79 lines
2.2 KiB
C++
79 lines
2.2 KiB
C++
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#include "who_motion_detection.hpp"
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#include "esp_log.h"
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#include "esp_camera.h"
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#include "dl_image.hpp"
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static const char *TAG = "motion_detection";
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static QueueHandle_t xQueueFrameI = NULL;
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static QueueHandle_t xQueueEvent = NULL;
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static QueueHandle_t xQueueFrameO = NULL;
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static QueueHandle_t xQueueResult = NULL;
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static bool gEvent = true;
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static void task_process_handler(void *arg)
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{
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camera_fb_t *frame1 = NULL;
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camera_fb_t *frame2 = NULL;
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while (true)
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{
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if (gEvent)
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{
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bool is_moved = false;
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if (xQueueReceive(xQueueFrameI, &(frame1), portMAX_DELAY))
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{
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if (xQueueReceive(xQueueFrameI, &(frame2), portMAX_DELAY))
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{
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uint32_t moving_point_number = dl::image::get_moving_point_number((uint16_t *)frame1->buf, (uint16_t *)frame2->buf, frame1->height, frame1->width, 8, 15);
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if (moving_point_number > 50)
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{
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ESP_LOGI(TAG, "Something moved!");
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dl::image::draw_filled_rectangle((uint16_t *)frame2->buf, frame2->height, frame2->width, 0, 0, 20, 20);
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is_moved = true;
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}
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}
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}
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if (xQueueFrameO)
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{
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esp_camera_fb_return(frame1);
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xQueueSend(xQueueFrameO, &frame2, portMAX_DELAY);
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}
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else
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{
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esp_camera_fb_return(frame1);
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esp_camera_fb_return(frame2);
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}
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if (xQueueResult)
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{
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xQueueSend(xQueueResult, &is_moved, portMAX_DELAY);
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}
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}
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}
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}
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static void task_event_handler(void *arg)
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{
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while (true)
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{
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xQueueReceive(xQueueEvent, &(gEvent), portMAX_DELAY);
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}
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}
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void register_motion_detection(QueueHandle_t frame_i, QueueHandle_t event,
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QueueHandle_t result, QueueHandle_t frame_o)
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{
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xQueueFrameI = frame_i;
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xQueueFrameO = frame_o;
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xQueueEvent = event;
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xQueueResult = result;
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xTaskCreatePinnedToCore(task_process_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
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if (xQueueEvent)
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xTaskCreatePinnedToCore(task_event_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
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}
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