added spi and raspicam... not done yet

CMakeLists.txt

@@ -1,14 +1,16 @@
 cmake_minimum_required(VERSION 3.1)
 project( OpenCogER )
 set (CMAKE_CXX_STANDARD 11)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/" "/usr/local/lib/cmake/")
 if(CMAKE_COMPILER_IS_GNUCXX)
     set(EXTRA_LIBS ${EXTRA_LIBS} pthread)
 endif()
 ############Vision
 find_package( OpenCV REQUIRED )
+find_package(raspicam REQUIRED)
 include_directories("include" "include/sensor/vision")
 add_library( sensor_vision  sense/vision/capture/CamCapture.cpp 
+    sense/vision/capture/RaspiCamCapture.cpp
     sense/vision/capture/FileCapture.cpp 
     sense/vision/capture/ITColor2Gray.cpp 
     sense/vision/capture/ITEqualizeHist.cpp 
@@ -24,6 +26,9 @@ target_link_libraries(VisionTest sensor_vision ${OpenCV_LIBS} ${EXTRA_LIBS})
 add_executable(VisionTestFace examples/sense/vision/VisionTestFace.cpp)
 target_link_libraries(VisionTestFace sensor_vision ${OpenCV_LIBS} ${EXTRA_LIBS})
 
+add_executable(RaspiVisionTest examples/sense/vision/RaspiVisionTest.cpp)
+target_link_libraries(RaspiVisionTest sensor_vision ${raspicam_CV_LIBS} ${EXTRA_LIBS})
+
 configure_file(data/Haar_Cascades/haarcascade_frontalface_alt.xml haarcascade_frontalface_alt.xml COPYONLY)
 configure_file(data/Haar_Cascades/haarcascade_smile.xml haarcascade_smile.xml COPYONLY)
 
@@ -57,4 +62,12 @@ add_executable( exUDPserver examples/network/exUDPserver.cpp)
 target_link_libraries(exUDPserver networkr)
 
 install (TARGETS networkr DESTINATION lib/OpenCogER)
-install (FILES StringServerUDP.hpp DESTINATION "include/OpenCogER/network")
+install (FILES StringServerUDP.hpp DESTINATION "include/OpenCogER/network")
+
+#######COMM
+include_directories("include/comm/spi")
+add_library(spicomm comm/spi/SpiComm.cpp)
+target_link_libraries(spicomm)
+
+add_executable(SPICommTest examples/comm/spi/SPICommTest.cpp)
+target_link_libraries(SPICommTest spicomm)

comm/spi/SpiComm.cpp

@@ -0,0 +1,108 @@
+/*
+  Project: OpenCogER
+  File: SpiComm.cpp
+  Author: Dagim Sisay
+  Licence: AGPL
+  Date: September 2017
+*/
+
+#include "SpiComm.hpp"
+
+
+SpiComm::SpiComm(std::string device, spi_mode sm, uint16_t freq)
+{
+	okay = false;
+	mode = 0;
+	dev = device;
+	speed = freq;
+	bpw = 8;
+	switch (sm) {
+		case MODE0: break;
+		case MODE1:
+			mode |= SPI_CPHA;
+			break;
+		case MODE2:
+			mode |= SPI_CPOL;
+			break;
+		case MODE3:
+			mode |= SPI_CPHA;
+			mode |= SPI_CPOL;
+			break;
+	}
+
+	fd = open(device.c_str(), O_RDWR);
+	if(fd < 0)
+		exit_p("Couldn't Open Device");
+	if( ioctl(fd, SPI_IOC_WR_MODE, &mode)  == -1)
+		exit_p("Couldn't Set Spi Mode");
+	if( ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bpw) == -1)
+		exit_p("Couldn't Set Bits Per Word");
+	if( ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &freq) == -1)
+		exit_p("Couldn't Set SPI Clock Speed");
+
+	okay = true;
+
+}
+
+SpiComm::~SpiComm()
+{
+	close(fd);
+}
+
+
+std::string SpiComm::send_data(std::string data)
+{
+	size_t len = data.size();
+	uint8_t *packet;
+	size_t packet_len = len + 8;
+	uint8_t header[8] = {0xAA, 0x55, 0x0, 0x0, 0x01, 0x0, 0x0, 0x0};
+	header[PACKET_SIZE_L_IDX] = len & 0xff;
+	header[PACKET_SIZE_H_IDX] = len >> 8;
+	packet = new uint8_t[len+8];
+
+	/* Attach Header */
+	for (int i = 0; i < 8; i++)
+		packet[i] = header[i];
+	/* Attach Data */
+	for(int i = 8; i < packet_len; i++)
+		packet[i] = (uint8_t)data.at(i-8);
+
+	if(DEBUG)
+		printf("Size of Packet: %d\nPacket Content: %s\n", packet_len+8, packet);
+
+	uint8_t rx[len] = {0,};
+	spi_ioc_transfer tr;
+	tr.tx_buf = (unsigned long)packet;
+	tr.rx_buf = (unsigned long)rx;
+	tr.len = packet_len;
+	tr.delay_usecs = 0;
+	tr.speed_hz = speed;
+	tr.bits_per_word = bpw;
+
+	int ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+	printf("Ret=%d\n");
+	//if(ret < 1)
+	//	exit_p("Couldn't Send The Message");
+	std::string ret_data;
+	for (int i = 0; i < packet_len; i++){
+		ret_data.append<int>(1, rx[i]);
+		printf("%x ", rx[i]);
+	}
+	printf("\nFinal Data Size = %d\n%s\n", ret_data.size(), ret_data.c_str());
+	return ret_data;
+}
+
+void SpiComm::sigint_handler(int SIG)
+{
+	printf("\nSIGINT Caught\nExiting...\n");
+	close(fd);
+	exit(1);
+}
+
+void SpiComm::exit_p(std::string msg)
+{
+	printf("ERROR!\n%s\n", msg.c_str());
+	if(fd > 0)
+		close(fd);
+	exit(1);
+}

examples/comm/spi/SPICommTest.cpp

@@ -0,0 +1,24 @@
+/*
+   Project: OpenCogER
+   File: SPICommTest.cpp
+   Author: Dagim Sisay <dagiopia@gmail.com>
+   Date: September 2017
+*/
+
+#include "SpiComm.hpp"
+
+int main(int argc, char **argv)
+{
+	SpiComm spi_comm("/dev/spidev0.0", SpiComm::spi_mode::MODE0, 50000);
+	if ( !spi_comm.okay )
+	{
+		printf("Error Connecting To SPI Device\n");
+		return 1;
+	}
+	std::string data, ret;
+	data = "Hello, SPI";
+	ret = spi_comm.send_data(data);
+	printf("Data Sent Size=%d\nRet=<%s>\n", ret.size(), ret.c_str());
+
+return 0;
+}

examples/sense/vision/RaspiVisionTest.cpp

@@ -0,0 +1,35 @@
+/*
+  Project: OpenCogER
+  File: RaspiVisionTest.cpp
+  Author: Dagim Sisay
+  License: AGPL
+  Date: September 2017
+*/
+#include <iostream>
+#include <cstring>
+
+#include "sense/vision/RaspiCamCapture.hpp"
+
+using namespace std;
+using namespace cv;
+
+
+int main( int argc, char** argv )
+{    
+    RaspiCamCapture cc("RaspiCam", 320, 240, 30);
+    if (!cc.isOk()){cout<<endl<<cc.getState()<<endl;return -1;}
+
+    Mat frame;
+    Mat image;
+    while(true)
+    {
+        frame = cc.getCurrentFrame();
+	frame.copyTo(image);
+        imshow( "Tracking API", image );
+
+	char c = (char) waitKey( 1 );
+        if( c == 'q' )
+            break;
+    }
+    return 0;
+}

examples/sense/vision/VisionTest.cpp

@@ -44,7 +44,7 @@ int main( int argc, char** argv )
     BoxTrackerThread bx(&cc,frame,boundingBox,BoxTracker::tracker_type::MEDIAN_FLOW);
     while(true)
     {
-        if (bx.update(frame,boundingBox))
+	if (bx.update(frame,boundingBox))
         {
             frame.copyTo(image);
             rectangle( image, boundingBox, Scalar( 255, 0, 0 ), 2, 1 );

include/comm/spi/SpiComm.hpp

@@ -0,0 +1,65 @@
+/*
+  Project: OpenCogER
+  File: SpiComm.hpp
+  Author: Dagim Sisay <dagiopia@gmail.com>
+  Date: September 2017
+*/
+
+#ifndef _SPI_MASTER_HPP_
+#define _SPI_MASTER_HPP_
+
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <signal.h>
+#include <string>
+#include <string.h>
+#include <map>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+#define PACKET_SIZE_L_IDX 2
+#define PACKET_SIZE_H_IDX 3
+#define DEBUG 1
+
+class SpiComm
+{
+    public:
+        /*
+	  Mode 0: CPHA=0 CPOL=0  ;  idle state 0, sample on low-high
+	  Mode 1: CPHA=1 CPOL=0  ;  idle state 0, sample on high-low
+	  Mode 2: CPHA=0 CPOL=1  ;  idle state 1, sample on high-low
+	  Mode 3: CPHA=1 CPOL=1  ;  idle state 1, sample on low-high
+	*/
+    	enum spi_mode{MODE0, MODE1, MODE2, MODE3};
+    	SpiComm(std::string device, spi_mode sm, uint16_t freq);
+	~SpiComm();
+	bool okay;
+	std::string send_data(std::string data);
+
+	/* #TODO Inlcude some GPIO code here that will behave like an interrupt 
+	   for reading on the spi comm. The dr_roboto will issue a 
+	   SLAVE_DATA_READY signal on one of the gpio pins that should 
+	   trigger a read on the SPI. 
+	*/
+
+    private:
+	int fd;       
+	std::string dev;    //spi device
+	uint8_t mode; //spi mode
+	uint8_t bpw;  //bits per word
+	uint16_t speed;//sclk speed 
+
+	void exit_p(std::string msg);
+	void load_map();
+	void setup();
+	void sigint_handler(int SIG);
+
+};
+
+
+#endif // _SPI_MASTER_HPP_

include/sense/vision/RaspiCamCapture.hpp

@@ -0,0 +1,46 @@
+/*
+  Project: OpenCogER
+  File: RaspiCamCapture.hpp
+  Author: Dagim Sisay
+  License: AGPL
+  Date: September 2017
+*/
+#ifndef RASPICAMCAPTURE_H
+#define RASPICAMCAPTURE_H
+
+
+#include "sense/vision/ImageSource.hpp"
+
+#include <raspicam/raspicam_cv.h>
+
+#include <iostream>
+#include <string>
+#include <cstdio>
+#include <thread>
+#include <mutex>
+
+using namespace std;
+using namespace cv;
+
+class RaspiCamCapture: public ImageSource
+{
+    public:
+        RaspiCamCapture(string src_name, int width=320, int height=240, double max_fps=30.0);
+
+        virtual ~RaspiCamCapture();
+        bool isOn();
+        bool isOk();
+        string getState();
+        Mat getCurrentFrame();//Mat is like shared_ptr, make deep copy here and use mutex
+    protected:
+    private:
+        int w,h;
+        Mat current;
+        raspicam::RaspiCam_Cv capture;
+        static void thread_loop(RaspiCamCapture* cc);
+        thread* run;
+        mutex rd;
+        int wait_time;
+};
+
+#endif // RASPICAMCAPTURE_H