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