[iot/goam] Cleaned up ptc06 implementation

3 files changed, 111 insertions, 230 deletions

diff --git a/Year 3/Internet of things/goam/main/main.c b/Year 3/Internet of things/goam/main/main.c
index 5e8e49f..0903ff5 100644
--- a/Year 3/Internet of things/goam/main/main.c
+++ b/Year 3/Internet of things/goam/main/main.c
@@ -76,7 +76,7 @@ void app_main(void)
 
 	ptc06_init();
 	char* image;
-	size_t length = ptc06_shoot_photo(&image);
+	size_t length = ptc06_get_image(&image);
 	for (int i = 0; i < length; i++) {
 		printf("%d ", image[i]);
 		if (i % 12 == 0)
diff --git a/Year 3/Internet of things/goam/main/ptc06.c b/Year 3/Internet of things/goam/main/ptc06.c
index c73227a..60a12fc 100644
--- a/Year 3/Internet of things/goam/main/ptc06.c
+++ b/Year 3/Internet of things/goam/main/ptc06.c
@@ -7,8 +7,44 @@
 #include "ptc06.h"
 #include <string.h>
 
+/*
+ * Helpers
+ */
+
+static void append(char* container, const char* data, size_t dataLen) {
+	for (size_t i = 0; i < dataLen; i++)
+		container[i] = data[i];
+}
+
+static size_t arr2ToNum(const char arr[2]) {
+	return (arr[0] << 8) | arr[1];
+}
+
+static size_t arr4ToNum(const char arr[4]) {
+	return (arr2ToNum(arr) << 16) | arr2ToNum(arr+2);
+}
+
+#define min(a, b) (a < b) ? (a) : (b)
 #define wait(milliseconds) vTaskDelay(milliseconds / portTICK_PERIOD_MS);
 
+/*
+ * Logging
+ */
+
+static const char* TAG = "ptc06";
+
+static void debug_print(const char* prepend, char* message, size_t size) {
+	printf("%s: ", prepend);
+	for (int i = 0; i < size; i++) {
+		printf("%X ", message[i]);
+	}
+	printf("\n");
+}
+
+/*
+ * UART settings
+ */
+
 #define UART_NUM UART_NUM_2
 #define UART_TX  17
 #define UART_RX  16
@@ -17,49 +53,8 @@
 // Setup UART buffered IO with event queue
 static QueueHandle_t uart_queue;
 #define QUEUE_SIZE 10
-static size_t serial_num = 0x00;
-
-static const char* TAG = "ptc06";
-
-#define VARP 0xFA
-static const char comm_reset[]        = { 0x56, 0x00, 0x26, 0x00 };
-static const char resp_reset[]        = { 0x76, 0x00, 0x26, 0x00 };
-static const char comm_capture[]      = { 0x56, 0x00, 0x36, 0x01, 0x00 };
-static const char resp_capture[]      = { 0x76, 0x00, 0x36, 0x00, 0x00 };
-static const char comm_data_len[]     = { 0x56, 0x00, 0x34, 0x01, 0x00 };
-static const char resp_data_len[]     = { 0x76, 0x00, 0x34, 0x00, 0x04, 0x00, 0x00, VARP, VARP };
-static const char comm_read_data[]    = { 0x56, 0x00, 0x32, 0x0C, 0x00, 0x0F, 0x00, 0x00, VARP, VARP, 0x00, 0x00, VARP, VARP, 0x30, 0x00 };
-static const char resp_read_data[]    = { 0x76, 0x00, 0x32, 0x00, 0x00 };
-static const char comm_stop_cap[]     = { 0x56, 0x00, 0x36, 0x01, 0x03 };
-static const char resp_stop_cap[]     = { 0x76, 0x00, 0x36, 0x00, 0x00 };
-static const char comm_set_compress[] = { 0x56, 0x00, 0x31, 0x05, 0x01, 0x01, 0x12, 0x04, VARP };
-static const char resp_set_compress[] = { 0x76, 0x00, 0x31, 0x00, 0x00 };
-static const char comm_set_res[]      = { 0x56, 0x00, 0x31, 0x05, 0x04, 0x01, 0x00, 0x19, VARP };
-static const char resp_set_res[]      = { 0x76, 0x00, 0x31, 0x00, 0x00 };
-/* static const char comm_set_baud[] = { 0x56, 0x00, 0x31, 0x06, 0x04, 0x02, 0x00, 0x08, VARP, VARP }; */
-/* static const char resp_set_baud[] = { 0x76, 0x00, 0x31, 0x00 }; */
 
-static size_t size(const char* a) {
-	if (a == comm_reset       ) return 4;
-	if (a == resp_reset       ) return 4;
-	if (a == comm_capture     ) return 5;
-	if (a == resp_capture     ) return 5;
-	if (a == comm_data_len    ) return 5;
-	if (a == resp_data_len    ) return 9;
-	if (a == comm_read_data   ) return 16;
-	if (a == resp_read_data   ) return 5;
-	if (a == comm_stop_cap    ) return 5;
-	if (a == resp_stop_cap    ) return 5;
-	if (a == comm_set_compress) return 9;
-	if (a == resp_set_compress) return 5;
-	if (a == comm_set_res     ) return 9;
-	if (a == resp_set_res     ) return 5;
-	return 0;
-}
-
-/*
- * UART settings
- */
+static size_t serial_num = 0x00;
 
 static void init_uart() {
 	// HS_UART
@@ -94,23 +89,19 @@ static void dynamic_flush_uart() {
 	}
 }
 
-static void fully_flush_uart() {
-	dynamic_flush_uart();
-}
-
 /*
  * Camera special
  */
 
 static void init_camera() {
-	vTaskDelay(2500 / portTICK_PERIOD_MS);
+	wait(2500);
 }
 
 /*
- * UART communiction
+ * Generic UART communiction
  */
 
-static enum COMMAND {
+enum Command {
 	GEN_VERSION = 0x11,
 	SYSTEM_RESET = 0x26,
 	READ_FBUF = 0x32,
@@ -118,30 +109,22 @@ static enum COMMAND {
 	FBUF_CTRL = 0x36
 };
 
-void debug_print(const char* prepend, char* message, size_t size) {
-	printf("%s: ", prepend);
-	for (int i = 0; i < size; i++) {
-		printf("%X ", message[i]);
-	}
-	printf("\n");
-}
-
-static void send(enum COMMAND comm_byte, char data_lengths, char data[16]) {
+static void send(enum Command comm_byte, const char data_lengths, char data[16]) {
 	char command[20] = { 0x56, serial_num, comm_byte, data_lengths, };
-	for (int i = 0; i < data_lengths; i++)
-		command[4 + i] = data[i];
-	debug_print("send", command, 4+data_lengths);
+	append(command + 4, data, data_lengths);
+
+	debug_print("sent", command, 4+data_lengths);
 
 	uart_write_bytes(UART_NUM, command, 4 + data_lengths);
 	ESP_ERROR_CHECK(uart_wait_tx_done(UART_NUM, 100));
 }
 
-#define byte_check(varname, compare) esp_err_t varname = (compare) ? ESP_OK : ESP_ERR_INVALID_RESPONSE; \
-	ESP_ERROR_CHECK(varname);
+#define byte_check(varname, compare) esp_err_t varname = (compare) ? ESP_OK : ESP_ERR_INVALID_RESPONSE; ESP_ERROR_CHECK(varname);
 
-static void recv(enum COMMAND comm_byte, char expectedDataSize, char ack[21]) {
+static void recv(enum Command comm_byte, const char expectedDataSize, char ack[21]) {
 	uart_read_bytes(UART_NUM, ack, 5 + expectedDataSize, 100);
 	ESP_ERROR_CHECK(uart_wait_tx_done(UART_NUM, 100));
+
 	debug_print("recv", ack, 5+expectedDataSize);
 
 	byte_check(BAD_RETURN_SIGN,    ack[0] == 0x76);
@@ -157,58 +140,56 @@ static void recv(enum COMMAND comm_byte, char expectedDataSize, char ack[21]) {
 
 static char temp_ack[21], temp_data[16];
 
-void ptc06_system_reset() {
-	dynamic_flush_uart(); // ignore "basic configuration information"
+static void vc0706_system_reset() {
+	dynamic_flush_uart();
 	send(SYSTEM_RESET, 0, NULL);
 	recv(SYSTEM_RESET, 0, temp_ack);
 	wait(20);
 	dynamic_flush_uart(); // ignore "basic configuration information"
 }
 
-enum control_flag {
-	stop_current_frame = 0,
-	stop_next_frame = 1,
-	resume_frame = 2,
-	step_frame = 3
+enum ControlFlag {
+	STOP_CURRENT_FRAME = 0,
+	STOP_NEXT_FRAME    = 1,
+	RESUME_FRAME       = 2,
+	STEP_FRAME         = 3
 };
-void ptc06_fbuf_ctrl(enum control_flag cf_byte) {
+
+static void vc0706_fbuf_ctrl(enum ControlFlag cf_byte) {
 	temp_data[0] = cf_byte;
 	send(FBUF_CTRL, 0x01, temp_data);
 	recv(FBUF_CTRL, 0, temp_ack);
 }
 
-enum fbuf_type {
-	current_frame = 0,
-	next_frame = 1
+enum FBufType {
+	CURRENT_FRAME = 0,
+	NEXT_FRAME    = 1
 };
-void ptc06_get_fbuf_len(enum fbuf_type type_byte) {
-	temp_data[0] = type_byte;
+
+static void vc0706_get_fbuf_len(enum FBufType fbt_byte) {
+	temp_data[0] = fbt_byte;
 	send(GET_FBUF_LEN, 0x01, temp_data);
 	recv(GET_FBUF_LEN, 4, temp_ack);
 }
 
-#define min(a, b) (a < b) ? (a) : (b)
-
-enum control_mode {
-	mcu = 0xFE,
-	dma = 0x0A
+enum ControlMode {
+	MCU = 0xFE,
+	DMA = 0x0A
 };
-size_t ptc06_read_fbuf(enum fbuf_type type_byte, enum control_mode cm_byte, char start[4], char data_length[4], char delay[2], char** image) {
-	temp_data[0] = type_byte;
-	temp_data[1] = cm_byte;
-	for (int i = 0; i < 4; i++)
-		temp_data[2+i] = start[i];
-	for (int i = 0; i < 4; i++)
-		temp_data[6+i] = data_length[i];
-	temp_data[10] = delay[0];
-	temp_data[11] = delay[1];
 
-	size_t delayby = (delay[0] << 8) | delay[1];
-	size_t length = (data_length[2] << 8) | data_length[3];
-	printf("%d\n", length);
+static size_t vc0706_read_fbuf(enum FBufType fbt_byte, enum ControlMode cm_byte, const char start[4], const char data_length[4], const char delay[2], char** image) {
+	size_t delayby = arr2ToNum(delay);
+	size_t length  = arr4ToNum(data_length);
+	/* printf("%d\n", length); */
 
 	*image = (char*)malloc(length);
-	memset(*image, 0xFA, length);
+	memset(*image, 0xFA, length); // So it's easily recogniseable if the whole array wasn't filled with anything
+
+	temp_data[0] = fbt_byte;
+	temp_data[1] = cm_byte;
+	append(temp_data +  2, start,       4);
+	append(temp_data +  6, data_length, 4);
+	append(temp_data + 10, delay,       2);
 
 	send(READ_FBUF, 0x0C, temp_data);
 
@@ -219,10 +200,10 @@ size_t ptc06_read_fbuf(enum fbuf_type type_byte, enum control_mode cm_byte, char
 	size_t available = 1;
 	while (current < length) {
 		ESP_ERROR_CHECK(uart_get_buffered_data_len(UART_NUM, &available));
-		size_t old = current;
+		/* size_t old = current; */
 		current += uart_read_bytes(UART_NUM, *image + current, min(available, length - current), 500);
-		debug_print("image", *image + old, current - old);
-		printf("%d %d\n", current, available);
+		/* debug_print("image", *image + old, current - old); */
+		/* printf("%d %d\n", current, available); */
 		ESP_ERROR_CHECK(uart_wait_tx_done(UART_NUM, 500));
 		wait(20);
 	}
@@ -233,96 +214,42 @@ size_t ptc06_read_fbuf(enum fbuf_type type_byte, enum control_mode cm_byte, char
 	return length;
 }
 
+/*
+ * Public interface
+ */
 
+void ptc06_init() {
+	init_uart();
+	init_camera();
+	vc0706_system_reset();
+
+	/* ptc06_set_resolution(); */
+	/* ptc06_set_compressibility(); */
+
+	ESP_LOGI(TAG, "Initialized ptc06 successfully. UART tx: %d, rx: %d", UART_TX, UART_RX);
+}
 
 void ptc06_reset() {
-	ptc06_system_reset();
+	vc0706_system_reset();
 }
 
-size_t ptc06_shoot_photo(char** image) {
-	ptc06_fbuf_ctrl(stop_current_frame);
+size_t ptc06_get_image(char** image) {
+	vc0706_fbuf_ctrl(STOP_CURRENT_FRAME);
 	wait(1000);
-	ptc06_get_fbuf_len(current_frame);
+
+	vc0706_get_fbuf_len(CURRENT_FRAME);
 	char start[4] = { 0x00 };
 	char delay[2] = { 0x30, 0x00 };
-	size_t length = ptc06_read_fbuf(current_frame, dma, start, temp_ack + 5, delay, image);
-	ptc06_fbuf_ctrl(resume_frame);
-	return length;
-}
-
-
-
-
-#include <stdio.h>
+	size_t length = vc0706_read_fbuf(CURRENT_FRAME, DMA, start, temp_ack + 5, delay, image);
 
-static bool resp_eq(const char a[], size_t sizea, const char b[], size_t sizeb) {
-	/* printf("%d\n", sizeof(a)); */
-	if (sizea != sizeb) {
-		return false;
-	}
-
-	for (size_t i = 0; i < sizea; i++) {
-		if (a[i] != VARP && b[i] != VARP && a[i] != b[i])
-			return false;
-	}
-	return true;
-}
-
-static void send_commSIZE(const char comm[], size_t size) {
-	uart_write_bytes(UART_NUM, comm, size);
-	ESP_ERROR_CHECK(uart_wait_tx_done(UART_NUM, 100));
-}
-
-static void send_comm(const char comm[]) {
-	send_commSIZE(comm, size(comm));
+	vc0706_fbuf_ctrl(RESUME_FRAME);
+	return length;
 }
 
-static void send_commVARS(const char comm[], const char vars[]) {
-	size_t commsize = size(comm);
-	char copy[commsize];
-	printf("send: ");
-	size_t varsi = 0;
-	for (size_t i = 0; i < commsize; i++) {
-		if (comm[i] == VARP) {
-			copy[i] = vars[varsi++];
-		}
-		else {
-			copy[i] = comm[i];
-		}
-		printf("%X ", copy[i]);
-	}
-	printf("\n");
-	send_commSIZE(copy, commsize);
-}
 
-static void recv_ackXXYY(const char ack[], char* XX, char* YY) {
-	char data[size(ack)];
-	int read = uart_read_bytes(UART_NUM, data, size(ack), 100);
-	printf("recv: ");
-	for (int i = 0; i < size(ack); i++) {
-		printf("%X ", data[i]);
-	}
-	printf("\n");
 
-	ESP_ERROR_CHECK(read < 0 ? ESP_FAIL : ESP_OK);
-	esp_err_t RESPONSE_WAS_NOT_THE_EXPECTED_ONE = !resp_eq(data, size(ack), ack, size(ack)) ? ESP_ERR_INVALID_STATE : ESP_OK;
-	ESP_ERROR_CHECK(RESPONSE_WAS_NOT_THE_EXPECTED_ONE);
-
-	if (XX) *XX = data[size(ack)-2];
-	if (YY) *YY = data[size(ack)-1];
-}
-
-static void recv_ack(const char ack[]) {
-	recv_ackXXYY(ack, NULL, NULL);
-}
-
-/* void ptc06_reset() { */
-/* 	fully_flush_uart(); */
-/* 	send_comm(comm_reset); */
-/* 	recv_ack(resp_reset); */
-/* 	fully_flush_uart(); */
-/* } */
 
+/*
 static void ptc06_set_resolution() {
 	char res[] = { 0x22 };
 	send_commVARS(comm_set_res, res);
@@ -351,58 +278,12 @@ static void ptc06_read_image_length(char* XX, char* YY) {
 	ESP_LOGI(TAG, "Read length");
 }
 
-static char* ptc06_read_image_data(const char XX, const char YY) {
-	size_t length = (XX << 8) | YY;
-	char* image = (char*)malloc(length * sizeof(char));
-	printf("%d\n", length);
-
-	char vars[] = { 0x00, 0x00, XX, YY };
-	send_commVARS(comm_read_data, vars);
-
-	recv_ack(resp_read_data);
-	/* vTaskDelay(123 / portTICK_PERIOD_MS); */
-
-	int current = 0;
-	size_t available = 1;
-	while (current < length && available > 0) {
-		ESP_ERROR_CHECK(uart_get_buffered_data_len(UART_NUM, &available));
-		current += uart_read_bytes(UART_NUM, image + current, available, 100);
-		vTaskDelay(1 / portTICK_PERIOD_MS);
-	}
-	for (int i = 0; i < 10; i++)
-		printf("%d\n", image[i]);
-	printf("\n");
-
-	recv_ack(resp_read_data);
-	fully_flush_uart();
-
-	ESP_LOGI(TAG, "Read image");
-	return image;
+char* ptc06_shoot_photo() {
+	ptc06_capture();
+	char XX, YY;
+	ptc06_read_image_length(&XX, &YY);
+	char* img = ptc06_read_image_data(XX, YY);
+	ptc06_stop_capture();
+	return img;
 }
-
-static void ptc06_stop_capture() {
-	send_comm(comm_stop_cap);
-	recv_ack(resp_stop_cap);
-	fully_flush_uart();
-	ESP_LOGI(TAG, "Stopped capture");
-}
-
-void ptc06_init() {
-	init_uart();
-	init_camera();
-	ptc06_reset();
-
-	/* ptc06_set_resolution(); */
-	/* ptc06_set_compressibility(); */
-
-	ESP_LOGI(TAG, "Initialized ptc06 successfully. UART tx: %d, rx: %d", UART_TX, UART_RX);
-}
-
-/* char* ptc06_shoot_photo() { */
-/* 	ptc06_capture(); */
-/* 	char XX, YY; */
-/* 	ptc06_read_image_length(&XX, &YY); */
-/* 	char* img = ptc06_read_image_data(XX, YY); */
-/* 	ptc06_stop_capture(); */
-/* 	return img; */
-/* } */
+*/
diff --git a/Year 3/Internet of things/goam/main/ptc06.h b/Year 3/Internet of things/goam/main/ptc06.h
index f9b00cb..17816a9 100644
--- a/Year 3/Internet of things/goam/main/ptc06.h
+++ b/Year 3/Internet of things/goam/main/ptc06.h
@@ -2,4 +2,4 @@
 
 void ptc06_init();
 void ptc06_reset();
-size_t ptc06_shoot_photo(char** image);
+size_t ptc06_get_image(char** image);