Diff: TPixy.h

Revision:

0:ef0e3c67dc5b

Child:

2:fa582d9d91b5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TPixy.h	Mon Mar 14 00:35:23 2016 +0000
@@ -0,0 +1,257 @@
+//
+// 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
+};
+
+struct Block {
+    // print block structure!
+    uint16_t signature;
+    uint16_t x;
+    uint16_t y;
+    uint16_t width;
+    uint16_t height;
+    uint16_t angle;
+};
+
+template <class TPixyInterface> class TPixy
+{
+public:
+    Serial* serial;
+    Block *blocks;
+    
+    TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL);
+    ~TPixy();
+
+    void printBlock(Block &);
+    uint16_t getBlocks(uint16_t maxBlocks = 1000);
+    int8_t setServos(uint16_t s0, uint16_t s1);
+    int8_t setBrightness(uint8_t brightness);
+    int8_t setLED(uint8_t r, uint8_t g, uint8_t b);
+    void init();
+
+private:
+    TPixyInterface* link;
+    BlockType blockType;
+    bool getStart();
+    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, Serial* 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';
+        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);
+        }
+    } 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);
+}
+
+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) {
+            wait_ms(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) {
+                serial->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) {
+            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 (serial != NULL) {
+                serial->printf("skip");
+            }
+            return blockCount;
+        } else if (checksum == PIXY_START_WORD_CC) {
+            skipStart = true;
+            blockType = CC_BLOCK;
+            return blockCount;
+        } else if (checksum == 0) {
+            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) {
+                serial->printf("cs error");
+            }
+        }
+        if (w == PIXY_START_WORD) {
+            blockType = NORMAL_BLOCK;
+        } else if (w == PIXY_START_WORD_CC) {
+            blockType = CC_BLOCK;
+        } else {
+            return blockCount;
+        }
+    }
+    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