framemgr.c

he AVRcam source files were built using the WinAVR distribution (version 3.3.1 of GCC). I haven t t

/*
    Copyright (C) 2004    John Orlando
    
   AVRcam: a small real-time image processing engine.

    This program is free software; you can redistribute it and/or
    modify it under the terms of the GNU General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    General Public License for more details.

    You should have received a copy of the GNU General Public
    License along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

   For more information on the AVRcam, please contact:

   [e-mail]

   or go to www.jrobot.net for more details regarding the system.
*/
/*********************************************************
	Module Name: FrameMgr.c
	Module Date: 04/10/2004
	Module Auth: John Orlando
	
	Description: This modules is responsible for performing
	both medium and high level processing on image data.
	This is performed at both the line level as well as
	the frame level.  It controls the main flow of the
	system, adhering to all the critical timing 
	requirements (such as when serial data can be transferred,
	etc).
    
    Revision History:
    Date        Rel Ver.    Notes
    4/10/2004      0.1     Module created
    6/30/2004      1.0     Initial release for Circuit Cellar
                           contest.
    11/15/2004     1.2     Updated processLine() function so 
                           it will remove objects less than
                           a specified length/width (reduces
                           shot noise)
*********************************************************/

/*	Includes */
#include <stdlib.h>
#include <string.h>
#include <avr/io.h>
#include "Executive.h"
#include "UIMgr.h"
#include "FrameMgr.h"
#include "CamInterface.h"
#include "UartInterface.h"
#include "Utility.h"
#include "I2CInterface.h"
#include "CamConfig.h"
#include "CommonDefs.h"

/* 	Local Structures and Typedefs */
enum
{
	ST_FrameMgr_idle,
	ST_FrameMgr_TrackingFrame,
	ST_FrameMgr_DumpingFrame
};

typedef unsigned char FrameMgr_State_t;

/*  Definitions */
/* The most objects that can be tracked at any one time is 8.  
This number is determined by the number of bytes that can be
sent out during a frame (one byte per line, 144 lines per frame) 
with the number of bytes in a tracked object (7) + some wiggle
room :-) ... I guess this could be increased to around 20 if
we had enough room and cycles to process objects between lines */
#define MAX_TRACKED_OBJECTS	8

/* This defines the number of bytes that make up a trackedObject_t
structure... */
#define SIZE_OF_TRACKED_OBJECT 8

/* This define is used to turn off the timer overflow interrupt
that is generated when the PCLK overflows TIMER1 */
#define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB

/* This define is used to determine if a run length is too small
to be concerned with.  This helps to reduce the number of false
positives. */
#define MIN_OBJECT_TRACKING_WIDTH 3

/* This define is used to determine if an object has enough
height to be considered worth tracking...it is used to reduce
shot noise */
#define MIN_OBJECT_TRACKING_HEIGHT 3

/* This define is used to indicate how often the filter routine
that removes objects less than MIN_OBJECT_TRACKING_HEIGHT should
be executed.  It is measured in a number of lines (7 nominally). */
#define RUN_OBJECT_FILTER_MASK 0x07

/* This enum describes the possible colors that can
be tracked by the system.  This can't be represented as
simple color names (red, brown, etc) due to the fact that
the user sets which colors will be associated with which
bits.  Remember...after the AND operation of the indexed
color map values executes, either a single bit indicating
the color should be set, or no bits indicating that the
color isn't represented in the color map (notTracked). */
enum
{
	notTracked,
	color1,		/* bit 1 color */
	color2,		/* bit 2 color */
	color3,		/* bit 3 color */
	color4,		/* bit 4 color */
	color5,		/* bit 5 color */
	color6,		/* bit 6 color */
	color7,		/* bit 7 color */
	color8		/* bit 8 color */
};

typedef unsigned char trackedColor_t;

/* This structure defines the info that needs to be
maintained for each trackedObject in the trackingTable */
typedef struct
{
	trackedColor_t  color;
	unsigned char lastLineXStart;
	unsigned char lastLineXFinish;
	unsigned char x_upperLeft;
	unsigned char y_upperLeft;
	unsigned char x_lowerRight;
	unsigned char y_lowerRight;
	unsigned char objectValid;  /* used to be a fill byte...now it is
                                     used to determine if the object is valid
                                     or not...it gets invalidated if it is
                                     determined that it is too small, or
                                     that the object is within another object */
} trackedObject_t;

/* These defines are used to index into each individual element in the
trackedObject_t structure.  This seems to be MUCH more efficient than
accessing the elements in GCC. */
#define COLOR_OFFSET                0
#define LAST_LINE_X_START_OFFSET    1
#define LAST_LINE_X_FINISH_OFFSET   2
#define X_UPPER_LEFT_OFFSET         3
#define Y_UPPER_LEFT_OFFSET         4
#define X_LOWER_RIGHT_OFFSET        5
#define Y_LOWER_RIGHT_OFFSET        6
#define VALID_OBJECT_OFFSET         7

/*  Local Variables */
/* The trackedObjectTable is used to hold up to eight tracked objects
while they are being acquired. */
static trackedObject_t trackedObjectTable[MAX_TRACKED_OBJECTS];
static trackedObject_t *pCurrentTrackedObjectTable = trackedObjectTable;
static unsigned char lineCount = 0;
static FrameMgr_State_t currentState = ST_FrameMgr_idle;
static unsigned char numCurrTrackedObjects = 0;
static unsigned char numPrevTrackedObjects = 0;
static unsigned char trackedLineCount = 0;

/*  Local Functions  */
static void FrameMgr_findConnectedness(void);

/*  Extern Functions */
/* These functions are located in assembly files, and thus
must be externed here so they can be referenced in the source below. */
extern void CamIntAsm_waitForNewTrackingFrame(unsigned char *pBuffer, unsigned char *pMemLookup);
extern void CamIntAsm_waitForNewDumpFrame(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);
extern void CamIntAsm_acquireTrackingLine(unsigned char *pBuffer, unsigned char *pMemLookup);
extern void CamIntAsm_acquireDumpLine(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);

/***********************************************************
	Function Name: FrameMgr_init
	Function Description: This function is responsible
	for initializing the FrameMgr.  This includes 
	setting up the various buffers and data needed to 
	process each frame of image data.
	Inputs:  none
	Outputs: none
***********************************************************/	
void FrameMgr_init(void)
{
	memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));
}


/***********************************************************
	Function Name: FrameMgr_dispatchEvent
	Function Description: This function is responsible for
	taking an incoming event and performing the needed
	actions with it as pertains to the FrameMgr.
	Inputs:  event - the generated event
	Outputs: none
***********************************************************/	
void FrameMgr_dispatchEvent(unsigned char event)
{	
	switch(event)
	{
		case EV_DUMP_FRAME:
            /* try re-initializing the camera before we start dumping */
            
			CamConfig_setCamReg(0x11,0x01);  /* reduce the frame rate for dumping*/
			CamConfig_sendFifoCmds();
			Utility_delay(1000);		/* allow the new frame rate to settle */
			lineCount = 0;
			currentState = ST_FrameMgr_DumpingFrame;
			//CamIntAsm_waitForNewDumpFrame(currentLineBuffer,previousLineBuffer);
            FrameMgr_acquireLine();
			break;
		
		case EV_ENABLE_TRACKING:
			currentState = ST_FrameMgr_TrackingFrame;					
			FrameMgr_acquireFrame();
			break;
			
		case EV_ACQUIRE_FRAME_COMPLETE:
			FrameMgr_processFrame();
			break;
		
		case EV_PROCESS_FRAME_COMPLETE:
			FrameMgr_acquireFrame();
			break;

		case EV_SERIAL_DATA_RECEIVED:
			if (currentState != ST_FrameMgr_idle)
			{
				/* we need to go back to processing line data, since
				serial data reception interrupted us....just trash the
				frame and act like the frame has been processed, which
				will kick off the system to wait for the next line */
				PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);
			}
			break;
			
		case EV_DISABLE_TRACKING:
			/* tracking needs to be turned off */
			currentState = ST_FrameMgr_idle;
			break;
	}
}

/***********************************************************
	Function Name: FrameMgr_acquireFrame
	Function Description: This function is responsible for
	beginning of the acquisition of a new frame of data
	from the camera interface. The acquisition of this line 
	depends on the current state of the FrameMgr.
	Inputs:  none
	Outputs: none
***********************************************************/	
void FrameMgr_acquireFrame(void)
{
	if (currentState == ST_FrameMgr_TrackingFrame)
	{
		trackedLineCount = 0;
		numPrevTrackedObjects = numCurrTrackedObjects;
		numCurrTrackedObjects = 0;
		
		/* clear out the tracking table, and wait for the new frame
		to start */
		memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));
		//CamIntAsm_waitForNewTrackingFrame(currentLineBuffer,colorMap);
        WAIT_FOR_VSYNC_HIGH();
        CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);
	}
}

/***********************************************************
	Function Name: FrameMgr_acquireLine
	Function Description: This function is responsible for
	acquiring a line of data from the camera interface.
	The acquisition of this line depends on the current
	state of the FrameMgr.
	Inputs:  none
	Outputs: none
***********************************************************/	
void FrameMgr_acquireLine(void)
{
	unsigned char tmpLineCount;
	
	/* clearing out the buffers takes too long...we should
	just overwrite the data here without a problem when
	we start acquiring...at no point do we check for 
	a 0x00 value in the current or previous lineBuffers,
	so it was a bit excessive :-)  */
	
	/* check which state we are in and proceed as needed */
	if (currentState == ST_FrameMgr_DumpingFrame)
	{
		tmpLineCount = lineCount*2;
        
        /* clearing out the line data in dump mode is ok, and actually
        is needed, since it is possible for the first dump line in
        a frame to come back with the last line captured of the
        last capture session...*/
        memset(currentLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);
        memset(previousLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);
		/* wait for another VSYNC so we know which frame to use 
		to start looking for a line to receive */
		WAIT_FOR_VSYNC_HIGH();  
		WAIT_FOR_VSYNC_LOW();
		
		/* look at lineCount to determine how many HREFs we should
		wait before we start sampling */
		while(tmpLineCount != 0)
		{
			WAIT_FOR_HREF_HIGH(); 
			tmpLineCount--;
			WAIT_FOR_HREF_LOW(); 
		}
		
		/*  we should now be ready to sample our line...*/
		CamIntAsm_acquireDumpLine(currentLineBuffer,previousLineBuffer);
	}		
	else if (currentState == ST_FrameMgr_TrackingFrame)
	{
		WAIT_FOR_HREF_LOW();
		CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);
	}
}

/***********************************************************
	Function Name: FrameMgr_processLine
	Function Description: This function is responsible for
	parsing the received image line and performing either
	connected region mapping (if in the Tracking state) or
	sending out the raw sampled data (if in the Dumping
	state).
	Inputs:  none
	Outputs: none
***********************************************************/	
void FrameMgr_processLine(void)
{
	unsigned char i;
	volatile unsigned char dataToSend;
	unsigned char *pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;
#ifdef DEBUG_TRACKED_LINE    
	unsigned char *pSendData;
    unsigned char asciiBuffer[5];
    unsigned char pixelCount = 0;
#endif    
	
	if (currentState == ST_FrameMgr_DumpingFrame)
	{
		/* we want to sit in a tight loop and send the acquired data
		sitting in current and previous line buffers out the serial
		port...it is sent out the serial port immediately instead
		of going into the UIMgr tx fifo because we can't do anything
		until its sent out anyway...may as well just get it out now	*/
		
		/* currentLineBuffer is getting "g" previousLineBuffer is getting "b-r" */
		UartInt_txByte(0x0B);			/* send the header byte */
		UartInt_txByte(lineCount);		/* send the line count */
		for (i=0; i<NUM_PIXELS_IN_A_DUMP_LINE; i+=2)
		{
			/* when a dump line is sampled, the upper byte can potentially
			have garbage in it...we don't have time to mask it off as we're
			sampling, so it is done here before we send it out...we also
			combine the samples together so we really are sending up a
			sample for line N as well as line N+1 */
			dataToSend = currentLineBuffer[i];
			dataToSend &= 0x0F;
			dataToSend <<= 4;
			dataToSend |= (previousLineBuffer[i] & 0x0F);
			
			/* dataToSend should be packed now */
			UartInt_txByte(dataToSend);
			
			/* flip the colors around since we are doing all G on Y and BR on UV */
			dataToSend = previousLineBuffer[i+1];
			dataToSend &= 0x0F;
			dataToSend <<= 4;
			dataToSend |= (currentLineBuffer[i+1] & 0x0F);
			
			/* dataToSend should be packed now */
			UartInt_txByte(dataToSend);
		}
		UartInt_txByte(0x0F);  /* send line end */
		/* once all the data is sent, increment out line count by 2 since
		we really get 2 lines worth of pixels on each pass */
		/* Update...increment only by 1, but only send 72 double-lines */
		lineCount++;
		
		/* check to see if we have retrieved all of the needed lines */
		if (lineCount >= 72)  /* half 144, since we send two lines at a time */
		{
			/* we're done, so send the dump complete?...nope, just change
			states and we should be fine */