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/*

 * Project: S.Ha.R.K.

 *

 * Coordinators:

 *   Giorgio Buttazzo    <giorgio@sssup.it>

 *   Paolo Gai           <pj@gandalf.sssup.it>

 *

 * Authors     :

 *   Giacomo Guidi       <giacomo@gandalf.sssup.it>

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 * Copyright (C) 2003 Giacomo Guidi

 *

 * 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

 */

#include "kernel/kern.h"

#include "stdlib.h"

#include "unistd.h"

#include "drivers/shark_keyb26.h"

#include "drivers/shark_videodev26.h"

#include "drivers/shark_fb26.h"

#include "tracer.h"

#define WIDTH 640

#define HEIGHT 480

#define BYTES_PP 2

//#define COLOR

#define MAX_SPEED

#define FRAME_GRABBER_NUMBER 0

#define FG_PERIOD 40000 //ONLY IF MAX_SPEED IS DISABLED

#define FG_WCET 30000

#define FG_W 320                

#define FG_H 240

void program_end(void *arg)

{

  sys_end();

}

void elaborate_image(void *imageptr);

void start_frame_grabber(PID elaborate_task_PID, int channel, struct video_buffer *fbuf) {

  struct video_window win;

  struct video_channel chan;

  struct video_tuner tuner;

  struct video_picture vpic;

  int res;

  /* Init videodev driver */

  VIDEODEV26_open(FRAME_GRABBER_NUMBER);

  /* Select the input channel */

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGCHAN,(unsigned long)&chan);

  //cprintf("res = %d\n",res);

  chan.channel = channel;

  chan.type = VIDEO_VC_TUNER;

  chan.norm = VIDEO_TYPE_CAMERA;

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSCHAN,(unsigned long)&chan);

  //cprintf("res = %d\n",res);

  /* Enable the tuner */

  tuner.tuner = 0;

  tuner.mode = VIDEO_MODE_PAL;

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSTUNER,(unsigned long)&tuner);

  //cprintf("res = %d\n",res);

  /* Select palette and depth */

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGPICT,(unsigned long)&vpic);

  //cprintf("res = %d\n",res);  

  #ifdef COLOR

        vpic.palette = VIDEO_PALETTE_RGB24;

        vpic.depth = 24;

  #else

        vpic.palette = VIDEO_PALETTE_GREY;

        vpic.depth = 8;

  #endif

  vpic.brightness = 35000;

  vpic.hue = 32000;

  vpic.contrast = 32000;

  vpic.colour = 32000;                          

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSPICT,(unsigned long)&vpic);

  //cprintf("res = %d\n",res);

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCGWIN,(unsigned long)&win);

  //cprintf("res = %d\n",res);

  win.x = 0;

  win.y = 0;

  win.width = FG_W;

  win.height = FG_H;

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSWIN,(unsigned long)&win);

  //cprintf("res = %d\n",res);

  /* Set the buffer */

  res = VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSFBUF,(unsigned long)(fbuf));

  //cprintf("res = %d\n",res);

  /* IMPORTANT: Set the aperiodic elaboration task

   * This is a SHARK change on VIDIOCSYNC. When the

   * new frame is ready, the task elaborate_task_PID

   * is activated. Elabortate_task must be aperiodic !!

   * To link the task to BTTV use this function: */

  VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCSYNC,(unsigned long)(elaborate_task_PID));

}

/* Check if the frame grabber is ready */

volatile int ready_to_grab = 1;

void grab_command(void *arg) {

  SYS_FLAGS f;

  f = kern_fsave();

  int on = 1;

  VIDEODEV26_ioctl(FRAME_GRABBER_NUMBER,VIDIOCCAPTURE,(unsigned long)&on);

  kern_frestore(f);

}

/* Elaboration task, it is called when the frame

   grabber buffer is ready */

TASK elaborate_task(void *arg) {

  struct video_buffer *fbuf = (struct video_buffer *)(arg);

  while(1) {

    elaborate_image(fbuf->base);

    //cprintf("E");

    //Text version

    //printf_xy(1,20,WHITE,"%08x",

    //    *(unsigned int *)(fbuf->base+50*320*3+50*3));    

    ready_to_grab = 1;

    #ifdef MAX_SPEED

      grab_command(NULL);

    #endif

    task_testcancel();

    task_endcycle();

  }

  return NULL;

}

/* Send the grab command */

TASK grab_task(void *arg) {

  while(1) {

    if (ready_to_grab) {

      /* Grab */

      grab_command(NULL);

      //cprintf("G");

      ready_to_grab = 0;

    } else {

      //cprintf("S");

      /* Frame skipped */

    }

    task_testcancel();

    task_endcycle();

  }

  return NULL;

}

extern void *video_memory;

void elaborate_image(void *imageptr)

{

  WORD x,y;

  BYTE *col;

  #ifdef COLOR

    for(y = 0; y < FG_H; y++)

      for(x = 0; x < FG_W; x++) {

        col = (BYTE *)(imageptr + y * FG_W * 3 + x * 3);

        *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col+2),*(BYTE *)(col+1),*(BYTE *)(col+0));

    }

  #else

    for(y = 0; y < FG_H; y++)

      for(x = 0; x < FG_W; x++) {

        col = (BYTE *)(imageptr + y * FG_W + x);

        *(WORD *)(video_memory + y*(WIDTH*2) + (x*2)) = (WORD)rgb16(*(BYTE *)(col),*(BYTE *)(col),*(BYTE *)(col));

    }

  #endif

}

int main(int argc, char **argv)

{

  HARD_TASK_MODEL gt;

  SOFT_TASK_MODEL et;

  PID grab_task_pid,elaborate_task_pid;

  struct video_buffer fbuf;

  int channel = 0;

  if (argc < 2) {

        sys_shutdown_message("ERROR: Enter the input channel [ex> %s 0]\n",argv[0]);

        sys_end();

  }

  channel = atoi(argv[1]);

  soft_task_default_model(et);

  #ifndef MAX_SPEED

    soft_task_def_period(et,FG_PERIOD);

  #else

    /* The period must be less than the frame rate (around 40000 us) */

    soft_task_def_period(et,35000);

  #endif

  soft_task_def_arg(et,(void *)(&fbuf));

  soft_task_def_met(et,FG_WCET);

  soft_task_def_aperiodic(et);

  soft_task_def_ctrl_jet(et);

  hard_task_default_model(gt);

  hard_task_def_mit(gt,FG_PERIOD);

  hard_task_def_wcet(gt,5000);

  hard_task_def_ctrl_jet(gt);

  grab_task_pid = task_create("GrabTask",grab_task,&gt,NULL);

  if (grab_task_pid == NIL) {

        sys_shutdown_message("ERROR: Cannot create grab task\n");

        sys_end();

  }

  elaborate_task_pid = task_create("ElaborateTask",elaborate_task,&et,NULL);

  if (grab_task_pid == NIL) {

        sys_shutdown_message("ERROR: Cannot create elaborate task\n");

        sys_end();

  }

  #ifdef COLOR

        fbuf.base = malloc(FG_W*FG_H*3);

        fbuf.height = FG_H;

        fbuf.width = FG_W;

        fbuf.bytesperline = FG_W*3;

        fbuf.depth = 24;

  #else

        fbuf.base = malloc(FG_W*FG_H);

        fbuf.height = FG_H;

        fbuf.width = FG_W;

        fbuf.bytesperline = FG_W;

        fbuf.depth = 8;

  #endif

  start_frame_grabber(elaborate_task_pid,channel,&fbuf);

  #ifndef MAX_SPEED

    /* Activate periodic grabbing */

    task_activate(grab_task_pid);

  #else

    /* Grab */

    grab_command(NULL);

  #endif

  while(keyb_getch(BLOCK) != ESC);

  #ifndef MAX_SPEED

    task_kill(grab_task_pid);

  #endif

  sleep(1);

  sys_end();

  return 0;

}