Diff: TPixy.h

Revision:

5:d109b094d4bb

Parent:

4:478d4d9193a1

--- a/TPixy.h	Mon Aug 23 11:26:37 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,304 +0,0 @@
-//
-// begin license header
-//
-// This file is part of Pixy CMUcam5 or "Pixy" for short
-//
-// All Pixy source code is provided under the terms of the
-// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
-// Those wishing to use Pixy source code, software and/or
-// technologies under different licensing terms should contact us at
-// cmucam@cs.cmu.edu. Such licensing terms are available for
-// all portions of the Pixy codebase presented here.
-//
-// end license header
-//
-// This file is for defining the Block struct and the Pixy template class.
-// (TPixy).  TPixy takes a communication link as a template parameter so that
-// all communication modes (SPI, I2C and UART) can share the same code.
-//
-
-#ifndef _TPIXY_H
-#define _TPIXY_H
-
-#include "mbed.h"
-#include "TPixyInterface.h"
-
-// Communication/misc parameters
-#define PIXY_INITIAL_ARRAYSIZE      30
-#define PIXY_MAXIMUM_ARRAYSIZE      130
-#define PIXY_START_WORD             0xaa55
-#define PIXY_START_WORD_CC          0xaa56
-#define PIXY_START_WORDX            0x55aa
-#define PIXY_MAX_SIGNATURE          7
-#define PIXY_DEFAULT_ARGVAL         0xffff
-
-// Pixy x-y position values
-#define PIXY_MIN_X                  0L
-#define PIXY_MAX_X                  319L
-#define PIXY_MIN_Y                  0L
-#define PIXY_MAX_Y                  199L
-
-// RC-servo values
-#define PIXY_RCS_MIN_POS            0L
-#define PIXY_RCS_MAX_POS            1000L
-#define PIXY_RCS_CENTER_POS         ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2)
-
-enum BlockType {
-    NORMAL_BLOCK,
-    CC_BLOCK
-};
-
-/** A structure for containing Block data
-  * signature the signature of the block
-  * x the x position of the block on the screen
-  * y the y position of the block on the screen
-  * width the width of the block on the screen
-  * height the height of the block on the screen
-  * angle the angle of the block
-  */
-struct Block {
-    uint16_t signature;
-    uint16_t x;
-    uint16_t y;
-    uint16_t width;
-    uint16_t height;
-    uint16_t angle;
-};
-
-/** The superclass handler for the Pixy camera from a given connection handler (SPI, I2C, etc)
-  * Used for instantiating a Pixy object that interfaces via an abtritrary connection handler
-  */
-template <class TPixyInterface> class TPixy
-{
-public:
-    BufferedSerial* serial;
-    Block *blocks;
-    
-    /** Creates a TPixy object with a given connection handler
-      * @param type the pointer to the interface connection handler
-      * @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, BufferedSerial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL);
-    ~TPixy();
-
-    /** Prints the given Block out to the given serial port
-      * @param &block the Block to print
-      */
-    void printBlock(Block &block);
-    /** Returns the number of Blocks found in the current view and updates all Blocks' info
-      * @param maxBlocks the maximum number of Blocks to search for
-      * @return the number of Blocks found
-      */
-    uint16_t getBlocks(uint16_t maxBlocks = 1000);
-    /** Sets the PWM value of the Pixy servos
-      * @param s0 the value of the left servo
-      * @param s1 the value of the right servo
-      * @return the interface return value for sending the servo command
-      */
-    int8_t setServos(uint16_t s0, uint16_t s1);
-    /** Sets the brightness of the Pixy RGB LED
-      * @param brightness the brightness of the LED
-      * @return the interface return value for sending the brightness command
-      */
-    int8_t setBrightness(uint8_t brightness);
-    /** Sets the color of the Pixy RGB LED
-      * @param r the red color value
-      * @param g the green color value
-      * @param b the blue color value
-      */
-    int8_t setLED(uint8_t r, uint8_t g, uint8_t b);
-    /** Initializes the Pixy
-      */
-    void init();
-
-private:
-    TPixyInterface* link;
-    BlockType blockType;
-    /** Returns if the Pixy is ready to receive/send a message
-      */
-    bool getStart();
-    /** Resizes the block array to add an additional block
-      */
-    void resize();
-    bool skipStart;
-    uint16_t blockCount;
-    uint16_t blockArraySize;
-};
-
-template <class TPixyInterface> void TPixy<TPixyInterface>::init()
-{
-    link->init();
-}
-
-
-template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, BufferedSerial* serialOut, uint16_t arg) : serial(serialOut), link(type)
-{
-    skipStart = false;
-    blockCount = 0;
-    blockArraySize = PIXY_INITIAL_ARRAYSIZE;
-    blocks = (Block *)malloc(sizeof(Block)*blockArraySize);
-    link->setArg(arg);
-}
-
-template <class TPixyInterface> void TPixy<TPixyInterface>::printBlock(Block &block)
-{
-    int i, j;
-    char sig[6], d;
-    bool flag;
-    if (block.signature > PIXY_MAX_SIGNATURE) { // color code! (CC)
-        // convert signature number to an octal string
-        for (i = 12, j = 0, flag = false; i >= 0; i -= 3) {
-            d = (block.signature >> i) & 0x07;
-            if (d > 0 && !flag) {
-                flag = true;
-            }
-            if (flag) {
-                sig[j++] = d + '0';
-            }
-        }
-        sig[j] = '\0';
-        {
-            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
-    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()
-{
-    free(blocks);
-}
-
-template <class TPixyInterface> bool TPixy<TPixyInterface>::getStart()
-{
-    uint16_t w, lastw;
-    lastw = 0xffff;
-    while(true) {
-        w = link->getWord();
-        if (w == 0 && lastw == 0) {
-            ThisThread::sleep_for(10);
-            return false;
-        } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) {
-            blockType = NORMAL_BLOCK;
-            return true;
-        } else if (w == PIXY_START_WORD_CC && lastw == PIXY_START_WORD) {
-            blockType = CC_BLOCK;
-            return true;
-        } else if (w == PIXY_START_WORDX) {
-            if (serial != NULL) {
-                printf("reorder");
-            }
-            link->getByte(); // resync
-        }
-        lastw = w;
-    }
-}
-
-template <class TPixyInterface> void TPixy<TPixyInterface>::resize()
-{
-    blockArraySize += PIXY_INITIAL_ARRAYSIZE;
-    blocks = (Block *)realloc(blocks, sizeof(Block)*blockArraySize);
-}
-
-template <class TPixyInterface> uint16_t TPixy<TPixyInterface>::getBlocks(uint16_t maxBlocks)
-{
-    uint8_t i;
-    uint16_t w, checksum, sum;
-    Block *block;
-
-    if (!skipStart) {
-        if (getStart() == false) {
-            printf("- 0 -\r\n");
-            return 0;
-        }
-    } else {
-        skipStart = false;
-    }
-    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(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) {
-            resize();
-        }
-        block = blocks + blockCount;
-
-        for (i = 0, sum = 0; i < sizeof(Block)/sizeof(uint16_t); i++) {
-            if (blockType == NORMAL_BLOCK && i >= 5) { // skip
-                block->angle = 0;
-                break;
-            }
-            w = link->getWord();
-            sum += w;
-            *((uint16_t *)block + i) = w;
-        }
-
-        if (checksum == sum) {
-            blockCount++;
-        } else {
-            w = link->getWord();
-            if (serial != NULL) {
-                printf("cs error");
-            }
-        }
-        if (w == PIXY_START_WORD) {
-            blockType = NORMAL_BLOCK;
-        } else if (w == PIXY_START_WORD_CC) {
-            blockType = CC_BLOCK;
-        } else {
-            printf("- 4 -\r\n");
-            return blockCount;
-        }
-    }
-    printf("- 5 -\r\n");
-    return blockCount;
-}
-
-template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setServos(uint16_t s0, uint16_t s1)
-{
-    uint8_t outBuf[6];
-    outBuf[0] = 0x00;
-    outBuf[1] = 0xff;
-    *(uint16_t *)(outBuf + 2) = s0;
-    *(uint16_t *)(outBuf + 4) = s1;
-    return link->send(outBuf, 6);
-}
-
-template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setBrightness(uint8_t brightness)
-{
-    uint8_t outBuf[3];
-    outBuf[0] = 0x00;
-    outBuf[1] = 0xfe;
-    outBuf[2] = brightness;
-    return link->send(outBuf, 3);
-}
-
-template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setLED(uint8_t r, uint8_t g, uint8_t b)
-{
-    uint8_t outBuf[5];
-    outBuf[0] = 0x00;
-    outBuf[1] = 0xfd;
-    outBuf[2] = r;
-    outBuf[3] = g;
-    outBuf[4] = b;
-    return link->send(outBuf, 5);
-}
-
-#endif
\ No newline at end of file