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/*

    Copyright (C) 2004    John Orlando

   AVRcam: a small real-time image processing engine.

    This program is free software; you can redistribute it and/or

    modify it under the terms of the GNU General Public

    License as published by the Free Software Foundation; either

    version 2 of the License, or (at your option) any later version.

    This program is distributed in the hope that it will be useful,

    but WITHOUT ANY WARRANTY; without even the implied warranty of

    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    General Public License for more details.

    You should have received a copy of the GNU General Public

    License along with this program; if not, write to the Free Software

    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

   For more information on the AVRcam, please contact:

   john@jrobot.net

   or go to www.jrobot.net for more details regarding the system.

*/

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

	Module Name: UIMgr.c

	Module Date: 04/10/2004

	Module Auth: John Orlando

	Description: This module is responsible for providing

	the processing to manage the user interface of the

	system.  This user interface is provided via the UART.

	This module handles the incoming serial commands, and

	performs the needed functionality.  It is then

	responsible for generating any needed response to

	the external entity.

    Revision History:

    Date        Rel Ver.    Notes

    4/10/2004      0.1     Module created

    6/30/2004      1.0     Initial release for Circuit Cellar

                           contest.

    11/15/2004     1.2     Updated version string to 1.2.

    1/16/2005      1.4     Added code to write the colorMap

                           to EEPROM one byte at a time, 

                           ensuring that the EEPROM is only

                           written when the data is different

                           than the current value (thus saving

                           EEPROM writes).  Updated version

                           string to 1.4.

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

/*	Includes */

#include <avr/io.h>

#include <stdlib.h>

#include <string.h>

#include <avr/eeprom.h>

#include "CommonDefs.h"

#include "UIMgr.h"

#include "UartInterface.h"

#include "CamConfig.h"

#include "Utility.h"

#include "Executive.h"

#include "CamInterface.h"

/* 	Local Structures and Typedefs */

typedef enum

{

	getVersionCmd,

	pingCmd,

	setCameraRegsCmd,

	dumpFrameCmd,

	enableTrackingCmd,

	disableTrackingCmd,

	setColorMapCmd,

	resetCameraCmd,

	noCmd,

	invalidCmd

} UIMgr_Cmd_t;

typedef enum

{

	setRed,

	setGreen,

	setBlue

} setColorState_t;

/*  Local Variables */

static unsigned char charCount = 0; 

static unsigned char charIndex = 0;

static unsigned char asciiTokenBuffer[MAX_TOKEN_LENGTH+1]; /* +1 to ensure NULL at end */

static unsigned char tokenCount = 0;

static unsigned char tokenBuffer[MAX_TOKEN_COUNT];

static UIMgr_Cmd_t receivedCmd = noCmd;

static unsigned char AVRcamVersion[] = "AVRcam v1.4\r";

/*  Local Function Declaration */

static unsigned char UIMgr_readRxFifo(void);

static unsigned char UIMgr_readTxFifo(void);

static unsigned char UIMgr_readRxFifo(void);

static void UIMgr_sendNck(void);

static void UIMgr_sendAck(void);

static void UIMgr_convertTokenToCmd(void);

static void UIMgr_convertTokenToValue(void);

static void UIMgr_executeCmd(void);

/*  Extern Variables */

unsigned char UIMgr_rxFifo[UI_MGR_RX_FIFO_SIZE];

unsigned char UIMgr_rxFifoHead=0;

unsigned char UIMgr_rxFifoTail=0;

unsigned char UIMgr_txFifo[UI_MGR_TX_FIFO_SIZE];

unsigned char UIMgr_txFifoHead=0;

unsigned char UIMgr_txFifoTail=0;

/*  Definitions */

#define IS_DATA_IN_TX_FIFO() (!(UIMgr_txFifoHead == UIMgr_txFifoTail))

#define IS_DATA_IN_RX_FIFO() (!(UIMgr_rxFifoHead == UIMgr_rxFifoTail))

/* MAX_EEPROM_WRITE_ATTEMPTS limits the number of writes that can be

done to a particular EEPROM cell, so that it can't possible just 

write to the same cell over and over */

#define MAX_EEPROM_WRITE_ATTEMPTS 3

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

	Function Name: UIMgr_init

	Function Description: This function is responsible for

	initializing the UIMgr module.  It sets up the fifo

	used to hold incoming data, etc.

	Inputs:  none 

	Outputs: none

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

void UIMgr_init(void)

{

	memset(asciiTokenBuffer,0x00,MAX_TOKEN_LENGTH+1);

	memset(tokenBuffer,0x00,MAX_TOKEN_COUNT);

	memset(UIMgr_txFifo,0x00,UI_MGR_TX_FIFO_SIZE);

	memset(UIMgr_rxFifo,0x00,UI_MGR_RX_FIFO_SIZE);

}

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

	Function Name: UIMgr_dispatchEvent

	Function Description: This function is responsible for

	processing events that pertain to the UIMgr.

	Inputs:  event - the generated event

	Outputs: none

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

void UIMgr_dispatchEvent(unsigned char event)

{

	switch(event)

	{

		case EV_ACQUIRE_LINE_COMPLETE:

			UIMgr_transmitPendingData();

			break;

		case EV_SERIAL_DATA_RECEIVED:		

			UIMgr_processReceivedData();

			break;

		case EV_SERIAL_DATA_PENDING_TX:

			UIMgr_flushTxBuffer();

			break;

	}

}

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

	Function Name: UIMgr_transmitPendingData

	Function Description: This function is responsible for

	transmitting a single byte of data if data is waiting

	to be sent.  Otherwise, if nothing is waiting, the

	function just returns.

	Inputs:  none 

	Outputs: none

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

void UIMgr_transmitPendingData(void)

{

	if (IS_DATA_IN_TX_FIFO() == TRUE)

	{

		/* data is waiting...send a single byte */

		UartInt_txByte( UIMgr_readTxFifo() );

	}

}

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

	Function Name: UIMgr_processReceivedData

	Function Description: This function is responsible for

	parsing any serial data waiting in the rx fifo

	Inputs:  none 

	Outputs: none

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

void UIMgr_processReceivedData(void)

{

	unsigned char tmpData = 0;

	/* still need to add a mechanism to handle token counts 

	that are excessive!!! FIX ME!!! */

	while(IS_DATA_IN_RX_FIFO() == TRUE)

	{

		tmpData = UIMgr_readRxFifo();

		if (tmpData == '\r') 

		{

			/* we have reached a token separator */

			if (tokenCount == 0)

			{

				/* convert the command */

				UIMgr_convertTokenToCmd();				

			}

			else

			{

				/* convert a value */

				UIMgr_convertTokenToValue();

				tokenCount++;

			}

			/* either way, it is time to try to process the received

			token list since we have reached the end of the cmd. */

			Utility_delay(100);

			if (receivedCmd == invalidCmd ||

			     receivedCmd == noCmd )

			{

				UIMgr_sendNck();

				PUBLISH_EVENT(EV_SERIAL_DATA_PENDING_TX);

			}

			else

			{

				UIMgr_sendAck();

				/* publish the serial data pending event, so it

				will push the ACK out before we execute the cmd */

				PUBLISH_EVENT(EV_SERIAL_DATA_PENDING_TX);

				UIMgr_executeCmd();

			}

			/* reset any necessary data */

			tokenCount = 0;

			memset(tokenBuffer,0x00,MAX_TOKEN_COUNT);

		}

		else if (tmpData == ' ')  /* space char */

		{

			/* the end of a token has been reached */

			if (tokenCount == 0)

			{

				UIMgr_convertTokenToCmd();

				tokenCount++;   /* check this...why is this being incremented here??? This

                means we have received a token, with tokenCount == 0, which means it is a

                command...why is this contributing to tokenCount?

                This might cause the set color map command to include too much data, since

                it sets the color map based on tokenCount...CHECK*/

			}

			else

			{

				/* check to see if this token is going to push

				us over the limit...if so, abort the transaction */

				if (tokenCount+1 >= MAX_TOKEN_COUNT)

				{

					/* we received too many tokens, and 

					need to NCK this request, since its too

					large...reset everything...*/

					charCount=0;

					charIndex=0;

					tokenCount=0;

					receivedCmd = invalidCmd;

				}

				else

				{

					/* tokenCount is still in range...*/

					UIMgr_convertTokenToValue();

					tokenCount++;

				}

			}

		}

		else if ( (tmpData >= 'A' && tmpData <= 'Z') ||

				   (tmpData >= '0' && tmpData <= '9') )

		{

			/* a valid range of token was received */

			asciiTokenBuffer[charIndex] = tmpData;

			charCount++;

			charIndex++;

			if (charCount > MAX_TOKEN_LENGTH)

			{

				/* we have received a token that cannot be handled...

				set the received cmd to an invalid cmd, and wait

				for the \r to process it */

				receivedCmd = invalidCmd;

				charIndex = 0;  /* ...so we won't overwrite memory */

			}

		}

		else

		{

			/* an invalid character was received */

			receivedCmd = invalidCmd;

		}

	}  /* end while */

	asm volatile("clt"::);  /* clear out the T flag in case it wasn't

								 cleared already */

}						

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

	Function Name: UIMgr_executeCmd

	Function Description: This function is responsible for

	executing whatever cmd is stored in the receivedCmd

	object.

	Inputs:  none 

	Outputs: none

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

static void UIMgr_executeCmd(void)

{

	unsigned char i,eepromData, num_writes=0;

	unsigned char *pData;

    unsigned char eeprom_write_succeeded = FALSE;

#if	DEBUG_COLOR_MAP	

	unsigned char asciiBuffer[5];

#endif

	if (receivedCmd == pingCmd) 

	{

	}

	else if (receivedCmd == getVersionCmd)

	{

		pData = AVRcamVersion;

		while(*pData != 0)

		{		

			UIMgr_writeTxFifo(*pData++);

		}

	}		

	else if (receivedCmd == resetCameraCmd)

	{

		CamInt_resetCam();

	}

	else if (receivedCmd == dumpFrameCmd)

	{

		/* publish the event that will indicate that

		a request has come to dump a frame...this will

		be received by the FrameMgr, which will begin

		dumping the frame...a short delay is needed

		here to keep the Java demo app happy (sometimes

		it wouldn't be able to receive the serial data

		as quickly as AVRcam can provide it). */

		Utility_delay(100);

		PUBLISH_EVENT(EV_DUMP_FRAME);

	}

	else if (receivedCmd == setCameraRegsCmd)

	{

		/* we need to gather the tokens and

		build config cmds to be sent to the camera */

		for (i=1; i<tokenCount; i+=2)  /* starts at 1 since first token

											is the CR cmd */

		{

			CamConfig_setCamReg(tokenBuffer[i],tokenBuffer[i+1]);

		}

		CamConfig_sendFifoCmds();

	}

	else if (receivedCmd == enableTrackingCmd)

	{

		/* publish the event...again with a short delay */

		Utility_delay(100);

		PUBLISH_EVENT(EV_ENABLE_TRACKING);

	}

	else if (receivedCmd == disableTrackingCmd)

	{

		PUBLISH_EVENT(EV_DISABLE_TRACKING);

	}

	else if (receivedCmd == setColorMapCmd)

	{

		/* copy the received tokens into the color map */

		for (i=0; i<tokenCount; i++)

		{

			colorMap[i] = tokenBuffer[i+1];

            /* write each colorMap byte to EEPROM, but only those

            that changed...this will help reduce wear on the EEPROM */

            eepromData = eeprom_read_byte( (unsigned char*)(i+1));

            if (eepromData != colorMap[i])

            {

                /* need to actually perform the write because the

                data in eeprom is different than the current colorMap */

                eeprom_write_succeeded = FALSE;

                while(eeprom_write_succeeded == FALSE && num_writes < MAX_EEPROM_WRITE_ATTEMPTS)

                {

                    eeprom_write_byte((unsigned char*)(i+1),colorMap[i]);

                    num_writes++;

                    eepromData = eeprom_read_byte( (unsigned char*)(i+1));

                    if (eepromData == colorMap[i])

                    {

                        eeprom_write_succeeded = TRUE;

                    }

                }

                num_writes = 0;

            }

		}

#if	DEBUG_COLOR_MAP			

            			/* for debugging...send out the entire color map */

        UIMgr_txBuffer("\r\n",2);

		for (i=0; i<NUM_ELEMENTS_IN_COLOR_MAP; i++)

		{

			memset(asciiBuffer,0x00,5);

			itoa(colorMap[i],asciiBuffer,10);

			UIMgr_txBuffer(asciiBuffer,3);

			UIMgr_txBuffer(" ",1);

			if (i==15 || i == 31)

			{

				/* break up the output */

				UIMgr_txBuffer("\r\n",2);

			}

		}

#endif			

	}

}

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

	Function Name: UIMgr_convertTokenToValue

	Function Description: This function is responsible for

	converting a received token to a hex value It will

	access the asciiTokenBuffer directly, and store the

	result in the appropriate token buffer.

	Inputs:  none 

	Outputs: none

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

static void UIMgr_convertTokenToValue(void)

{

	unsigned int newValue;

	newValue = atoi(asciiTokenBuffer);

	if (newValue > 255)

	{

		/* the value is too large */

		receivedCmd = invalidCmd;

		tokenBuffer[tokenCount] = 0xFF;  /* to indicate an error */

	}

	else

	{

		/* copy the value into the tokenBuffer */

		tokenBuffer[tokenCount] = newValue;

	}

	memset(asciiTokenBuffer,0x00,MAX_TOKEN_LENGTH);

	charIndex = 0;

	charCount = 0;

}

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

	Function Name: UIMgr_convertTokenToCmd

	Function Description: This function is responsible for

	parsing a received 2-character command.  It will

	access the asciiTokenBuffer directly.

	Inputs:  none 

	Outputs: none

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

static void UIMgr_convertTokenToCmd(void)

{

	if ( (asciiTokenBuffer[0] == 'P') &&

		 (asciiTokenBuffer[1] == 'G') )

	{

		/* we got a "ping" command...but we still need to see

		if we are going to get the \r */

		receivedCmd = pingCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'G') &&

			   (asciiTokenBuffer[1] == 'V') )

	{

		/* we got the "get version" command */

		receivedCmd = getVersionCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'D') &&

			   (asciiTokenBuffer[1] == 'F') )

	{

		/* we should go into frame dump mode */

		receivedCmd = dumpFrameCmd;	

	}

	else if ( (asciiTokenBuffer[0] == 'C') &&

	           (asciiTokenBuffer[1] == 'R') )

	{

		/* the user wants to set registers in the OV6620 */

		receivedCmd = setCameraRegsCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'E') &&

			   (asciiTokenBuffer[1] == 'T') )

	{

		/* the user wants to enable tracking */

		receivedCmd = enableTrackingCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'S') &&

			   (asciiTokenBuffer[1] == 'M') )

	{

		/* the user wants to set the color map */

		receivedCmd = setColorMapCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'D') &&

			   (asciiTokenBuffer[1] == 'T') )

	{

		receivedCmd = disableTrackingCmd;

	}

	else if ( (asciiTokenBuffer[0] == 'R') &&

			   (asciiTokenBuffer[1] == 'S') )

	{

		receivedCmd = resetCameraCmd;

	}

	else

	{

		/* don't recognize the cmd */

		receivedCmd = invalidCmd;

	}

	memset(asciiTokenBuffer,0x00,MAX_TOKEN_LENGTH);

	charIndex = 0;

	charCount = 0;

}

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

	Function Name: UIMgr_sendAck

	Function Description: This function is responsible for

	queuing up an ACK to be sent to the user.

	Inputs:  none 

	Outputs: none

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

static void UIMgr_sendAck(void)

{

	UIMgr_writeTxFifo('A');

	UIMgr_writeTxFifo('C');

	UIMgr_writeTxFifo('K');

	UIMgr_writeTxFifo('\r');

}

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

	Function Name: UIMgr_sendNck

	Function Description: This function is responsible for

	queueing up an NCK to be sent to the user.

	Inputs:  none 

	Outputs: none

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

static void UIMgr_sendNck(void)

{

		UIMgr_writeTxFifo('N');

		UIMgr_writeTxFifo('C');

		UIMgr_writeTxFifo('K');

		UIMgr_writeTxFifo('\r');

}

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

	Function Name: UIMgr_writeBufferToTxFifo

	Function Description: This function is responsible for

	placing "length" bytes into the tx FIFO.

	Inputs:  pData -  a pointer to the data to send

	         length - the number of bytes to send

	Outputs: none

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

void UIMgr_writeBufferToTxFifo(unsigned char *pData, unsigned char length)

{

	unsigned char tmpHead;

	if (length == 0)

	{

		return;

	}

	DISABLE_INTS();

	while(length-- != 0)

	{

		UIMgr_txFifo[UIMgr_txFifoHead] = *pData++;

		/* now move the head up */

		tmpHead = (UIMgr_txFifoHead + 1) & (UI_MGR_TX_FIFO_MASK);

		UIMgr_txFifoHead = tmpHead;

	}

	ENABLE_INTS();

}

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

	Function Name: UIMgr_txBuffer

	Function Description: This function is responsible for

	sending 'length' bytes out using the UartInterface 

	module.

	Inputs:  pData -  a pointer to the data to send

	         length - the number of bytes to send

	Outputs: none

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

void UIMgr_txBuffer(unsigned char *pData, unsigned char length)

{

	while(length-- != 0)

	{

		UartInt_txByte(*pData++); 

	}

}

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

	Function Name: UIMgr_flushTxBuffer

	Function Description: This function is responsible for

	sending all data currently in the serial tx buffer

	to the user.

	Inputs:  none

	Outputs: none

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

void UIMgr_flushTxBuffer(void)

{

	while(IS_DATA_IN_TX_FIFO() == TRUE)

	{

		UartInt_txByte(UIMgr_readTxFifo() );

	}

}

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

	Function Name: UIMgr_readRxFifo

	Function Description: This function is responsible for

	reading a single byte of data from the rx fifo, and

	updating the appropriate pointers.

	Inputs:  none 

	Outputs: unsigned char-the data read

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

static unsigned char UIMgr_readRxFifo(void)

{

	unsigned char dataByte, tmpTail;

	/* just return the current tail from the rx fifo */

	DISABLE_INTS();

	dataByte = UIMgr_rxFifo[UIMgr_rxFifoTail];	

	tmpTail = (UIMgr_rxFifoTail+1) & (UI_MGR_RX_FIFO_MASK);

	UIMgr_rxFifoTail = tmpTail;

	ENABLE_INTS();

	return(dataByte);

}

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

	Function Name: UIMgr_readTxFifo

	Function Description: This function is responsible for

	reading a single byte of data from the tx fifo, and

	updating the appropriate pointers.

	Inputs:  none 

	Outputs: unsigned char-the data read

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

static unsigned char UIMgr_readTxFifo(void)

{

	unsigned char dataByte, tmpTail;

	/* just return the current tail from the tx fifo */

	DISABLE_INTS();

	dataByte = UIMgr_txFifo[UIMgr_txFifoTail];	

	tmpTail = (UIMgr_txFifoTail+1) & (UI_MGR_TX_FIFO_MASK);

	UIMgr_txFifoTail = tmpTail;

	ENABLE_INTS();

	return(dataByte);

}

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

	Function Name: UIMgr_writeTxFifo

	Function Description: This function is responsible for

	writing a single byte to the TxFifo and

	updating the appropriate pointers.

	Inputs:  data - the byte to write to the Fifo 

	Outputs: none

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

void UIMgr_writeTxFifo(unsigned char data)

{

	unsigned char tmpHead;

	DISABLE_INTS();

	UIMgr_txFifo[UIMgr_txFifoHead] = data;

    /* now move the head up */

    tmpHead = (UIMgr_txFifoHead + 1) & (UI_MGR_TX_FIFO_MASK);

    UIMgr_txFifoHead = tmpHead;

	ENABLE_INTS();

}