int main(void) {
AtomicCommand pcCom;
uint8_t optCamId = 0;
uint8_t camRetVal = 0;
uint8_t comholder[MAX_COMMAND_PAYLOAD];
uint8_t respholder[MAX_COMMAND_PAYLOAD];
uint8_t *compt = NULL;
uint8_t *resppt = NULL;
uint8_t respLength = 0;
pcCom.data = comholder;
/* initialize system modules */
//initMotors();
uart_init();
initCams();
/* set nRES on RFM12 HIGH */
DDRB |= _BV(PB2);
PORTB &= ~_BV(PB2);
_delay_ms(10);
PORTB |= _BV(PB2);
_delay_ms(100);
initRF();
sei();
/* set STATUS port to output */
DDRA |= 0xFF;
PORTA = 0x00;
/*
_delay_ms(2000);
setMotorDirection(ALL_MOTORS, FORWARD);
setMotorSpeed(ALL_MOTORS, 50);
_delay_ms(1000);
stopAllMotors();
while(1){
PORTA = 0b10101010;
_delay_ms(500);
PORTA = 0b01010101;
_delay_ms(500);
}*/
pwrDownCam(CAM0);
pwrDownCam(CAM1);
/* force cams LED on */
//forceAwakeCam(CAM0);
//forceAwakeCam(CAM1);
uart_putstr("All system initialized, AviCar online!");
while(1) {
rf12_rxdata(&pcCom);
compt = pcCom.data;
resppt = respholder;
respLength = 0;
while(compt != (pcCom.data + pcCom.length)) {
switch(compt[0] & CAR_SUB_COMM_MASK) {
case CAR_CAMS_SUB: /* resolve a cam command */
switch(compt[0] & CAR_CAMS_ID_MASK) {
case CAR_CAMS_ID_TOP:
optCamId = CAM1;
break;
case CAR_CAMS_ID_MID:
optCamId = CAM0;
break;
case CAR_CAMS_ID_ALL:
break;
default:
/* it shouldn't reach this point */
break;
}
switch(compt[0] & CAR_CAMS_FUNC_MASK) {
case CARS_CAMS_FUNC_SOFTRESET:
softResetCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_PWRDOWN:
pwrDownCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_FORCEON:
forceAwakeCam(optCamId);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETMAXPIXEL:
camRetVal = getMaxPixel(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETMINPIXEL:
camRetVal = getMinPixel(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETSQUAL:
camRetVal = getSqual(optCamId);
resppt[0] = camRetVal;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETPIXELSUM:
camRetVal = getPixelSum(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETXMOVEMENT:
camRetVal = getXMovement(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_GETYMOVEMENT:
camRetVal = getYMovement(optCamId);
resppt[0] = camRetVal;
respLength += 1;
resppt += 1;
compt += 1;
break;
case CARS_CAMS_FUNC_SETCAMSTEP:
setPixelStep(optCamId, compt[1]);
resppt[0] = 0x01;
respLength += 1;
resppt += 1;
compt += 2;
break;
case CARS_CAMS_FUNC_GETPIXELS:
requirePixels(optCamId);
resppt = getPixelBuffer(optCamId);
respLength += CAM_PIX_BYTECNT;
compt += 1;
break;
default:
/* it shouldn't reach this point */
break;
}
break;
case CAR_MOTS_SUB:
break;
default:
break;
}
}
/* reply to demander */
pcCom.data = respholder;
pcCom.length = respLength;
rf12_txdata(&pcCom);
}
}
void DarwinGlTexture::iUpdateTextureSurface( const GlTextureUpdateType& utype )
{
if ( utype == GlTextureUpdateType::PixelBuffer )
{
SoftwarePixelBuffer softpixu = getPixelBuffer();
if ( softpixu.isInvalid() )
{
return;
}
SoftwarePixelBufferHolder softpix = softpixu.lock();
if ( iGlTexture )
{
bind();
// Here we assume the Texture has already been created and the Surface is correct.
// We just call glTexSubImage depending on the TextureType.
GLenum target = GlTextureTargetFromTextureType(getType());
GLint level = 0;
GLint xoffset = 0; // Unsupported
GLint yoffset = 0; // Unsupported
GLint zoffset = 0; // Unsupported
GLsizei width = getSurface().width;
GLsizei height = getSurface().height;
GLsizei depth = 0; // Unsupported
GLenum format = GlTextureComponents(softpix->getPixelFormat());
GLenum type = GlTextureFormat(softpix->getPixelFormat());
const GLvoid* pixels = (const GLvoid*) softpix->getData();
TextureType textype = getType();
if ( textype == TextureType::OneDimension )
{
glTexSubImage1D(target, level, xoffset, width, format, type, pixels);
}
if ( textype == TextureType::TwoDimension )
{
glTexSubImage2D(target, level, xoffset, yoffset, width, height, format, type, pixels);
}
if ( textype == TextureType::ThreeDimension )
{
glTexSubImage3D(target, level, xoffset, yoffset, zoffset, width, height, depth, format, type, pixels);
}
if ( textype == TextureType::CubeMap )
{
// Here we have 6 different textures. But we will not do it for now.
// UNSUPPORTED
}
}
else
{
// If 'iGlTexture' is invalid , we must create the Texture object.
// We must also check for TextureType , and Surface .
if ( getType() == TextureType::Null )
return;
Surface surf = getSurface();
if ( surf.width <= 0 || surf.height <= 0 )
return;
glGenTextures(1, &iGlTexture);
bind();
GLenum target = GlTextureTargetFromTextureType(getType());
GLint level = 0;
GLsizei width = getSurface().width;
GLsizei height = getSurface().height;
GLsizei depth = 0; // Unsupported
GLenum format = GlTextureComponents(softpix->getPixelFormat());
GLenum type = GlTextureFormat(softpix->getPixelFormat());
const GLvoid* pixels = (const GLvoid*) softpix->getData();
TextureType textype = getType();
if ( textype == TextureType::OneDimension )
{
glTexImage1D(target, level, GL_RGBA, width, 0, format, type, pixels);
}
if ( textype == TextureType::TwoDimension )
{
glTexImage2D(target, level, GL_RGBA, width, height, 0, format, type, pixels);
}
if ( textype == TextureType::ThreeDimension )
{
glTexImage3D(target, level, GL_RGBA, width, height, depth, 0, format, type, pixels);
}
if ( textype == TextureType::CubeMap )
{
// Here we have 6 different textures. But we will not do it for now.
// UNSUPPORTED
}
}
}
if ( utype == GlTextureUpdateType::Surface )
{
// If we are updating the Surface , but the GlTexture is valid , we should destroy it and
// make a new one. Normally , you should not use Texture::setSurface if data is already set.
if ( iGlTexture )
{
// Destroy the Texture , and launch the Update with SoftwarePixelBuffer .
glDeleteTextures(1, &iGlTexture);
iGlTexture = 0;
}
SoftwarePixelBuffer pixbufu = getPixelBuffer();
if ( pixbufu.isInvalid() )
{
// Create a new empty pixel buffer .
SoftwarePixelBufferHolder pixbuf = SoftwarePixelBufferHolder ( new SoftwarePixelBufferPrivate(getName()+"/0softbuf") );
pixbuf->setPixelFormat(HardwarePixelFormat::RGBAFloat);
pixbuf->setData(nullptr, getSurface().width * getSurface().height * sizeof(float));
setPixelBuffer(pixbuf);
}
else
{
iUpdateTextureSurface(GlTextureUpdateType::PixelBuffer);
}
}
if ( utype == GlTextureUpdateType::Type )
{
// If TextureType has changed , we should reload the Texture.
if ( iGlTexture )
{
glDeleteTextures(1, &iGlTexture);
iGlTexture = 0;
}
iUpdateTextureSurface(GlTextureUpdateType::PixelBuffer);
}
}
