/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLIO/src/ICLIO/MyrmexDecoder.h                        **
** Module : ICLIO                                                  **
** Authors: Carsten Schuermann                                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLCore/Img.h>

#define ERROR_MARK  0xA000 //Top 4 Bits code on last pixel of last frame to mark that an error occurred during readout
//Connections
#define WEST 0
#define EAST 1
#define SOUTH 2
#define NORTH 3
#define NOGATE 4
#define SIDE 1
#define TOP 0
//Viewpoints
#define VIEW_W 0
#define VIEW_3 1
#define VIEW_M 2
#define VIEW_E 3


namespace icl{
  namespace io{
  
    class MyrmexDecoder {
   
    public:
      ICLIO_API MyrmexDecoder();
      ICLIO_API void decode(const icl16s *data, const utils::Size &size, core::ImgBase **dst);
  
    private:
      char attachedPosition; //store position of central unit
      int bigtarget[16*16]; //table which maps module orientation
      std::vector<char> conversionTable;  //table which maps usb input texel position to grabber output texel position
      std::vector<unsigned int> flat; //table which maps pixel order from per-module style to per-frame-line style
      unsigned int image_width; //store converted width
      unsigned int image_height; //store converted height
  
      std::vector<char> getConnectionsMeta(const icl16s *data, int size);
      int grabMetadata(const icl16s *data, unsigned char metadata[256], int size);
      int setCompression(unsigned int i);
      int setSpeed(unsigned int i);
      unsigned short swap16(unsigned short a);
      void parseConnections( std::vector<char> connections, char* attached, int* weite, int* hoehe );
      std::vector<char> makeConversiontable( int width, int height, std::vector<char> connections, char attached, char viewpoint );//generate conversiontable to match real world layout + using our viewpoint 
      int convertImage(const icl16s *data, icl16s *outputImageData, const utils::Size &size);
      void init(const icl16s *data, const utils::Size &size,char viewpoint,unsigned char speed, unsigned char compression);
    };
  
  } // namespace io
}