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/******************************************************************************

 * AVRRA: The AVR Robotics API

 * avrcam.h - driver for AVRCam from JRobot.net. Uses serial1, Mega324P only

 *      NOTE: serial1.h should not be used when using this file...

 *

 * Copyright (c) 2004-2008, Michael E. Ferguson

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 *

 * - Redistributions of source code must retain the above copyright notice,

 *   this list of conditions and the following disclaimer.

 * - Redistributions in binary form must reproduce the above copyright notice,

 *   this list of conditions and the following disclaimer in the documentation

 *   and/or other materials provided with the distribution.

 * - Neither the name of AVRRA nor the names of its contributors

 *   may be used to endorse or promote products derived from this software

 *   without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF

 * THE POSSIBILITY OF SUCH DAMAGE.

 *****************************************************************************/

// we now externally define this, and use it to include the file

#ifdef TGT_HAS_CAMERA

// Only one camera per robot (currently)

#ifndef XR_VISION

#define XR_VISION

#include <avr/io.h>

#include <stdio.h>

#include <avr/interrupt.h>

#include "utils.h"

#include "serial.h"

// this allows use of the AVRcamVIEW software to see tracking

//#define AVR_CAM_INTERFACE

// Vision driver modes of operation

#define VMODE_NONE      0

#define VMODE_PING      1   

#define VMODE_A         2   // A recieved, looking for C

#define VMODE_C         3       

#define VMODE_K         4

#define VMODE_N         5

#define VMODE_RAW       6   // pass a raw image

#define VMODE_ET        7   // tracking enabled

#define VMODE_TFRAME    8   // recieving a tracking frame.

#define VMODE_TCOLOR    9   

#define VMODE_TXMIN     10

#define VMODE_TXMAX     11

#define VMODE_TYMIN     12

#define VMODE_TYMAX     13

static int visionMode;

typedef struct{

    int color;

    int xmin;

    int xmax;

    int ymin;

    int ymax;

}t_object;

// tracked data

t_object objects[8];

int numObjects;

int newVisData;

// tracking reception data

int numObjRec;              // #of objects to recieve

// camera status

int camStatus;

#define CAM_ERROR       0

#define CAM_OK          1

#define CAM_TRACKING    2

static int rawPackets;

/** Starts the vision system and serial port 1 */

void visionInit(){

    // initialise visual system

    numObjects = 0;

    visionMode = VMODE_NONE;

    newVisData = 0;

    // start serial port 1

    UBRR1H = 0;

    UBRR1L = 7;

    // enable rx and tx

    SetBit(UCSR1B, RXEN1);

    SetBit(UCSR1B, TXEN1);

    // enable interrupt on complete reception of a byte

    SetBit(UCSR1B, RXCIE1);

}

/** Sends a character out the serial port. */

void serial1Write(byte data){

    while (bit_is_clear(UCSR1A, UDRE1))

        ;

    UDR1 = data;

}

/** This will decide if camera is functioning. */

int pingCam(){

    int timeouts=0;

    visionMode = VMODE_PING;

    camStatus = CAM_ERROR;

    serial1Write('P');

    serial1Write('G');

    serial1Write('\r');

    // Wait max of half second

    while(timeouts<20){

        delayms(25);

        if(camStatus > CAM_ERROR){

            return 1;

        }

        timeouts++;

    }

    return 0;

}  

/** Pass a raw camera image back to the AVRCamView program */

void passRawCam(){

    if(camStatus==CAM_OK){ 

        visionMode = VMODE_RAW;

        rawPackets = 0;

        serial1Write('D');

        serial1Write('F');

        serial1Write('\r');

        // quick hack to make it work...

        //Print("ACK\r");

    }else{

        Print("NCK\r");

    }

}

void passSegCam(){

    // this function will send seg cam info back to pc

}

/** Enable tracking, interrupt driven response */

void enableTracking(){

    visionMode = VMODE_ET;

    camStatus=CAM_TRACKING;

    serial1Write('E');

    serial1Write('T');

    serial1Write('\r');

    numObjects = 0;

    newVisData = 0;

}

/** Disable tracking */

void disableTracking(){

    visionMode = VMODE_NONE;

    camStatus=CAM_OK;

    serial1Write('D');

    serial1Write('T');

    serial1Write('\r');

  #ifdef AVR_CAM_INTERFACE

    Print("ACK\r    numObjects = 0;");

  #endif

}

/** Set color map for AVRCAM */

void setColorMap(){

    // 16 bytes for red, green and blue

    int bytes = 48;

    serial1Write('S');

    serial1Write('M');

    while(bytes > 0){

        while(serialAvailable() == 0)

            ;

        serial1Write(serialRead());

        bytes--;

    }    

    // Send ACK

    Print("ACK\r");

}

/** interrupt driven camera handler... */

ISR(USART1_RX_vect){

    unsigned char c = UDR1;

    switch(visionMode){

        case VMODE_RAW:

            // pass raw image upwards

            serialWrite(c);

            if(c == 0x0F){

                rawPackets++;

            }

            if(rawPackets > 72){

                visionMode = VMODE_NONE;

            }

            break;

        case VMODE_PING:

            // check to see if Ack or Nck.

            if(c == 'A'){

                visionMode = VMODE_A;

                camStatus = CAM_OK;

            }else{

                visionMode = VMODE_N;

            }

            serialWrite(c);

            break;

        case VMODE_A:

        case VMODE_N:

            // C recieved

            serialWrite(c);

            visionMode = VMODE_C;

            break;

        case VMODE_C:

            // K recieved

            serialWrite(c);

            visionMode = VMODE_K;

            break;

        case VMODE_K:

            // \r recieved

            serialWrite(c);

            visionMode = VMODE_NONE;

            break;

        case VMODE_ET:

            // beginning of ET

            if(c == 0x0A){

                visionMode = VMODE_TFRAME;

            }

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif          

            break;

        case VMODE_TFRAME:

            // this is our number of tracked objects

            numObjRec = c;

            if(numObjRec > 8){

                numObjRec = 0;

                visionMode = VMODE_ET;

            }else{

                numObjects = 0;

                visionMode = VMODE_TCOLOR;

            }

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif          

            break;

        case VMODE_TCOLOR:

            objects[numObjects].color = c;

            visionMode = VMODE_TXMIN;

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif          

            break;

        case VMODE_TXMIN:

            objects[numObjects].xmin = c;

            visionMode = VMODE_TYMAX;

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif          

            break;

        case VMODE_TYMAX:

            objects[numObjects].ymax = c;

            visionMode = VMODE_TXMAX;

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif

            break;

        case VMODE_TXMAX:

            objects[numObjects].xmax = c;

            visionMode = VMODE_TYMIN;

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif

            break;

        case VMODE_TYMIN:

            objects[numObjects].ymin = c;

            if(numObjects < numObjRec){

                numObjects++;

                visionMode = VMODE_TCOLOR;

            }else{

                //sysMsg("gtf");

                visionMode = VMODE_ET;

                newVisData = 1;

            }      

        #ifdef AVR_CAM_INTERFACE

            serialWrite(c);

        #endif          

            break;

        default:

            // do nothing with extra input

            break;

    }

}

#endif

#endif