I am working with a CMUcam2+, and I'm trying to parse some packets it's sending containing color tracking information. Each packet is all ASCII characters, and so must be either brought into a char array/string and acted upon with atoi() or stripped apart with scanf(). My problem is, scanf() isn't even working!! I'm getting only the first value in the packet, only SOMETIMES...
Where each '*' represents a number (up to 240) in character form. Each is separated by white space. For example, here's what I'm getting:
I'm using a little USB<->serial adapter to look in on the output from the CMUcam, and I'm just repeating what I get using the mbed's extra UARTs. Here's the code:
#include "mbed.h"
#include <string>
/*********************************************************************
TODO:
~Implement TW in beginning of setup, capture RGB values (calibrate
in maze), then store in nonvolatile FLASH to be used later with
TC mode (call TC w/o params to use same value as with TW).
~
**********************************************************************/
void sendCommand(char data[]);
//void getResponse(void);
void parseBuff(char, char&, char&, char&, char&, char&, char&, char&, char&);
DigitalOut myled(LED1);
#define PAN 0
#define TILT 1
char trackCMD[] = {"TC 240 240 240 240 240 240"}; // [Rmin Rmax Gmin Gmax Bmin Bmax] CMOS Color camera value range: 16-240
char trackWindow[] = {"TW"};
char getTrackColors[] = {"GT"};
char stopCMD[] = {"SL active"};
char getVersionCMD[] = {"GV"};
char enableLED[] = {"L0 1"};
char disableLED[] = {"L0 0"};
char highResolution[] = {"HR 1"};
char lowResolution[] = {"HR 0"};
char ycrcbAwbOff[] = {"CR 18 32 19 32"}; // Tell registers: YCrCb Auto White Balance -OFF-, Auto gain OFF
char ycrcbAwbOn[] = {"CR 18 36 19 33"};
char enableServos[] = {"SM 3"}; // Also refered to as "auto servo"
char setServoParams[] = {"SP "}; // NOTE: Needs args
char setServo[] = {"SV "}; // NOTE: Needs args "[servo # (0-3)] [value (46-210)]"
// ...Pulse increments by 8.68us covering 400us to 1820us
char buff[50];
Serial cmucam(p9, p10);
Serial pc(USBTX, USBRX);
Timer t; // General-purpose timer
int main() {
char x, y, x1, y1, x2, y2, area, conf;
cmucam.baud(9600);
pc.baud(9600);
pc.printf("Starting up...");
sendCommand("RS");
wait_ms(100); // Reset and wait to stabilize
sendCommand(lowResolution);
sendCommand(enableLED); // Not sure why, but moving this enable command breaks the program...
sendCommand(enableServos);
sendCommand("SV 0 135");
sendCommand("SV 1 100");
wait_ms(2500);
sendCommand(trackCMD);
//sendCommand(trackWindow);
pc.printf("Ready\n");
for(;;) {
//getResponse();
parseBuff(0, x, y, x1, y1, x2, y2, area, conf);
wait_ms(100);
pc.printf("T %u %u %u %u %u %u %u %u\n", x,y,x1,y1,x2,y2,area,conf); // Print for debugging
}
}
void sendCommand(char data[]){
cmucam.printf(data);
cmucam.printf("\r");
//getResponse();
}
//void getResponse() { // Not used (raw data only)
// int i=0;
// bool done = false;
// do {
// int c = cmucam.getc();
// if (c == '\r') {
// done = true;
// c = '\0';
// }
// buff[i++] = c;
// } while (!done);
// //string buffer(buff);
// //pc.printf("%s \n", buffer);
//}
void parseBuff(char packettype, char& massx, char& massy, char& x1, char& y1, char& x2, char& y2, char& pixels, char& confidence) {
//pc.printf(buff);
//pc.printf("\n");
char pchar;
switch(packettype) {
case 0: // Tracking (TC) Packet
cmucam.scanf("\n%c %u, &u, %u, %u, %u, %u, %u, %u\r\n", &pchar, &massx, &massy, &x1, &y1, &x2, &y2, &pixels, &confidence);
break;
case 1: // Servo Position (GS) Packet (not used yet)
break;
}
}
I did start to write some code for doing all the hard work manually before I realized like a dummy that I had scanf() at my disposal. I really don't know where to go at this point, and I'm pretty frustrated!! I'll try anything, so any suggestions are a huge help!
Rene Greiner.
5
replies
I am working with a CMUcam2+, and I'm trying to parse some packets it's sending containing color tracking information. Each packet is all ASCII characters, and so must be either brought into a char array/string and acted upon with atoi() or stripped apart with scanf(). My problem is, scanf() isn't even working!! I'm getting only the first value in the packet, only SOMETIMES...
Here's what a packet looks like:
Where each '*' represents a number (up to 240) in character form. Each is separated by white space. For example, here's what I'm getting:
I'm using a little USB<->serial adapter to look in on the output from the CMUcam, and I'm just repeating what I get using the mbed's extra UARTs. Here's the code:
#include "mbed.h" #include <string> /********************************************************************* TODO: ~Implement TW in beginning of setup, capture RGB values (calibrate in maze), then store in nonvolatile FLASH to be used later with TC mode (call TC w/o params to use same value as with TW). ~ **********************************************************************/ void sendCommand(char data[]); //void getResponse(void); void parseBuff(char, char&, char&, char&, char&, char&, char&, char&, char&); DigitalOut myled(LED1); #define PAN 0 #define TILT 1 char trackCMD[] = {"TC 240 240 240 240 240 240"}; // [Rmin Rmax Gmin Gmax Bmin Bmax] CMOS Color camera value range: 16-240 char trackWindow[] = {"TW"}; char getTrackColors[] = {"GT"}; char stopCMD[] = {"SL active"}; char getVersionCMD[] = {"GV"}; char enableLED[] = {"L0 1"}; char disableLED[] = {"L0 0"}; char highResolution[] = {"HR 1"}; char lowResolution[] = {"HR 0"}; char ycrcbAwbOff[] = {"CR 18 32 19 32"}; // Tell registers: YCrCb Auto White Balance -OFF-, Auto gain OFF char ycrcbAwbOn[] = {"CR 18 36 19 33"}; char enableServos[] = {"SM 3"}; // Also refered to as "auto servo" char setServoParams[] = {"SP "}; // NOTE: Needs args char setServo[] = {"SV "}; // NOTE: Needs args "[servo # (0-3)] [value (46-210)]" // ...Pulse increments by 8.68us covering 400us to 1820us char buff[50]; Serial cmucam(p9, p10); Serial pc(USBTX, USBRX); Timer t; // General-purpose timer int main() { char x, y, x1, y1, x2, y2, area, conf; cmucam.baud(9600); pc.baud(9600); pc.printf("Starting up..."); sendCommand("RS"); wait_ms(100); // Reset and wait to stabilize sendCommand(lowResolution); sendCommand(enableLED); // Not sure why, but moving this enable command breaks the program... sendCommand(enableServos); sendCommand("SV 0 135"); sendCommand("SV 1 100"); wait_ms(2500); sendCommand(trackCMD); //sendCommand(trackWindow); pc.printf("Ready\n"); for(;;) { //getResponse(); parseBuff(0, x, y, x1, y1, x2, y2, area, conf); wait_ms(100); pc.printf("T %u %u %u %u %u %u %u %u\n", x,y,x1,y1,x2,y2,area,conf); // Print for debugging } } void sendCommand(char data[]){ cmucam.printf(data); cmucam.printf("\r"); //getResponse(); } //void getResponse() { // Not used (raw data only) // int i=0; // bool done = false; // do { // int c = cmucam.getc(); // if (c == '\r') { // done = true; // c = '\0'; // } // buff[i++] = c; // } while (!done); // //string buffer(buff); // //pc.printf("%s \n", buffer); //} void parseBuff(char packettype, char& massx, char& massy, char& x1, char& y1, char& x2, char& y2, char& pixels, char& confidence) { //pc.printf(buff); //pc.printf("\n"); char pchar; switch(packettype) { case 0: // Tracking (TC) Packet cmucam.scanf("\n%c %u, &u, %u, %u, %u, %u, %u, %u\r\n", &pchar, &massx, &massy, &x1, &y1, &x2, &y2, &pixels, &confidence); break; case 1: // Servo Position (GS) Packet (not used yet) break; } }I did start to write some code for doing all the hard work manually before I realized like a dummy that I had scanf() at my disposal. I really don't know where to go at this point, and I'm pretty frustrated!! I'll try anything, so any suggestions are a huge help!