/*

        main.c
        ---------
        Co. E.Benninghaus
            Pfaffenhoffentstr. 1
            78166 Donaueschingen
	
        created:   08.09.2000
        last Work: 08.09.2000

*/


#ifndef __main_cxx
#define __main_cxx



#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>


#include <ctype.h>
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <time.h>
#include <malloc.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <sys/timeb.h>
#include <sys/times.h>
#include <sys/wait.h>
#include <fcntl.h>
#include <math.h>
#include <unistd.h>
#include <sys/io.h>
#include <termios.h>
#include <dirent.h>
#include <pthread.h>
#include <signal.h>
#include <semaphore.h>

#include <linux/mman.h>
#include <linux/types.h>
#include <linux/videodev.h>



int run  = 0;
int img  = 0;

pthread_t wthread = NULL;
pthread_t ethread = NULL;


#include "elcam.h"
#include "config.c"

#include "calc.c"
#include "filter.c"
#include "cam.c"
#include "ecif.c"




#ifdef VIEW
#include "win.cxx"
#include <FL/Fl_Box.h>
#include <FL/fl_draw.h>
#include "callback.cxx"
#endif





typedef void ( *sighandler_t)(int);
sighandler_t sighandler_old = SIG_ERR;

void sigterminate(int sig)
{
	if(sig != SIGTERM)return;
	if(sighandler_old != SIG_ERR){
		signal(SIGTERM,sighandler_old);
		sighandler_old = SIG_ERR;
	}
	endall();	
	exit(0);
}

void sigrestore(void)
{
	if(sighandler_old == SIG_ERR)return;
	signal(SIGTERM,sighandler_old);
	sighandler_old = SIG_ERR;
}

int sigset(void)
{
	sigrestore();
	sighandler_old     = signal(SIGTERM,sigterminate);
	if(sighandler_old == SIG_ERR)return(-1);
	return(0);
}




FILE * fifoout = NULL;
void DoFifoOut( int ok ) {

	int azdir,altdir,az,alt;

	if(cfg.test){
		if(ok){
			fprintf(stdout,"ok\n");
		}
		else {	
			fprintf(stdout,"%d:%d:%d:%d\n",cv.left,cv.right,cv.up,cv.down);
		}
		return;
	}


	fifoout = fopen(cfg.fifofile,"wt");

	if(fifoout == NULL){
		fprintf(stderr,"Cannot open fifooutfile: %s\n",cfg.fifofile);
		return;
	}

	if(ok){
		fprintf(fifoout,"ok\n");
	}
	else {	
		fprintf(fifoout,"%d:%d:%d:%d\n",cv.left,cv.right,cv.up,cv.down);
	}

	fclose(fifoout);
	fifoout = NULL;

}




int correctactive      = 0;
int threaded_work_busy = 0;
int threaded_grab_busy = 0;
void endall( void )
{
	if(fifoout != NULL){
		fclose(fifoout);
	}

	run = 0;
	while( threaded_work_busy || threaded_grab_busy ){
		sleep(1);
	}

	elcamtcpserverstop();

	close_video();
	freeBuffers();

	sigrestore();

#ifdef VIEW
	if(cfgwin != NULL){
		cfgwin->~Fl_Window();
	}
	if(mainwin != NULL){
		mainwin->~Fl_Window();
	}
#else
	exit(0);
#endif
}




int __prevShowCol = 0;
void ShowFlag( int col )
{

	if(col == __prevShowCol){
		return;
	}

	__prevShowCol = col;

#ifdef VIEW
		mainwin->make_current();
#endif

	switch(col){

#ifdef VIEW		
		case 0:
		fl_rectf(5, 150, 160, 15, 0,0,0);
		break;

		case 1:
		fl_rectf(5, 150, 160, 15, 0,255,0);
		break;

		case 2:
		fl_rectf(5, 150, 160, 15, 0,0,255);
		break;

		case 3:
		fl_rectf(5, 150, 160, 15, 255,0,0);
		break;

#else

		case 0:
		break;

		case 1:
		break;

		case 2:
		break;

		case 3:
		break;

#endif

		default:
		break;
	}
}


long coverinterval = 0;
int correctresult  = 0;
void threaded_work(char * data) {

	int ct,x,y,fifoflag;

	threaded_work_busy = 1;
	fifoflag = 0;
	while( run ){

		if( img && prepare_image() ){

		/*-- start of calculations -----*/

			if( count <= cfg.calcstart ){
				/* prepare also the first picture, which can then be compared with the following*/

				filterfirst( v_firstbuf );

#ifdef VIEW
				txt_mincol->value( fv.mincol );
				txt_maxcol->value( fv.maxcol );
#endif				

				if( calcfirst( v_firstbuf) ){
					;
				}
				else {

					ShowFlag(3);

					/* no valid params found */
					;
				}

			}
			else {

				filter( v_imagebuf );

				if( ( correctresult = calc( v_imagebuf ) ) > 0 ) {

					/* and here we do the stuff of calculations results*/

						if(correctresult == 1 ){
							/* all is ok, and picture on correct position */

							if(! correctactive){
								correctactive = 1;
							}
							ShowFlag(1);
							if( fifoflag && cfg.control ){
								DoFifoOut( 1 );
								fifoflag = 0;
							}
							
							
							if( cfg.snap && run ){

								/*get greater picture, and save it on correct position*/
							    snap_image();

							}


						}
						else {
							/* picture is no more in correct position */
							ShowFlag(2);
							if(cfg.control){
								if( (cfg.fifo) && ( correctactive) ){

									if( fifoflag && cv.changed ){
										fifoflag = 0;
									}

									if(! fifoflag){
										DoFifoOut( 0 );
										fifoflag = 1;
									}
								}
							}
						}


						if(cfg.showcross && cfg.view){
							if(cfg.strategy == 0){
								if(cfg.savebuf){
									drawCross( v_savebuf, cv.spot[0].x, cv.spot[0].y, 10 , 180 );		
								}
								else {
									drawCross( v_imagebuf, cv.spot[0].x, cv.spot[0].y, 10 , 180 );
								}								
							}
							else if(cfg.strategy == 1){
								ct = 0;
								while( ( ct < cfg.maxcalckoor ) && ( cv.k[ct].x >= 0 ) && ( cv.k[ct].y >= 0 ) ) {
									x		= cv.k[ct].x;
									y		= cv.k[ct].y;

									if(cfg.savebuf){
										drawCross( v_savebuf,x, y, 5 , 180 );		
									}
									else {
										drawCross( v_imagebuf, x, y, 5 , 180 );
									}										
									ct++;
								}

							}
						}


					/* ----------------------------------------------- */

				}

			}

		/*--- end of calculations ------*/

			img = 0;

#ifdef VIEW

			if(( mainwin != NULL) && (cfg.view) ){
				mainwin->make_current();
				if(cfg.savebuf){
					fl_draw_image((const uchar *)v_savebuf,5,25, WIDTH ,HEIGHT,1,0);
				}
				else {
					fl_draw_image((const uchar *)v_imagebuf,5,25,WIDTH ,HEIGHT,1,0);
				}
			}

#endif

			if( ( cfg.strategy == 2 ) && ( cfg.coverinterval > 0 ) && (count > cfg.calcstart ) ){
				coverinterval++;
				if(coverinterval > cfg.coverinterval){
					coverinterval = 0;
					correctactive = 0;
					count         = 0;
				}
			}

		}

	}

	threaded_work_busy = 0;
	img = 0;
}





void threaded_grabbing(char * data) {

	ShowFlag(0);

	if(! createBuffers()){
		return;
	}

	correctactive  = 0;
	
	coverinterval = 0;
	run     	  = 1;
	img           = 0;
	count         = 0;
	wthread       = NULL;

	if(pthread_create(&wthread, NULL, (void *)&threaded_work, NULL) != 0 ){
		fprintf(stderr,"\nCannot create working thread\n");
		run = 0;
		freeBuffers();
		return;
	}

	threaded_grab_busy = 1;

	while(run){

		if(( ! img ) && ( get_video_image() )){
			img = 1;
		}
	}

	correctactive = 0;

	freeBuffers();
	run  = 0;
	img  = 0;
	threaded_grab_busy = 0;
	return;
}





int main(int argc, char * argv[])
{
	int arg;
	char *p;


	if(! parsecommandline( argc, argv )){
		exit(0);
	}

	ecif.initport = cfg.tcpport;

	if( sigset() < 0){
		fprintf(stderr,"Cannot install signalhandler\n");
		exit(-1);
	}


	if(! open_video()){
		fprintf(stderr,"Cannot open video\n");
		sigrestore();
		exit(0);
	}


#ifdef VIEW	

	if(cfg.ecif){
		if( ! elcamtcpserverstart(1) ){
			cfg.ecif = 0;
			fprintf(stderr,"Cannot start tcp-server\n");
		}		
	}


	make_window();

	if(cfg.savebuf){
		btn_realview->value(1);
	}
	else {
		btn_realview->value(0);
	}


	if( cfg.snap ){
		btn_snap->value(1);
	}
	else {
		btn_snap->value(0);
	}

	if( cfg.view ){
		btn_view->value(1);
	}
	else {
		btn_view->value(0);
	}

	if( cfg.control && cfg.fifo ){
		btn_control->value(1);
	}
	else {
		btn_control->value(0);
	}


	ch_strategy->add("Spot");
	ch_strategy->add("Spread");
	ch_strategy->add("Cover");
	ch_strategy->value(cfg.strategy);

	ch_koortype->add("Rect");
	ch_koortype->add("Cross");
	ch_koortype->value(cfg.koortype);

	ch_snapsize->add("160x120 QSIF");
	ch_snapsize->add("176x144 QCIF");
	ch_snapsize->add("320x240  SIF");
	ch_snapsize->add("352x288  CIF");
	ch_snapsize->add("640x480  VGA");
	ch_snapsize->value(cfg.snapsize);


	mainwin->end();
	Fl::visual(FL_RGB);
  	mainwin->show();
  	return Fl::run();
#else

	if(cfg.ecif){
		if( ! elcamtcpserverstart(0) ){
			cfg.ecif = 0;
			fprintf(stderr,"Cannot start tcp-server\n");
		}		
	}


#endif
	endall();
}




#endif /*__main_cxx*/