#ifndef MAIN_H_INCLUDED
#define MAIN_H_INCLUDED

typedef unsigned char U8;
typedef signed char S8;
typedef unsigned short U16;
typedef signed short S16;
typedef unsigned int U32;
typedef signed int S32;
typedef unsigned long long U64;
typedef signed long long S64;
typedef bool BIT;

#define __FALSE 0
#define __TRUE 1

#define	BAD_PIXELS_ARRAY_SIZE	256
#define	NO_MARKER				0	// 'no marker' cluster identifier
#define	SN_LENGTH				128
// FIFO coordinate XY-correction
#define	FIFO_X_OFFSET						-11
#define	FIFO_Y_OFFSET						-4
//---------------------------------------------------------------------------
// CMOS matrix definitions
#define	IMAGE_CX							(320-1)
#define	IMAGE_CY							(256-1)
#define	CELL_SIZE							8		// cluster cell size, in pix
#define	IMAGE_CELL_CX						((IMAGE_CX + CELL_SIZE - 1) / CELL_SIZE)
#define	IMAGE_CELL_CY						((IMAGE_CY + CELL_SIZE - 1) / CELL_SIZE)


typedef struct
{
	U16	bfType;
	U32	bfSize;
	U16	bfReserved1;
	U16	bfReserved2;
	U32	bfOffBits;
} BFHEADER;

typedef struct
{
	U32	biSize;
	S32	biWidth;
	S32	biHeight;
	U16  biPlanes;
	U16	biBitCount;
	U32	biCompression;
	U32	biSizeImage;
	S32	biXPelsPerMeter;
	S32	biYPelsPerMeter;
	U32	biClrUsed;
	U32	biClrImportant;
} BIHEADER;


typedef struct
{
	U8	rgbBlue;
	U8	rgbGreen;
	U8	rgbRed;
	U8	rgbReserved;
} RGBQ;

typedef struct
{
	float x;
	float y;
} FIFO_ITEM_f;

static unsigned short read_u16(FILE *fp);
static unsigned int   read_u32(FILE *fp);
static int            read_s32(FILE *fp);


#pragma pack(push, 1)
typedef struct
{
	unsigned short left;
	unsigned short top;
	unsigned short right;
	unsigned short bottom;

} ARM_RECT;

typedef struct
{
	U16 x;
	U16 y;
} FIFO_ITEM;

typedef struct
{
	U16       count;
	FIFO_ITEM array[BAD_PIXELS_ARRAY_SIZE];
} BAD_PIX_FILE_STRUCTURE;

typedef struct
{
	FIFO_ITEM *pi;
	U8 *pm;
} THE_POINT;

typedef struct
{
	U16      count;					// number of points (pixels) in cluster
	U8       excluded;				// flag, cluster should be ignored if TRUE
	U8       marker;				// cluster identicator
	ARM_RECT rect;					// rectangular area of cluster (in pixels)
} CLUSTER_COORD;

typedef struct
{
	U32 time;						// time of alarm, in 10us units
	S16 angle1;						//
	S16 angle2;						//
} COORDS_DATA;

typedef struct
{
	U8    szSerialNumber[SN_LENGTH];// matrix serial number, zero-terminated string
	U16   nXc, nYc;					// centers of matrices, pix
	U16   nRs, nRb;					// lens field of view radius ('s'=small, 'b'=big), pix
	U8    cLc;						// neighbour distance for clasters, pix
	U16   nLimit;					// FIFO limit (10-bit)
	U16   nVinb, nVref;				// VINB & VREF (10-bit)
	float fA, fB, fC;				// Fi=A*x^2 + Bx + C
} CONFIG_FILE_STRUCTURE;

#pragma pack(pop)


#define	COORDS_FIFO_SIZE					16		// maximum number of items in coordinates FIFO array
//----------------------------------------------------------------------------
#define	ENTER_CRITICAL_SECTION()			os_mut_wait(g_mutex, 0xffff)
#define	LEAVE_CRITICAL_SECTION()			os_mut_release(g_mutex)
//----------------------------------------------------------------------------
// constant variables
static const char							g_badpix_filename1[] = "S:\\bad_pix1.raw";
static const char							g_badpix_filename2[] = "S:\\bad_pix2.raw";
static const char							g_config_filename1[] = "S:\\config1.raw";
static const char							g_config_filename2[] = "S:\\config2.raw";
//----------------------------------------------------------------------------
// common inter-task variables (access-protected by mutex)
static U64									g_init_time_10us;
static COORDS_DATA							g_coords[COORDS_FIFO_SIZE];	// coordinates FIFO array
static U16									g_coords_index = 0;			// index of 1-st free item in array
//----------------------------------------------------------------------------
// transmittion task CAN id
//----------------------------------------------------------------------------
// bad pixels & config variables
static BAD_PIX_FILE_STRUCTURE				g_bad_pixels1;				// bad pixel array for CMOS1
static BAD_PIX_FILE_STRUCTURE				g_bad_pixels2;				// bad pixel array for CMOS2
static CONFIG_FILE_STRUCTURE				g_config1;					// config settings for CMOS1
static CONFIG_FILE_STRUCTURE				g_config2;					// config settings for CMOS2
// shot fifo & cluster variables
static FIFO_ITEM							g_shot_array1[4096];		// shot XY-coordinates from FIFO1
static FIFO_ITEM							g_shot_array2[4096];		// shot XY-coordinates from FIFO2
static U16									g_shot_count1;				// number of shot XY-coordinate pairs in FIFO1
static U16									g_shot_count2;				// number of shot XY-coordinate pairs in FIFO2
static CLUSTER_COORD						g_cluster_coords1[IMAGE_CELL_CX*IMAGE_CELL_CY];	// clusters mass centre & coordinates in FIFO1
static CLUSTER_COORD						g_cluster_coords2[IMAGE_CELL_CX*IMAGE_CELL_CY];	// clusters mass centre & coordinates in FIFO2
static CLUSTER_COORD						*g_cluster_ptrs1[IMAGE_CELL_CX*IMAGE_CELL_CY];	//
static CLUSTER_COORD						*g_cluster_ptrs2[IMAGE_CELL_CX*IMAGE_CELL_CY];	//
static U16									g_cluster_count1;			// number of clusters (8x8) in FIFO1
static U16									g_cluster_count2;			// number of clusters (8x8) in FIFO2
static CLUSTER_COORD						g_super_cluster_coords1[IMAGE_CELL_CX*IMAGE_CELL_CY];
static CLUSTER_COORD						g_super_cluster_coords2[IMAGE_CELL_CX*IMAGE_CELL_CY];
static U16									g_super_cluster_count1;		// number of super clusters in FIFO1
static U16									g_super_cluster_count2;		// number of super clusters in FIFO2



#endif // MAIN_H_INCLUDEDs