/** * @file MyroC-image-file.c * @brief Implementation file for saving/loading jpeg images to/from a file * * Revision History * * Version 1.0 based on a C++ package by April O'Neill, David Cowden, * Dilan Ustek, Erik Opavsky, and Henry M. Walker * * Developers of the C package for Linux: * Creators Version 2.0 (C functions for utilities,general,sensors,movement): * Spencer Liberto * Dilan Ustek * Jordan Yuan * Henry M. Walker * Contributors Version 2.2-2.3: (C functions for image processing) * Anita DeWitt * Jason Liu * Nick Knoebber * Vasilisa Bashlovkina * Revision for Version 2.4: (image row/column made to match matrix notation) * Henry M. Walker * * Revisions for Version 3.0 * Henry M. Walker * * C ported to Macintosh * Linux/Mac differences required for connections — otherwise same code * OpenGL used to display images, replacing ImageMagick * same [new] code used for both Linux and Macintosh * 1 process for robot control * 1 process needed for each titled window (not each image, as in 2.2-2.4) * Blocking options (negative duration parameter) * utilize separate thread timer * MyroC implementation files organized by user function as follows: * * Revisions for Version 3.1 * Henry M. Walker * * Picture struct and image functions revised to allow * 192 by 256 images from origial Fluke camera * 266 x 427 low-resolution images from Fluke 2 * (high-resolution (800 x 1280) too large for more than 2-4 * variables on run-time stack) * storage , retrieval, and display of any images up to 266 x 427 * * This program and all MyroC software is licensed under the Creative Commons * Attribution-Noncommercial-Share Alike 3.0 United States License. * Details available at http://creativecommons.org/licenses/by-nc-sa/3.0/us/ * * Revisions for Version 3.2 * Henry M. Walker * * Practical range of rBeep duration identified as <= 3.0014 seconds * Image display and processing resolves several matters and adds functionality * function rDisplayPicture completely rewritten * over time OpenGL rountines had encountered troubles * on Linux, specifically glutHideWindow() hid images, but could not be * restored, with difficulties depending on the graphics card * on Mac, High Sierra generated compile warnings and * restricted threads that could display images * function rDisplayImageProcessingErrors added * function rWaitTimedImageDisplay updated substantially * * Revisions for Version 3.3 * Henry M. Walker * * MyroC ported to Windows 10, in addition to Linux and Mac OS X * Additional refinements * text parameter for rGetLightTxt expanded to "Middle" as well as "Center" * * This program and all MyroC software is licensed under the Creative Commons * Attribution-Noncommercial-Share Alike 3.0 United States License. * Details may be found at http://creativecommons.org/licenses/by-nc-sa/3.0/us/ * * ********************** implementation overview ************************* > indicates functions implemented in this file 0. LOW-LEVEL UTILITY (defined in MyroC-utilities.h implemented in MyroC-utilities.c) rSend rReceive rSetOpeningExchange rSetBluetoothEcho rSetEchoMode rCheckHardwareVersionSetCameraSize 1. GENERAL (mostly MyroC-general.c) 2. SENSOR (MyroC-sensors.c) rConnect (* MyroC-connect.c) a.Scribbler Sensors rDisconnect (* MyroC-connect.c) rGetLightsAll rSetConnection rGetLightTxt rFinishProcessing rGetIRAll rSetVolume rGetIRTxt rBeep rGetLine rBeep2 rSetName b.Fluke Sensors rGetName rGetObstacleAll rSetForwardness rGetObstacleTxt rGetForwardness rGetBrightAll rSetLEDFront rGetBrightTxt rSetLEDBack rSetIRPower rGetBattery rGetStall Note: * MyroC-connect requires special knowledge of a Mac or Linux environment, yielding two versions: MyroC-connect-mac.c MyroC-connect-linux.c 3. MOVEMENT (MyroC-movement.c) 4. PICTURES (files as indicated) rTurnLeft rGetCameraSize (MyroC-camera.c) rTurnRight rTakePicture (MyroC-camera.c) rTurnSpeed rDisplayPicture (MyroC-display.c) rForward rWaitTimedImageDisplay(MyroC-display.c) rFastForward > rSavePicture (MyroC-image-file.c) rBackward > rLoadPicture (MyroC-image-file.c) rMotors rStop rHardStop ************************************************************************ */ #include "MyroC.h" #include "MyroC-utilities.h" #include "MyroC.h" #include #include #include #include #include // needed for open #include // needed for close, read, write //#include // needed to set Bluetooth communication parameters #include #include /*****************************************************************/ /* 0. UTILITY - UTILITY - UTILITY - UTILITY - UTILITY - UTILITY */ /*****************************************************************/ /* jpeg auxillary functions based on libjpeg examples omitted until these functions implemented for Windows */ /***********************************************************************/ /* 4.) PICTURES PICTURES PICTURES PICTURES PICTURES PICTURES PICTURES */ /***********************************************************************/ /** * This section contains functions for taking and manipulating images * All images are constrained with height <= 266 and width <= 427 * * images from robot cameras have varying sizes, depending on the Fluke * images for the original Fluke are 192 (height) by 256 (width) * low-resolution images for the Fluke 2 are 266 by 427 * high-resolution images for the fluke 2 are 800 by 1280 (not supported) * * Bluetooth communication constrains the time required for the Fluke * to take a picture * Typical times: original fluke: 2- 4 seconds * Fluke 2 (low res): 4- 6 seconds * Fluke 2 (high res): 25-30 seconds * * BASED ON TIMINGS AND MEMORY CONSIDERATIONS, Myro C ALLOWS * ONLY LOW RESOLUTION IMAGES * * the Picture struct allows direct access to Pixel data * Pictures can be saved and loaded as .jpeg files * * @note Following standard mathematical convention for a 2D matrix, * all references to a pixel are given within an array as [row][col] * @note user-defined images may have any size, as long as * height <= 266 and width <= 427 * @note Following standard mathematical convention for a 2D matrix, * all references to a pixel are given within an array as [row][col] * * @warning The Picture struct is defined to be sufficiently large * to store several low-resolution camera images (340756 bytes each) * Experimentally, an array of up to 94 (not 95) Pictures is allowed * However, the display of images requires that image data * be copied, so display of many images may not work * If a program hangs when working with Picture variables, * the issue may involve lack of space on the runtime stack. * To utilize a modest number of Pictures, * use "ulimit -s" command, as needed, in a terminal window * For example, ulimit -s 32768 * Sizes above 32768 may not be allowed in Linux or Mac OS X */ /** * Save a Picture to a .jpeg * @param pic pointer to an RGB picture struct from Scribbler 2 camera * @param filename the name of the file * @pre filename ends with .jpeg or .jpg. * @post If the file does not exist, a new file will be created. * @post If the file exists, the file will be overwritten. * * @credit this code is a slightly modified version * of write_JPEG_file(char *, int) * from example.c from the libjpeg.v8d library directory. */ void rSavePicture(Picture *pic, char * filename) { printf ("rSavePicture not yet implemented for Windows\n"); } /** * @brief Load a picture from a .jpeg file. * @param filename the name of the file * @pre file must exist * @pre file extension must be .jpeg or .jpg * @pre file must be no larger than 266 by 427 * @return locally-declared Picture * @post calling program should store returned Picture * in a previously-declared struct */ /* The main elements of this function are based on read_JEPG_file, from the libjpeg library and examples to read jpeg files. */ Picture rLoadPicture(char * filename) { printf ("rLoadPicture not yet implemented for Windows\n"); Picture pic = {0}; return pic; }