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N objects tracing support added #12

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3 changes: 2 additions & 1 deletion ov7670/object_sensor/include/internal/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
extern "C" {
#endif // __cplusplus

#define MAX_OBJECTS_N 8

typedef struct ImageDescription
{
Expand Down Expand Up @@ -43,7 +44,7 @@ typedef struct Target

typedef struct TargetLocation
{
Target target[8];
Target target[MAX_OBJECTS_N];
} TargetLocation;


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2 changes: 2 additions & 0 deletions ov7670/object_sensor/include/internal/module_rc.h
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Expand Up @@ -15,6 +15,7 @@ typedef struct RCConfig // what user wants to set
const char* m_fifoInput;
const char* m_fifoOutput;
bool m_videoOutEnable;
int m_objectsN;
} RCConfig;

typedef struct RCInput
Expand All @@ -41,6 +42,7 @@ typedef struct RCInput

bool m_videoOutParamsUpdated;
bool m_videoOutEnable;
int m_objectsN;
} RCInput;


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2 changes: 1 addition & 1 deletion ov7670/object_sensor/src/module_ce.c
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Expand Up @@ -280,7 +280,7 @@ static int do_transcodeFrame(CodecEngine* _ce,
memcpy(_dstFramePtr, _ce->m_dstBuffer, *_dstFrameUsed);


memcpy(&(_targetLocation->target[0]), &(tcOutArgs.alg.target[0]), sizeof(Target));
memcpy(_targetLocation->target, tcOutArgs.alg.target, MAX_OBJECTS_N*sizeof(Target));
/*
_targetLocation->m_targetX = tcOutArgs.alg.target[0].x;
_targetLocation->m_targetY = tcOutArgs.alg.target[0].y;
Expand Down
9 changes: 8 additions & 1 deletion ov7670/object_sensor/src/module_rc.c
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Expand Up @@ -367,6 +367,7 @@ int rcInputOpen(RCInput* _rc, const RCConfig* _config)
_rc->m_fifoInputReadBuffer = malloc(_rc->m_fifoInputReadBufferSize);

_rc->m_videoOutEnable = _config->m_videoOutEnable;
_rc->m_objectsN = _config->m_objectsN < MAX_OBJECTS_N ? (_config->m_objectsN > 0 ? _config->m_objectsN : 1 ) : MAX_OBJECTS_N;
return 0;
}

Expand Down Expand Up @@ -483,7 +484,13 @@ int rcInputUnsafeReportTargetLocation(RCInput* _rc, const TargetLocation* _targe
return EINVAL;

if (!_rc->m_fifoOutputFd != -1)
dprintf(_rc->m_fifoOutputFd, "loc: %d %d %d\n", _targetLocation->target[0].x, _targetLocation->target[0].y, _targetLocation->target[0].size);
if(_rc->m_objectsN == 1)
dprintf(_rc->m_fifoOutputFd, "loc: %d %d %d\n", _targetLocation->target[0].x, _targetLocation->target[0].y, _targetLocation->target[0].size);
else {
for(int i = 0; i < _rc->m_objectsN; ++i) {
dprintf(_rc->m_fifoOutputFd, "loc%d: %d %d %d\n", i, _targetLocation->target[i].x, _targetLocation->target[i].y, _targetLocation->target[i].size);
}
}

return 0;
}
Expand Down
Binary file modified ov7670/object_sensor/src/object_sensor_arm
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10 changes: 6 additions & 4 deletions ov7670/object_sensor/src/runtime.c
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Expand Up @@ -70,6 +70,7 @@ bool runtimeParseArgs(Runtime* _runtime, int _argc, char* const _argv[])
{ "rc-fifo-in", 1, NULL, 0 }, // 7
{ "rc-fifo-out", 1, NULL, 0 },
{ "video-out", 1, NULL, 0 },
{ "objects-n", 1, NULL, 0 }, //10
{ "verbose", 0, NULL, 'v' },
{ "help", 0, NULL, 'h' },
{ NULL, 0, NULL, 0 }
Expand Down Expand Up @@ -113,10 +114,10 @@ bool runtimeParseArgs(Runtime* _runtime, int _argc, char* const _argv[])
break;
case 6: cfg->m_fbConfig.m_path = optarg; break;

case 7 : cfg->m_rcConfig.m_fifoInput = optarg; break;
case 7+1: cfg->m_rcConfig.m_fifoOutput = optarg; break;
case 7+2: cfg->m_rcConfig.m_videoOutEnable = atoi(optarg); break;

case 7 : cfg->m_rcConfig.m_fifoInput = optarg; break;
case 8: cfg->m_rcConfig.m_fifoOutput = optarg; break;
case 9: cfg->m_rcConfig.m_videoOutEnable = atoi(optarg); break;
case 10: cfg->m_rcConfig.m_objectsN = atoi(optarg); break;
default:
return false;
}
Expand Down Expand Up @@ -152,6 +153,7 @@ void runtimeArgsHelpMessage(Runtime* _runtime, const char* _arg0)
" --rc-fifo-in <remote-control-fifo-input>\n"
" --rc-fifo-out <remote-control-fifo-output>\n"
" --video-out <enable-video-output>\n"
" --objects-n <set objects amount to trace (1-8)>\n"
" --verbose\n"
" --help\n",
_arg0);
Expand Down
2 changes: 1 addition & 1 deletion release/ov7670/object-sensor-ov7670.default
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@@ -1,4 +1,4 @@
#object-sensor-ov7670 default opts
VIDEO_PORT=0
VIDEO_PATH=/dev/video$VIDEO_PORT
DEFAULT_OPS='--v4l2-path=$VIDEO_PATH'
DEFAULT_OPS="--objects-n=1 --v4l2-path=$VIDEO_PATH"