cette librairie contient les fonctions de base permettant de detecter un objet avec la camera pixy
TPixy.h@0:a1e10abfbd19, 2020-11-18 (annotated)
- Committer:
- michelmoulin
- Date:
- Wed Nov 18 13:12:20 2020 +0000
- Revision:
- 0:a1e10abfbd19
cette version de programme permet d'afficher les coordonnees x et y d'un objet detecte par la camera pixy.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
michelmoulin | 0:a1e10abfbd19 | 1 | // |
michelmoulin | 0:a1e10abfbd19 | 2 | // begin license header |
michelmoulin | 0:a1e10abfbd19 | 3 | // |
michelmoulin | 0:a1e10abfbd19 | 4 | // This file is part of Pixy CMUcam5 or "Pixy" for short |
michelmoulin | 0:a1e10abfbd19 | 5 | // |
michelmoulin | 0:a1e10abfbd19 | 6 | // All Pixy source code is provided under the terms of the |
michelmoulin | 0:a1e10abfbd19 | 7 | // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). |
michelmoulin | 0:a1e10abfbd19 | 8 | // Those wishing to use Pixy source code, software and/or |
michelmoulin | 0:a1e10abfbd19 | 9 | // technologies under different licensing terms should contact us at |
michelmoulin | 0:a1e10abfbd19 | 10 | // cmucam@cs.cmu.edu. Such licensing terms are available for |
michelmoulin | 0:a1e10abfbd19 | 11 | // all portions of the Pixy codebase presented here. |
michelmoulin | 0:a1e10abfbd19 | 12 | // |
michelmoulin | 0:a1e10abfbd19 | 13 | // end license header |
michelmoulin | 0:a1e10abfbd19 | 14 | // |
michelmoulin | 0:a1e10abfbd19 | 15 | // This file is for defining the Block struct and the Pixy template class. |
michelmoulin | 0:a1e10abfbd19 | 16 | // (TPixy). TPixy takes a communication link as a template parameter so that |
michelmoulin | 0:a1e10abfbd19 | 17 | // all communication modes (SPI, I2C and UART) can share the same code. |
michelmoulin | 0:a1e10abfbd19 | 18 | // |
michelmoulin | 0:a1e10abfbd19 | 19 | |
michelmoulin | 0:a1e10abfbd19 | 20 | #ifndef _TPIXY_H |
michelmoulin | 0:a1e10abfbd19 | 21 | #define _TPIXY_H |
michelmoulin | 0:a1e10abfbd19 | 22 | |
michelmoulin | 0:a1e10abfbd19 | 23 | #include "mbed.h" |
michelmoulin | 0:a1e10abfbd19 | 24 | #include "TPixyInterface.h" |
michelmoulin | 0:a1e10abfbd19 | 25 | |
michelmoulin | 0:a1e10abfbd19 | 26 | // Communication/misc parameters |
michelmoulin | 0:a1e10abfbd19 | 27 | #define PIXY_INITIAL_ARRAYSIZE 30 |
michelmoulin | 0:a1e10abfbd19 | 28 | #define PIXY_MAXIMUM_ARRAYSIZE 130 |
michelmoulin | 0:a1e10abfbd19 | 29 | #define PIXY_START_WORD 0xaa55 |
michelmoulin | 0:a1e10abfbd19 | 30 | #define PIXY_START_WORD_CC 0xaa56 |
michelmoulin | 0:a1e10abfbd19 | 31 | #define PIXY_START_WORDX 0x55aa |
michelmoulin | 0:a1e10abfbd19 | 32 | #define PIXY_MAX_SIGNATURE 7 |
michelmoulin | 0:a1e10abfbd19 | 33 | #define PIXY_DEFAULT_ARGVAL 0xffff |
michelmoulin | 0:a1e10abfbd19 | 34 | |
michelmoulin | 0:a1e10abfbd19 | 35 | // Pixy x-y position values |
michelmoulin | 0:a1e10abfbd19 | 36 | #define PIXY_MIN_X 0L |
michelmoulin | 0:a1e10abfbd19 | 37 | #define PIXY_MAX_X 319L |
michelmoulin | 0:a1e10abfbd19 | 38 | #define PIXY_MIN_Y 0L |
michelmoulin | 0:a1e10abfbd19 | 39 | #define PIXY_MAX_Y 199L |
michelmoulin | 0:a1e10abfbd19 | 40 | |
michelmoulin | 0:a1e10abfbd19 | 41 | // RC-servo values |
michelmoulin | 0:a1e10abfbd19 | 42 | #define PIXY_RCS_MIN_POS 0L |
michelmoulin | 0:a1e10abfbd19 | 43 | #define PIXY_RCS_MAX_POS 1000L |
michelmoulin | 0:a1e10abfbd19 | 44 | #define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2) |
michelmoulin | 0:a1e10abfbd19 | 45 | |
michelmoulin | 0:a1e10abfbd19 | 46 | enum BlockType { |
michelmoulin | 0:a1e10abfbd19 | 47 | NORMAL_BLOCK, |
michelmoulin | 0:a1e10abfbd19 | 48 | CC_BLOCK |
michelmoulin | 0:a1e10abfbd19 | 49 | }; |
michelmoulin | 0:a1e10abfbd19 | 50 | |
michelmoulin | 0:a1e10abfbd19 | 51 | struct Block { |
michelmoulin | 0:a1e10abfbd19 | 52 | // print block structure! |
michelmoulin | 0:a1e10abfbd19 | 53 | uint16_t signature; |
michelmoulin | 0:a1e10abfbd19 | 54 | uint16_t x; |
michelmoulin | 0:a1e10abfbd19 | 55 | uint16_t y; |
michelmoulin | 0:a1e10abfbd19 | 56 | uint16_t width; |
michelmoulin | 0:a1e10abfbd19 | 57 | uint16_t height; |
michelmoulin | 0:a1e10abfbd19 | 58 | uint16_t angle; |
michelmoulin | 0:a1e10abfbd19 | 59 | }; |
michelmoulin | 0:a1e10abfbd19 | 60 | |
michelmoulin | 0:a1e10abfbd19 | 61 | template <class TPixyInterface> class TPixy |
michelmoulin | 0:a1e10abfbd19 | 62 | { |
michelmoulin | 0:a1e10abfbd19 | 63 | public: |
michelmoulin | 0:a1e10abfbd19 | 64 | Serial* serial; |
michelmoulin | 0:a1e10abfbd19 | 65 | Block *blocks; |
michelmoulin | 0:a1e10abfbd19 | 66 | |
michelmoulin | 0:a1e10abfbd19 | 67 | TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL); |
michelmoulin | 0:a1e10abfbd19 | 68 | ~TPixy(); |
michelmoulin | 0:a1e10abfbd19 | 69 | |
michelmoulin | 0:a1e10abfbd19 | 70 | uint16_t getBlocks(uint16_t maxBlocks = 1000); |
michelmoulin | 0:a1e10abfbd19 | 71 | int8_t setBrightness(uint8_t brightness); |
michelmoulin | 0:a1e10abfbd19 | 72 | int8_t setLED(uint8_t r, uint8_t g, uint8_t b); |
michelmoulin | 0:a1e10abfbd19 | 73 | |
michelmoulin | 0:a1e10abfbd19 | 74 | private: |
michelmoulin | 0:a1e10abfbd19 | 75 | TPixyInterface* link; |
michelmoulin | 0:a1e10abfbd19 | 76 | BlockType blockType; |
michelmoulin | 0:a1e10abfbd19 | 77 | bool getStart(); |
michelmoulin | 0:a1e10abfbd19 | 78 | void resize(); |
michelmoulin | 0:a1e10abfbd19 | 79 | bool skipStart; |
michelmoulin | 0:a1e10abfbd19 | 80 | uint16_t blockCount; |
michelmoulin | 0:a1e10abfbd19 | 81 | uint16_t blockArraySize; |
michelmoulin | 0:a1e10abfbd19 | 82 | }; |
michelmoulin | 0:a1e10abfbd19 | 83 | |
michelmoulin | 0:a1e10abfbd19 | 84 | template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, Serial* serialOut, uint16_t arg) : serial(serialOut), link(type) |
michelmoulin | 0:a1e10abfbd19 | 85 | { |
michelmoulin | 0:a1e10abfbd19 | 86 | skipStart = false; |
michelmoulin | 0:a1e10abfbd19 | 87 | blockCount = 0; |
michelmoulin | 0:a1e10abfbd19 | 88 | blockArraySize = PIXY_INITIAL_ARRAYSIZE; |
michelmoulin | 0:a1e10abfbd19 | 89 | blocks = (Block *)malloc(sizeof(Block)*blockArraySize); |
michelmoulin | 0:a1e10abfbd19 | 90 | link->setArg(arg); |
michelmoulin | 0:a1e10abfbd19 | 91 | } |
michelmoulin | 0:a1e10abfbd19 | 92 | |
michelmoulin | 0:a1e10abfbd19 | 93 | template <class TPixyInterface> TPixy<TPixyInterface>::~TPixy() |
michelmoulin | 0:a1e10abfbd19 | 94 | { |
michelmoulin | 0:a1e10abfbd19 | 95 | free(blocks); |
michelmoulin | 0:a1e10abfbd19 | 96 | } |
michelmoulin | 0:a1e10abfbd19 | 97 | |
michelmoulin | 0:a1e10abfbd19 | 98 | template <class TPixyInterface> bool TPixy<TPixyInterface>::getStart() |
michelmoulin | 0:a1e10abfbd19 | 99 | { |
michelmoulin | 0:a1e10abfbd19 | 100 | uint16_t w, lastw; |
michelmoulin | 0:a1e10abfbd19 | 101 | lastw = 0xffff; |
michelmoulin | 0:a1e10abfbd19 | 102 | while(true) { |
michelmoulin | 0:a1e10abfbd19 | 103 | w = link->getWord(); |
michelmoulin | 0:a1e10abfbd19 | 104 | if (w == 0 && lastw == 0) { |
michelmoulin | 0:a1e10abfbd19 | 105 | wait_ms(10); |
michelmoulin | 0:a1e10abfbd19 | 106 | return false; |
michelmoulin | 0:a1e10abfbd19 | 107 | } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) { |
michelmoulin | 0:a1e10abfbd19 | 108 | blockType = NORMAL_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 109 | return true; |
michelmoulin | 0:a1e10abfbd19 | 110 | } else if (w == PIXY_START_WORD_CC && lastw == PIXY_START_WORD) { |
michelmoulin | 0:a1e10abfbd19 | 111 | blockType = CC_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 112 | return true; |
michelmoulin | 0:a1e10abfbd19 | 113 | } else if (w==PIXY_START_WORDX) { |
michelmoulin | 0:a1e10abfbd19 | 114 | if (serial != NULL) { |
michelmoulin | 0:a1e10abfbd19 | 115 | serial->printf("reorder"); |
michelmoulin | 0:a1e10abfbd19 | 116 | } |
michelmoulin | 0:a1e10abfbd19 | 117 | link->getByte(); // resync |
michelmoulin | 0:a1e10abfbd19 | 118 | } |
michelmoulin | 0:a1e10abfbd19 | 119 | lastw = w; |
michelmoulin | 0:a1e10abfbd19 | 120 | } |
michelmoulin | 0:a1e10abfbd19 | 121 | } |
michelmoulin | 0:a1e10abfbd19 | 122 | |
michelmoulin | 0:a1e10abfbd19 | 123 | template <class TPixyInterface> void TPixy<TPixyInterface>::resize() |
michelmoulin | 0:a1e10abfbd19 | 124 | { |
michelmoulin | 0:a1e10abfbd19 | 125 | blockArraySize += PIXY_INITIAL_ARRAYSIZE; |
michelmoulin | 0:a1e10abfbd19 | 126 | blocks = (Block *)realloc(blocks, sizeof(Block)*blockArraySize); |
michelmoulin | 0:a1e10abfbd19 | 127 | } |
michelmoulin | 0:a1e10abfbd19 | 128 | |
michelmoulin | 0:a1e10abfbd19 | 129 | template <class TPixyInterface> uint16_t TPixy<TPixyInterface>::getBlocks(uint16_t maxBlocks) |
michelmoulin | 0:a1e10abfbd19 | 130 | { |
michelmoulin | 0:a1e10abfbd19 | 131 | uint8_t i; |
michelmoulin | 0:a1e10abfbd19 | 132 | uint16_t w, checksum, sum; |
michelmoulin | 0:a1e10abfbd19 | 133 | Block *block; |
michelmoulin | 0:a1e10abfbd19 | 134 | |
michelmoulin | 0:a1e10abfbd19 | 135 | if (!skipStart) { |
michelmoulin | 0:a1e10abfbd19 | 136 | if (getStart() == false) { |
michelmoulin | 0:a1e10abfbd19 | 137 | return 0; |
michelmoulin | 0:a1e10abfbd19 | 138 | } |
michelmoulin | 0:a1e10abfbd19 | 139 | } else { |
michelmoulin | 0:a1e10abfbd19 | 140 | skipStart = false; |
michelmoulin | 0:a1e10abfbd19 | 141 | } |
michelmoulin | 0:a1e10abfbd19 | 142 | for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) { |
michelmoulin | 0:a1e10abfbd19 | 143 | checksum = link->getWord(); |
michelmoulin | 0:a1e10abfbd19 | 144 | if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame |
michelmoulin | 0:a1e10abfbd19 | 145 | skipStart = true; |
michelmoulin | 0:a1e10abfbd19 | 146 | blockType = NORMAL_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 147 | if (serial != NULL) { |
michelmoulin | 0:a1e10abfbd19 | 148 | serial->printf("skip"); |
michelmoulin | 0:a1e10abfbd19 | 149 | } |
michelmoulin | 0:a1e10abfbd19 | 150 | return blockCount; |
michelmoulin | 0:a1e10abfbd19 | 151 | } else if (checksum == PIXY_START_WORD_CC) { |
michelmoulin | 0:a1e10abfbd19 | 152 | skipStart = true; |
michelmoulin | 0:a1e10abfbd19 | 153 | blockType = CC_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 154 | return blockCount; |
michelmoulin | 0:a1e10abfbd19 | 155 | } else if (checksum == 0) { |
michelmoulin | 0:a1e10abfbd19 | 156 | return blockCount; |
michelmoulin | 0:a1e10abfbd19 | 157 | } |
michelmoulin | 0:a1e10abfbd19 | 158 | if (blockCount > blockArraySize) { |
michelmoulin | 0:a1e10abfbd19 | 159 | resize(); |
michelmoulin | 0:a1e10abfbd19 | 160 | } |
michelmoulin | 0:a1e10abfbd19 | 161 | block = blocks + blockCount; |
michelmoulin | 0:a1e10abfbd19 | 162 | |
michelmoulin | 0:a1e10abfbd19 | 163 | for (i = 0, sum = 0; i < sizeof(Block)/sizeof(uint16_t); i++) { |
michelmoulin | 0:a1e10abfbd19 | 164 | if (blockType == NORMAL_BLOCK && i >= 5) { // skip |
michelmoulin | 0:a1e10abfbd19 | 165 | block->angle = 0; |
michelmoulin | 0:a1e10abfbd19 | 166 | break; |
michelmoulin | 0:a1e10abfbd19 | 167 | } |
michelmoulin | 0:a1e10abfbd19 | 168 | w = link->getWord(); |
michelmoulin | 0:a1e10abfbd19 | 169 | sum += w; |
michelmoulin | 0:a1e10abfbd19 | 170 | *((uint16_t *)block + i) = w; |
michelmoulin | 0:a1e10abfbd19 | 171 | } |
michelmoulin | 0:a1e10abfbd19 | 172 | |
michelmoulin | 0:a1e10abfbd19 | 173 | if (checksum == sum) { |
michelmoulin | 0:a1e10abfbd19 | 174 | blockCount++; |
michelmoulin | 0:a1e10abfbd19 | 175 | } else { |
michelmoulin | 0:a1e10abfbd19 | 176 | w = link->getWord(); |
michelmoulin | 0:a1e10abfbd19 | 177 | if (serial != NULL) { |
michelmoulin | 0:a1e10abfbd19 | 178 | serial->printf("cs error"); |
michelmoulin | 0:a1e10abfbd19 | 179 | } |
michelmoulin | 0:a1e10abfbd19 | 180 | } |
michelmoulin | 0:a1e10abfbd19 | 181 | if (w == PIXY_START_WORD) { |
michelmoulin | 0:a1e10abfbd19 | 182 | blockType = NORMAL_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 183 | } else if (w == PIXY_START_WORD_CC) { |
michelmoulin | 0:a1e10abfbd19 | 184 | blockType = CC_BLOCK; |
michelmoulin | 0:a1e10abfbd19 | 185 | } else { |
michelmoulin | 0:a1e10abfbd19 | 186 | return blockCount; |
michelmoulin | 0:a1e10abfbd19 | 187 | } |
michelmoulin | 0:a1e10abfbd19 | 188 | } |
michelmoulin | 0:a1e10abfbd19 | 189 | return blockCount; |
michelmoulin | 0:a1e10abfbd19 | 190 | } |
michelmoulin | 0:a1e10abfbd19 | 191 | |
michelmoulin | 0:a1e10abfbd19 | 192 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setBrightness(uint8_t brightness) |
michelmoulin | 0:a1e10abfbd19 | 193 | { |
michelmoulin | 0:a1e10abfbd19 | 194 | uint8_t outBuf[3]; |
michelmoulin | 0:a1e10abfbd19 | 195 | outBuf[0] = 0x00; |
michelmoulin | 0:a1e10abfbd19 | 196 | outBuf[1] = 0xfe; |
michelmoulin | 0:a1e10abfbd19 | 197 | outBuf[2] = brightness; |
michelmoulin | 0:a1e10abfbd19 | 198 | return link->send(outBuf, 3); |
michelmoulin | 0:a1e10abfbd19 | 199 | } |
michelmoulin | 0:a1e10abfbd19 | 200 | |
michelmoulin | 0:a1e10abfbd19 | 201 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setLED(uint8_t r, uint8_t g, uint8_t b) |
michelmoulin | 0:a1e10abfbd19 | 202 | { |
michelmoulin | 0:a1e10abfbd19 | 203 | uint8_t outBuf[5]; |
michelmoulin | 0:a1e10abfbd19 | 204 | outBuf[0] = 0x00; |
michelmoulin | 0:a1e10abfbd19 | 205 | outBuf[1] = 0xfd; |
michelmoulin | 0:a1e10abfbd19 | 206 | outBuf[2] = r; |
michelmoulin | 0:a1e10abfbd19 | 207 | outBuf[3] = g; |
michelmoulin | 0:a1e10abfbd19 | 208 | outBuf[4] = b; |
michelmoulin | 0:a1e10abfbd19 | 209 | return link->send(outBuf, 5); |
michelmoulin | 0:a1e10abfbd19 | 210 | } |
michelmoulin | 0:a1e10abfbd19 | 211 | |
michelmoulin | 0:a1e10abfbd19 | 212 | #endif |