Diff: main.cpp

Revision:

28:f1dd68d07aec

Parent:

27:bee63ac9b70b

--- a/main.cpp	Tue Jan 21 12:59:37 2020 +0000
+++ b/main.cpp	Mon Feb 03 09:33:58 2020 +0000
@@ -1,148 +1,189 @@
 #include "pixy2.h"
 
-/*      _DEBUG_     */
-int sommeDeControle,sommeRecue;
-char *ptr;
-
-void automate_debug(T_Pixy2State &etat);
+#define NB_FONCTIONNALITES 8
 
 Serial pc(USBTX, USBRX, 9600);
-/*                  */
 
-typedef enum {IDLE, SND, SND_2, CHECKSUM_ERROR, TIMEOUT, OK, OK_2} T_state;
+// debug en cas d'erreur de checksum
+int sommeDeControle,sommeRecue;
 
-// FLAGS
+// Gestion appui sur BP
 bool FLAG_BP = false;
-int nb_appui = 0;
+int nb_appui = -1;
 
-// Prototypes
-void appui_BP(void);
+void appui_BP(void)
+{
+    if(!FLAG_BP) // pour éviter les rebonds
+        nb_appui = (nb_appui+1)%NB_FONCTIONNALITES;
+    FLAG_BP = true;
+}
 
+/* PROGRAMME DE TEST DES FEATURES FONCTIONNEL */
 
 int main(void)
 {
     PIXY2               maPixy(PC_12, PD_2);     // PC_12 : UART5_TX --- PD_2 : UART5_RX
     
-    T_pixy2Version* version;
-    T_pixy2Resolution* resolution;
-    T_pixy2ErrorCode    rep;
-    
+    T_pixy2Version *version;
+    T_pixy2Resolution *resolution;
+    T_pixy2ReturnCode *framerate;
+    T_pixy2Pixel *pixel;
+    T_pixy2ErrorCode    cr;
+
     // Initialisations
     InterruptIn BP(USER_BUTTON);
     BP.rise(&appui_BP);
-    
-    Timer temps;
-    temps.start();
-    
+
+    Timer timeOut;
+    timeOut.start();
+
+    typedef enum {IDLE, SND, CHECKSUM_ERROR, TIMEOUT, OK} T_state;
     T_state etat = IDLE;
-    
+
     while(1) {
 
         switch (etat) {
             case IDLE :
-                if (FLAG_BP && nb_appui == 0) {
+                if (FLAG_BP) {
                     pc.printf("Envoi...\n\r");
-                    etat = SND;
-                    FLAG_BP = false;
-                    temps.reset();
-                    nb_appui += 1;
-                }
-                if (FLAG_BP && nb_appui == 1) {
-                    pc.printf("Envoi...\n\r");
-                    etat = SND_2;
                     FLAG_BP = false;
-                    temps.reset();
-                    nb_appui = 0;
-                }
-                break;
-
-            case SND :
-                rep = maPixy.pixy2_getVersion(&version);
-                
-                if (rep == PIXY2_BAD_CHECKSUM) {
-                    etat = CHECKSUM_ERROR;   
-                }
-                if (temps.read()>0.5f) {
-                    etat = TIMEOUT;
-                }
-                if (rep == PIXY2_OK) {
-                    etat = OK;
+                    timeOut.reset();
+                    etat = SND;
                 }
                 break;
                 
-            case SND_2 :
-                rep = maPixy.pixy2_getResolution(&resolution);
-                
-                if (rep == PIXY2_BAD_CHECKSUM) {
-                    etat = CHECKSUM_ERROR;   
+            case SND :
+                switch(nb_appui) {
+                    case 0:
+                        cr = maPixy.pixy2_getVersion(&version);
+                        break;
+    
+                    case 1:
+                        cr = maPixy.pixy2_getResolution(&resolution);
+                        break;
+    
+                    case 2:
+                        cr = maPixy.pixy2_getFPS(&framerate);
+                        break;
+                        
+                    case 3:
+                        cr = maPixy.pixy2_getRGB(resolution->pixFrameWidth / 2, resolution->pixFrameHeight / 2, 0, &pixel);
+                        break;
+                        
+                    case 4:
+                        cr = maPixy.pixy2_setLED(0,0,255);
+                        break;
+    
+                    case 5:
+                        cr = maPixy.pixy2_setLamp(1,1);
+                        break;
+    
+                    case 6:
+                        cr = maPixy.pixy2_setCameraBrightness(255);
+                        break;
+    
+                    case 7:
+                        cr = maPixy.pixy2_getAllFeature(PIXY2_VECTOR | PIXY2_INTERSECTION | PIXY2_BARCODE);
+                        if(cr != PIXY2_BUSY)
+                        {
+                            if(cr <= 7)
+                            {
+                                if((cr & PIXY2_VECTOR) == PIXY2_VECTOR)
+                                {
+                                    pc.printf("\n\r%d vecteurs detect\202s\n\r", maPixy.Pixy2_numVectors);
+                                    etat = OK;
+                                }
+                                if((cr & PIXY2_INTERSECTION) == PIXY2_INTERSECTION)
+                                {
+                                    pc.printf("\n\r%d intersections detect\202es\n\r", maPixy.Pixy2_numIntersections);
+                                    etat = OK;
+                                }
+                                if((cr & PIXY2_BARCODE) == PIXY2_BARCODE)
+                                {
+                                    pc.printf("\n\r%d codes barre detect\202s\n\r", maPixy.Pixy2_numBarcodes);
+                                    etat = OK;
+                                }
+                            }
+                            else if(cr > 7)
+                                pc.printf("Aucune feature recue !\n\r");
+                        }
+                        break;
                 }
-                if (temps.read()>0.5f) {
+    
+                // Test des possibles erreurs
+                if (cr == PIXY2_BAD_CHECKSUM)
+                    etat = CHECKSUM_ERROR;
+                else if (timeOut.read()>2.f)
                     etat = TIMEOUT;
+                else if (cr == PIXY2_OK)
+                    etat = OK;
+                else if (cr != PIXY2_BUSY)
+                    pc.printf("Valeur de retour : %d\n\r", cr);
+                break;
+
+            case OK :
+                switch(nb_appui) {
+                    case 0:
+                        pc.printf("Version de la camera : %s\n\r", version->pixHFString);
+                        break;
+
+                    case 1:
+                        pc.printf("Resolution de la camera : %d - %d\n\r", resolution->pixFrameWidth, resolution->pixFrameHeight);
+                        break;
+                        
+                    case 2:
+                        pc.printf("Framerate : %d\n\r", framerate->pixReturn);
+                        break;
+                        
+                    case 3:
+                        pc.printf("Pixel au centre de l'\202cran: R : %d, G : %d, B : %d\n\r", pixel->pixRed, pixel->pixGreen, pixel->pixBlue);
+                        break;
+                        
+                    case 4:
+                        pc.printf("Led bleue allum\202e !\n\r");
+                        break;
+
+                    case 5:
+                        pc.printf("Leds blanches allum\202es !\n\r");
+                        break;
+                        
+                    case 6:
+                        pc.printf("Luminosit\202 de la camera a fond !\n\r");
+                        break;
+
+                    case 7:
+                        for (int i=0; i<maPixy.Pixy2_numVectors; i++)
+                        {
+                            pc.printf("\n1er pt du %de vecteur : x: %d, y: %d\n\r", i+1, maPixy.Pixy2_vectors[i].pixX0, maPixy.Pixy2_vectors[i].pixY0);
+                            pc.printf("2e  pt du %de vecteur : x: %d, y: %d\n\r", i+1, maPixy.Pixy2_vectors[i].pixX1, maPixy.Pixy2_vectors[i].pixY1);
+                        }
+                        for (int i=0; i<maPixy.Pixy2_numIntersections; i++)
+                        {
+                            pc.printf("\npt de l'intersection %d : x: %d, y: %d\n\r", i+1, maPixy.Pixy2_intersections[i].pixX, maPixy.Pixy2_intersections[i].pixY);
+                            pc.printf("Nombre de droites sur cette intersection : %d\n\r", maPixy.Pixy2_intersections[i].pixN);
+                        }
+                        for (int i=0; i<maPixy.Pixy2_numBarcodes; i++)
+                        {
+                            pc.printf("\nCoordonn\202es du code barre %d : x: %d, y: %d\n\r", i+1, maPixy.Pixy2_barcodes[i].pixX, maPixy.Pixy2_barcodes[i].pixY);
+                            pc.printf("Nombre associ\202 a ce code barre : %d\n\r", maPixy.Pixy2_barcodes[i].pixCode);
+                        }
+                        break;
                 }
-                if (rep == PIXY2_OK) {
-                    etat = OK_2;
-                }
+                etat = IDLE;
                 break;
-            
+
             case CHECKSUM_ERROR :
                 pc.printf("Erreur de CheckSum...\n\r");
                 pc.printf("CheckSum Recu    : %d\n\r", sommeRecue);
-                pc.printf("CheckSum Calcule : %d\n\r", sommeDeControle); 
-                etat = IDLE;
-                break;
-            
-            case TIMEOUT :
-                pc.printf("Erreur Timeout...\n\rRep : %d\n\r", rep);
-                for(int i=0; i<2; ++i)
-                    pc.printf("%d\n\r", *(ptr + i));
-                etat = IDLE;
-                break;
-
-            case OK :
-                pc.printf("Version de la camera : %s\n\r", version->pixHFString);
-                etat = IDLE;
-                break;
-                
-            case OK_2 :
-                pc.printf("Resolution de la camera : %d - %d\n\r", resolution->pixFrameWidth, resolution->pixFrameHeight);
+                pc.printf("CheckSum Calcule : %d\n\r", sommeDeControle);
                 etat = IDLE;
                 break;
 
-        }
-        
-        //automate_debug(maPixy.etat);
-    }
-}
-
-// FONCTIONS
-void appui_BP(void)
-{
-    FLAG_BP = true;
-}
-
-void automate_debug(T_Pixy2State &etat) {
-    
-    static int etat_debug_passe = -1;
-    
-    if(etat != etat_debug_passe) {
-        switch(etat) {
-            case idle :
-                pc.printf("IDLE\n\r");
+            case TIMEOUT :
+                pc.printf("Erreur Timeout...\n\rError %d\n\r", cr);
+                maPixy.affDataSize();
+                etat = IDLE;
                 break;
-            case messageSent :
-                pc.printf("DATA_SENT\n\r");
-                break;
-            case receivingHeader :
-                pc.printf("RECEIVING_HEADER\n\r");
-                break;
-            case receivingData :
-                pc.printf("RECEIVING_DATA\n\r");
-                break;
-            case dataReceived :
-                pc.printf("DATA_RECEIVED\n\r");
-                break;    
         }
     }
-    
-    etat_debug_passe = etat;   
 }
\ No newline at end of file