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resync to SURVEYOR_HOST changes

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git-svn-id: http://picoc.googlecode.com/svn/trunk@364 21eae674-98b7-11dd-bd71-f92a316d2d60
This commit is contained in:
surveyor.com 2009-10-31 14:39:43 +00:00
parent 425c86d365
commit 2493d1ff01
3 changed files with 90 additions and 21 deletions
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96
library_surveyor.c
View file

@ -2,7 +2,7 @@
static int Blobcnt, Blobx1, Blobx2, Bloby1, Bloby2, Iy1, Iy2, Iu1, Iu2, Iv1, Iv2;
static int GPSlat, GPSlon, GPSalt, GPSfix, GPSsat, GPSutc, Elcount, Ercount;
static int ScanVect[16];
static int ScanVect[16], NNVect[NUM_OUTPUT];
void PlatformLibraryInit()
{
@ -10,6 +10,7 @@ void PlatformLibraryInit()
IntArrayType = TypeGetMatching(NULL, &IntType, TypeArray, 16, NULL);
VariableDefinePlatformVar(NULL, "scanvect", IntArrayType, (union AnyValue *)&ScanVect, FALSE);
VariableDefinePlatformVar(NULL, "neuron", IntArrayType, (union AnyValue *)&NNVect, FALSE);
VariableDefinePlatformVar(NULL, "blobcnt", &IntType, (union AnyValue *)&Blobcnt, FALSE);
VariableDefinePlatformVar(NULL, "blobx1", &IntType, (union AnyValue *)&Blobx1, FALSE);
VariableDefinePlatformVar(NULL, "blobx2", &IntType, (union AnyValue *)&Blobx2, FALSE);
@ -362,7 +363,7 @@ void Cvblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value *
numblob = vblob((unsigned char *)FRAME_BUF, (unsigned char *)FRAME_BUF3, ix);
if (blobcnt[iblob] == 0) {
if ((blobcnt[iblob] == 0) || (numblob == -1)) {
Blobcnt = 0;
} else {
Blobcnt = blobcnt[iblob];
@ -374,6 +375,39 @@ void Cvblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value *
ReturnValue->Val->Integer = numblob;
}
void Cvjpeg (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
unsigned int image_size, qual;
unsigned char *output_start, *output_end;
qual = Param[0]->Val->Integer;
if ((qual < 1) || (qual > 8))
ProgramFail(NULL, "vjpeg(): quality parameter out of range");
output_start = (unsigned char *)JPEG_BUF;
output_end = encode_image((unsigned char *)FRAME_BUF, output_start, qual,
FOUR_TWO_TWO, imgWidth, imgHeight);
image_size = (unsigned int)(output_end - output_start);
ReturnValue->Val->Integer = image_size;
}
void Cvsend (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
unsigned int ix, image_size;
unsigned char *cp;
image_size = Param[0]->Val->Integer;
if ((image_size < 0) || (image_size > 200000))
ProgramFail(NULL, "vsend(): image size out of range");
led1_on();
cp = (unsigned char *)JPEG_BUF;
for (ix=0; ix<image_size; ix++)
putchar(*cp++);
led0_on();
}
void Ccompass(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) // return reading from HMC6352 I2C compass
{
unsigned char i2c_data[2];
@ -381,7 +415,7 @@ void Ccompass(struct ParseState *Parser, struct Value *ReturnValue, struct Value
i2c_data[0] = 0x41; // read compass twice to clear last reading
i2cread(0x22, (unsigned char *)i2c_data, 2, SCCB_ON);
delayMS(10);
delayMS(20);
i2c_data[0] = 0x41;
i2cread(0x22, (unsigned char *)i2c_data, 2, SCCB_ON);
ix = ((unsigned int)(i2c_data[0] << 8) + i2c_data[1]) / 10;
@ -601,12 +635,12 @@ void Cnntrain(struct ParseState *Parser, struct Value *ReturnValue, struct Value
nncalculate_network();
for (i1=0; i1<NUM_OUTPUT; i1++)
printf(" %3d", N_OUT(i1)/10);
printf("\n\r");
printf("\r\n");
}
}
void Cnntest(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
int ix, i1, i2;
int ix, i1, i2, max;
unsigned char ch;
ix = 0;
@ -620,13 +654,20 @@ void Cnntest(struct ParseState *Parser, struct Value *ReturnValue, struct Value
}
}
nncalculate_network();
for (i1=0; i1<NUM_OUTPUT; i1++)
printf(" %3d", N_OUT(i1)/10);
printf("\n\r");
ix = 0;
max = 0;
for (i1=0; i1<NUM_OUTPUT; i1++) {
NNVect[i1] = N_OUT(i1)/10;
if (max < NNVect[i1]) {
ix = i1;
max = NNVect[i1];
}
}
ReturnValue->Val->Integer = ix;
}
void Cnnmatchblob(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
int ix, i1;
int ix, i1, max;
ix = Param[0]->Val->Integer;
if (ix > MAX_BLOBS)
@ -640,9 +681,16 @@ void Cnnmatchblob(struct ParseState *Parser, struct Value *ReturnValue, struct V
nnscale8x8((unsigned char *)FRAME_BUF3, blobix[ix], blobx1[ix], blobx2[ix],
bloby1[ix], bloby2[ix], imgWidth, imgHeight);
nncalculate_network();
for (i1=0; i1<NUM_OUTPUT; i1++)
printf(" %3d", N_OUT(i1)/10);
printf("\n\r");
ix = 0;
max = 0;
for (i1=0; i1<NUM_OUTPUT; i1++) {
NNVect[i1] = N_OUT(i1)/10;
if (max < NNVect[i1]) {
ix = i1;
max = NNVect[i1];
}
}
ReturnValue->Val->Integer = ix;
}
void Cnnlearnblob (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
@ -659,6 +707,23 @@ void Cnnlearnblob (struct ParseState *Parser, struct Value *ReturnValue, struct
nndisplay(ix);
}
void Cautorun (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
int ix, t0;
unsigned char ch;
ix = Param[0]->Val->Integer;
t0 = readRTC();
while (readRTC() < (t0 + ix*1000)) { // watch for ESC in 'ix' seconds
if (getchar(&ch)) {
if (ch == 0x1B) { // if ESC found, exit picoC
printf("found ESC\r\n");
ExitBuf[40] = 1;
longjmp(ExitBuf, 1);
}
}
}
}
/* list of all library functions and their prototypes */
struct LibraryFunction PlatformLibrary[] =
{
@ -691,6 +756,8 @@ struct LibraryFunction PlatformLibrary[] =
{ Cvscan, "int vscan(int, int)" },
{ Cvmean, "void vmean()" },
{ Cvblob, "int vblob(int, int)" },
{ Cvjpeg, "int vjpeg(int)" },
{ Cvsend, "void vsend(int)" },
{ Ccompass, "int compass()" },
{ Canalog, "int analog(int)" },
{ Ctilt, "int tilt(int)" },
@ -711,9 +778,10 @@ struct LibraryFunction PlatformLibrary[] =
{ Cnnset, "void nnset(int, int, int, int, int, int, int, int, int)" },
{ Cnninit, "void nninit()" },
{ Cnntrain, "void nntrain()" },
{ Cnntest, "void nntest(int, int, int, int, int, int, int, int)" },
{ Cnnmatchblob, "void nnmatchblob(int)" },
{ Cnntest, "int nntest(int, int, int, int, int, int, int, int)" },
{ Cnnmatchblob, "int nnmatchblob(int)" },
{ Cnnlearnblob, "void nnlearnblob(int)" },
{ Cautorun, "void autorun(int)" },
{ NULL, NULL }
};

4
picoc.c
View file

@ -64,8 +64,8 @@ int picoc(char *SourceStr)
for (ix=0; ix<strlen(SourceStr); ix++) /* clear out ctrl-z from XMODEM transfer */
if (SourceStr[ix] == 0x1A)
SourceStr[ix] = 0x20;
printf("%s\n\r", SourceStr); /* display program source */
printf("=====================\n");
//printf("%s\n\r", SourceStr); /* display program source */
//printf("=====================\n");
}
ExitBuf[40] = 0;
PlatformSetExitPoint();

1
platform.h
View file

@ -86,6 +86,7 @@ extern jmp_buf ExitBuf;
# include "../neural.h"
# include "../gps.h"
# include "../i2c.h"
# include "../jpeg.h"
# define assert(x)
# undef INTERACTIVE_PROMPT_STATEMENT
# undef INTERACTIVE_PROMPT_LINE