/*************************************************************************
SBC Code
Description: Basic send and receive functions between Atmega128 and SBC.
Added sockets.  Added different pics.  Took out all Decision making from SBC.  
No longer streams sensor data.  Automatically grabs IP address.  Added
a text speaking function.
Date: 8/4/2006
REV 3
**************************************************************************
*/

#include <stdio.h>
#include <fcntl.h>
#include <stdlib.h>
#include <termios.h>
#include <math.h>
#include <errno.h>
#include <sys/socket.h> /* for socket() and bind() */
#include <arpa/inet.h>  /* for sockaddr_in and inet_ntoa() */
#include <string.h>     /* for memset() */
#include <unistd.h>     /* for close() */


#define DATAPORT "/dev/ttyS0"
#define BUFFER_SIZE 8
#define CHECK_SIZE 1
#define ECHOMAX 255     /* Longest string for socket*/

//Variable used to access the serial port
int data_ioport;

//I2C Sensors
//unsigned char TR,TL,CR,CL,BR,BL,BK,CMP,DRIVE_CMD;

int msg_num;  //1 = Arroyo
              //2 = Schwartz
              //3 = go left
              //4 = go right
              //5 = go backward
              //6 = go forward
              //7 = stop

//Open serial port with specified baud rate, port
int open_serial_port(char *port, int baud);

//Global Variables for GUI code

int maxval;

/*!
	Opens a serial port with the flags:
	O_RDWR - read/write mode
	O_NOCTTY - not the controlling terminal
	O_NDELAY - do not pay attentention to Data Carrier Detect (DCD)
	\param port a character string of the device
	\param baud speed to open port
	\return file descriptor
*/
int open_serial_port(char *port, int baud){
  int fd;
  int speed;
  char msg[70];
  struct termios opts;

  fd = open( port, O_RDWR | O_NOCTTY | O_NDELAY ); //may not need the nodelay
  if( fd <= 0 ){
		sprintf(msg,"Failed: %s:%d - %s",port,baud,strerror(errno));
		perror(msg);
		return(-1);
	}

  // Set the baud rate
  switch(baud){
		case 1200:
			speed = B1200; break;
		case 2400:
			speed = B2400; break;
		case 4800:
			speed = B4800; break;
		case 9600:
			speed = B9600; break;
		case 19200:
			speed = B19200; break;
		case 38400:
			speed = B38400; break;
		case 57600:
			speed = B57600; break;
		default:
			printf("Failed: Invalid speed\n");
	}
/*
Contents of termios struct: 
	tcflag_t c_iflag;
	tcflag_t c_oflag;
	tcflag_t c_cflag;
	tcflag_t c_lflag;
	cc_t c_cc[NCCS];
	speed_t c_ispeed;
	speed_t c_ospeed;
*/
  //Bzero call throws some kind of warning based on gcc not recognizing it
  //so replaced called to bzero below with zero'ing c_ispeed and c_ospeed.
  	//bzero( &opts, sizeof( opts ) );
  opts.c_ispeed = 0;
  opts.c_ospeed = 0;

  opts.c_cflag = speed | CS8 | CLOCAL | CREAD /*| CRTSCTS*/;
  opts.c_iflag = IGNPAR;
  opts.c_oflag = 0;
  opts.c_lflag = 0;
  opts.c_cc[VTIME] = 0;
  opts.c_cc[VMIN] = 0;

  tcflush( fd, TCIOFLUSH ); // clean out old crap

  tcsetattr( fd, TCSANOW, &opts );

  return fd;
}

/*****************************************************
7/26/06 Modified to be based on msg_num.  Took out
count.  No longer need it.  Took out cp function.
******************************************************/ 

void update_display() {

	if(msg_num==3)
		//system("cp -f Left.jpg Current.jpg");
		system("qiv -Tfmi ~/Desktop/Serial/Left.jpg &");
	else if(msg_num==4)
		//system("cp -f Right.jpg Current.jpg");
		system("qiv -Tfmi ~/Desktop/Serial/Right.jpg &");
	else if(msg_num==5)
		//system("cp -f Reverse.jpg Current.jpg");
		system("qiv -Tfmi ~/Desktop/Serial/Reverse.jpg &");
	else if(msg_num==6)
		//system("cp -f Forward.jpg Current.jpg");
		system("qiv -Tfmi ~/Desktop/Serial/Forward.jpg &");
	else if(msg_num==7)
		//system("cp -f Stop.jpg Current.jpg");
		system("qiv -Tfmi ~/Desktop/Serial/Stop.jpg &");
	else
		system("qiv -Tfmi ~/Desktop/Serial/Forward.jpg &");
		
}

void speak_text(char *text)
{
//int i;
//char *text = "hello world";

char festival[240] = "echo '";
//for(i = 0;i <= text_len;i++)
//	festival[i + 7] = text[i];
strcat(festival,text);
strcat(festival,"' | festival --tts &");

//system("echo '%s ' | festival --tts &", text);
system(festival);

}

int main(int argc,char *argv[])
{
  int i;
  int sock;                        /* Socket */
  struct sockaddr_in echoServAddr; /* Local address */
  struct sockaddr_in echoClntAddr; /* Client address */
  int cliAddrLen;         	   /* Length of incoming message */
  char echoBuffer[ECHOMAX];        /* Buffer for echo string */
  unsigned short echoServPort;     /* Server port */
  int recvMsgSize;                 /* Size of received message */
  int ingnore_next_msg;
  char *say_it;

 // Added Aug 22, 2006 Andrew Chambers
 // Run find_ip.sh script to find the ip address and update it on the
 // koolio webpage
 system("/home/zardoz/find_ip.sh");

  //Display image and play laughter:
  system("aplay /usr/share/sounds/gnibbles/laughter.wav");
  system("qiv -Tfmi ~/Desktop/Serial/Current.jpg &");

  speak_text("Hello my name is Koolio and this is my theme song");

  //1 char buffer for send 1 byte of data to Altera board.
  //unsigned char message = 0x00;

  //8 byte char buffer for receiving the 10 sensor readings from the Altera board.
  //unsigned char value[BUFFER_SIZE] = "0";
  //unsigned char check[CHECK_SIZE] = "0";

  //Open connection at 9600 baud
  data_ioport = open_serial_port(DATAPORT, 9600); 
  
  //Read and ignore the initial 0x00 byte that seems to be sent
  //by the Mavric board when starting up the UART
  //while(read(data_ioport, &value, BUFFER_SIZE)==0);
 
  /* get port number */

  if (argc != 2)         /* Test for correct number of parameters */
  {
      printf(stderr,"Usage:  %s <UDP SERVER PORT>\n", argv[0]);
      exit(1);
  }

  echoServPort = atoi(argv[1]);  /* First arg:  local port */

  /* Create socket for sending/receiving datagrams */

  if ((sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP)) < 0)
      printf("socket() failed");

  /* Construct local address structure */

  memset(&echoServAddr, 0, sizeof(echoServAddr));   // Zero out structure
  echoServAddr.sin_family = AF_INET;                // Internet address family 
                    //echoServAddr.sin_addr.s_addr = htonl(INADDR_ANY);   // Any incoming interface
  echoServAddr.sin_port = htons(echoServPort);      // Local port

  /* Bind to the local address */
  if (bind(sock, (struct sockaddr *) &echoServAddr, sizeof(echoServAddr)) < 0)        
	printf("bind() failed");

  ingnore_next_msg = 0;

  /* END INITIALIZATION STUFF */

  /* Code to read in sensor data from Atmega128

    //Full sensor reading consists of 8 bytes (7 sonars + compass)

	int j = 0;
	while(j == 0) 
	{
		if( read(data_ioport, &check, CHECK_SIZE) != 0 ) 
		{
			if(check[0] == 0xFF) 
			{
				j = 1;
			}	
		}
	}

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		BR = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		BL = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		CR = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		CL = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		TL = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		TR = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		BK = check[0];

	while( read(data_ioport, &check, CHECK_SIZE) == 0 );

		CMP = check[0];
  */

  while(1)
  {

	/* Set the size of the in-out parameter */
	cliAddrLen = sizeof(echoClntAddr);

	/* Block until receive message from a client */
	 if ((recvMsgSize = recvfrom(sock, echoBuffer, ECHOMAX, 0,
	            (struct sockaddr *) &echoClntAddr, &cliAddrLen)) < 0)
         {
                   printf("error");
	           ingnore_next_msg = 1;
	 }

	 if(ingnore_next_msg == 0)
	 {
             	//printf("Handling client %s\n", inet_ntoa(echoClntAddr.sin_addr));
              	//printf("Received: %s\n", echoBuffer);   // Print the data received

	        //change from char to number
    	       	switch(echoBuffer[0])
	       	{
	       		case 'a':msg_num = 1;
	                	 break;
	       		case 'b':msg_num = 5;
	               		 break;
	       		case 'f':msg_num = 6;
	                	 break;
	        	case 'l':msg_num = 3;
	                	 break;
	       		case 'r':msg_num = 4;
	                	 break;
	       		case 's':if (echoBuffer[1] == 'c')
	                		msg_num = 2;
	                	 else if(echoBuffer[1] == 't')
	                   		msg_num = 7;
	                	 else
                  		 {
	                  		printf("error does not match any cases");
   					msg_num = 0; //0 is an error;
 			         }
	                	 break;
                        case '$':for(i = 0;i < 200;i++)
			            say_it[i] = ' ';
                                 for(i = 3;i < (int)echoBuffer[1] + 3;i++)
 				    say_it[i - 3] = echoBuffer[i];
                                 say_it[i - 2] = 0;
                                 printf(say_it);
                                 printf("\n");
                                 speak_text(say_it);
                                 msg_num = -1;
                                 break;

	       		default: printf("error does not match any cases");
                        	 msg_num = 0; //0 is an error;
              	};
                if (msg_num >= 0)
              	  printf("the number is %d\n", msg_num);  // Print the command being sent
	      
	      	while(write(data_ioport, &msg_num, 1)==-1);	// Send command to Atmega 128

           }	// Ends if(ingnore_next_msg == 0)

           else
	   {
             	ingnore_next_msg = 0;
	   }

	update_display();		// Updates Koolio's face

  }	// Ends main while(1)
   
  //Close serial port at program end
  close(data_ioport);
 
  return 0;

}	// Ends main()