BaseJpegDeocde exampe program
Dependencies: BaseJpegDecode Terminal BaseUsbHost mbed mbed-rtos
Fork of BaseJpegDecode by
main.cpp@7:3ad9c948bc06, 2013-01-27 (annotated)
- Committer:
- va009039
- Date:
- Sun Jan 27 11:15:26 2013 +0000
- Revision:
- 7:3ad9c948bc06
change library uvchost to BaseUsbHost, delete SimpleJpegDecode
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
va009039 | 7:3ad9c948bc06 | 1 | // BaseJpegDecode_example/main.cpp 2013/1/27 |
va009039 | 7:3ad9c948bc06 | 2 | // simple color tracking |
va009039 | 7:3ad9c948bc06 | 3 | // |
va009039 | 7:3ad9c948bc06 | 4 | #include "mbed.h" |
va009039 | 7:3ad9c948bc06 | 5 | #include "rtos.h" |
va009039 | 7:3ad9c948bc06 | 6 | #include "BaseUsbHost.h" |
va009039 | 7:3ad9c948bc06 | 7 | #include "UvcCam.h" |
va009039 | 7:3ad9c948bc06 | 8 | #include "BaseJpegDecode.h" |
va009039 | 7:3ad9c948bc06 | 9 | #include "Terminal.h" |
va009039 | 7:3ad9c948bc06 | 10 | #include "MyThread.h" |
va009039 | 7:3ad9c948bc06 | 11 | |
va009039 | 7:3ad9c948bc06 | 12 | #define WIDTH 160 |
va009039 | 7:3ad9c948bc06 | 13 | #define HEIGHT 120 |
va009039 | 7:3ad9c948bc06 | 14 | |
va009039 | 7:3ad9c948bc06 | 15 | #define THRESHOLD 200 |
va009039 | 7:3ad9c948bc06 | 16 | |
va009039 | 7:3ad9c948bc06 | 17 | DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4); |
va009039 | 7:3ad9c948bc06 | 18 | Terminal term(USBTX, USBRX); |
va009039 | 7:3ad9c948bc06 | 19 | |
va009039 | 7:3ad9c948bc06 | 20 | class CalcCenter : public MyThread, public BaseJpegDecode { |
va009039 | 7:3ad9c948bc06 | 21 | public: |
va009039 | 7:3ad9c948bc06 | 22 | int y_center, x_center; |
va009039 | 7:3ad9c948bc06 | 23 | int m_x_sum, m_y_sum, m_sum; |
va009039 | 7:3ad9c948bc06 | 24 | uint32_t EOI_count; |
va009039 | 7:3ad9c948bc06 | 25 | int16_t buf_Cb[WIDTH/16*HEIGHT/8]; // debug |
va009039 | 7:3ad9c948bc06 | 26 | int16_t buf_Cr[WIDTH/16*HEIGHT/8]; // debug |
va009039 | 7:3ad9c948bc06 | 27 | CalcCenter(BaseUvc* cam) { |
va009039 | 7:3ad9c948bc06 | 28 | m_cam = cam; |
va009039 | 7:3ad9c948bc06 | 29 | m_cam->setOnResult(this, &CalcCenter::callback_motion_jpeg); |
va009039 | 7:3ad9c948bc06 | 30 | EOI_count = 0; |
va009039 | 7:3ad9c948bc06 | 31 | } |
va009039 | 7:3ad9c948bc06 | 32 | protected: |
va009039 | 7:3ad9c948bc06 | 33 | void callback_motion_jpeg(uint16_t frame, uint8_t* buf, int len) { |
va009039 | 7:3ad9c948bc06 | 34 | input(buf+12, len-12); |
va009039 | 7:3ad9c948bc06 | 35 | if (buf[1]&1) { // FID |
va009039 | 7:3ad9c948bc06 | 36 | led1 = !led1; |
va009039 | 7:3ad9c948bc06 | 37 | } |
va009039 | 7:3ad9c948bc06 | 38 | } |
va009039 | 7:3ad9c948bc06 | 39 | |
va009039 | 7:3ad9c948bc06 | 40 | virtual void outputDC(int mcu, int block, int value) { |
va009039 | 7:3ad9c948bc06 | 41 | if (mcu >= (WIDTH/16*HEIGHT/8)) { |
va009039 | 7:3ad9c948bc06 | 42 | return; |
va009039 | 7:3ad9c948bc06 | 43 | } |
va009039 | 7:3ad9c948bc06 | 44 | if (block == 2) { |
va009039 | 7:3ad9c948bc06 | 45 | buf_Cb[mcu] = value * qt[1][0]; |
va009039 | 7:3ad9c948bc06 | 46 | } else if (block == 3) { // 0-1:Y 2:Cb 3:Cr |
va009039 | 7:3ad9c948bc06 | 47 | buf_Cr[mcu] = value * qt[1][0]; |
va009039 | 7:3ad9c948bc06 | 48 | value *= qt[1][0]; |
va009039 | 7:3ad9c948bc06 | 49 | if (value >= THRESHOLD) { // red |
va009039 | 7:3ad9c948bc06 | 50 | m_x_sum += value*(mcu%(WIDTH/16)); |
va009039 | 7:3ad9c948bc06 | 51 | m_y_sum += value*(mcu/(WIDTH/16)); |
va009039 | 7:3ad9c948bc06 | 52 | m_sum += value; |
va009039 | 7:3ad9c948bc06 | 53 | } |
va009039 | 7:3ad9c948bc06 | 54 | } |
va009039 | 7:3ad9c948bc06 | 55 | } |
va009039 | 7:3ad9c948bc06 | 56 | virtual void outputAC(int mcu, int block, int scan, int value){}; |
va009039 | 7:3ad9c948bc06 | 57 | virtual void outputMARK(uint8_t c){ |
va009039 | 7:3ad9c948bc06 | 58 | if (c == 0xd9) { // EOI |
va009039 | 7:3ad9c948bc06 | 59 | if(m_sum == 0) { |
va009039 | 7:3ad9c948bc06 | 60 | x_center = y_center = -1; // not found |
va009039 | 7:3ad9c948bc06 | 61 | } else { |
va009039 | 7:3ad9c948bc06 | 62 | x_center = m_x_sum / m_sum; |
va009039 | 7:3ad9c948bc06 | 63 | y_center = m_y_sum / m_sum; |
va009039 | 7:3ad9c948bc06 | 64 | } |
va009039 | 7:3ad9c948bc06 | 65 | m_x_sum = m_y_sum = m_sum = 0; // reset |
va009039 | 7:3ad9c948bc06 | 66 | EOI_count++; |
va009039 | 7:3ad9c948bc06 | 67 | led3 = !led3; |
va009039 | 7:3ad9c948bc06 | 68 | } |
va009039 | 7:3ad9c948bc06 | 69 | } |
va009039 | 7:3ad9c948bc06 | 70 | |
va009039 | 7:3ad9c948bc06 | 71 | virtual void run() { |
va009039 | 7:3ad9c948bc06 | 72 | while(true) { |
va009039 | 7:3ad9c948bc06 | 73 | if (m_cam) { |
va009039 | 7:3ad9c948bc06 | 74 | m_cam->poll(); |
va009039 | 7:3ad9c948bc06 | 75 | } |
va009039 | 7:3ad9c948bc06 | 76 | } |
va009039 | 7:3ad9c948bc06 | 77 | } |
va009039 | 7:3ad9c948bc06 | 78 | BaseUvc* m_cam; |
va009039 | 7:3ad9c948bc06 | 79 | }; |
va009039 | 7:3ad9c948bc06 | 80 | |
va009039 | 7:3ad9c948bc06 | 81 | BaseUvc* cam = NULL; |
va009039 | 7:3ad9c948bc06 | 82 | CalcCenter* calc = NULL; |
va009039 | 7:3ad9c948bc06 | 83 | |
va009039 | 7:3ad9c948bc06 | 84 | class display_Thread : public MyThread { |
va009039 | 7:3ad9c948bc06 | 85 | virtual void run() { |
va009039 | 7:3ad9c948bc06 | 86 | term.cls(); |
va009039 | 7:3ad9c948bc06 | 87 | int fg, old_fg = 0xffffff; |
va009039 | 7:3ad9c948bc06 | 88 | while(1) { |
va009039 | 7:3ad9c948bc06 | 89 | int column = 0; |
va009039 | 7:3ad9c948bc06 | 90 | for(int y = 0; y < HEIGHT/8; y++) { |
va009039 | 7:3ad9c948bc06 | 91 | term.locate(0, column++); |
va009039 | 7:3ad9c948bc06 | 92 | for(int x = 0; x < WIDTH/16; x++) { |
va009039 | 7:3ad9c948bc06 | 93 | int value = calc->buf_Cr[y*WIDTH/16+x]; |
va009039 | 7:3ad9c948bc06 | 94 | if (value >= THRESHOLD) { |
va009039 | 7:3ad9c948bc06 | 95 | fg = 0xff0000; // red |
va009039 | 7:3ad9c948bc06 | 96 | } else { |
va009039 | 7:3ad9c948bc06 | 97 | fg = 0xffffff; // white |
va009039 | 7:3ad9c948bc06 | 98 | } |
va009039 | 7:3ad9c948bc06 | 99 | if (fg != old_fg) { |
va009039 | 7:3ad9c948bc06 | 100 | term.foreground(fg); |
va009039 | 7:3ad9c948bc06 | 101 | old_fg = fg; |
va009039 | 7:3ad9c948bc06 | 102 | } |
va009039 | 7:3ad9c948bc06 | 103 | term.printf("%+4d,", value); |
va009039 | 7:3ad9c948bc06 | 104 | Thread::yield(); |
va009039 | 7:3ad9c948bc06 | 105 | } |
va009039 | 7:3ad9c948bc06 | 106 | } |
va009039 | 7:3ad9c948bc06 | 107 | term.locate(0, column++); |
va009039 | 7:3ad9c948bc06 | 108 | term.printf("Cr:(%d,%d)", calc->x_center, calc->y_center); |
va009039 | 7:3ad9c948bc06 | 109 | |
va009039 | 7:3ad9c948bc06 | 110 | term.locate(0, column++); |
va009039 | 7:3ad9c948bc06 | 111 | term.printf("width=%d height=%d yblock=%d EOI: %u]\nCC:", |
va009039 | 7:3ad9c948bc06 | 112 | calc->width, calc->height, calc->yblock, calc->EOI_count); |
va009039 | 7:3ad9c948bc06 | 113 | for(int i = 0; i < 16; i++) { |
va009039 | 7:3ad9c948bc06 | 114 | term.printf(" %u", cam->report_cc_count[i]); |
va009039 | 7:3ad9c948bc06 | 115 | } |
va009039 | 7:3ad9c948bc06 | 116 | term.printf("]\nPS:"); |
va009039 | 7:3ad9c948bc06 | 117 | for(int i = 0; i < 16; i++) { |
va009039 | 7:3ad9c948bc06 | 118 | term.printf(" %u", cam->report_ps_cc_count[i]); |
va009039 | 7:3ad9c948bc06 | 119 | } |
va009039 | 7:3ad9c948bc06 | 120 | term.printf("]\n"); |
va009039 | 7:3ad9c948bc06 | 121 | Thread::wait(150); |
va009039 | 7:3ad9c948bc06 | 122 | led2 = !led2; |
va009039 | 7:3ad9c948bc06 | 123 | } |
va009039 | 7:3ad9c948bc06 | 124 | } |
va009039 | 7:3ad9c948bc06 | 125 | }; |
va009039 | 7:3ad9c948bc06 | 126 | |
va009039 | 7:3ad9c948bc06 | 127 | void no_memory () { |
va009039 | 7:3ad9c948bc06 | 128 | error("Failed to allocate memory!\n"); |
va009039 | 7:3ad9c948bc06 | 129 | } |
va009039 | 7:3ad9c948bc06 | 130 | |
va009039 | 7:3ad9c948bc06 | 131 | int main() { |
va009039 | 7:3ad9c948bc06 | 132 | term.baud(921600); |
va009039 | 7:3ad9c948bc06 | 133 | term.printf("%s\n", __FILE__); |
va009039 | 7:3ad9c948bc06 | 134 | set_new_handler(no_memory); |
va009039 | 7:3ad9c948bc06 | 135 | |
va009039 | 7:3ad9c948bc06 | 136 | BaseUsbHost* UsbHost = new BaseUsbHost; |
va009039 | 7:3ad9c948bc06 | 137 | ControlEp* ctlEp = new ControlEp; // root hub |
va009039 | 7:3ad9c948bc06 | 138 | if (UsbHub::check(ctlEp)) { // hub? |
va009039 | 7:3ad9c948bc06 | 139 | UsbHub* hub = new UsbHub(ctlEp); |
va009039 | 7:3ad9c948bc06 | 140 | ctlEp = hub->search<UvcCam>(); |
va009039 | 7:3ad9c948bc06 | 141 | } |
va009039 | 7:3ad9c948bc06 | 142 | if (!UvcCam::check(ctlEp)) { |
va009039 | 7:3ad9c948bc06 | 143 | error("UVC camera is not connected\n"); |
va009039 | 7:3ad9c948bc06 | 144 | } |
va009039 | 7:3ad9c948bc06 | 145 | cam = new UvcCam(UVC_MJPEG, UVC_160x120, _15FPS, ctlEp); |
va009039 | 7:3ad9c948bc06 | 146 | calc = new CalcCenter(cam); |
va009039 | 7:3ad9c948bc06 | 147 | calc->start(); |
va009039 | 7:3ad9c948bc06 | 148 | |
va009039 | 7:3ad9c948bc06 | 149 | display_Thread* display_th = new display_Thread; |
va009039 | 7:3ad9c948bc06 | 150 | display_th->start(osPriorityBelowNormal); |
va009039 | 7:3ad9c948bc06 | 151 | |
va009039 | 7:3ad9c948bc06 | 152 | Thread::wait(osWaitForever); |
va009039 | 7:3ad9c948bc06 | 153 | } |