Colony

    pthread_join(*xbee_listen_thread, NULL);

  CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 50, 100, 43 );

#include <stdio.h>

#include <termios.h>

#include <fcntl.h>

#include <stdlib.h>

#include <unistd.h>

#include <sys/ioctl.h>

int setupSerial(int fd, int baud)

{

	struct termios options;

    /* set baud rate, etc. correctly */

	tcgetattr(fd, &options);

	cfsetispeed(&options, baud);

	cfsetospeed(&options, baud);

	options.c_iflag &= ~ICRNL;

	options.c_oflag &= ~OCRNL;

	options.c_cflag |= (CLOCAL | CREAD);

	options.c_cflag &= ~PARENB;

	options.c_cflag &= ~CSTOPB;

	options.c_cflag &= ~CSIZE;

	options.c_cflag |= CS8;

	options.c_lflag &= ~ICANON;

	options.c_cc[VMIN] = 1;

	options.c_cc[VTIME] = 50;

	if (tcsetattr(fd, TCSANOW, &options))

	{

		printf("Error setting attributes.\n");

		return -1;

	}

    return 0;

}

int initSerial(char* portName)

{

    /* open port for I/O */

    int fd = open(portName, O_RDWR | O_NOCTTY ); 

    if (fd <0)

    {

        perror(portName);

        return -1;

    }

    return fd;

}

int writeSerial(int h, const char buf[], int length)

{

    return write(h,buf,length);

}

int writeByte(int h, char buf)

{

    return writeSerial(h, &buf, 1);

}

int getAvailBytes(int h)

{

    int bytes;

    ioctl(h, FIONREAD, &bytes);

    return bytes;

}

int readSerial(int h, char buf[], int length)

{

    return read(h,buf,length);

}

int readByte(int h)

{

    char buf;

    if (readSerial(h, &buf, 1)<1)

        return -1;

    return buf;

}

void closeSerial(int h)

{

    close(h);

}

int wait_for_ok(int h)

{

    const char* s = "OK\r";

    const char* curr = s;

    int count = 0;

    while (curr - s < 3)

    {

        int c;

        while(!getAvailBytes(h))

        {

            if (count++ > 150) return 0;

            usleep(10000);

        }

        c = readByte(h);

        if (c>=0)

        {

            if (c == *curr) {

                curr++;

            } else {

                curr = s;

            }

        }

    }

    return 1;

}

int xbee_setup(int h, int robotNum)

{

    int _init = 0;

    char idstr[9] = "ATIDFF";

    setupSerial(h, B9600);

    writeSerial(h, "+++", 3);

    if (wait_for_ok(h))

    {

        printf("Initializing XBee\n");

        writeSerial(h, "ATCH0C\r", 7);

        wait_for_ok(h);

        idstr[6] = (robotNum / 10) + 0x30;

        idstr[7] = robotNum % 10 + 0x30;

        idstr[8] = '\r';

        writeSerial(h, idstr, 9);

        wait_for_ok(h);

        writeSerial(h, "ATDH0\r", 6);

        wait_for_ok(h);

        writeSerial(h, "ATDLFFFF\r", 9);

        wait_for_ok(h);

        writeSerial(h, "ATAP0\r", 6);

        wait_for_ok(h);

        writeSerial(h, "ATBD6\r", 6);

        wait_for_ok(h);

        writeSerial(h, "ATCN\r", 5);

        wait_for_ok(h);

        _init = 1;

    }

    setupSerial(h, B57600);

    if (!_init)

    {

        printf("Configuring XBee\n");

        writeSerial(h, "+++", 3);

        wait_for_ok(h);

        idstr[6] = (robotNum / 10) + 0x30;

        idstr[7] = robotNum % 10 + 0x30;

        idstr[8] = '\r';

        writeSerial(h, idstr, 9);

        wait_for_ok(h);

        writeSerial(h, "ATCN\r", 5);

        wait_for_ok(h);

    }

    return 0;

}

/* Take in an intel hex file and load it into a large array

 * This allows us to read sequential data from the large array without having to

 * worry about weird character line-feed breaks in the text/HEX file.

 * 

 * Takes: file name?

 * Returns: Big array

 * 

 * For ATmega168, we have to load 128 bytes at a time (program full page). Document: AVR095

 */

#define MEM_SIZE 131072

unsigned char intel_hex_array[MEM_SIZE];

unsigned int Hex_Convert(char str[3])

{

    unsigned int hex_num;

    char hstr[5] = { '0', 'x', 0, 0, 0 };

    hstr[2] = str[0];

    hstr[3] = str[1];

    sscanf(hstr, "%x", &hex_num);

    return hex_num;

}

int parse_file(char* file)

{

    int i;

    char buffer[3];

	/* Read in the HEX file - clean it up */

	FILE* fnum = fopen(file, "r");

    if (fnum == NULL)

        return 1;

	/* Pre-fill hex_array with 0xFF */

	for (i=0; i < MEM_SIZE; i++)

    {

		intel_hex_array[i] = 0xff;

	}

	/* Step through cleaned file and load file contents into large array

	 * Also convert from ASCII to binary */

	for(;;)

    {

        int Record_Length, Memory_Address_High, Memory_Address_Low, Memory_Address, End_Record;

        /* Peel off first character */

        int first = fgetc(fnum);

        /* Remove empty lines + lines not starting with a ":" */

        if (first == EOF) break;

		if (first != ':') continue;

		/* Peel off record length */

		Record_Length = Hex_Convert(fgets(buffer, 3, fnum));

		/* Get the memory address of this line */

		Memory_Address_High = Hex_Convert(fgets(buffer, 3, fnum));

		Memory_Address_Low = Hex_Convert(fgets(buffer, 3, fnum));

		Memory_Address = (Memory_Address_High << 8) + Memory_Address_Low;

		/*Divide Memory address by 2

		         If (Memory_Address_High Mod 2) <> 0 Then

		             Memory_Address_Low = Memory_Address_Low + 256

		         End If

		         Memory_Address_High = Memory_Address_High \ 2

		         Memory_Address_Low = Memory_Address_Low \ 2*/

		/* Peel off and check for end of file tage */

		End_Record = Hex_Convert(fgets(buffer, 3, fnum));

        if (End_Record == 04 ) continue;

		if (End_Record == 01) break;

		for (i=0; i < Record_Length; i++)

        {

			/* Pull out the byte and store it in the memory_address location of the intel_hex array */

			intel_hex_array[Memory_Address + i] = Hex_Convert(fgets(buffer, 3, fnum));

		}

	}

    fclose(fnum);

	return 0;

}

int download(int h, char *file)

{

	int j;

	int Memory_Address_High;

	int Memory_Address_Low;

	int Check_Sum;

    char buf;

	int last_memory_address;

	int current_memory_address;

	int page_size = 256; /* For ATmega168, we have to load 128 bytes at a time (program full page). Document: AVR095 */

	/* Take intel hex file and store it squentially into large array */

	if (parse_file(file))

    {

		fprintf(stderr, "Whoa - problem parsing file!\n");

		return -1;

	}

	printf("Waiting for target IC to broadcast\n");

	/* "Send the reset signal"; */

	while(!getAvailBytes(h))

    {

        usleep(1500000);

        writeByte(h, 6);

    }

	printf("Load Mode Notification Received\n");

	/* Find the last spot in the large hex_array */

	last_memory_address = MEM_SIZE - 1;

	while(last_memory_address > 0)

    {

		if (intel_hex_array[last_memory_address] != 255) break;

		last_memory_address--;

	}

	/* Start at beginning of large intel array */

	current_memory_address = 0;

	while (current_memory_address < last_memory_address)

    {

        while((buf = readByte(h))==-1)

            usleep(1000);

		if (buf == 'T') /* All is well */

        {

			/* Total_Code_Words = Total_Code_Words + (Record_Length / 2) */

        }

		else if (buf == 7)  /* Re-send line */

        {

            static int resend_count = 0;

			current_memory_address = current_memory_address - page_size;

            if (current_memory_address<0) current_memory_address=0;

            printf("\nResending: %d\n", ++resend_count);

			usleep(1000);

        }

		else

        {

			fprintf(stderr, "\nError : Incorrect response from target IC: %d. Programming is incomplete and will now halt.\n", buf);

			return -2;

		}

		/* Update progress */

		printf("\rLoaded %d code words", current_memory_address);

        fflush(stdout);

		/*=============================================*/

		/* Convert 16-bit current_memory_address into two 8-bit characters */

		Memory_Address_High = current_memory_address >> 8;

		Memory_Address_Low = current_memory_address & 0xff;

		/*=============================================*/

		/* Calculate current check_sum */

		Check_Sum = 0;

		Check_Sum += page_size >> 8;    /* page size high byte */

        Check_Sum += page_size & 0xff;  /* page size low byte */

		Check_Sum += Memory_Address_High; /* Convert high byte */

		Check_Sum += Memory_Address_Low; /* Convert low byte */

		for(j=0; j < page_size; j++)

        {

			Check_Sum += intel_hex_array[current_memory_address + j];

		}

		/* Now reduce check_sum to 8 bits */

		Check_Sum &= 0xff;

		/* Now take 2's compliment */

		Check_Sum = 256 - Check_Sum;

		/*=============================================*/

		/* Send the start character */

        writeByte(h, ':');

		/* Send the record length */

        writeByte(h, page_size & 0xff); /* low byte */

        writeByte(h, page_size >> 8);   /* high byte */

		/* Send this block's address */

        writeByte(h, Memory_Address_Low);

        writeByte(h, Memory_Address_High);

		/* Send this block's check sum */

        writeByte(h, Check_Sum);

		/* Send the block */

		for (j=0; j < page_size; j++)

        {

			writeByte(h, intel_hex_array[current_memory_address + j]);

		}

		/*=============================================*/

		current_memory_address += page_size;

	}

	/* Tell the target IC we are done transmitting data */

    writeByte(h, ':');

    writeByte(h, 'S');

    writeByte(h, 'S');

	printf("\nDownload Complete!\n");

    return 0;

}

int main(int argc, char* argv[])

{

    int h;

    printf("//=\\\\     _                          __               \n");

    printf("||  .    |_) _ |_  _  _  |    |_    /   _  |  _ __  \\/\n");

    printf("|| -A!   | \\(_)|_)(_)(_  | |_||_)   \\__(_) | (_)| | / \n");

    printf("                                                      \n");

    printf("                 Universal Programmer                 \n");

    printf("                                                      \n");

    switch(argc)

    {

    case 3:

        /* open port for I/O */

        h = initSerial(argv[1]);

        setupSerial(h, B57600);

    break;

    case 4:

        h = initSerial(argv[1]);

        xbee_setup(h, atoi(argv[3]));        

    break;

    default:

        printf("Usage: %s <port name> <hex file> [<robot ID>]\n", argv[0]);

        return -1;

    }

    int ret = download(h, argv[2]);

    closeSerial(h);

    return ret;

}

/*

    adapted from "Wireless bootloader for the ATmega168 and XBee Series 1 modules"

    orginal code copyright 2009 Nathan Seidle, Spark Fun Electronics?

    Modifications for Colony Project, Robotics Club, Carngie Mellon University

    by Ryan Cahoon

*/

#include <avr/io.h>

#include <util/delay.h>

#include <avr/boot.h>

#define TRUE	0

#define FALSE	1

//Status LEDs

#define LED_DDR  DDRC

#define LED_PORT PORTC

#define LED_PIN  PINC

#define LED      (_BV(PINC1) | _BV(PINC5))

//Command Button

#define BLPORT   PORTG

#define BLDDR    DDRG

#define BLPIN    PING

#define BLPNUM   PING0

//Function prototypes

void setup_uart0(void);

void setup_uart1(void);

void putch0(char);

void putch1(char);

int getch0(void);

int getch1(void);

void flash_led(uint8_t);

void onboard_program_write(uint32_t page, uint8_t *buf);

int bootloader(int force);

int xbee_setup(int robotNum);

int xbee_reset(void);

int code_transfer(int (*getch)(void), void (*putch)(char));

int usb_send(char* buf, int size);

void (*main_start)(void) = 0x0000;

//Variables

uint8_t incoming_page_data[256];

uint8_t retransmit_flag = FALSE;

union page_address_union {

	uint16_t word;

	uint8_t  byte[2];

};

union page_address_union page_address;

union page_address_union page_length;

int main(void)

{

    return bootloader(0);

}

#define EEPROM_ROBOT_ID_ADDR 0x10

int eeprom_get_byte(unsigned int uiAddress, unsigned char *byte) {

    /* Wait for completion of previous write */

    while(EECR & (1<<EEWE));

    /* Set up address register */

    EEAR = uiAddress;

    /* Start eeprom read by writing EERE */

    EECR |= (1<<EERE);

    /* get data from data register */

    *byte=EEDR;

    return 0;

}

unsigned char get_robotid(void) {

    unsigned char c0, c1, c2;

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR, &c0);

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+1, &c1);

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+2, &c2);

    if(c0 == 'I' && c1 == 'D')

        return c2;

    else

        return 0xFF;

}

int bootloader(int force)

{

    int robotId;

    // check if button pressed

    int oldBLDDR = BLDDR;

    int oldBLPORT = BLPORT;

    BLDDR  &= ~(1<<BLPNUM);		// set as Input

	BLPORT |= (1<<BLPNUM);		// Enable pullup

    if ((BLPIN & (1<<BLPNUM)) && !force) {

		// jump to main app if pin is not grounded

		BLPORT = oldBLPORT;		// set to default

        BLDDR = oldBLDDR;

		main_start();			// Jump to application sector

	}

    //set LED pin as output

	LED_DDR |= 0x77;

    flash_led(1);

    robotId = get_robotid();

    setup_uart1();

    xbee_setup(robotId);

    setup_uart0();

	//turn on LED to signal entering of bootloader

	LED_PORT = ~LED;

	//Start bootloading process

	//Wait for the computer

	while(1)

    {

        // transfering over USB

        if (getch0()==6)

            code_transfer(getch0, putch0);

        // transfering over wireless

        if (getch1()==6)

            code_transfer(getch1, putch1);

        // Communication testing code:

        /*int ch0 = getch0();

        if (ch0 >= 0)

        {

            putch1(ch0);

            PORTC ^= 0x70;

        }

        int ch1 = getch1();

        if (ch1 >= 0)

        {

            putch0(ch1);

            PORTC ^= 0x07;

        }*/

    }

    return 0;

}

int code_transfer(int (*getch)(void), void (*putch)(char))

{

    uint8_t check_sum = 0;

	uint16_t i;

    retransmit_flag = FALSE;

    LED_PORT |= 0x77;

    LED_PORT &= 0x9A;

	while(1)

	{

        // Flash the orbs to show progress

        PORTC ^= 0x77;

		//Determine if the last received data was good or bad

        if (check_sum != 0) //If the check sum does not compute, tell computer to resend same line

RESTART:

            putch(7); //Tell the computer to retransmit the last page

        else            

            putch('T'); //Tell the computer that we are ready for the next line

        while(1) //Wait for the computer to initiate transfer

		{

			if (getch() == ':') break; //This is the "gimme the next chunk" command

			if (retransmit_flag == TRUE) goto RESTART;

		}

        //Get the length of this block

        page_length.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        page_length.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        if (page_length.byte[0] == 'S') //Check to see if we are done - this is the "all done" command

		{

            //Wait for any flash writes to complete

			boot_rww_enable ();

            // signal programming done

            LED_PORT |= 0x77;

            flash_led(1);

            // reset xbee

            xbee_reset();

            flash_led(2);

            // reset robot

			WDTCR &= 0xF8;

            WDTCR |= 0x08;

            while(1);

		}

		//Get the memory address at which to store this block of data

		page_address.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;

		page_address.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        check_sum = getch(); //Pick up the check sum for error dectection

		if (retransmit_flag == TRUE) goto RESTART;

		for(i = 0 ; i < page_length.word ; i++) //Read the program data

		{

            incoming_page_data[i] = getch();

			if (retransmit_flag == TRUE) goto RESTART;

		}

        //Calculate the checksum

		for(i = 0 ; i < page_length.word ; i++)

            check_sum += incoming_page_data[i];

        check_sum += page_length.byte[0];

        check_sum += page_length.byte[1];

        check_sum += page_address.byte[0];

        check_sum += page_address.byte[1];

        if(check_sum == 0) //If we have a good transmission, put it in ink

            onboard_program_write((uint32_t)page_address.word, incoming_page_data);

	}

    return 0;

}

void onboard_program_write(uint32_t page, uint8_t *buf)

{

	uint16_t i;

	boot_page_erase (page);

	boot_spm_busy_wait ();      // Wait until the memory is erased.

	for (i=0; i<SPM_PAGESIZE; i+=2)

	{

		// Set up little-endian word.

		uint16_t w = *buf++;

		w += (*buf++) << 8;

		boot_page_fill (page + i, w);

	}

	boot_page_write (page);     // Store buffer in flash page.

	boot_spm_busy_wait();       // Wait until the memory is written.

}

void flash_led(uint8_t count)

{

	uint8_t i;

	for (i = 0; i < count; ++i) {

		LED_PORT = ~LED;

		_delay_ms(100);

		LED_PORT = 0xff;

		_delay_ms(100);

	}

}

/**************************************************************************************/

#define MYUBRR (((((F_CPU * 10) / (8L * baud)) + 5) / 10) - 1)

#define MAX_CHARACTER_WAIT	15 

#define MAX_WAIT_IN_CYCLES ( ((MAX_CHARACTER_WAIT * 8) * F_CPU) / baud )

long baud = 9600;

void setup_uart0(void)

{

    //Setup USART baud rate

    UBRR0H = MYUBRR >> 8;

    UBRR0L = MYUBRR;

    UCSR0B = (1<<RXEN0)|(1<<TXEN0);

    UCSR0A |= _BV(U2X0);

}

void setup_uart1(void)

{

    //Setup USART baud rate

    UBRR1H = MYUBRR >> 8;

    UBRR1L = MYUBRR;

    UCSR1B = (1<<RXEN1)|(1<<TXEN1);

    UCSR1A |= _BV(U2X1);

}

void putch0(char ch)

{

    while (!(UCSR0A & _BV(UDRE0)));

    UDR0 = ch;

}

void putch1(char ch)

{

    while (!(UCSR1A & _BV(UDRE1)));

    UDR1 = ch;

}

int getch0(void)

{

    retransmit_flag = FALSE;

    uint32_t count = 0;

    while(!(UCSR0A & _BV(RXC0)))

    {

        count++;

        if (count > MAX_WAIT_IN_CYCLES)

        {

            retransmit_flag = TRUE;

            return -1;

        }

    }

    return UDR0;

}

int getch1(void)

{

    retransmit_flag = FALSE;

    uint32_t count = 0;

    while(!(UCSR1A & _BV(RXC1)))

    {

        count++;

        if (count > MAX_WAIT_IN_CYCLES)

        {

            retransmit_flag = TRUE;

            return -1;

        }

    }

    return UDR1;

}

int xbee_wait_for_ok(void)

{

    const char* s = "OK\r";

    const char* curr = s;

    while (curr - s < 3)

    {

        int c = getch1();

        if (c>=0)

        {

            if (c == *curr) {

                curr++;

            } else {

                curr = s;

            }

        }

    }

    return 0;

}

int xbee_send_command(const char* buf, int size)

{

    int i;

    for (i = 0; i < size; i++)

    {

        putch1(buf[i]);

    }

    xbee_wait_for_ok();

    return 0;

}

int usb_send(char* buf, int size)

{

    int i;

    for(i=0; i<size; i++)

        putch0(buf[i]);

    return 0;

}

int xbee_setup(int robotNum)

{

    char idstr[9] = "ATIDFF";

    xbee_send_command("+++", 3);

    xbee_send_command("ATCH0C\r", 7);

    idstr[6] = (robotNum / 10) + 0x30;

    idstr[7] = robotNum % 10 + 0x30;

    idstr[8] = '\r';

    xbee_send_command(idstr, 9);

    xbee_send_command("ATDH0\r", 6);

    xbee_send_command("ATDLFFFF\r", 9);

    xbee_send_command("ATAP0\r", 6);

    xbee_send_command("ATBD6\r", 6);

    xbee_send_command("ATCN\r", 5);

    baud = 57600;

    setup_uart1();

    return 0;

}

int xbee_reset(void)

{

    // command sequence guard time

    _delay_ms(1100);

    xbee_send_command("+++", 3);

    xbee_send_command("ATBD3\r", 6);

    xbee_send_command("ATFR\r", 5);

    // delay 150 ms to wait for reset

    _delay_ms(150);

    return 0;

}

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