(queue->semEmptyBuffers), BufCount);
QUE_new( &(queue->queFullBuffers) );
QUE_new( &(queue->queEmptyBuffers) );
QUE_new( &(queue->queEmptyFrames) );
for (i=0; i<BufCount; i++)
{
// TODO: handle errors.
// If the _BFQ_INIT_BUFFERS is defined, fill the buffers with 0xFF,
// leave them uninitialized, otherwise.
#ifdef _BFQ_INIT_BUFFERS
p = MEM_valloc( SegID, BufSize, 0, 0xFF );
queue->Frames[i].Buffer = p;
assertLog( p != MEM_ILLEGAL);
#else
p = MEM_alloc( SegID, BufSize, 0 );
queue->Frames[i].Buffer = p;
assertLog( p != MEM_ILLEGAL);
#endif
QUE_put(&(queue->queEmptyBuffers), &(queue->Frames[i]));
}
queue->BufSize = BufSize;
queue->BufCount = BufCount;
queue->SegId = SegID;
return TRUE;
}
Int Task_create (Task_TransferInfo ** infoPtr)
{
Int status = SYS_OK ;
Task_TransferInfo * info = NULL ;
/* Allocate Task_TransferInfo structure that will be initialized
* and passed to other phases of the application */
if (status == SYS_OK)
{
*infoPtr = MEM_calloc (DSPLINK_SEGID,
sizeof (Task_TransferInfo),
0) ; /* No alignment restriction */
if (*infoPtr == NULL)
{
status = SYS_EALLOC ;
}
else
{
info = *infoPtr ;
}
}
/* Fill up the transfer info structure */
if (status == SYS_OK)
{
info->dataBuf = NULL ; /* Set through notification callback. */
info->bufferSize = MPCSXFER_BufferSize ;
SEM_new (&(info->notifySemObj), 0) ;
}
/*
* Register notification for the event callback to get control and data
* buffer pointers from the GPP-side.
*/
if (status == SYS_OK)
{
status = NOTIFY_register (ID_GPP,
MPCSXFER_IPS_ID,
MPCSXFER_IPS_EVENTNO,
(FnNotifyCbck) Task_notify,
info) ;
if (status != SYS_OK)
{
return status;
}
}
/*
* Send notification to the GPP-side that the application has completed its
* setup and is ready for further execution.
*/
if (status == SYS_OK)
{
status = NOTIFY_notify (ID_GPP,
MPCSXFER_IPS_ID,
MPCSXFER_IPS_EVENTNO,
(Uint32) 0) ; /* No payload to be sent. */
if (status != SYS_OK)
{
return status;
}
}
/*
* Wait for the event callback from the GPP-side to post the semaphore
* indicating receipt of the data buffer pointer and image width and height.
*/
SEM_pend (&(info->notifySemObj), SYS_FOREVER) ;
SEM_pend (&(info->notifySemObj), SYS_FOREVER) ;
return status ;
}
void CClassification::EnterTask()
{
#ifndef _WINDOWS // ------- Don't compile on windows -----
Uint32 unIntervalTicks;
Bool bLed2 = FALSE;
ledLight( 2, FALSE );
// Initialize the conveyor device driver and register the trigger semaphore.
convInit( );
SEM_new( &m_semTrigger, 0 );
convRegisterSemTrigger( &m_semTrigger, &m_bTrigger );
// Reset statstics
GetStats( NULL, TRUE );
// Initialize the high res timer
timeInit();
// Pre-calculate the maximum wait time for the semaphore.
unIntervalTicks = hlpMsToTicks( 1000 * MAXWAIT_SECONDS );
// Open the interlink UART channel and configure it.
m_hPPUSerial = serOpen( INTERLINK_UART_CHAN, sizeof( ClassificationTable ) *4 );
assertLog( m_hPPUSerial != NULL );
serConfigChannel( m_hPPUSerial, 115000, FALSE, FALSE, FALSE );
// Initialize the jet controller
TSK_sleep( 2000 );
CJetControl::Instance()->Init();
// Start watchdog and set it to twice the time of our maximum interval.
m_unWatchId = CWatchdog::Instance()->AddToWatch( "Classification", MAXWAIT_SECONDS * 2 );
CWatchdog::Instance()->EnableWatch( m_unWatchId, TRUE );
while( 1 )
{
// Wait for a trigger signal, timeout at some time to reset watchdog
if ( SEM_pend( &m_semTrigger, unIntervalTicks ) )
{
// Succesfully received a trigger
ledLight( 2, bLed2 );
bLed2 = !bLed2;
// Get the trigger time as exact as possible.
Uint32 unCurTime = convGetLastTriggerTime();
// Increment our trigger counter.
m_unCurrentTriggerPulse++;
// dbgLog( "Entering Trigger %d", m_unCurrentTriggerPulse );
// Store that trigger in the stats. This increments the number of possible potatoes by the number
// of lanes.
m_sClassificationStats.unNumPossible += m_nNumLanes;
// See if we're in service mode and handle it.
if ( m_csmServiceMode != CSM_NORMAL )
{
if ( (m_csmServiceMode == CSM_ADJUST_SMALL_EJECTION_PARAMS )
|| (m_csmServiceMode == CSM_ADJUST_MEDIUM_EJECTION_PARAMS )
|| (m_csmServiceMode == CSM_ADJUST_LARGE_EJECTION_PARAMS ) )
ServiceGenParamAdjustCommands( unCurTime );
}
else
{
// If not in service mode, see if we've got any due ejections to make and generate
// the commands for it.
EjectionTable * pTable;
// See if any ejections are due and generate the jetcontrol commands, which are then
// sent to the jet control.
pTable = GetDueEjectionTable();
if ( pTable != NULL )
{
// Generate ejection commands, but only if we're in classification mode.
if ( m_eOperationMode == OP_CLASSIFICATION )
{
GenerateEjectionCommands( pTable, unCurTime );
}
ReleaseEjectionTable( pTable );
}
// Now we have to classify the potatoes and create the ejection table for the current
// line. Only build the table if we've got a reference to the global potato table
if ( m_pPotatoTable != NULL )
{
// Build the local classification table (i.e. the per-frame classification)
BuildTable( &m_LocalClassificationTable, m_pPotatoTable );
// Only exchange tables if we're in classification mode.
if ( m_eOperationMode == OP_CLASSIFICATION )
{
// Exchange the table with the other DSP
if ( ExchangeTables( &m_LocalClassificationTable, &m_ForeignClassificationTable ) == TRUE )
{
MergeTables( &m_LocalClassificationTable, &m_ForeignClassificationTable );
}
}
// Classify the potatoes using a new ejection table. This, we'll
// have to do even in calibration mode, because of the statistics
// for the GUI.
pTable = GetNewEjectionTable( m_nNumTriggerPulsesDelay );
if ( pTable != NULL )
{
ClassifyPotatoes( & m_LocalClassificationTable, &m_ForeignClassificationTable, pTable );
}
} // if potatoobject table accessible
} // if not in servicemode
} // if trigger occured
else
{
// Clean the objects list from time to time, if we don't receive trigger signals for
// a long time. This prevents the number of objects from growing to big.
CleanObjects( m_pPotatoTable );
// Check for service operation
if ( m_csmServiceMode == CSM_CHECK_JETS )
ServiceGenJetCheckCommands();
}
// See if any of the strictness values changed and apply it to the properties
if ( m_propSplitStrictness.HasChanged()
|| m_propShapeStrictness.HasChanged()
|| m_propGreenStrictness.HasChanged()
|| m_propColorStrictness.HasChanged() )
{
ApplyStrictness();
}
// Signal the watchdog.
CWatchdog::Instance()->SignalAlive( m_unWatchId );
} // while(1)
#endif // ------------------------------------------------
}
