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/* sniff_rvb.c */
/* es - Input/Output general purpose board. {{{
 *
 * Copyright (C) 2006 Dufour J�r�my
 *
 * Robot APB Team/Efrei 2004.
 *        Web: http://assos.efrei.fr/robot/
 *      Email: robot AT efrei DOT fr
 *
 * 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 "sniff_rvb.h"

#include "io.h"
#include "common.h"

#include "sensor_rvb.h"

/** Reference color. */
uint16_t sniff_rvb_reference_color[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
/** Ratio min max */
uint16_t sniff_rvb_reference_color_min[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
uint16_t sniff_rvb_reference_color_max[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX];
/** Ratio for the computing the min/max value from the reference color. */
uint8_t sniff_rvb_ref_ratio_ = 3;

/* test with new robot clothes */
/* ball black/white detection */
uint16_t green_limit_ = 3700;
uint16_t clear_limit_ = 4000;

/** Configure the sensor analysis system. */
void
sniff_rvb_config (uint8_t ref_ratio, uint16_t green_limit,
		  uint16_t clear_limit)
{
    sniff_rvb_ref_ratio_ = ref_ratio;
    green_limit_ = green_limit;
    clear_limit_ = clear_limit;
}

/** Try to reference the sensor_num sensor into the reference color. */
inline uint8_t
sniff_rvb_try_reference (uint8_t sensor_num, uint16_t
			 ref[RVB_MAX_SENSOR][RVB_SNIFF_MAX_INDEX])
{
    uint8_t compt;
    /* If sensor is valid */
    if (sensor_rvb_values[sensor_num][0] < RVB_INVALID_CAPTURE)
      {
	/* For each color add this value by averrage */
	for (compt = 0; compt < RVB_SNIFF_MAX_INDEX; compt++)
	    if (ref[sensor_num][compt] == 0) 
	      {
		ref[sensor_num][compt] =
		    sensor_rvb_values[sensor_num][compt];
	      }
	    else
	      {
		ref[sensor_num][compt] =
		    (sensor_rvb_values[sensor_num][compt] / 2
		     + ref[sensor_num][compt] / 2);
	      }
	return !0;
      }
    return 0;
}

/* test "barillet" black/white */
uint8_t
sniff_rvb_analysis_ball (uint8_t sensor)
{
    /* If sensor is valid */
    if (sensor_rvb_values[sensor][0] < RVB_INVALID_CAPTURE)
      {
	// XXX We can use all four values, and not only two ?
	if ((sensor_rvb_values[sensor][RVB_INDEX_GREEN] > green_limit_)
	    && (sensor_rvb_values[sensor][RVB_INDEX_CLEAR] > clear_limit_))
	    return RVB_SNIFF_BLACK;
	else
	    return RVB_SNIFF_WHITE;
      }
    return 0;
}

/* Test blue or red */
uint8_t 
sniff_rvb_analysis_color_other (uint8_t sensor, uint8_t color)
{
    uint8_t what_is_it = RVB_SNIFF_OTHER;
    if (color == RVB_SNIFF_BLUE)
       {
	    if (sensor_rvb_values[sensor][RVB_INDEX_CLEAR] < sniff_rvb_reference_color[sensor][RVB_INDEX_CLEAR])
	    what_is_it = RVB_SNIFF_BLUE;
       }
    else if (color == RVB_SNIFF_RED)
      {
	if ((sensor_rvb_values[sensor][RVB_INDEX_RED] < sniff_rvb_reference_color[sensor][RVB_INDEX_RED])
	    && (sensor_rvb_values[sensor][RVB_INDEX_CLEAR] > sniff_rvb_reference_color[sensor][RVB_INDEX_CLEAR])
	    && (sensor_rvb_values[sensor][RVB_INDEX_GREEN] > sniff_rvb_reference_color[sensor][RVB_INDEX_GREEN]))
	    what_is_it = RVB_SNIFF_RED;
      }
    return what_is_it;
}

/** Analysis a color */
uint8_t
sniff_rvb_analysis_color (uint8_t sensor, uint8_t mode)
{
    uint8_t compt, what_is_it = RVB_SNIFF_GREEN;
    /* test for green */
    for (compt = 0; compt < RVB_SNIFF_MAX_INDEX; compt++)
      {
	if ((sensor_rvb_values[sensor][compt] < sniff_rvb_reference_color_min[sensor][compt]) 
	    || (sensor_rvb_values[sensor][compt] > sniff_rvb_reference_color_max[sensor][compt]))
	  {
	    what_is_it = RVB_SNIFF_OTHER;
	    break;
	  }
      }
    
    if ((what_is_it == RVB_SNIFF_GREEN) || (mode == RVB_SNIFF_ONLY_GREEN))
	return what_is_it;
    
    /* test for red */
    if (sniff_rvb_analysis_color_other (sensor, RVB_SNIFF_RED)
	== RVB_SNIFF_RED)
      {
	what_is_it = RVB_SNIFF_RED;
	return what_is_it;
      }
    /* test for blue */
    if (sniff_rvb_analysis_color_other (sensor, RVB_SNIFF_BLUE)
	== RVB_SNIFF_BLUE)
      {
	what_is_it = RVB_SNIFF_BLUE;
	return what_is_it;
      }
    /* else other */
    return RVB_SNIFF_OTHER;
}


/* sub function of sniff_rvb_set_ref_color */
void
sniff_rvb_set_ref_color_green (uint8_t sensor)
{
    uint8_t compt;
    if (sniff_rvb_try_reference (sensor, sniff_rvb_reference_color))
	for (compt = 0; compt < RVB_SNIFF_MAX_INDEX; compt++)
	  {
	    sniff_rvb_reference_color_min[sensor][compt] =
		sniff_rvb_reference_color[sensor][compt] -
		(sniff_rvb_reference_color[sensor][compt] / sniff_rvb_ref_ratio_);
	    sniff_rvb_reference_color_max[sensor][compt] =
		sniff_rvb_reference_color[sensor][compt] +
		(sniff_rvb_reference_color[sensor][compt] / sniff_rvb_ref_ratio_);
	  }
}

/** Set the current color seen by some sensors as the reference color
 * and do some cache creation for preventing useless computing. */
void
sniff_rvb_set_ref_color (uint8_t sensor, uint8_t color)
{
    switch (color) 
      {
      case RVB_SNIFF_GREEN:
	sniff_rvb_set_ref_color_green (sensor);
	break;
      case RVB_SNIFF_RED:
      case RVB_SNIFF_BLUE:
	break;
      }
}