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/**
 * @file irlock.cpp
 * @author Michael Landes
 *
 * Driver for an IR-Lock and Pixy vision sensor connected via I2C.
 *
 * Created on: Nov 12, 2014
 **/

#include <fcntl.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>

#include <board_config.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_hrt.h>

#include <px4_getopt.h>

#include <nuttx/clock.h>
#include <nuttx/wqueue.h>
#include <systemlib/err.h>

#include <uORB/uORB.h>
#include <uORB/topics/irlock_report.h>

/** Configuration Constants **/
#define IRLOCK_I2C_BUS			PX4_I2C_BUS_EXPANSION
#define IRLOCK_I2C_ADDRESS		0x54 /** 7-bit address (non shifted) **/
#define IRLOCK_CONVERSION_INTERVAL_US	20000U /** us = 20ms = 50Hz **/

#define IRLOCK_SYNC			0xAA55
#define IRLOCK_RESYNC		0x5500
#define IRLOCK_ADJUST		0xAA

#define IRLOCK_RES_X 320
#define IRLOCK_RES_Y 200

#define IRLOCK_CENTER_X				(IRLOCK_RES_X/2)			// the x-axis center pixel position
#define IRLOCK_CENTER_Y				(IRLOCK_RES_Y/2)			// the y-axis center pixel position

#define IRLOCK_FOV_X (60.0f*M_PI_F/180.0f)
#define IRLOCK_FOV_Y (35.0f*M_PI_F/180.0f)

#define IRLOCK_TAN_HALF_FOV_X 0.57735026919f // tan(0.5 * 60 * pi/180)
#define IRLOCK_TAN_HALF_FOV_Y 0.31529878887f // tan(0.5 * 35 * pi/180)

#define IRLOCK_TAN_ANG_PER_PIXEL_X	(2*IRLOCK_TAN_HALF_FOV_X/IRLOCK_RES_X)
#define IRLOCK_TAN_ANG_PER_PIXEL_Y	(2*IRLOCK_TAN_HALF_FOV_Y/IRLOCK_RES_Y)

#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

#define IRLOCK_BASE_DEVICE_PATH	"/dev/irlock"
#define IRLOCK0_DEVICE_PATH	"/dev/irlock0"

#define IRLOCK_OBJECTS_MAX	5	/** up to 5 objects can be detected/reported **/

struct irlock_target_s {
	uint16_t signature;	/** target signature **/
	float pos_x;	/** x-axis distance from center of image to center of target in units of tan(theta) **/
	float pos_y;	/** y-axis distance from center of image to center of target in units of tan(theta) **/
	float size_x;	/** size of target along x-axis in units of tan(theta) **/
	float size_y;	/** size of target along y-axis in units of tan(theta) **/
};

/** irlock_s structure returned from read calls **/
struct irlock_s {
	uint64_t timestamp; /** microseconds since system start **/
	uint8_t num_targets;
	struct irlock_target_s targets[IRLOCK_OBJECTS_MAX];
};

class IRLOCK : public device::I2C
{
public:
	IRLOCK(int bus = IRLOCK_I2C_BUS, int address = IRLOCK_I2C_ADDRESS);
	virtual ~IRLOCK();

	virtual int init();
	virtual int probe();
	virtual int info();
	virtual int test();

	virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);

private:

	/** start periodic reads from sensor **/
	void 		start();

	/** stop periodic reads from sensor **/
	void 		stop();

	/** static function that is called by worker queue, arg will be pointer to instance of this class **/
	static void	cycle_trampoline(void *arg);

	/** read from device and schedule next read **/
	void		cycle();

	/** low level communication with sensor **/
	int 		read_device();
	bool 		sync_device();
	int 		read_device_word(uint16_t *word);
	int 		read_device_block(struct irlock_target_s *block);

	/** internal variables **/
	ringbuffer::RingBuffer *_reports;
	bool _sensor_ok;
	work_s _work;
	uint32_t _read_failures;

	int _orb_class_instance;
	orb_advert_t _irlock_report_topic;
};

/** global pointer for single IRLOCK sensor **/
namespace
{
IRLOCK *g_irlock = nullptr;
}

void irlock_usage();

extern "C" __EXPORT int irlock_main(int argc, char *argv[]);

/** constructor **/
IRLOCK::IRLOCK(int bus, int address) :
	I2C("irlock", IRLOCK0_DEVICE_PATH, bus, address, 400000),
	_reports(nullptr),
	_sensor_ok(false),
	_read_failures(0),
	_orb_class_instance(-1),
	_irlock_report_topic(nullptr)
{
	memset(&_work, 0, sizeof(_work));
}

/** destructor **/
IRLOCK::~IRLOCK()
{
	stop();

	/** clear reports queue **/
	if (_reports != nullptr) {
		delete _reports;
	}
}

/** initialise driver to communicate with sensor **/
int IRLOCK::init()
{
	/** initialise I2C bus **/
	int ret = I2C::init();

	if (ret != OK) {
		return ret;
	}

	/** allocate buffer storing values read from sensor **/
	_reports = new ringbuffer::RingBuffer(2, sizeof(struct irlock_s));

	if (_reports == nullptr) {
		return ENOTTY;

	} else {
		_sensor_ok = true;
		/** start work queue **/
		start();
		return OK;
	}
}

/** probe the device is on the I2C bus **/
int IRLOCK::probe()
{
	/*
	 * IRLock defaults to sending 0x00 when there is no block
	 * data to return, so really all we can do is check to make
	 * sure a transfer completes successfully.
	 **/
	uint8_t byte;

	if (transfer(nullptr, 0, &byte, 1) != OK) {
		return -EIO;
	}

	return OK;
}

/** display driver info **/
int IRLOCK::info()
{
	if (g_irlock == nullptr) {
		errx(1, "irlock device driver is not running");
	}

	/** display reports in queue **/
	if (_sensor_ok) {
		_reports->print_info("report queue: ");
		warnx("read errors:%lu", (unsigned long)_read_failures);

	} else {
		warnx("sensor is not healthy");
	}

	return OK;
}

/** test driver **/
int IRLOCK::test()
{
	/** exit immediately if driver not running **/
	if (g_irlock == nullptr) {
		errx(1, "irlock device driver is not running");
	}

	/** exit immediately if sensor is not healty **/
	if (!_sensor_ok) {
		errx(1, "sensor is not healthy");
	}

	/** instructions to user **/
	warnx("searching for object for 10 seconds");

	/** read from sensor for 10 seconds **/
	struct irlock_s report;
	uint64_t start_time = hrt_absolute_time();

	while ((hrt_absolute_time() - start_time) < 10000000) {
		if (_reports->get(&report)) {
			/** output all objects found **/
			for (uint8_t i = 0; i < report.num_targets; i++) {
				warnx("sig:%d x:%4.3f y:%4.3f width:%4.3f height:%4.3f",
				      (int)report.targets[i].signature,
				      (double)report.targets[i].pos_x,
				      (double)report.targets[i].pos_y,
				      (double)report.targets[i].size_x,
				      (double)report.targets[i].size_y);
			}
		}

		/** sleep for 0.05 seconds **/
		usleep(50000);
	}

	return OK;
}

/** start periodic reads from sensor **/
void IRLOCK::start()
{
	/** flush ring and reset state machine **/
	_reports->flush();

	/** start work queue cycle **/
	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, 1);
}

/** stop periodic reads from sensor **/
void IRLOCK::stop()
{
	work_cancel(HPWORK, &_work);
}

void IRLOCK::cycle_trampoline(void *arg)
{
	IRLOCK *device = (IRLOCK *)arg;

	/** check global irlock reference and cycle **/
	if (g_irlock != nullptr) {
		device->cycle();
	}
}

void IRLOCK::cycle()
{
	/** ignoring failure, if we do, we will be back again right away... **/
	read_device();

	/** schedule the next cycle **/
	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, USEC2TICK(IRLOCK_CONVERSION_INTERVAL_US));
}

ssize_t IRLOCK::read(struct file *filp, char *buffer, size_t buflen)
{
	unsigned count = buflen / sizeof(struct irlock_s);
	struct irlock_s *rbuf = reinterpret_cast<struct irlock_s *>(buffer);
	int ret = 0;

	if (count < 1) {
		return -ENOSPC;
	}

	/** try to read **/
	while (count--) {
		if (_reports->get(rbuf)) {
			ret += sizeof(*rbuf);
			++rbuf;
		}
	}

	return ret ? ret : -EAGAIN;

	return ret;
}

/** sync device to ensure reading starts at new frame*/
bool IRLOCK::sync_device()
{
	uint8_t sync_byte;
	uint16_t sync_word;

	if (read_device_word(&sync_word) != OK) {
		return false;
	}

	if (sync_word == IRLOCK_RESYNC) {
		transfer(nullptr, 0, &sync_byte, 1);

		if (sync_byte == IRLOCK_ADJUST) {
			return true;
		}

	} else if (sync_word == IRLOCK_SYNC) {
		return true;
	}

	return false;
}

/** read all available frames from sensor **/
int IRLOCK::read_device()
{
	/** if we sync, then we are starting a new frame, else fail **/
	if (!sync_device()) {
		return -ENOTTY;
	}

	struct irlock_s report;

	report.timestamp = hrt_absolute_time();

	report.num_targets = 0;

	while (report.num_targets < IRLOCK_OBJECTS_MAX) {
		if (!sync_device() || read_device_block(&report.targets[report.num_targets]) != OK) {
			break;
		}

		report.num_targets++;
	}

	_reports->force(&report);

	// publish over uORB
	if (report.num_targets > 0) {
		struct irlock_report_s orb_report;

		orb_report.timestamp = report.timestamp;
		orb_report.signature = report.targets[0].signature;
		orb_report.pos_x     = report.targets[0].pos_x;
		orb_report.pos_y     = report.targets[0].pos_y;
		orb_report.size_x    = report.targets[0].size_x;
		orb_report.size_y    = report.targets[0].size_y;

		if (_irlock_report_topic != nullptr) {
			orb_publish(ORB_ID(irlock_report), _irlock_report_topic, &orb_report);

		} else {
			_irlock_report_topic = orb_advertise_multi(ORB_ID(irlock_report), &orb_report, &_orb_class_instance, ORB_PRIO_LOW);

			if (_irlock_report_topic == nullptr) {
				DEVICE_LOG("failed to create irlock_report object. Did you start uOrb?");
			}
		}
	}

	return OK;
}

/** read a word (two bytes) from sensor **/
int IRLOCK::read_device_word(uint16_t *word)
{
	uint8_t bytes[2];
	memset(bytes, 0, sizeof bytes);

	int status = transfer(nullptr, 0, &bytes[0], 2);
	*word = bytes[1] << 8 | bytes[0];

	return status;
}

/** read a single block (a full frame) from sensor **/
int IRLOCK::read_device_block(struct irlock_target_s *block)
{
	uint8_t bytes[12];
	memset(bytes, 0, sizeof bytes);

	int status = transfer(nullptr, 0, &bytes[0], 12);
	uint16_t checksum = bytes[1] << 8 | bytes[0];
	uint16_t signature = bytes[3] << 8 | bytes[2];
	uint16_t pixel_x = bytes[5] << 8 | bytes[4];
	uint16_t pixel_y = bytes[7] << 8 | bytes[6];
	uint16_t pixel_size_x = bytes[9] << 8 | bytes[8];
	uint16_t pixel_size_y = bytes[11] << 8 | bytes[10];

	/** crc check **/
	if (signature + pixel_x + pixel_y + pixel_size_x + pixel_size_y != checksum) {
		_read_failures++;
		return -EIO;
	}

	/** convert to angles **/
	block->signature = signature;
	block->pos_x = (pixel_x - IRLOCK_CENTER_X) * IRLOCK_TAN_ANG_PER_PIXEL_X;
	block->pos_y = (pixel_y - IRLOCK_CENTER_Y) * IRLOCK_TAN_ANG_PER_PIXEL_Y;
	block->size_x = pixel_size_x * IRLOCK_TAN_ANG_PER_PIXEL_X;
	block->size_y = pixel_size_y * IRLOCK_TAN_ANG_PER_PIXEL_Y;
	return status;
}

void irlock_usage()
{
	warnx("missing command: try 'start', 'stop', 'info', 'test'");
	warnx("options:");
	warnx("    -b i2cbus (%d)", IRLOCK_I2C_BUS);
}

int irlock_main(int argc, char *argv[])
{
	int i2cdevice = IRLOCK_I2C_BUS;

	int ch;
	int myoptind = 1;
	const char *myoptarg = nullptr;

	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {
		case 'b':
			i2cdevice = (uint8_t)atoi(myoptarg);
			break;

		default:
			PX4_WARN("Unknown option!");
			return -1;
		}
	}

	if (myoptind >= argc) {
		irlock_usage();
		exit(1);
	}

	const char *command = argv[myoptind];

	/** start driver **/
	if (!strcmp(command, "start")) {
		if (g_irlock != nullptr) {
			errx(1, "driver has already been started");
		}

		/** instantiate global instance **/
		g_irlock = new IRLOCK(i2cdevice, IRLOCK_I2C_ADDRESS);

		if (g_irlock == nullptr) {
			errx(1, "failed to allocated memory for driver");
		}

		/** initialise global instance **/
		if (g_irlock->init() != OK) {
			IRLOCK *tmp_irlock = g_irlock;
			g_irlock = nullptr;
			delete tmp_irlock;
			errx(1, "failed to initialize device, stopping driver");
		}

		exit(0);
	}

	/** need the driver past this point **/
	if (g_irlock == nullptr) {
		warnx("not started");
		irlock_usage();
		exit(1);
	}

	/** stop the driver **/
	if (!strcmp(command, "stop")) {
		IRLOCK *tmp_irlock = g_irlock;
		g_irlock = nullptr;
		delete tmp_irlock;
		warnx("irlock stopped");
		exit(OK);
	}

	/** Print driver information **/
	if (!strcmp(command, "info")) {
		g_irlock->info();
		exit(OK);
	}

	/** test driver **/
	if (!strcmp(command, "test")) {
		g_irlock->test();
		exit(OK);
	}

	/** display usage info **/
	irlock_usage();
	exit(0);
}