Diff: TPixy.h

Revision:

4:478d4d9193a1

Parent:

3:66df7d295245

--- a/TPixy.h	Mon Mar 14 18:53:43 2016 +0000
+++ b/TPixy.h	Mon Aug 23 11:26:37 2021 +0000
@@ -71,7 +71,7 @@
 template <class TPixyInterface> class TPixy
 {
 public:
-    Serial* serial;
+    BufferedSerial* serial;
     Block *blocks;
     
     /** Creates a TPixy object with a given connection handler
@@ -79,7 +79,7 @@
       * @param serialOut the optional serial output pointer to print out Pixy camera data
       * @param arg an optional integer argument used for custom implementations of the Pixy library
       */
-    TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL);
+    TPixy(TPixyInterface* type, BufferedSerial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL);
     ~TPixy();
 
     /** Prints the given Block out to the given serial port
@@ -132,7 +132,7 @@
 }
 
 
-template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, Serial* serialOut, uint16_t arg) : serial(serialOut), link(type)
+template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, BufferedSerial* serialOut, uint16_t arg) : serial(serialOut), link(type)
 {
     skipStart = false;
     blockCount = 0;
@@ -158,11 +158,11 @@
             }
         }
         sig[j] = '\0';
-        if (serial != NULL) {
-            serial->printf("CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d\n", sig, block.signature, block.x, block.y, block.width, block.height, block.angle);
+        {
+            printf("CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d\n", sig, block.signature, block.x, block.y, block.width, block.height, block.angle);
         }
-    } else {}// regular block.  Note, angle is always zero, so no need to print
-    serial->printf("sig: %d x: %d y: %d width: %d height: %d\n", block.signature, block.x, block.y, block.width, block.height);
+    } //else {}// regular block.  Note, angle is always zero, so no need to print
+    printf("sig: %d x: %d y: %d width: %d height: %d\n", block.signature, block.x, block.y, block.width, block.height);
 }
 
 template <class TPixyInterface> TPixy<TPixyInterface>::~TPixy()
@@ -177,7 +177,7 @@
     while(true) {
         w = link->getWord();
         if (w == 0 && lastw == 0) {
-            wait_ms(10);
+            ThisThread::sleep_for(10);
             return false;
         } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) {
             blockType = NORMAL_BLOCK;
@@ -187,7 +187,7 @@
             return true;
         } else if (w == PIXY_START_WORDX) {
             if (serial != NULL) {
-                serial->printf("reorder");
+                printf("reorder");
             }
             link->getByte(); // resync
         }
@@ -209,25 +209,30 @@
 
     if (!skipStart) {
         if (getStart() == false) {
+            printf("- 0 -\r\n");
             return 0;
         }
     } else {
         skipStart = false;
     }
-    for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
+    for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) 
+        {
         checksum = link->getWord();
         if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame
             skipStart = true;
             blockType = NORMAL_BLOCK;
-            if (serial != NULL) {
-                serial->printf("skip");
+            if(1) {
+                printf("skip");
             }
+            printf("- 1 -\r\n");
             return blockCount;
         } else if (checksum == PIXY_START_WORD_CC) {
             skipStart = true;
             blockType = CC_BLOCK;
+            printf("- 2 -\r\n");
             return blockCount;
         } else if (checksum == 0) {
+            printf("- 3 -\r\n");
             return blockCount;
         }
         if (blockCount > blockArraySize) {
@@ -250,7 +255,7 @@
         } else {
             w = link->getWord();
             if (serial != NULL) {
-                serial->printf("cs error");
+                printf("cs error");
             }
         }
         if (w == PIXY_START_WORD) {
@@ -258,9 +263,11 @@
         } else if (w == PIXY_START_WORD_CC) {
             blockType = CC_BLOCK;
         } else {
+            printf("- 4 -\r\n");
             return blockCount;
         }
     }
+    printf("- 5 -\r\n");
     return blockCount;
 }