sparrow.c

   1 /* Copyright (C) <2010> Douglas Bagnall <douglas@halo.gen.nz>
   2  *
   3  * This library is free software; you can redistribute it and/or
   4  * modify it under the terms of the GNU Library General Public
   5  * License as published by the Free Software Foundation; either
   6  * version 2 of the License, or (at your option) any later version.
   7  *
   8  * This library is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * Library General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU Library General Public
  14  * License along with this library; if not, write to the
  15  * Free Software Foundation, Inc., 59 Temple Place - Suite 330,
  16  * Boston, MA 02111-1307, USA.
  17  */
  18
  19 #include "sparrow.h"
  20 #include "gstsparrow.h"
  21
  22 #include <string.h>
  23 #include <math.h>
  24
  25 /* static functions (via `make cproto`) */
  26 static void change_state(GstSparrow *sparrow, sparrow_state state);
  27
  28
  29 /* set up whatever debugging methods are enabled */
  30 static void
  31 init_debug(GstSparrow *sparrow){
  32   if (!sparrow->debug_frame){
  33     sparrow->debug_frame = malloc_aligned_or_die(MAX(sparrow->in.size, sparrow->out.size));
  34   }
  35 }
  36
  37 /*RNG code */
  38 /*seed with -1 for automatic seed choice */
  39 static void rng_init(GstSparrow *sparrow, guint32 seed){
  40   GST_DEBUG("in RNG init\n");
  41   if (seed == (guint32)-1){
  42     /* XXX should really use /dev/urandom */
  43     seed = rand();
  44     GST_DEBUG("Real seed %u\n", seed);
  45   }
  46   if (seed == 0)
  47     seed = 12345;
  48
  49   dsfmt_init_gen_rand(sparrow->dsfmt, seed);
  50   dsfmt_gen_rand_all(sparrow->dsfmt);
  51   GST_DEBUG("RNG seeded with %u\n", seed);
  52 }
  53
  54 /** debugging: write frames out somewhere. **/
  55
  56 /*spit out the frame as a ppm image */
  57 static void
  58 ppm_dump(sparrow_format *rgb, guint8 *data, guint32 width, guint32 height, char *name)
  59 {
  60   guint i;
  61   FILE *fh = fopen(name, "w");
  62   guint32 size = width * height;
  63   fprintf(fh, "P6\n%u %u\n255\n", width, height);
  64   /* 4 cases: xBGR xRGB BGRx RGBx
  65      need to convert to 24bit R G B
  66      XX maybe could optimise some cases?
  67   */
  68   guint32 *p = (guint32 *)data;
  69   for (i = 0; i < size; i++){
  70     putc((*p >> rgb->rshift) & 255, fh);
  71     putc((*p >> rgb->gshift) & 255, fh);
  72     putc((*p >> rgb->bshift) & 255, fh);
  73     p++;
  74   }
  75   fflush(fh);
  76   fclose(fh);
  77 }
  78
  79
  80 #define PPM_FILENAME_TEMPLATE "/tmp/sparrow_%05d.ppm"
  81 #define PPM_FILENAME_LENGTH (sizeof(PPM_FILENAME_TEMPLATE) + 10)
  82
  83 void INVISIBLE
  84 debug_frame(GstSparrow *sparrow, guint8 *data, guint32 width, guint32 height){
  85 #if SPARROW_PPM_DEBUG
  86   char name[PPM_FILENAME_LENGTH];
  87   int res = snprintf(name, PPM_FILENAME_LENGTH, PPM_FILENAME_TEMPLATE, sparrow->frame_count);
  88   if (res > 0){
  89     ppm_dump(&(sparrow->in), data, width, height, name);
  90   }
  91 #endif
  92 }
  93
  94 /** interpret gst attributes **/
  95
  96 /* Extract a colour (R,G,B) bitmask from gobject  */
  97 static guint32 get_mask(GstStructure *s, char *mask_name){
  98   gint32 mask;
  99   int res = gst_structure_get_int(s, mask_name, &mask);
 100   if (!res){
 101     GST_WARNING("No mask for '%s' !\n", mask_name);
 102   }
 103   return (guint32)mask;
 104 }
 105
 106 static void
 107 extract_caps(sparrow_format *im, GstCaps *caps)
 108 {
 109   GstStructure *s = gst_caps_get_structure (caps, 0);
 110   gst_structure_get_int(s, "width", &(im->width));
 111   gst_structure_get_int(s, "height", &(im->height));
 112   im->rshift = mask_to_shift(get_mask(s, "red_mask"));
 113   im->gshift = mask_to_shift(get_mask(s, "green_mask"));
 114   im->bshift = mask_to_shift(get_mask(s, "blue_mask"));
 115   /* recalculate shifts as little-endian */
 116   im->rmask = 0xff << im->rshift;
 117   im->gmask = 0xff << im->gshift;
 118   im->bmask = 0xff << im->bshift;
 119
 120   im->pixcount = im->width * im->height;
 121   im->size = im->pixcount * PIXSIZE;
 122   im->colours[SPARROW_WHITE] = im->rmask | im->gmask | im->bmask;
 123   im->colours[SPARROW_GREEN] = im->gmask;
 124   im->colours[SPARROW_MAGENTA] = im->rmask | im->bmask;
 125
 126   GST_DEBUG("\ncaps:\n%" GST_PTR_FORMAT, caps);
 127   GST_DEBUG("shifts: r %u g %u b %u\n", im->rshift, im->gshift, im->bshift);
 128   GST_DEBUG("dimensions: w %u h %u pix %u size %u\n", im->width, im->height,
 129       im->pixcount, im->size);
 130 }
 131
 132
 133
 134 /*Most functions below here are called from gstsparrow.c and are NOT static */
 135
 136 void INVISIBLE
 137 sparrow_rotate_history(GstSparrow *sparrow, GstBuffer *inbuf){
 138   if (sparrow->in_buffer){
 139     gst_buffer_unref(sparrow->prev_buffer);
 140     sparrow->prev_buffer = sparrow->in_buffer;
 141     sparrow->prev_frame = sparrow->in_frame;
 142   }
 143   gst_buffer_ref(inbuf);
 144   sparrow->in_buffer = inbuf;
 145
 146   sparrow->in_frame = GST_BUFFER_DATA(inbuf);
 147 }
 148
 149 /* called by gst_sparrow_init(). The source/sink capabilities (and commandline
 150    arguments[?]) are unknown at this stage, so there isn't much useful to do
 151    here.*/
 152 void INVISIBLE
 153 sparrow_pre_init(GstSparrow *sparrow){
 154 }
 155
 156 /* called by gst_sparrow_set_caps(). This sets up everything after gstreamer
 157    has worked out what the pipeline will look like.
 158  */
 159 gboolean INVISIBLE
 160 sparrow_init(GstSparrow *sparrow, GstCaps *incaps, GstCaps *outcaps){
 161   extract_caps(&(sparrow->in), incaps);
 162   extract_caps(&(sparrow->out), outcaps);
 163   sparrow_format *in = &(sparrow->in);
 164
 165   GST_DEBUG("allocating %u * %u for lag_table\n", in->pixcount, sizeof(lag_times_t));
 166   sparrow->lag_table = zalloc_aligned_or_die(in->pixcount * sizeof(lag_times_t));
 167   sparrow->work_frame = zalloc_aligned_or_die(in->size);
 168   sparrow->dsfmt = zalloc_aligned_or_die(sizeof(dsfmt_t));
 169
 170   sparrow->prev_buffer = gst_buffer_new_and_alloc(in->size);
 171   sparrow->prev_frame  = GST_BUFFER_DATA(sparrow->prev_buffer);
 172   memset(sparrow->prev_frame, 0, in->size);
 173
 174   sparrow->timer_start.tv_sec = 0;
 175   sparrow->timer_stop.tv_sec = 0;
 176
 177   /*initialise IPL structs for openCV */
 178   for (int i = 0; i < 3; i++){
 179     sparrow->in_ipl[i] = init_ipl_image(&(sparrow->in));
 180   }
 181
 182   rng_init(sparrow, sparrow->rng_seed);
 183
 184   if (sparrow->debug){
 185     init_debug(sparrow);
 186   }
 187
 188   change_state(sparrow, SPARROW_FIND_SELF);
 189   return TRUE;
 190 }
 191
 192 void INVISIBLE
 193 sparrow_finalise(GstSparrow *sparrow)
 194 {
 195   //free everything
 196   //cvReleaseImageHeader(IplImage** image)
 197 }
 198
 199
 200 /* initialisation functions and sparrow_transform() use this to set up a new
 201    state. */
 202 static void
 203 change_state(GstSparrow *sparrow, sparrow_state state)
 204 {
 205   if (state == SPARROW_NEXT_STATE){
 206     state = sparrow->state + 1;
 207   }
 208   switch(state){
 209   case SPARROW_FIND_SELF:
 210     init_find_self(sparrow);
 211     break;
 212   case SPARROW_FIND_SCREEN:
 213     init_find_screen(sparrow);
 214     break;
 215   case SPARROW_FIND_EDGES:
 216     init_find_edges(sparrow);
 217     break;
 218   case SPARROW_PICK_COLOUR:
 219     init_pick_colour(sparrow);
 220     break;
 221   case SPARROW_WAIT_FOR_GRID:
 222     init_wait_for_grid(sparrow);
 223     break;
 224   case SPARROW_FIND_GRID:
 225     init_find_grid(sparrow);
 226     break;
 227   case SPARROW_INIT:
 228   case SPARROW_PLAY:
 229     break;
 230   default:
 231     GST_DEBUG("change_state got unknown state: %d\n", state);
 232   }
 233   sparrow->state = state;
 234 }
 235
 236
 237 /*called by gst_sparrow_transform_ip every frame.
 238
 239   decide what to do based on sparrow->state. All the processing is done in a
 240   "mode_*" function, which returns a state or SPARROW_STATUS_QUO.  If a state
 241   is returned, then change_state() is called to initialise the state, even if
 242   it is the current state (so states can use this to reset).
 243 */
 244 void INVISIBLE
 245 sparrow_transform(GstSparrow *sparrow, guint8 *in, guint8 *out)
 246 {
 247   sparrow_state new_state;
 248   switch(sparrow->state){
 249   case SPARROW_FIND_SELF:
 250     new_state = mode_find_self(sparrow, in, out);
 251     break;
 252   case SPARROW_FIND_SCREEN:
 253     new_state = mode_find_screen(sparrow, in, out);
 254     break;
 255   case SPARROW_FIND_EDGES:
 256     new_state = mode_find_edges(sparrow, in, out);
 257     break;
 258   case SPARROW_PICK_COLOUR:
 259     new_state = mode_pick_colour(sparrow, in, out);
 260     break;
 261   case SPARROW_WAIT_FOR_GRID:
 262     new_state = mode_wait_for_grid(sparrow, in, out);
 263     break;
 264   default:
 265     new_state = mode_process_frame(sparrow, in, out);
 266   }
 267   sparrow->frame_count++;
 268   if (new_state != SPARROW_STATUS_QUO){
 269     change_state(sparrow, new_state);
 270   }
 271 }
 272