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142 lines
3.2 KiB
142 lines
3.2 KiB
/***************************************************************************************
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*
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* detect.h is part of SimpleSkyCam.
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*
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*****************************************************************************************/
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#ifndef _DETECT_H_
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#define _DETECT_H_
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#include "pid.h"
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#include "gui.h"
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#include "config.h"
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#include "video.h"
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#include "videoframe.h"
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#define DET_MAXSHIFT 20
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enum {
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AUTODETECT_OFF = 0,
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AUTODETECT_BRIGHT
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};
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enum {
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AUTOFOLLOW_OFF = 0,
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AUTOFOLLOW_BRIGHT,
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AUTOFOLLOW_CROSSC
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};
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enum {
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POSCTL_MODE_OFF = 0,
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POSCTL_MODE_CALIB,
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POSCTL_MODE_CONTROL
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};
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class PosCtl {
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private:
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GMutex mutex;
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int mode;
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PID pid_axis[2];
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time_t test_t1; // FIXME: only for testing gui functions
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public:
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PosCtl();
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~PosCtl() {};
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void LockMutex() { g_mutex_lock(&mutex); };
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void UnLockMutex() { g_mutex_unlock(&mutex); };
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void Stop ();
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void StartCalibration ();
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void StartControl ();
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int GetMode () { return mode; };
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void SetAxisParam (int axis, double min, double max, double k, double i, double d);
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void GetAxisParam (int axis, double *min, double *max, double *k, double *i, double *d);
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void Loop (int posx, int posy);
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};
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struct {
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VideoFrame *image; // detected image
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uint32_t *detmatrix;
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int posx; // position of the detected object
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int posy; // position of the detected object
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} typedef DetectOutput;
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class Detect {
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private:
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int running;
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VideoFrame inFrame; // input frame
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VideoFrame oldFrame; // oldinput frame
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int inFrameNew; // new input frame;
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VideoFrame image; // output image
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VideoFrame imagegtk; // output image -- send to gtk
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GMutex muteximage;
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GMutex mutexin;
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GMutex mutex; // general mutex for changing settings
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GThread *thread;
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float *maxx;
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float *maxy;
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int posmaxx;
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int posmaxy;
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uint32_t *detmatrix;
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int objectX; // current object position
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int objectY; // current object position
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int objectW; // object Image Size Width
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int objectH; // object Image Size Height
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int minBright; // min brightness
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int autodetecttype; // input detection type to use
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int autofollowtype; // input detection type to use
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void InputDetect (int *posx, int *posy);
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void InputDetectCrossC (int *posx, int *posy);
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void SetInputSize (int nw, int nh);
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void CopyObjectImage(int objx, int objy);
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public:
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Detect();
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~Detect();
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int NewFrame(VideoFrame *newframe);
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//
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// Thread Releated Functions (maybe soon private?)
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int TryLockInMutex() { return g_mutex_trylock(&mutexin); };
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void LockInMutex() { g_mutex_lock(&mutexin);};
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void UnLockInMutex() { g_mutex_unlock(&mutexin);};
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int TryLockImageMutex() { return g_mutex_trylock(&muteximage); };
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void LockImageMutex() { g_mutex_lock(&muteximage);};
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void UnLockImageMutex() { g_mutex_unlock(&muteximage);};
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void LockMutex() { g_mutex_lock(&mutex);};
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void UnLockMutex() { g_mutex_unlock(&mutex);};
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//
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// Object functions
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void SetObjectSize (int neww, int newh);
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void GetObjectSize (int *ow, int *oh);
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void SetMinBrightness (int value);
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int GetMinBrightness();
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void SetFollowType(int intype);
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int GetFollowType();
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void SetDetectType(int intype);
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int GetDetectType();
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void SetObjectPos (int x, int y);
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void GetObjectPos (int *x, int *y);
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void Thread();
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};
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#endif
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