///////////////////////////////////////
/// 640x480 version!
/// test VGA with hardware video input copy to VGA
///////////////////////////////////////
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/ipc.h> 
#include <sys/shm.h> 
#include <sys/mman.h>
#include <sys/time.h> 
#include "address_map_arm_brl4.h"


/* function prototypes */
void VGA_text (int, int, char *);
void VGA_text_clear();
void VGA_box (int, int, int, int, short);
void VGA_line(int, int, int, int, short) ;
void VGA_disc (int, int, int, short);
int  VGA_read_pixel(int, int) ;
int  video_in_read_pixel(int, int);
void draw_delay(void) ;


// the light weight buss base
void *h2p_lw_virtual_base;
volatile unsigned int *h2p_lw_video_in_control_addr=NULL;
volatile unsigned int *h2p_lw_video_in_resolution_addr=NULL;
//volatile unsigned int *h2p_lw_video_in_control_addr=NULL;
//volatile unsigned int *h2p_lw_video_in_control_addr=NULL;

volatile unsigned int *h2p_lw_video_edge_control_addr=NULL;

// pixel buffer
volatile unsigned int * vga_pixel_ptr = NULL ;
void *vga_pixel_virtual_base;

// video input buffer
volatile unsigned int * video_in_ptr = NULL ;
void *video_in_virtual_base;

// character buffer
volatile unsigned int * vga_char_ptr = NULL ;
void *vga_char_virtual_base;

// /dev/mem file id
int fd;

// shared memory 
key_t mem_key=0xf0;
int shared_mem_id; 
int *shared_ptr;
int shared_time;
int shared_note;
char shared_str[64];

// pixel macro
#define VGA_PIXEL(x,y,color) do{\
	char  *pixel_ptr ;\
	pixel_ptr = (char *)vga_pixel_ptr + ((y)<<10) + (x) ;\
	*(char *)pixel_ptr = (color);\
} while(0)
	
#define VIDEO_IN_PIXEL(x,y,color) do{\
	char  *pixel_ptr ;\
	pixel_ptr = (char *)video_in_ptr + ((y)<<9) + (x) ;\
	*(char *)pixel_ptr = (color);\
} while(0)
	

// measure time
struct timeval t1, t2;
double elapsedTime;
struct timespec delay_time ;
	
int main(void)
{
	delay_time.tv_nsec = 10 ;
	delay_time.tv_sec = 0 ;

	// Declare volatile pointers to I/O registers (volatile 	// means that IO load and store instructions will be used 	// to access these pointer locations, 
	// instead of regular memory loads and stores) 
  	
	// === need to mmap: =======================
	// FPGA_CHAR_BASE
	// FPGA_ONCHIP_BASE      
	// HW_REGS_BASE        
  
	// === get FPGA addresses ==================
    // Open /dev/mem
	if( ( fd = open( "/dev/mem", ( O_RDWR | O_SYNC ) ) ) == -1 ) 	{
		printf( "ERROR: could not open \"/dev/mem\"...\n" );
		return( 1 );
	}
    
    // get virtual addr that maps to physical
	h2p_lw_virtual_base = mmap( NULL, HW_REGS_SPAN, ( PROT_READ | PROT_WRITE ), MAP_SHARED, fd, HW_REGS_BASE );	
	if( h2p_lw_virtual_base == MAP_FAILED ) {
		printf( "ERROR: mmap1() failed...\n" );
		close( fd );
		return(1);
	}
    h2p_lw_video_in_control_addr=(volatile unsigned int *)(h2p_lw_virtual_base+VIDEO_IN_BASE+0x0c);
	h2p_lw_video_in_resolution_addr=(volatile unsigned int *)(h2p_lw_virtual_base+VIDEO_IN_BASE+0x08);
	*(h2p_lw_video_in_control_addr) = 0x04 ; // turn on video capture
	*(h2p_lw_video_in_resolution_addr) = 0x00f00140 ;  // high 240 low 320
	h2p_lw_video_edge_control_addr=(volatile unsigned int *)(h2p_lw_virtual_base+VIDEO_IN_BASE+0x10);
	*h2p_lw_video_edge_control_addr = 0x01 ; // 1 means edges
	*h2p_lw_video_edge_control_addr = 0x00 ; // 1 means edges
	
	// === get VGA char addr =====================
	// get virtual addr that maps to physical
	vga_char_virtual_base = mmap( NULL, FPGA_CHAR_SPAN, ( PROT_READ | PROT_WRITE ), MAP_SHARED, fd, FPGA_CHAR_BASE );	
	if( vga_char_virtual_base == MAP_FAILED ) {
		printf( "ERROR: mmap2() failed...\n" );
		close( fd );
		return(1);
	}
    
    // Get the address that maps to the character 
	vga_char_ptr =(unsigned int *)(vga_char_virtual_base);

	// === get VGA pixel addr ====================
	// get virtual addr that maps to physical
	// SDRAM
	vga_pixel_virtual_base = mmap( NULL, FPGA_ONCHIP_SPAN, ( PROT_READ | PROT_WRITE ), MAP_SHARED, fd, SDRAM_BASE); //SDRAM_BASE	
	
	if( vga_pixel_virtual_base == MAP_FAILED ) {
		printf( "ERROR: mmap3() failed...\n" );
		close( fd );
		return(1);
	}
    // Get the address that maps to the FPGA pixel buffer
	vga_pixel_ptr =(unsigned int *)(vga_pixel_virtual_base);
	
	
	// === get video input =======================
	// on-chip RAM
	video_in_virtual_base = mmap( NULL, FPGA_ONCHIP_SPAN, ( PROT_READ | PROT_WRITE ), MAP_SHARED, fd, FPGA_ONCHIP_BASE); 
	if( video_in_virtual_base == MAP_FAILED ) {
		printf( "ERROR: mmap3() failed...\n" );
		close( fd );
		return(1);
	}
	// format the pointer
	video_in_ptr =(unsigned int *)(video_in_virtual_base);
	
	// ===========================================

	/* create a message to be displayed on the VGA 
          and LCD displays */
	char text_top_row[40] = "DE1-SoC ARM/FPGA\0";
	char text_bottom_row[40] = "Cornell ece5760\0";
	char num_string[20], time_string[50] ;
	
	// a pixel from the video
	int pixel_color;
	// video input index
	int i,j;
	
	// clear the screen
	VGA_box (0, 0, 639, 479, 0x03);
	// clear the text
	VGA_text_clear();
	VGA_text (1, 56, text_top_row);
	VGA_text (1, 57, text_bottom_row);
	
	// start timer
    //gettimeofday(&t1, NULL);
	
	
	while(1) 
	{
		gettimeofday(&t1, NULL);
		 
		// note that this version of VGA_disk
		// has THROTTLED pixel write
		VGA_disc((rand()&0x3ff), (rand()&0x1ff), rand()&0x3f, rand()&0xff) ;
		
		// software copy test.
		// in production, hardware does the copy
		// put a few  pixel in input buffer
		 //VIDEO_IN_PIXEL(160,120,0xff);
		 //VIDEO_IN_PIXEL(0,0,0xff);
		 //VIDEO_IN_PIXEL(319,239,0xff);
		 //VIDEO_IN_PIXEL(300,200,0xff);
		
		// read/write video input -- copy to VGA display
		// for (i=0; i<320; i++) {
			// for (j=0; j<240; j++) {
				// pixel_color = video_in_read_pixel(i,j);
				// VGA_PIXEL(i+100,j+50,pixel_color);
			// }
		// }
		
		// stop timer
		 gettimeofday(&t2, NULL);
		 elapsedTime = (t2.tv_sec - t1.tv_sec) * 1000.0;      // sec to ms
		 elapsedTime += (t2.tv_usec - t1.tv_usec) / 1000.0;   // us to ms
		 pixel_color = VGA_read_pixel(160,120);
		 sprintf(time_string, "T=%3.0fmS  color=%x    ", elapsedTime, pixel_color);
		// VGA_text (10, 3, num_string);
		 VGA_text (1, 58, time_string);
		
	} // end while(1)
} // end main

/****************************************************************************************
 * Subroutine to read a pixel from the video input 
****************************************************************************************/
int  video_in_read_pixel(int x, int y){
	char  *pixel_ptr ;
	pixel_ptr = (char *)video_in_ptr + ((y)<<9) + (x) ;
	return *pixel_ptr ;
}

/****************************************************************************************
 * Subroutine to read a pixel from the VGA monitor 
****************************************************************************************/
int  VGA_read_pixel(int x, int y){
	char  *pixel_ptr ;
	pixel_ptr = (char *)vga_pixel_ptr + ((y)<<10) + (x) ;
	return *pixel_ptr ;
}

/****************************************************************************************
 * Subroutine to send a string of text to the VGA monitor 
****************************************************************************************/
void VGA_text(int x, int y, char * text_ptr)
{
  	volatile char * character_buffer = (char *) vga_char_ptr ;	// VGA character buffer
	int offset;
	/* assume that the text string fits on one line */
	offset = (y << 7) + x;
	while ( *(text_ptr) )
	{
		// write to the character buffer
		*(character_buffer + offset) = *(text_ptr);	
		++text_ptr;
		++offset;
	}
}

/****************************************************************************************
 * Subroutine to clear text to the VGA monitor 
****************************************************************************************/
void VGA_text_clear()
{
  	volatile char * character_buffer = (char *) vga_char_ptr ;	// VGA character buffer
	int offset, x, y;
	for (x=0; x<79; x++){
		for (y=0; y<59; y++){
	/* assume that the text string fits on one line */
			offset = (y << 7) + x;
			// write to the character buffer
			*(character_buffer + offset) = ' ';		
		}
	}
}

/****************************************************************************************
 * Draw a filled rectangle on the VGA monitor 
****************************************************************************************/
#define SWAP(X,Y) do{int temp=X; X=Y; Y=temp;}while(0) 

void VGA_box(int x1, int y1, int x2, int y2, short pixel_color)
{
	char  *pixel_ptr ; 
	int row, col;

	/* check and fix box coordinates to be valid */
	if (x1>639) x1 = 639;
	if (y1>479) y1 = 479;
	if (x2>639) x2 = 639;
	if (y2>479) y2 = 479;
	if (x1<0) x1 = 0;
	if (y1<0) y1 = 0;
	if (x2<0) x2 = 0;
	if (y2<0) y2 = 0;
	if (x1>x2) SWAP(x1,x2);
	if (y1>y2) SWAP(y1,y2);
	for (row = y1; row <= y2; row++)
		for (col = x1; col <= x2; ++col)
		{
			//640x480
			pixel_ptr = (char *)vga_pixel_ptr + (row<<10)    + col ;
			// set pixel color
			*(char *)pixel_ptr = pixel_color;		
		}
}

/****************************************************************************************
 * Draw a filled circle on the VGA monitor 
****************************************************************************************/

void VGA_disc(int x, int y, int r, short pixel_color)
{
	char  *pixel_ptr ; 
	int row, col, rsqr, xc, yc;
	
	rsqr = r*r;
	
	for (yc = -r; yc <= r; yc++)
		for (xc = -r; xc <= r; xc++)
		{
			col = xc;
			row = yc;
			// add the r to make the edge smoother
			if(col*col+row*row <= rsqr+r){
				col += x; // add the center point
				row += y; // add the center point
				//check for valid 640x480
				if (col>639) col = 639;
				if (row>479) row = 479;
				if (col<0) col = 0;
				if (row<0) row = 0;
				pixel_ptr = (char *)vga_pixel_ptr + (row<<10) + col ;
				// set pixel color
				//nanosleep(&delay_time, NULL);
				draw_delay();
				*(char *)pixel_ptr = pixel_color;
			}
					
		}
}

// =============================================
// === Draw a line
// =============================================
//plot a line 
//at x1,y1 to x2,y2 with color 
//Code is from David Rodgers,
//"Procedural Elements of Computer Graphics",1985
void VGA_line(int x1, int y1, int x2, int y2, short c) {
	int e;
	signed int dx,dy,j, temp;
	signed int s1,s2, xchange;
     signed int x,y;
	char *pixel_ptr ;
	
	/* check and fix line coordinates to be valid */
	if (x1>639) x1 = 639;
	if (y1>479) y1 = 479;
	if (x2>639) x2 = 639;
	if (y2>479) y2 = 479;
	if (x1<0) x1 = 0;
	if (y1<0) y1 = 0;
	if (x2<0) x2 = 0;
	if (y2<0) y2 = 0;
        
	x = x1;
	y = y1;
	
	//take absolute value
	if (x2 < x1) {
		dx = x1 - x2;
		s1 = -1;
	}

	else if (x2 == x1) {
		dx = 0;
		s1 = 0;
	}

	else {
		dx = x2 - x1;
		s1 = 1;
	}

	if (y2 < y1) {
		dy = y1 - y2;
		s2 = -1;
	}

	else if (y2 == y1) {
		dy = 0;
		s2 = 0;
	}

	else {
		dy = y2 - y1;
		s2 = 1;
	}

	xchange = 0;   

	if (dy>dx) {
		temp = dx;
		dx = dy;
		dy = temp;
		xchange = 1;
	} 

	e = ((int)dy<<1) - dx;  
	 
	for (j=0; j<=dx; j++) {
		//video_pt(x,y,c); //640x480
		pixel_ptr = (char *)vga_pixel_ptr + (y<<10)+ x; 
		// set pixel color
		*(char *)pixel_ptr = c;	
		 
		if (e>=0) {
			if (xchange==1) x = x + s1;
			else y = y + s2;
			e = e - ((int)dx<<1);
		}

		if (xchange==1) y = y + s2;
		else x = x + s1;

		e = e + ((int)dy<<1);
	}
}

/////////////////////////////////////////////

#define NOP10() asm("nop;nop;nop;nop;nop;nop;nop;nop;nop;nop")

void draw_delay(void){
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10(); //16
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10(); //32
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10(); //48
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10(); //64
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10();
	NOP10(); NOP10(); NOP10(); NOP10(); //68
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10(); //80
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10();
	// NOP10(); NOP10(); NOP10(); NOP10(); //96
}

/// /// ///////////////////////////////////// 
/// end /////////////////////////////////////