/*

        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;


pthread_t ethread = NULL;


#include "elctrcam.h"


#include "filter.c"
#include "compare.c"
#include "cam.c"

#ifdef __cplusplus
extern "C" {
#endif
#include "../elctr/elctr.c"
#ifdef __cplusplus
}
#endif

#include "config.c"
#include "special.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);
}




int guideinit          = 0;
int correctactive      = 0;
int threaded_grab_busy = 0;
void endall( void )
{

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

	close_video();
	freeBuffers();

	if( cfg.elctr && (! cfg.test) ){
		ctrendall();
	}

	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;
	}
}




/*
  This is called by elctr-loop, whenever no event is present
*/
void elctr_thread_noevent( void )
{
	if( ( cfg.control ) && ( elctr.motorrun == MNORUN ) ) {

		if(elctr.fruse){ 
			fr_work();
		}
		
		if( cfg.guide && guideinit ) {
			guide_work();
		}
	}
	
	
	ctrif_waitmillisecs( 50 );
}



/*
  This is called by elctr-loop, whenever key follow is pressed
*/
void elctr_kp_follow( void )
{

#ifdef VIEW
cb_btn_control(NULL,NULL);
#endif
	
}


/*
  This is called by elctr-loop, whenever key high+follow is pressed
*/
void elctr_kp_high_follow( void )
{
	if( ( cfg.control ) && ( elctr.motorrun == MNORUN ) ) {

	}
	
}




int correctresult  = 0;
int steerflag      = 0;
void do_work( void ) {

	int ct,x,y;

	if( prepare_image() ){

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

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

			resetPrevCorrectionDir();

			filter( v_firstbuf, &fv1 );

#ifdef VIEW
			txt_mincol->value( fv1.mincol );
			txt_maxcol->value( fv1.maxcol );
#endif				

			if( ! find( v_firstbuf, &fv1, &cv1 ) ){
				ShowFlag(3);
			}
			else {
				if( ( cfg.guide ) && ( count == cfg.calcstart ) && ( ! guideinit ) && ( elctr.motorrun == MNORUN ) ) {
					guideinit =  guide_initialisation_work();
				}
			}

		}
		else {

			filter( v_imagebuf, &fv2 );

			if( ( correctresult = compare( 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( steerflag && cfg.control ){
							doCorrect( 1 );
							steerflag = 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.elctr) && (correctactive) ){

								if( steerflag && cv1.changed ){
									steerflag = 0;
								}

								if(! steerflag){
									doCorrect( 0 );
									steerflag = 1;
								}
							}
						}
					}


					if(cfg.showcross && cfg.view){


						if(cfg.savebuf){
							drawCross( v_savebuf, cv1.spot[0].x, cv1.spot[0].y, 10 , 180 );		
						}
						else {
							drawCross( v_imagebuf, cv1.spot[0].x, cv1.spot[0].y, 10 , 180 );
						}

					}


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

			}
			else {
				ShowFlag(3);
			}


		}

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


#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


	}
}





void threaded_grabbing(char * data) {

	ShowFlag(0);

	if(! createBuffers()){
		return;
	}

	correctactive  = 0;
	guideinit      = 0;

	run     	   = 1;
	count          = 0;

	threaded_grab_busy = 1;
	steerflag = 0;

	while(run){

		if( get_video_image() ){
			do_work();
		}
	}

	correctactive = 0;

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



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

	if(! readconfigfile( "elctrcamrc" )){
		fprintf(stderr,"Invalid settings, or configfile, - steering not valid\n");
		if(! cfg.test){
			cfg.elctr = 0;
		}
	}

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


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

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

	if(cfg.elctr && (! cfg.test )){
		ctrSetCB_noevent( &elctr_thread_noevent );
		if(! ctrstartall( 1 ) ){
			cfg.elctr = 0;
			fprintf(stderr,"Cannot start elctr, - steering not valid\n");
		}
		else {
			ctrSetCB_kp_follow( &elctr_kp_follow );
			ctrSetCB_kp_high_follow( &elctr_kp_high_follow );
		}
	}

#ifdef VIEW	

	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.elctr ){
		btn_control->value(1);
	}
	else {
		btn_control->value(0);
	}

	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();

#endif
	endall();
}




#endif /*__main_cxx*/