CommandStation-EX/IO_EXSensorCAM.h

/*  2024/08/14 
 *  © 2024, Barry Daniel ESP32-CAM revision 
 *
 *  This file is part of EX-CommandStation
 *
 *  This is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  It is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
*/
#define driverVer 305
// v305 less debug & alpha ordered switch
// v304 static oldb0;  t(##[,%%]; 
// v303 zipped with CS 5.2.76 and uploaded to repo (with debug)
// v302 SEND=StringFormatter::send, remove Sp(), add 'q', memcpy( .8) -> .7); 
// v301 improved 'f','p'&'q' code and driver version calc. Correct bsNo calc. for 'a'							 
// v300 stripped & revised without expander functionality. Needs sensorCAM.h v300 AND CamParser.cpp
// v222 uses '@'for EXIORDD read.  handles <NB $> and <NN $ ##>
// v216 includes 'j' command and uses CamParser rather than myFilter.h Incompatible with v203 senorCAM
// v203 added pvtThreshold to 'i' output
// v201 deleted code for compatibility with CAM pre v171. Needs CAM ver201 with o06 only
// v200 rewrite reduces need for double reads of ESP32 slave CAM. Deleted ESP32CAP. 
//  Inompatible with pre-v170 sensorCAM, unless set S06 to 0 and S07 to 1 (o06 & l07 say)
/*
 * The IO_EXSensorCAM.h device driver can integrate with the sensorCAM device.
 * It is modelled on the IO_EXIOExpander.h device driver to include specific needs of the ESP32 sensorCAM 
 * This device driver will configure the device on startup, along with CamParser.cpp
 * interacting with the sensorCAM device for all input/output duties.
 *
 * #include "CamParser.h"      in DCCEXParser.cpp
 * #include "IO_EXSensorCAM.h" in IODevice.h
 * To create EX-SensorCAM devices, define them in myHal.cpp: with
 * EXSensorCAM::create(baseVpin,num_vpins,i2c_address)  or
 * alternatively use HAL(EXSensorCAM baseVpin numpins i2c_address) in myAutomation.h
 * also #define SENSORCAM_VPIN baseVpin in config.h
 *
 * void halSetup() {
 *   // EXSensorCAM::create(vpin, num_vpins, i2c_address);
 *   EXSensorCAM::create(700, 80, 0x11);
 * }
 * 
 * I2C packet size of 32 bytes (in the Wire library).
*/
# define DIGITALREFRESH 20000UL      // min uSec delay between digital reads of digitalInputStates
#ifndef IO_EX_EXSENSORCAM_H
#define IO_EX_EXSENSORCAM_H
#define SEND StringFormatter::send
#include "IODevice.h"
#include "I2CManager.h"
#include "DIAG.h"
#include "FSH.h"
#include "CamParser.h"

/////////////////////////////////////////////////////////////////////////////////////////////////////
/*
 * IODevice subclass for EX-SensorCAM.
*/
class EXSensorCAM : public IODevice {
  public:
    static void create(VPIN vpin, int nPins, I2CAddress i2cAddress) {
      if (checkNoOverlap(vpin, nPins, i2cAddress)) 
      new EXSensorCAM(vpin, nPins, i2cAddress);
    }
  																
    static VPIN CAMBaseVpin;					   

  private:
   // Constructor
    EXSensorCAM(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
      _firstVpin = firstVpin;
     // Number of pins cannot exceed 255 (1 byte) because of I2C message structure.
      if (nPins > 80) nPins = 80;
      _nPins = nPins;
      _I2CAddress = i2cAddress;
      addDevice(this);
    }
//*************************
void _begin() {
    uint8_t status;
    // Initialise EX-SensorCAM device
    I2CManager.begin();
    if (!I2CManager.exists(_I2CAddress)) {
      DIAG(F("EX-SensorCAM I2C:%s device not found"), _I2CAddress.toString());
      _deviceState = DEVSTATE_FAILED;
      return;
    }else {
      uint8_t commandBuffer[4]={EXIOINIT,(uint8_t)_nPins,(uint8_t)(_firstVpin & 0xFF),(uint8_t)(_firstVpin>>8)};                                                                                 
      status = I2CManager.read(_I2CAddress,_inputBuf,sizeof(_inputBuf),commandBuffer,sizeof(commandBuffer));
        //EXIOINIT needed to trigger and send firstVpin to CAM

      if (status == I2C_STATUS_OK) {
        // Attempt to get version, non-blocking results in poor placement of response.  Can be blocking here! 
        commandBuffer[0] = '^';    //new version code
    
        status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1); 
         // for ESP32 CAM, read again for good immediate response version data
        status = I2CManager.read(_I2CAddress, _inputBuf, sizeof(_inputBuf), commandBuffer, 1);
        
        if (status == I2C_STATUS_OK) {
          _majorVer= _inputBuf[1]/10;	
          _minorVer= _inputBuf[1]%10;
          _patchVer= _inputBuf[2];				
          DIAG(F("EX-SensorCAM device found, I2C:%s, Version v%d.%d.%d"),
                       _I2CAddress.toString(),_majorVer, _minorVer,_patchVer);
        }  	
      }
      if (status != I2C_STATUS_OK)
        reportError(status);
    } 
}
//*************************
// Digital input pin configuration, used to enable on EX-IOExpander device and set pullups if requested.
// Configuration isn't done frequently so we can use blocking I2C calls here, and so buffers can
// be allocated from the stack to reduce RAM allocation.
bool _configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) override { 
  (void)configType; (void)params; // unused
  if(_verPrint) DIAG(F("_configure() driver IO_EXSensorCAM v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,vpin);
  _verPrint=false;           //only give driver versions once
  if (paramCount != 1) return false;
  return true; //at least confirm that CAM is (always) configured (no vpin check!)
}
//*************************															 
// Analogue input pin configuration, used to enable an EX-IOExpander device.
int _configureAnalogIn(VPIN vpin) override { 
  DIAG(F("_configureAnalogIn() IO_EXSensorCAM vpin %d"),vpin); 
  return true;     // NOTE: use of EXRAIL IFGTE() etc use "analog" reads.
}
//*************************
// Main loop, collect both digital and "analog" pin states continuously (faster sensor/input reads)
void _loop(unsigned long currentMicros) override {
    if (_deviceState == DEVSTATE_FAILED) return;    
      // Request block is used for "analogue" (cmd. data) and digital reads from the sensorCAM, which 
      // are performed on a cyclic basis.  Writes are performed synchronously as and when requested.
    if (_readState != RDS_IDLE) {                  //expecting a return packet
      if (_i2crb.isBusy()) return;                 // If I2C operation still in progress, return
      uint8_t status = _i2crb.status;
      if (status == I2C_STATUS_OK) {               // If device request ok, read input data
        //apparently the above checks do not guarantee a good packet! error rate about 1 pkt per 1000
        //there should be a packet in _CAMresponseBuff[32]            
        if ((_CAMresponseBuff[0] & 0x60) >= 0x60) {   //Buff[0] seems to have ascii cmd header (bit6 high) (o06)    
            int error = processIncomingPkt( _CAMresponseBuff, _CAMresponseBuff[0]);   // '~' 'i' 'm' 'n' 't' etc
              if (error>0) DIAG(F("CAM packet header(0x%x) not recognised"),_CAMresponseBuff[0]);                   
        }else{ // Header not valid - typically replaced by bank 0 data!  To avoid any bad responses set S06 to 0  
               // Versions of sensorCAM.h after v300 should return header for '@' of '`'(0x60) (not 0xE6)  
               // followed by digitalInputStates sensor state array
        }
      }else   reportError(status, false);   // report i2c eror but don't go offline.
      _readState = RDS_IDLE;
    }      
  
    // If we're not doing anything now, check to see if a new state table transfer, or for 't' repeat, is due.
    if (_readState == RDS_IDLE) {    //check if time for digitalRefresh   
      if ( currentMicros - _lastDigitalRead > _digitalRefresh) { 
        // Issue new read request for digital states.  
             
        _readCommandBuffer[0] = '@';  //start new read of digitalInputStates Table     // non-blocking read 
        I2CManager.read(_I2CAddress,_CAMresponseBuff, 32,_readCommandBuffer, 1, &_i2crb);     
        _lastDigitalRead = currentMicros;
        _readState = RDS_DIGITAL;
        
      }else{    //slip in a repeat <NT n> if pending
        if (currentMicros - _lasttStateRead > _tStateRefresh)  // Delay for "analog" command repetitions
         if (_savedCmd[2]>1) {   //repeat a 't' command         
          for (int i=0;i<7;i++)  _readCommandBuffer[i] =_savedCmd[i];
          int errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32, _readCommandBuffer, 7);    
          _lasttStateRead = currentMicros;
          _savedCmd[2] -= 1;     //decrement repeats                  
          if (errors==0) return;
          DIAG(F("ioESP32 error %d header 0x%x"),errors,_CAMresponseBuff[0]);  
          _readState = RDS_TSTATE;  //this should stop further cmd requests until packet read (or timeout)
        }
      }   //end repeat 't'
    }
  }   
//*************************
// Obtain the bank of 8 sensors as an "analog" value
// can be used to track the position through a sequential sensor bank
int _readAnalogue(VPIN vpin) override {
  if (_deviceState == DEVSTATE_FAILED) return 0;        
  return _digitalInputStates[(vpin - _firstVpin) / 8];
}
//*************************
// Obtain the correct digital sensor input value
int _read(VPIN vpin) override {
  if (_deviceState == DEVSTATE_FAILED) return 0;
  int pin = vpin - _firstVpin;
  return bitRead(_digitalInputStates[pin / 8], pin % 8);
}
//*************************
// Write digital value.  
void _write(VPIN vpin, int value) override { 
  DIAG(F("**_write() vpin %d = %d"),vpin,value);
  return ;
}
//*************************
// i2cAddr of ESP32 CAM
// rBuf   buffer for return packet 
// inbytes number of bytes to request from CAM
// outBuff holds outbytes to be sent to CAM  
int ioESP32(uint8_t i2cAddr,uint8_t *rBuf,int inbytes,uint8_t *outBuff,int outbytes) {
  uint8_t status = _i2crb.status;

 while( _i2crb.status != I2C_STATUS_OK){status = _i2crb.status;}   //wait until bus free

  status = I2CManager.read(i2cAddr, rBuf, inbytes, outBuff, outbytes);
        
  if (status != I2C_STATUS_OK){ 
    DIAG(F("EX-SensorCAM I2C:%s Error:%d %S"), _I2CAddress.toString(), status, I2CManager.getErrorMessage(status));
    reportError(status); return status;
  }
  return 0;  // 0 for no error != 0 for error number.
}
//*************************
//function to interpret packet from sensorCAM.ino
//i2cAddr to identify CAM# (if # >1)
//rBuf contains packet of up to 32 bytes usually with (ascii) cmd header in rBuf[0]
//sensorCmd command header byte from CAM (in rBuf[0]?)
int processIncomingPkt(uint8_t *rBuf,uint8_t sensorCmd) {
//static uint8_t oldb0;   //for debug only
  int k; 
  int b;
  char str[] = "11111111";
 // if (sensorCmd <= '~') DIAG(F("processIncomingPkt %c %d %d %d"),rBuf[0],rBuf[1],rBuf[2],rBuf[3]);
  switch (sensorCmd){
    case '`':      //response to request for digitalInputStates[] table  '@'=>'`'  
      memcpy(_digitalInputStates, rBuf+1, digitalBytesNeeded);
//      if ( _digitalInputStates[0]!=oldb0) { oldb0=_digitalInputStates[0];  //debug
//        for (k=0;k<5;k++) {Serial.print(" ");Serial.print(_digitalInputStates[k],HEX);}
//      }
      break;                                                 

    case EXIORDY:  //some commands give back acknowledgement only
      break;

    case CAMERR:   //cmd format error code from CAM
      DIAG(F("CAM cmd error 0xFE 0x%x"),rBuf[1]); 
      break;

    case '~':      //information from '^' version request <N v[er]>
      DIAG(F("EX-SensorCAM device found, I2C:%s,CAM Version v%d.%d.%d vpins %u-%u"),
              _I2CAddress.toString(), rBuf[1]/10, rBuf[1]%10, rBuf[2],(int) _firstVpin, (int) _firstVpin +_nPins-1);
      DIAG(F("IO_EXSensorCAM driver  v0.%d.%d vpin: %d "), driverVer/100,driverVer%100,_firstVpin);
      break;
 
    case 'f':
      DIAG(F("(f %%%%) frame header 'f' for bsNo %d/%d - showing Quarter sample (1 row) only"), rBuf[1]/8,rBuf[1]%8);  
      SEND(&USB_SERIAL,F("<n  row: %d  Ref bytes: "),rBuf[2]);
      for(k=3;k<15;k++)
        SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, k%3==2 ? "  " : " "); 
      Serial.print(" latest grab: "); 
      for(k=16;k<28;k++)
        SEND(&USB_SERIAL,F("%x%x%s"), rBuf[k]>>4, rBuf[k]&15, (k%3==0) ? "  " : " ");
      Serial.print(" n>\n");
      break; 

    case 'i':      //information from i%%
      k=256*rBuf[5]+rBuf[4];
      DIAG(F("(i%%%%[,$$]) Info: Sensor 0%o(%d) enabled:%d status:%d row=%d x=%d Twin=0%o pvtThreshold=%d A~%d")
              ,rBuf[1],rBuf[1],rBuf[3],rBuf[2],rBuf[6],k,rBuf[7],rBuf[9],int(rBuf[8])*16);	 
      break;

    case 'm':
      DIAG(F("(m$[,##]) Min/max: $ frames min2flip (trip) %d, maxSensors 0%o, minSensors 0%o, nLED %d,"
              " threshold %d, TWOIMAGE_MAXBS 0%o"),rBuf[1],rBuf[3],rBuf[2],rBuf[4],rBuf[5],rBuf[6]);
      break;

    case 'n':
      DIAG(F("(n$[,##]) Nominate: $ nLED %d, ## minSensors 0%o (maxSensors 0%o threshold %d)")
                                       ,rBuf[4],rBuf[2],rBuf[3],rBuf[5]);                                                               
      break;

    case 'p':
      b=rBuf[1]-2;  
      if(b<4) { Serial.print("<n (p%%) Bank empty  n>\n"); break; }
      SEND(&USB_SERIAL,F("<n (p%%) Bank: %d "),(0x7F&rBuf[2])/8);
      for (int j=2; j<b; j+=3)  
        SEND(&USB_SERIAL,F(" S[%d%d]: r=%d x=%d"),0x7F&rBuf[j]/8,0x7F&rBuf[j]%8,rBuf[j+1],rBuf[j+2]+2*(rBuf[j]&0x80));
      Serial.print("  n>\n");
      break;

    case 'q':
      for (int i =0; i<8; i++) str[i] = ((rBuf[2] << i) & 0x80 ? '1' : '0');
      DIAG(F("(q $) Query bank %c ENABLED sensors(S%c7-%c0): %s "), rBuf[1], rBuf[1], rBuf[1], str);
      break;

    case 't':      //threshold etc. from t##           //bad pkt if 't' FF's
      if(rBuf[1]==0xFF) {Serial.println("<n bad CAM 't' packet: 74 FF  n>");_savedCmd[2] +=1; return 0;}
      SEND(&USB_SERIAL,F("<n (t[##[,%%%%]]) Threshold:%d sensor S00:-%d"),rBuf[1],min(rBuf[2]&0x7F,99));
      if(rBuf[2]>127) Serial.print("##* "); 
      else{ 
        if(rBuf[2]>rBuf[1]) Serial.print("-?* "); 
        else Serial.print("--* ");
      }
      for(int i=3;i<31;i+=2){
        uint8_t valu=rBuf[i];        //get bsn
        if(valu==80) break;          //80 = end flag
        else{ 
          SEND(&USB_SERIAL,F("%d%d:"), (valu&0x7F)/8,(valu&0x7F)%8);
          if(valu>=128) Serial.print("?-"); 
          else {if(rBuf[i+1]>=128) Serial.print("oo");else Serial.print("--");}
          valu=rBuf[i+1]; 
          SEND(&USB_SERIAL,F("%d%s"),min(valu&0x7F,99),(valu<128) ? "--* ":"##* ");
        }
      } 
      Serial.print(" >\n");
      break;

    default:        //header not a recognised cmd character
      DIAG(F("CAM packet header not valid (0x%x) (0x%x) (0x%x)"),rBuf[0],rBuf[1],rBuf[2]);
      return 1;
  }			 
  return 0;  
}
//*************************											  
// Write (analogue) 8bit (command) values.  Write the parameters to the sensorCAM
void _writeAnalogue(VPIN vpin, int param1, uint8_t camop, uint16_t param3) override {
    uint8_t outputBuffer[7];
    int errors=0;
    outputBuffer[0] = camop;  
    int pin = vpin - _firstVpin;

    if(camop >= 0x80) {   //case "a" (4p) also (3p) e.g. <N 713 210 310> 
      camop=param1;        //put row (0-236) in expected place 
      param1=param3;        //put column in expected place
      outputBuffer[0] = 'A';
      pin = (pin/8)*10 + pin%8;   //restore bsNo. as integer
    }   
    if (_deviceState == DEVSTATE_FAILED) return;
   
    outputBuffer[1] = pin;          //vpin => bsn
    outputBuffer[2] = param1 & 0xFF;
    outputBuffer[3] = param1 >> 8;
    outputBuffer[4] = camop;        //command code
    outputBuffer[5] = param3 & 0xFF;
    outputBuffer[6] = param3 >> 8;

    int count=param1+1;
    if(camop=='Q'){
      if(param3<=10) {count=param3; camop='B';}
      //if(param1<10) outputBuffer[2] = param1*10;
    }
    if(camop=='B'){   //then 'b'(b%) cmd - can totally deal with that here. (but can't do b%,# (brightSF))
      if(param1>97) return;
      if(param1>9) param1 = param1/10;  //accept a bsNo
      for(int bnk=param1;bnk<count;bnk++) {
        uint8_t b=_digitalInputStates[bnk];
        char str[] = "11111111";
        for (int i=0;i<8;i++) if(((b<<i)&0x80) == 0) str[i]='0';
        DIAG(F("(b $) Bank: %d activated byte: 0x%x%x (sensors S%d7->%d0) %s"), bnk,b>>4,b&15,bnk,bnk,str ); 
      }
      return;
    } 
    if (outputBuffer[4]=='T') {   //then 't' cmd
      if(param1<31) {   //repeated calls if param < 31
          //for (int i=0;i<7;i++) _savedCmd[i]=outputBuffer[i];
        memcpy( _savedCmd, outputBuffer, 7);
      }else _savedCmd[2] = 0;   //no repeats if ##>30 
    }else _savedCmd[2] = 0;       //no repeats unless 't'
  
    _lasttStateRead = micros();    //don't repeat until _tStateRefresh mSec

    errors = ioESP32(_I2CAddress, _CAMresponseBuff, 32 , outputBuffer, 7);  //send to esp32-CAM
    if (errors==0) return;
    else {    //       if (_CAMresponseBuff[0] != EXIORDY)   //can't be sure what is inBuff[0] !
      DIAG(F("ioESP32 i2c error %d header 0x%x"),errors,_CAMresponseBuff[0]);  
    }
}
//*************************
 // Display device information and status.
  void _display() override {
    DIAG(F("EX-SensorCAM I2C:%s v%d.%d.%d Vpins %u-%u %S"),
              _I2CAddress.toString(), _majorVer, _minorVer, _patchVer,
              (int)_firstVpin, (int)_firstVpin+_nPins-1,
              _deviceState == DEVSTATE_FAILED ? F("OFFLINE") : F(""));
  }
//*************************
// Helper function for error handling
void reportError(uint8_t status, bool fail=true) {
  DIAG(F("EX-SensorCAM I2C:%s Error:%d (%S)"), _I2CAddress.toString(), 
        status, I2CManager.getErrorMessage(status));
  if (fail)  _deviceState = DEVSTATE_FAILED;
}
//************************* 
  uint8_t _numDigitalPins = 80;   
  size_t  digitalBytesNeeded=10;
  uint8_t _CAMresponseBuff[34];
  
  uint8_t _majorVer = 0;
  uint8_t _minorVer = 0;
  uint8_t _patchVer = 0;

  uint8_t _digitalInputStates[10];
  I2CRB _i2crb;
  uint8_t _inputBuf[12];
  byte _outputBuffer[8];

  bool    _verPrint=true;

  uint8_t _readCommandBuffer[8];
  uint8_t _savedCmd[8];           //for repeat 't' command
  //uint8_t _digitalPinBytes = 10;  // Size of allocated memory buffer (may be longer than needed)

  enum {RDS_IDLE, RDS_DIGITAL, RDS_TSTATE};  // Read operation states
  uint8_t _readState = RDS_IDLE;
  //uint8_t cmdBuffer[7]={0,0,0,0,0,0,0};
  unsigned long _lastDigitalRead = 0;
  unsigned long _lasttStateRead = 0;
  unsigned long _digitalRefresh = DIGITALREFRESH;  // Delay refreshing digital inputs for 10ms
  const unsigned long _tStateRefresh = 120000UL;   // Delay refreshing repeat "tState" inputs

  enum {
    EXIOINIT = 0xE0,    // Flag to initialise setup procedure
    EXIORDY = 0xE1,     // Flag we have completed setup procedure, also for EX-IO to ACK setup
    CAMERR = 0xFE
  };
};
#endif