/* Howto compile: gcc -o voht voht.c 
 * To use: 
 * gpm -t ps2 -m /dev/psaux -M -t ps2 -m /dev/voht -R msc 
 * repeats on /dev/gpmdata input from both ps2 port and this program 
 * and set XF86Config: protocol type to "MouseSystems" and 
 *     set XF86Config: device to /dev/gpmdata 
 */

#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <stdio.h>
#include <math.h>
#include <assert.h>
#include <ctype.h>

/* usually the parameters fall in this range when estpchirp2m worked */
#define LOWER_THRESHOLD -1.5
#define UPPER_THRESHOLD 1.5

void usage()
{
  fprintf(stderr,"Use: Reads 8 projective chirp parameters from stdin\n"
                 "     and moves the mouse accordingly by writing ps2\n"
                 "     protocol data on /dev/voht.  Parameters are\n"
                 "     relative to last frame\n");
}

void calc_motion( double *x, double *y, float *params, 
                  double *delta_x, double *delta_y);
void motion_to_ps2( double delta_x, double delta_y, unsigned char *ps2_out);
//static void ser_read (int fd, unsigned char *bytes, int count);

int main( int argc, char *argv[] )
{
  int fifo;
  int voht_pin_fifo;
  unsigned char ps2_output_bytes[3]; 
  int i=0;
  int exit_flag = 0;
  double x, y, delta_x, delta_y; /* x and y as orbits coords!!*/
  fd_set rfds;

  float pchirp_parameters[8];

  x=0.5, y=0,5;
  if( argc == 2 ) { 
    usage();
    exit(1);
  }

  /* open serial port for writing, here */

  
  /* open the fifo for reading */
  //voht_pin_fifo = open("/dev/voht_pin", O_RDONLY | O_SYNC);
  /* RDWR seems to keep it from looping too much */
  voht_pin_fifo = open("/dev/pwm0", O_RDWR | O_SYNC);
  if( voht_pin_fifo == -1 ) { perror("open");exit(1); }
  FD_ZERO(&rfds);
  FD_SET(voht_pin_fifo, &rfds);
  
  while(1) { 
     char buffer[1024];
    for( i=0; i<8 ; i++) {
      int j=0;
      /* scan and verify input parameters */
      while( select( voht_pin_fifo+1, &rfds, NULL, NULL, NULL)==1) {
        int numread;
        numread = read( voht_pin_fifo, &(buffer[j++]), 1);
        //printf("got %d:%c\n", numread, buffer[j-1]);
        if( buffer[j-1] == '\n' ) {
          j=0; i=0; continue;
        }
        if( !isalnum(buffer[j-1] ) && buffer[j-1] != '.'
            && buffer[j-1] != '-' ) break;
      }

      //if(scanf("%f", &(pchirp_parameters[i]))==0) continue;
      sscanf(buffer, "%f", &(pchirp_parameters[i]));
   

      printf("%f read\n", pchirp_parameters[i]);
      if( isnan(pchirp_parameters[i]) ) exit_flag = 1;
      if( pchirp_parameters[i] > UPPER_THRESHOLD ||
          pchirp_parameters[i] < LOWER_THRESHOLD ) {
        exit_flag = 1;
        fprintf(stderr, "Crazy big parameters read, ignoring!!\n");
      }
    }

  //  if( exit_flag == 1) exit(1);
    if( exit_flag == 1) continue;
    else {
      fprintf(stderr, "Using: ");
      for( i=0; i<8; i++ ) fprintf(stderr, "%g ", pchirp_parameters[i]);  
      fprintf(stderr,"\n");
    }

    printf("sending chars!\n");
    fflush(stdout);
    // write(fifo, ps2_output_bytes, 3);
    // insert ssc_move function call here
  }
}

/* example code on how to read from a FIFO serial:
static void ser_read (int fd,
                      unsigned char *bytes,
                      int count)
{
  struct timeval tv;
  fd_set rfds;
  int num_read = 0;
  int read_count;

  FD_ZERO (&rfds);
  FD_SET (fd, &rfds);
  tv.tv_sec = 1;
  tv.tv_usec = 0;

  while ((select (fd+1, &rfds, NULL, NULL, &tv) == 1) &&
         (num_read < count)) {
    read_count = read (fd, &bytes [num_read], count - num_read);
    num_read += read_count;

    FD_ZERO (&rfds);
    FD_SET (fd, &rfds);
  }

  for (; num_read < count; num_read++) {
     bytes [num_read] = '\0';
  }
}
*/