//
//      pinplotter3.nxc -- by Alfonso Martone
//      www.alfonsomartone.itb.it
//
//      compiling: requires at least nbc 1.0.1.b34 from http://bricxcc.sf.net
//         nbc pinplotter3.nxc -o pinplotter3.rxe
//

#define __PROG__ "pinplotter3"
#define __DATE__ "02-aug-2008"


// --- configuration ----------------------------------------------------------

#undef   ITALIANO                 // if defined, screen messages are in Italian
#define  LINESKIP  0              // skip these much columns before plotting

#define  PBMIMAGE  "bitmap.pbm"   // PBM (portable bitmap) image file
#define  XSIZE     116            // X size required for image file
#define  YSIZE     91             // Y size required for image file

#define  XOFFSET   1175           // border space to skip on leftmost side
#define  YOFFSET   975            // border space to skip (nearest margin)
#define  POFFSET   150            // unneeded space at base of pen range

#define  XBASE     6400           // where to move the slider when print ends
                                  // printable area is about 5100x4000

#define  XUNITS    44             // pixel-to-pixel X-spacing ("columns")
#define  YUNITS    44             // pixel-to-pixel Y-spacing ("rows")
#define  PUNITS    300            // pen-up (park) to pen-down (hole) space

#define  XPOWER    60             // power needed to move along X axis
#define  YPOWER    60             // power needed to move along Y axis
#define  PPOWER    48  // 65 ?    // power needed to move down the needle
#define  BPOWER    80  // 90 ?    // power needed to move up the needle

#define  XPAUSE    40             // time to wait for X axis stabilization
#define  YPAUSE    5              // time to wait for Y axis stabilization
#define  PPAUSE    1              // time to wait after making a hole

#define  XAXIS     OUT_A          // motor: tool slider (main tracks)
#define  YAXIS     OUT_B          // motor: pen tool slider 
#define  PAXIS     OUT_C          // motor: needle movement

#define  XSTOP     S1             // touch sensor for parking on X axis
#define  YSTOP     S2             // touch sensor for parking on Y axis
#define  PSTOP     S3             // touch sensor for needle parking

#define  JUICE          6900      // stop all if less than 6900 mV on battery
#define  FULL_THROTTLE  100       // maximum motor power

#define  minipause()    Wait(1)   // small pause in loops (to save some juice)


// --- de gustibus: graphics and other things

#define  exit(i)        Stop(true)
#define  clock()        CurrentTick()
#define  pause(msec)    Wait(msec)
#define  millivolt()    BatteryLevel()
#define  keepalive()    ResetSleepTimer()
#define  cls()          ClearScreen()
#define  puts(x,y,str)  TextOut(x,y,str)
#define  putn(x,y,n)    NumOut(x,y,n)
#define  pute(x,y,n)    TextOut(x,y,"     "); NumOut(x,y,n)



// --- battery check

void batterycheck()             // return if battery has some power left
{
  int n;
  if(millivolt()>=JUICE) return;

  for(n=0; n<3; n++)            // power is getting low: keep sounding
  {
    PlayFile("! Attention.rso");
    pause(500);
  }

  for(n=0; n<32000; n++)        // keep "flashing" alert until shutoff
  {
    if(n&1)
    {
      puts(0, LCD_LINE6, "                ");
    }
    else
    {
#ifdef ITALIANO
      puts(0, LCD_LINE6, "BATTERIA SCARICA");
#else
      puts(0, LCD_LINE6, "* battery low! *");
#endif
    }

    PlayFile("Woops.rso");
    pause(800);
  }
}


// --- on-screen safe plotting

void plot(int x, int y)
{
  if(x>=100) return;
  if(y>=64) return;
  PointOut(x,y);
}
 

// --- bitmap processing

bool bitmap[];

void fileerror(string msg)
{
  int n;
  string s1, s2;

  if(StrLen(msg)<=16)
  {
    s1=msg;
    ArrayInit(s2, 0, 1);   // empty string
  }
  else
  {
    s1=SubStr(msg, 0, 16);
    s2=SubStr(msg, 16, StrLen(msg)-16);
  }

  cls();
#ifdef ITALIANO
  puts(0, LCD_LINE1, "file immagine:");
  puts(0, LCD_LINE2, PBMIMAGE);
  puts(0, LCD_LINE4, "errore del file:");
  puts(0, LCD_LINE5, s1);
  puts(0, LCD_LINE6, s2);
  puts(0, LCD_LINE7, "correggilo e");
  puts(0, LCD_LINE8, "riavvia tutto!");
#else
  puts(0, LCD_LINE1, "image file:");
  puts(0, LCD_LINE2, PBMIMAGE);
  puts(0, LCD_LINE4, "file error:");
  puts(0, LCD_LINE5, s1);
  puts(0, LCD_LINE6, s2);
  puts(0, LCD_LINE7, "correct it and");
  puts(0, LCD_LINE8, "restart program!");
#endif

  for(n=0; n<32000; n++)
  {
    PlayFile("! Attention.rso");
    pause(700);
  }

  exit(1);
}


int loadbitmap()
{
  int filesize, fp, n, pix, ptr, len, v, ppc=0;
  string str, tmp, sx, sy, sp;
  byte buf[];

  puts(20, LCD_LINE7, "bitmap:");

  ArrayInit(bitmap, 0, XSIZE*YSIZE);
  ArrayInit(buf, 0, 1);

#ifdef ITALIANO
  if(OpenFileRead(PBMIMAGE, filesize, fp)!=NO_ERR)
    fileerror("errore di open");

  if(ReadLnString(fp, str)!=NO_ERR)
    fileerror("header invalido");

  if(str!="P4")
    fileerror("non e' un PBM P4");

  if(!((ReadLnString(fp, str)==NO_ERR) && (ReadLnString(fp, str)==NO_ERR)))
    fileerror("header mancante");
#else
  if(OpenFileRead(PBMIMAGE, filesize, fp)!=NO_ERR)
    fileerror("cant open file");

  if(ReadLnString(fp, str)!=NO_ERR)
    fileerror("cant read header");

  // first two bytes of a Portable Bitmap (PBM) file in binary mode
  //   in 2-colors mode (b/w: 1 bit per pixel) are "P4" and carriage-return
  if(str!="P4")
    fileerror("not a P4 b/w PBM");

  // skip "#" comment line and get 3rd line (where X and Y resolution is stored)
  if(!((ReadLnString(fp, str)==NO_ERR) && (ReadLnString(fp, str)==NO_ERR)))
    fileerror("cant read header");
#endif

  sp=" ";                         // has the PBM the defined x/y resolution?
  sx=NumToStr(XSIZE);
  sy=NumToStr(YSIZE);
  tmp=StrCat(sx, sp, sy);
  if(str!=tmp)
  {
#ifdef ITALIANO
    str=StrCat(tmp, ": grandezza non valida");
#else
    str=StrCat(tmp, " is not a valid size");
#endif
    fileerror(str);
  }

  pix=0;
  ptr=0;
  len=1;
  for(n=0; n<YSIZE; n++)          // for every row of packed pixels
  {
    putn(68, LCD_LINE7, n);

    if(ReadBytes(fp, len, buf)!=NO_ERR)
    {
      sx=NumToStr(n);
#ifdef ITALIANO
      str=StrCat("file troppo corto: ",sx," linee");
#else
      str=StrCat("file too small: ",sx," lines read");
#endif
      fileerror(str);
    }

    for(;;)                       // process up to next 8 pixels
    {
      v=(buf[0]>>7)&1;            // get pixel value (0 or 1)
      ppc=ppc+v;                  // update "printable" pixels counter
      bitmap[ptr++]=v;            // update pixel array
      buf[0] <<= 1;
      pix++;
      if(pix>=XSIZE) { pix=0; break; }
      if(!(pix&7))   { n--;   break; }
    }
  }

  return ppc;   // return the number of "black" pixels (that is: "holes")
}


// --- stepper motor functions ---

void addstep(int mot, int pwr, int offs, int stepsiz, int stepnum)
{
  int target=offs+stepsiz*stepnum;
  int curpos=abs(MotorRotationCount(mot));

  if(curpos==target) return;   // do not even turn on if we are "in place"
  OnRev(mot, pwr);

  for(;;)                      // wait loop
  {
    curpos=abs(MotorRotationCount(mot));
    if(curpos>=target) break;
    minipause();
  }
  OffEx(mot, RESET_NONE);      // brake (this is stepping, not just moving)
}


void xmove(int stepnum)
{
  addstep(XAXIS, XPOWER, XOFFSET, XUNITS, stepnum);
  pause(XPAUSE);    // small pause for stabilization
}


void ymove(int stepnum)
{
  addstep(YAXIS, YPOWER, YOFFSET, YUNITS, stepnum);
  pause(YPAUSE);    // small pause for stabilization
}


// --- parking functions ---

void park(int mot, int pwr, int sens)
{
  OnFwd(mot, pwr);           // move towards park zone...
  for(;;)
  {
    int i=Sensor(sens);
    if(i>0) break;           // ...until sensor say it's OK...
    minipause();
  }
  OffEx(mot, RESET_NONE);    // ...and brake
}

void xpark() { park(XAXIS, FULL_THROTTLE, XSTOP); }
void ypark() { park(YAXIS, FULL_THROTTLE, YSTOP); }
void ppark() { park(PAXIS, PPOWER,        PSTOP); }


void yback()                   // "lazy" parking while drawing
{
  OnFwd(YAXIS, FULL_THROTTLE); // move towards park zone...
  for(;;)
  {
    int i=abs(MotorRotationCount(YAXIS));

    if(i<(YOFFSET/2)) break;   // ...until we are in a safe area
    minipause();
  }
  CoastEx(YAXIS, RESET_NONE);  // no need to brake when in safe area
}


// --- other moving functions

void epilogue()                   // slider: park outside printable area
{
  OnRev(XAXIS, FULL_THROTTLE);
  for(;;)
  {
    int c=abs(MotorRotationCount(XAXIS));
    if(c>=XBASE) break;
    minipause();
  }
  OffEx(XAXIS, RESET_NONE);

  PlayFile("! Attention.rso");
}


void hole()                       // make a hole
{
  OnRev(PAXIS, PPOWER);           // down the needle
  for(;;)
  {
    int i=abs(MotorRotationCount(PAXIS));
    if(i>=PUNITS) break;
    minipause();
  }
  OnFwd(PAXIS, BPOWER);           // recall needle
  for(;;)
  {
    int i=abs(MotorRotationCount(PAXIS));
    if(i<=POFFSET) break;
    if(Sensor(PSTOP)>0)
    {
      OffEx(PAXIS, RESET_NONE);   // immediate stop if too much speed
      break;
    }
    minipause();
  }
  CoastEx(PAXIS, RESET_NONE);     // needle is in safe zone: no need to brake
} 


// --- setup before plotting ---

int setup()
{
  int x, y, i, n, ppc;

  CoastEx(OUT_ABC, RESET_NONE);
  SetSensorTouch(S1);
  SetSensorTouch(S2);
  SetSensorTouch(S3);

  cls();
  puts(12, LCD_LINE2, "alfonsoftware");
  puts(13, LCD_LINE3, "internat");
  puts(59, LCD_LINE3,         "ional");

  n=50-(3*StrLen(__PROG__));
  puts(n,  LCD_LINE5, __PROG__);
  putn(20, LCD_LINE6, millivolt());
  putn(50, LCD_LINE6, FreeMemory());

  for(n=0; n<5; n++)
  {
    RectOut(n,n, 99-n-n, 63-n-n);
    n++;
  }

  ppc=loadbitmap();
  cls();
  for(x=0; x<XSIZE; x++)          // columns
  {
    if(x<LINESKIP) continue;
    for(y=0; y<YSIZE; y++)        // rows
    {
      i=x+((YSIZE-1-y)*XSIZE);
      if(bitmap[i]) plot(x,y);    // show (partial) bitmap on the screen
    }
  }

#ifdef ITALIANO
  puts(0,LCD_LINE3, "ago: ");
  ppark();
  puts(38, LCD_LINE3, "OK");

  puts(0,LCD_LINE5, "asse X:");
  xpark();
  puts(50,LCD_LINE5, "OK");

  puts(0,LCD_LINE7, "asse Y:");
  ypark();
  puts(50,LCD_LINE7, "OK");
#else
  puts(0,LCD_LINE3, "pen: ");     // now: align motors
  ppark();
  puts(38, LCD_LINE3, "OK");

  puts(0,LCD_LINE5, "X axis:");
  xpark();
  puts(50,LCD_LINE5, "OK");

  puts(0,LCD_LINE7, "Y axis:");
  ypark();
  puts(50,LCD_LINE7, "OK");
#endif

  ResetAllTachoCounts(OUT_ABC);   // reset motors rotation counters
  cls();                          // ready to go
  return ppc;                     // return total pixels count
}


// --- main ------------------------------------------------------------------


task main()
{
  int x, y, n, i, v, e, ppc, c=0, h=0;
  string s1, s2, s3;
  unsigned long t, q;

  ppc=setup();                    // prepare for a tango

#ifdef ITALIANO
  puts(0, LCD_LINE1, "col.fatte:");
  puts(0, LCD_LINE2, "tot.pixel:");
  puts(0, LCD_LINE3, "pix.fatti:");
  puts(0, LCD_LINE4, "pixel ora:");
  puts(0, LCD_LINE5, "batteria:");
  puts(0, LCD_LINE6, "ult.tempo:");
  if(LINESKIP==0) puts(0, LCD_LINE7, "%completa:");
  puts(0, LCD_LINE8, "tempo t.:");
#else
  puts(0, LCD_LINE1, "last col.:");
  puts(0, LCD_LINE2, "tot.pixel:");
  puts(0, LCD_LINE3, "last pix.:");
  puts(0, LCD_LINE4, "pixel now:");
  puts(0, LCD_LINE5, "battery:");
  puts(0, LCD_LINE6, "last time:");
  if(LINESKIP==0) puts(0, LCD_LINE7, "%complete:");
  puts(0, LCD_LINE8, "elapsed:");
#endif
  putn(66, LCD_LINE2, ppc);

  for(x=0; x<XSIZE; x++)          // columns ("horizontal" moving loop)
  {
    t=clock();
    c=0;
    v=x;
    xmove(x);                     // move slider to current column

    if(x>=LINESKIP)               // loop only if inside printable area
    {
      for(y=0; y<YSIZE; y++)      // rows ("vertical" moving loop)
      {
        i=x+((YSIZE-1-y)*XSIZE);  // calculate pixel address
        i=bitmap[i];              // get pixel value
        if(!i) continue;          // skip all blank pixels

        ymove(y);                 // move to pixel row position
        hole();                   // make a hole

        //plot(x,y);              // update screen (but I don't like it)
        c=c+1;                    // update local pixel count
        h=h+1;                    // update global pixel count
      }
    }                             // this column is now complete

    if(c>0) yback();              // need to align if any pixels printed

    putn(66, LCD_LINE1, v);       // now print out lots of statistics...
    pute(66, LCD_LINE3, c);
    putn(66, LCD_LINE4, h);
    pute(66, LCD_LINE5, millivolt());

    if(LINESKIP==0)
    {
      puts(66, LCD_LINE7, "     ");

      if(h>=ppc)
      {
        puts(66, LCD_LINE7, "100%");
      }
      else
      {
        q = h*1000/ppc;                   // 0 to 999
        e = q/10;                         // 0 to 99
        s1=NumToStr(q%10);                // decimal
        s2=NumToStr(e);
        s3=StrCat(s2, ".", s1, "%");
        puts(66, LCD_LINE7, s3);
      }
    }

    e=(clock()-t)/100;                  // time in deciseconds
    c=e/10;                             // time in seconds
    s1=NumToStr(e%10);
    s2=NumToStr(c);
    s3=StrCat(s2, ".", s1);
    puts(66, LCD_LINE6, "     ");
    puts(66, LCD_LINE6, s3);

    q=(clock()-FirstTick())/1000;       // 68231 --> 68sec --> 1:08
    e=q/60;                             // 1
    q=q%60;                             // 8
    s1=NumToStr(e);                     // "1"
    s2=StrCat("  ", s1);                // "  1"
    s3=SubStr(s2, StrLen(s2)-3, 3);     // "  1" adjusted to 3 chars
    s1=NumToStr(q);                     // "8"
    if(q<10) s2=StrCat("0", s1);        // add a "0" if needed
    else     s2=s1;                     // "08"
    s1=StrCat(s3, ":", s2);             // "   1:08"
    puts(60, LCD_LINE8, s1);

    batterycheck();               // stop if low on juice
    keepalive();                  // reset "sleep" timers
  }

  epilogue();                     // move the moving tool out of printing area
  pause(30000);                   // statistics remain on screen for 30secs
  exit(0);
}

// --- the end ---