/**
* Takes a stream of bytes and builds a ScripterMsg from it
*/
ScripterMsg* bytes_to_message( uint_least8_t* msg_bytes, int total_size ) {
ScripterMsg* msg = malloc(sizeof(ScripterMsg));
// ID first
if ( total_size >= 3 ) {
msg->id = msg_bytes[0]<<8 | msg_bytes[1];
// Third byte gives me param count
msg->param_count = msg_bytes[2];
} else {
send_debug_msg("Received less than 3 bytes. Can't create message.");
free(msg);
return NULL;
}
// now we parse parameters
int i;
int idx; // used to traverse msg_bytes. Starts after the header, 4th byte
MsgParam* previous = NULL;
for( i=0, idx=3; i<msg->param_count; i++ ) {
uint32_t size;
if ( total_size >= idx+3 ) {
// Three bytes for the size
size = msg_bytes[idx]<<16 | msg_bytes[idx+1]<<8 | msg_bytes[idx+2];
idx += 3;
} else {
send_debug_msg("Received less than %d bytes. Can't create message",idx+3);
free(msg);
return NULL;
}
if ( idx+(int)size > total_size ) {
send_debug_msg("Received %d bytes, but need at least %d for this message.",
total_size, idx+size);
free(msg);
return NULL;
}
uint_least8_t* data = malloc(size);
// now the content
int j;
for( j=0; j<(int)size; j++ ) {
*(data+j) = msg_bytes[idx++];
}
MsgParam* param = create_msg_param(data,size);
// link the parameters
if ( previous == NULL ) {
// this is the first parameter we parsed
msg->parameters = param;
} else {
previous->next_param = param;
}
previous = param;
}
return msg;
}
/**
* Installs Lua byte code by creating a file on the MMC/SD card.
* This code will be executed in a loop if the camera is started
* the next time in standalone mode.
*/
void install_lua( uint_least8_t* bytecode, size_t size ) {
FILE *f = fopen(BYTECODE_PERM_FILE, "w");
if ( f == NULL ) {
send_debug_msg("Unable to install bytecode. Could not open file on MMC card. Is the MMC card installed?");
return;
}
size_t i;
for(i=0; i<size; i++) {
fputc(bytecode[i],f);
}
fclose(f);
send_debug_msg("LUA bytecode installed successfully!");
}
/**
* Get a new track packet as a full userdata. Returns a track
* packet.
*/
int tracker_new(lua_State *_l) {
cc3_track_pkt_t *pkt;
uint8_t minred, mingreen, minblue, maxred, maxgreen, maxblue;
pkt = (cc3_track_pkt_t*) lua_newuserdata(_l, sizeof(cc3_track_pkt_t));
if (pkt == NULL) {
send_debug_msg("Error allocating memory for the new tracker.");
}
minred = luaL_checknumber(_l, 1);
mingreen = luaL_checknumber(_l, 2);
minblue = luaL_checknumber(_l, 3);
maxred = luaL_checknumber(_l, 4);
maxgreen = luaL_checknumber(_l, 5);
maxblue = luaL_checknumber(_l, 6);
pkt->lower_bound.channel[0] = minred;
pkt->lower_bound.channel[1] = mingreen;
pkt->lower_bound.channel[2] = minblue;
pkt->upper_bound.channel[0] = maxred;
pkt->upper_bound.channel[1] = maxgreen;
pkt->upper_bound.channel[2] = maxblue;
pkt->x0 = pkt->x1 = pkt->y0 = pkt->y1 = pkt->scratch_x = pkt->scratch_y = 0;
pkt->centroid_x = pkt->centroid_y = 0;
pkt->num_pixels = pkt->int_density = 0;
pkt->noise_filter = 2; // default in cmucam2, duplicating
pkt->track_invert = false;
pkt->binary_scanline[0] = 0;
luaL_getmetatable(_l, "scripter.tracker");
lua_setmetatable(L, -2);
return 1;
}
/**
* Get a new image struct. Returns a pointer to a cc3_image_t
*/
int image_new(lua_State *_l) {
cc3_image_t *i;
int num_bytes;
uint16_t width, height;
uint32_t pixsize;
width = luaL_checknumber(_l, 1);
height = luaL_checknumber(_l, 2);
pixsize = width*height;
num_bytes = sizeof(cc3_image_t);
i = (cc3_image_t*) lua_newuserdata(_l, num_bytes);
i->width = width;
i->height = height;
i->pix = malloc(pixsize);
if (i->pix == NULL) {
send_debug_msg("Error allocating memory for the images's pix");
}
i->channels = CC3_CHANNEL_ALL;
luaL_getmetatable(_l, "scripter.image");
lua_setmetatable(L, -2);
return 1; // new userdata is already on the lua stack
}
/**
* Sends Lua error message
*/
void show_error (lua_State *_l, int status) {
const char *msg;
msg = lua_tostring(_l, -1);
if (msg == NULL) msg = "(error with no message)";
send_debug_msg("Error executing Lua!\nError code=%d, %s\n", status, msg);
}
/**
* Implementation of Lua's print function
*/
int print(lua_State *_l) {
if (debug_on) {
int n=lua_gettop(_l);
int i;
for (i=1; i<=n; i++) {
if (lua_isstring(_l,i)) {
send_debug_msg("%s",lua_tostring(_l,i));
} else if (lua_isnil(_l,i)==2) {
send_debug_msg("%s","nil");
} else if (lua_isboolean(_l,i)) {
send_debug_msg("%s",lua_toboolean(_l,i) ? "true" : "false");
} else {
send_debug_msg("%s:%p",luaL_typename(_l,i),lua_topointer(_l,i));
}
}
}
return 0;
}
/**
* Execute Lua byte code by first creating a file on the MMC/SD card and then
* passing that file to Lua interpreter.
*/
void execute_lua( uint_least8_t* bytecode, size_t size ) {
FILE *f = fopen(BYTECODE_TMP_FILE, "w");
if ( f == NULL ) {
send_debug_msg("Unable to execute bytecode. Could not open tmp file on MMC card. Is the MMC card installed?");
return;
}
int status;
size_t i;
for(i=0; i<size; i++) {
fputc(bytecode[i],f);
}
fclose(f);
// execute the lua file, and show any errors
send_debug_msg("Executing Lua code...");
status = lualib_dofile(BYTECODE_TMP_FILE);
if (status) {
show_error(L, i);
} else {
send_debug_msg("Lua execution finished!");
}
}
/**
* Get a new frame diff packet as a full userdata. Returns a frame diff
* packet with the previous and current templates set to template_width *
* template_height size.
*/
int framediff_new(lua_State *_l) {
cc3_frame_diff_pkt_t *pkt;
uint16_t tw, th;
int template_size;
tw = luaL_checknumber(_l, 1);
th = luaL_checknumber(_l, 2);
template_size = tw * th * sizeof(uint32_t);
pkt = (cc3_frame_diff_pkt_t*) lua_newuserdata(_l, sizeof(cc3_frame_diff_pkt_t));
if (pkt == NULL) {
send_debug_msg("Error allocating memory for the new framediff.");
}
pkt->template_width = tw;
pkt->template_height = th;
pkt->current_template = (uint32_t*) malloc(template_size);
if (pkt->current_template == NULL) {
send_debug_msg("Error allocating memory for the framediff's current template");
}
pkt->previous_template = (uint32_t*) malloc(template_size);
if (pkt->previous_template == NULL) {
send_debug_msg("Error allocating memory for the framediff's previous template");
}
// initialize all other fields
pkt->x0 = pkt->x1 = pkt->y0 = pkt->y1 = 0;
pkt->centroid_x = pkt->centroid_y = 0;
pkt->int_density = pkt->total_x = pkt->total_y = 0;
pkt->num_pixels = pkt->threshold = 0;
pkt->load_frame = false;
pkt->coi = CC3_CHANNEL_ALL;
luaL_getmetatable(_l, "scripter.framediff");
lua_setmetatable(L, -2);
return 1; // pkt's already on the stack, thanks to the newuserdata call
}
/**
* Get and send information about the specified point in the pixbuf.
* Look at the 5x5 rectangle within two pixels of x, y, and send back:
* R, G, B at (x, y)
* average R, G, B
*/
void send_image_info(int x, int y) {
int BUFFER = 2;
cc3_image_t img;
cc3_pixel_t pixel;
image_info_pkt_t* info_pkt = malloc(sizeof(image_info_pkt_t));
info_pkt->x = x;
info_pkt->y = y;
// make sure we got legal values
if (x > cc3_g_pixbuf_frame.width || y > cc3_g_pixbuf_frame.height) {
send_debug_msg("(%d, %d) is outside the bounds of the pixbuf.", x, y);
return;
}
info_pkt->x = x;
info_pkt->y = y;
info_pkt->avg_r = info_pkt->avg_g = info_pkt->avg_b = 0;
// get mins and maxes, in case we're near the edge of an image
int y_min = y - BUFFER;
if (y_min < 0) {
y_min = 0;
}
int y_max = y + BUFFER;
if (y_max > cc3_g_pixbuf_frame.height) {
y_max = cc3_g_pixbuf_frame.height;
}
int x_min = x - BUFFER;
if (x_min < 0) {
x_min = 0;
}
int x_max = x + BUFFER;
if (x_max > cc3_g_pixbuf_frame.width) {
x_max = cc3_g_pixbuf_frame.width;
}
// get to the min row first
cc3_pixbuf_rewind();
img.pix = cc3_malloc_rows(1);
int idx = 0;
while (idx < y_min) {
cc3_pixbuf_read_rows(img.pix, 1);
idx++;
}
int num_pix = 0;
for (; idx < y_max+1; idx++) {
cc3_pixbuf_read_rows(img.pix, 1);
for (int j = x_min; j < x_max+1; j++) {
cc3_get_pixel(&img, j, 0, &pixel);
info_pkt->avg_r += pixel.channel[0];
info_pkt->avg_g += pixel.channel[1];
info_pkt->avg_b += pixel.channel[2];
if (idx == y && j == x) {
info_pkt->r = pixel.channel[0];
info_pkt->g = pixel.channel[1];
info_pkt->b = pixel.channel[2];
}
num_pix++;
}
}
info_pkt->avg_r = info_pkt->avg_r / num_pix;
info_pkt->avg_g = info_pkt->avg_g / num_pix;
info_pkt->avg_b = info_pkt->avg_b / num_pix;
free(img.pix); // free img.pix info_pkt gets freed in send_image_info_msg
send_image_info_msg(info_pkt);
}