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added vscan() function for edge detection

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git-svn-id: http://picoc.googlecode.com/svn/trunk@280 21eae674-98b7-11dd-bd71-f92a316d2d60
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surveyor.com 2009-05-15 19:42:08 +00:00
parent 5dcde3d5ea
commit f4c00c74b4
1 changed files with 26 additions and 0 deletions
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26
library_surveyor.c
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@ -2,8 +2,14 @@
static int Blobcnt, Blobx1, Blobx2, Bloby1, Bloby2, Iy1, Iy2, Iu1, Iu2, Iv1, Iv2; static int Blobcnt, Blobx1, Blobx2, Bloby1, Bloby2, Iy1, Iy2, Iu1, Iu2, Iv1, Iv2;
static int GPSlatdeg, GPSlatmin, GPSlondeg, GPSlonmin, GPSalt, GPSfix, GPSsat, GPSutc; static int GPSlatdeg, GPSlatmin, GPSlondeg, GPSlonmin, GPSalt, GPSfix, GPSsat, GPSutc;
static int ScanVect[16];
void PlatformLibraryInit() void PlatformLibraryInit()
{ {
struct ValueType *IntArrayType;
IntArrayType = TypeGetMatching(NULL, &IntType, TypeArray, 16, NULL);
VariableDefinePlatformVar(NULL, "scanvect", IntArrayType, (union AnyValue *)&ScanVect, FALSE);
VariableDefinePlatformVar(NULL, "blobcnt", &IntType, (union AnyValue *)&Blobcnt, FALSE); VariableDefinePlatformVar(NULL, "blobcnt", &IntType, (union AnyValue *)&Blobcnt, FALSE);
VariableDefinePlatformVar(NULL, "blobx1", &IntType, (union AnyValue *)&Blobx1, FALSE); VariableDefinePlatformVar(NULL, "blobx1", &IntType, (union AnyValue *)&Blobx1, FALSE);
VariableDefinePlatformVar(NULL, "blobx2", &IntType, (union AnyValue *)&Blobx2, FALSE); VariableDefinePlatformVar(NULL, "blobx2", &IntType, (union AnyValue *)&Blobx2, FALSE);
@ -314,6 +320,19 @@ void Cvpix(struct ParseState *Parser, struct Value *ReturnValue, struct Value **
Iv1 = ((ix>>8) & 0x000000FF); // V Iv1 = ((ix>>8) & 0x000000FF); // V
} }
void Cvscan(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{
int col, thresh, ix;
col = Param[0]->Val->Integer;
if ((col < 1) || (col > 9))
ProgramFail(NULL, "vscan(): number of columns must be between 1 and 9");
thresh = Param[1]->Val->Integer;
if ((thresh < 0) || (thresh > 9999))
ProgramFail(NULL, "vscan(): threshold must be between 0 and 9999");
ix = vscan((unsigned char *)SPI_BUFFER1, (unsigned char *)FRAME_BUF, thresh, (unsigned int)col, (unsigned int *)&ScanVect[0]);
ReturnValue->Val->Integer = ix;
}
void Cvmean(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) void Cvmean(struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs)
{ {
vmean((unsigned char *)FRAME_BUF); vmean((unsigned char *)FRAME_BUF);
@ -704,6 +723,11 @@ void Cnnlearnblob (struct ParseState *Parser, struct Value *ReturnValue, struct
nndisplay(ix); nndisplay(ix);
} }
void Cexit (struct ParseState *Parser, struct Value *ReturnValue, struct Value **Param, int NumArgs) {
ExitBuf[40] = 1;
longjmp(ExitBuf, 1);
}
/* list of all library functions and their prototypes */ /* list of all library functions and their prototypes */
struct LibraryFunction PlatformLibrary[] = struct LibraryFunction PlatformLibrary[] =
{ {
@ -732,6 +756,7 @@ struct LibraryFunction PlatformLibrary[] =
{ Cvrcap, "void vrcap()" }, { Cvrcap, "void vrcap()" },
{ Cvdiff, "void vdiff(int)" }, { Cvdiff, "void vdiff(int)" },
{ Cvpix, "void vpix(int, int)" }, { Cvpix, "void vpix(int, int)" },
{ Cvscan, "int vscan(int, int)" },
{ Cvmean, "void vmean()" }, { Cvmean, "void vmean()" },
{ Cvblob, "int vblob(int, int)" }, { Cvblob, "int vblob(int, int)" },
{ Ccompass, "int compass()" }, { Ccompass, "int compass()" },
@ -754,6 +779,7 @@ struct LibraryFunction PlatformLibrary[] =
{ Cnntest, "void nntest(int, int, int, int, int, int, int, int)" }, { Cnntest, "void nntest(int, int, int, int, int, int, int, int)" },
{ Cnnmatchblob, "void nnmatchblob(int)" }, { Cnnmatchblob, "void nnmatchblob(int)" },
{ Cnnlearnblob, "void nnlearnblob(int)" }, { Cnnlearnblob, "void nnlearnblob(int)" },
{ Cexit, "void exit()" },
{ NULL, NULL } { NULL, NULL }
}; };