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Updated Tracking Screen so that the implementations are separated into different method groups.

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This commit is contained in:
t-moe
2015-05-25 18:32:32 +02:00
parent 6a61769858
commit 8088014118
1 changed files with 183 additions and 91 deletions
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274
common/app/screen_tracking.c
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@@ -23,7 +23,7 @@ static void c_frame_toggle_cb(void *checkbox, bool checked) {
//Frame will be drawn in the main loop below
}
static enum {detecting, init, tracking, preselecting, abortselecting, selecting, selected} state; //Current state of the screen state machine
static enum {detecting, init, tracking, preselecting, abortselecting, selecting, selected, error} state; //Current state of the screen state machine
static POINT_STRUCT point1; //First point of the rectangle selected by the user (color region selection)
static POINT_STRUCT point2; //End point of the rectangle selected by the user (color region selection)
@@ -67,8 +67,96 @@ static void touchCB(void* touchArea, TOUCH_ACTION triggeredAction) {
}
}
//Prototype for tracking start/stop methods
typedef void (*TRACKING_VOID_CALLBACK)(void* tracking_config);
//Prototype for tracking update method
typedef void (*TRACKING_BLOCK_CALLBACK)(void* tracking_config, struct Block* blocks, int num_blocks );
//Structure to save callbacks and settings of a tracking implementation
typedef struct {
TRACKING_VOID_CALLBACK start;
TRACKING_VOID_CALLBACK stop;
TRACKING_BLOCK_CALLBACK update;
} TRACKING_CONFIG_STRUCT;
//Methods for our tracking implementation ahead
//Method/Callback to start our tracking
void tracking_our_start(void* tracking_config) {
//Activate pixy's data send program
int32_t response;
int return_value;
return_value = pixy_command("runprog", INT8(0), END_OUT_ARGS, &response, END_IN_ARGS);
}
//Method/Callback to stop our tracking
void tracking_our_stop(void* tracking_config) {
//Stop pixy's data send programm
int32_t response;
int return_value;
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
}
//Method/Callback to calculate one step of our tracking
void tracking_our_update(void* tracking_config, struct Block* blocks, int num_blocks) {
//TODO: Implement tracking!
//Calculate new servo pos and set the new servo pos
}
//Variable which stores all the callbacks and settings for our tracking implementation
static TRACKING_CONFIG_STRUCT tracking_our = {
tracking_our_start,
tracking_our_stop,
tracking_our_update
};
//Methods for reference tracking implementation ahead
//Method/Callback to start reference tracking
void tracking_reference_start(void* tracking_config) {
//Run reference tracking
int32_t response;
int return_value;
return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS, &response, END_IN_ARGS);
}
//Method/Callback to stop reference tracking
void tracking_reference_stop(void* tracking_config) {
//Stop reference tracking
int32_t response;
int return_value;
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
}
//Method/Callback to calculate one step of the reference tracking
void tracking_reference_update(void* tracking_config, struct Block* blocks, int num_blocks) {
//Nothing to do here. Pixy does it all.
}
//Variable which stores all the callbacks and settings for the reference tracking implementation
static TRACKING_CONFIG_STRUCT tracking_reference = {
tracking_reference_start,
tracking_reference_stop,
tracking_reference_update
};
//Pointer to the currently active tracking implementation. See also tracking_set_mode
static TRACKING_CONFIG_STRUCT* tracking_current;
//Method to set the current tracking implementation. This function is exported and should be called before getting the screen
void tracking_set_mode(enum Tracking_Implementation impl) {
//not used yet
//Depending on the enum value let tracking_current point to a different setting/callback structure
switch(impl) {
case OUR_TRACKING:
tracking_current = &tracking_our;
break;
case REFERENCE_TRACKING:
tracking_current = &tracking_reference;
break;
default:
tracking_current=NULL;
break;
}
}
//Callback for when the screen is entered/loaded
@@ -121,7 +209,11 @@ static void enter(void* screen) {
a_area.callback = touchCB;
//Do not register it here, we do that later
state=detecting; //Start with the detecting state
if(tracking_current==NULL) {
state = error;
} else {
state = detecting; //Start with the detecting state
}
}
//Callback for when the screen is left/unloaded
@@ -136,10 +228,8 @@ static void leave(void* screen) {
}
if(state==tracking) { //the user left the screen in the "tracking" phase
//Stop reference tracking
int32_t response;
int return_value;
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
tracking_current->stop(tracking_current); //stop tracking
pixy_led_set_RGB(0,0,0);
}
}
@@ -147,100 +237,102 @@ static void leave(void* screen) {
//This is the main loop of the screen. This method will be called repeatedly
static void update(void* screen) {
switch(state) {
case detecting: //Detecting State: Where we try to connect to the pixy
if(pixy_init()==0) { //Pixy connection ok
state = init; //Go to next state
case detecting: //Detecting State: Where we try to connect to the pixy
if(pixy_init()==0) { //Pixy connection ok
state = init; //Go to next state
}
break;
case init: //Init State: Where we start the tracking
tracking_current->start(tracking_current);
state=tracking;
break;
case tracking: //Tracking state: Where we render the frame and the tracked objects
pixy_service(); //Receive events (e.g. block-data) from pixy
if(pixy_blocks_are_new()) { //There are new blocks available
if(frame_visible) { //If the user want's us to draw the video data
pixy_render_full_frame(FRAME_START_X,FRAME_START_Y);
} else { //the user want's a colored background
tft_fill_rectangle(FRAME_START_X,FRAME_START_Y,FRAME_END_X,FRAME_END_Y,RGB(200,200,200));
}
#define BLOCK_BUFFER_SIZE 5 //The maximum amount of blocks that we want to receive
struct Block blocks[BLOCK_BUFFER_SIZE]; //Storage to receive blocks from pixy
int blocks_received= pixy_get_blocks(BLOCK_BUFFER_SIZE,blocks); //Try to receive up to BLOCK_BUFFER_SIZE Blocks from pixy
if(blocks_received>=0) { //block receiving ok
tracking_current->update(tracking_current,blocks,blocks_received); //apply tracking
//Draw blocks
for(int i=0; i<blocks_received; i++) { //for each received block
struct Block* block = &(blocks[i]);
//block.x and block.y are the center coordinates of the object relative to the camera origin.
uint16_t x = block->x-1+FRAME_START_X -block->width/2; //Calculate x-Coordinate on the display
uint16_t y = block->y-1+FRAME_START_Y -block->height/2; //Calculate y-Coordinate on the display
tft_draw_rectangle(x,y,x+block->width-1, y+block->height-1,WHITE); //Draw a white rectangle
}
}
}
break;
case preselecting: //Pre-Selecting State: Where we set up the color region selection
{
tracking_current->stop(tracking_current); //Stop tracking
pixy_render_full_frame(FRAME_START_X,FRAME_START_Y); //Render one frame
touch_register_area(&a_area); //Register touch area and receive events from now on
point1_valid=false; //we start with an invalid point1
b_select.text="Abort"; //Change the button text to "Abort"
gui_button_redraw(&b_select); //redraw button
state = selecting; //The user can now select a region
}
break;
case init: //Init State: Where we start the tracking
{
//Run reference tracking
int32_t response;
int return_value;
return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS, &response, END_IN_ARGS);
state=tracking;
}
break;
case tracking: //Tracking state: Where we render the frame and the tracked objects
pixy_service(); //Receive events (e.g. block-data) from pixy
if(pixy_blocks_are_new()) { //There are new blocks available
if(frame_visible) { //If the user want's us to draw the video data
pixy_render_full_frame(FRAME_START_X,FRAME_START_Y);
} else { //the user want's a colored background
tft_fill_rectangle(FRAME_START_X,FRAME_START_Y,FRAME_END_X,FRAME_END_Y,RGB(200,200,200));
case selected: //Selected State: Where we send the users selection to pixy
{
//Ensure that (x1,y1) represent the top-left point and (x2,y2) the bottom-right.
unsigned int tmp;
if(point1.x > point2.x){
tmp = point1.x;
point1.x = point2.x;
point2.x = tmp;
}
struct Block block1; //Storage to receive one block from pixy
if(pixy_get_blocks(1,&block1)==1) { //Receiving one block succeeded
//block1.x and block1.y are the center coordinates of the object relative to the camera origin.
uint16_t x = block1.x-1+FRAME_START_X -block1.width/2; //Calculate x-Coordinate on the display
uint16_t y = block1.y-1+FRAME_START_Y -block1.height/2; //Calculate y-Coordinate on the display
tft_draw_rectangle(x,y,x+block1.width-1, y+block1.height-1,WHITE); //Draw a white rectangle
if(point1.y > point2.y){
tmp = point1.y;
point1.y = point2.y;
point2.y = tmp;
}
//Send pixy the selected region
pixy_cc_set_region(1,point1.x,point1.y,point2.x-point1.x,point2.y-point1.y);
}
//no break here: We want the following code to be executed as well
case abortselecting: //Abort-Selecting State: Where we deinitialize the stuff we used for region selection
{
touch_unregister_area(&a_area); //Remove the touch area. We'll no longer receive touch events
b_select.text="Select Color"; //Change the button text back to "Select Color"
gui_button_redraw(&b_select); //redraw button
tracking_current->start(tracking_current); //Start tracking again
state=tracking;
}
break;
case preselecting: //Pre-Selecting State: Where we set up the color region selection
{
//Stop reference tracking
int32_t response;
int return_value;
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
case selecting: //Selecting State: Where we wait on the user to select a color region
pixy_service(); //receive pixy events
//wait on user to select the image area
break;
pixy_render_full_frame(FRAME_START_X,FRAME_START_Y); //Render one frame
touch_register_area(&a_area); //Register touch area and receive events from now on
point1_valid=false; //we start with an invalid point1
b_select.text="Abort"; //Change the button text to "Abort"
gui_button_redraw(&b_select); //redraw button
state = selecting; //The user can now select a region
}
break;
case selected: //Selected State: Where we send the users selection to pixy
{
//Ensure that (x1,y1) represent the top-left point and (x2,y2) the bottom-right.
unsigned int tmp;
if(point1.x > point2.x){
tmp = point1.x;
point1.x = point2.x;
point2.x = tmp;
}
if(point1.y > point2.y){
tmp = point1.y;
point1.y = point2.y;
point2.y = tmp;
}
//Send pixy the selected region
pixy_cc_set_region(1,point1.x,point1.y,point2.x-point1.x,point2.y-point1.y);
}
//no break here: We want the following code to be executed as well
case abortselecting: //Abort-Selecting State: Where we deinitialize the stuff we used for region selection
{
touch_unregister_area(&a_area); //Remove the touch area. We'll no longer receive touch events
b_select.text="Select Color"; //Change the button text back to "Select Color"
gui_button_redraw(&b_select); //redraw button
//Run reference tracking again
int32_t response;
int return_value;
return_value = pixy_command("runprog", INT8(2), END_OUT_ARGS, &response, END_IN_ARGS);
state=tracking;
}
break;
case selecting: //Selecting State: Where we wait on the user to select a color region
pixy_service(); //receive pixy events
//wait on user to select the image area
break;
case error: //Error State: Where we show an error message and leave the user no other choice than to click the backbutton
//wait on user to click the back button
break;
}
}