Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs
This commit is contained in:
t-moe
286
common/pixy/pixy.h
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286
common/pixy/pixy.h
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//
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// begin license header
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//
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// This file is part of Pixy CMUcam5 or "Pixy" for short
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//
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// All Pixy source code is provided under the terms of the
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// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
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// Those wishing to use Pixy source code, software and/or
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// technologies under different licensing terms should contact us at
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// cmucam@cs.cmu.edu. Such licensing terms are available for
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// all portions of the Pixy codebase presented here.
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//
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// end license header
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//
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#ifndef __PIXY_H__
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#define __PIXY_H__
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#include <stdint.h>
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#include <unistd.h>
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#include "pixydefs.h"
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// Pixy C API //
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define PIXY_MAX_SIGNATURE 7
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// Pixy x-y position values
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#define PIXY_MIN_X 0
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#define PIXY_MAX_X 319
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#define PIXY_MIN_Y 0
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#define PIXY_MAX_Y 199
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// RC-servo values
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#define PIXY_RCS_MIN_POS 0
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#define PIXY_RCS_MAX_POS 1000
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#define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2)
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// Block types
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#define PIXY_BLOCKTYPE_NORMAL 0
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#define PIXY_BLOCKTYPE_COLOR_CODE 1
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struct Block
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{
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/*void print(char *buf)
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{
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int i, j;
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char sig[6], d;
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bool flag;
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if (type==PIXY_BLOCKTYPE_COLOR_CODE)
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{
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// convert signature number to an octal string
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for (i=12, j=0, flag=false; i>=0; i-=3)
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{
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d = (signature>>i)&0x07;
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if (d>0 && !flag)
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flag = true;
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if (flag)
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sig[j++] = d + '0';
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}
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sig[j] = '\0';
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sprintf(buf, "CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d", sig, signature, x, y, width, height, angle);
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}
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else // regular block. Note, angle is always zero, so no need to print
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sprintf(buf, "sig: %d x: %d y: %d width: %d height: %d", signature, x, y, width, height);
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}*/
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uint16_t type;
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uint16_t signature;
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uint16_t x;
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uint16_t y;
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uint16_t width;
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uint16_t height;
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int16_t angle;
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};
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/**
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@brief Creates a connection with Pixy and listens for Pixy messages.
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@return 0 Success
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@return PIXY_ERROR_USB_IO USB Error: I/O
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@return PIXY_ERROR_NOT_FOUND USB Error: Pixy not found
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@return PIXY_ERROR_USB_BUSY USB Error: Busy
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@return PIXY_ERROR_USB_NO_DEVICE USB Error: No device
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*/
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int pixy_init();
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/**
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@brief Indicates when new block data from Pixy is received.
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@return 1 New Data: Block data has been updated.
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@return 0 Stale Data: Block data has not changed since pixy_get_blocks() was
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last called.
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*/
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int pixy_blocks_are_new();
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/**
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@brief Copies up to 'max_blocks' number of Blocks to the address pointed
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to by 'blocks'.
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@param[in] max_blocks Maximum number of Blocks to copy to the address pointed to
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by 'blocks'.
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@param[out] blocks Address of an array in which to copy the blocks to.
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The array must be large enough to write 'max_blocks' number
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of Blocks to.
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@return Non-negative Success: Number of blocks copied
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@return PIXY_ERROR_USB_IO USB Error: I/O
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@return PIXY_ERROR_NOT_FOUND USB Error: Pixy not found
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@return PIXY_ERROR_USB_BUSY USB Error: Busy
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@return PIXY_ERROR_USB_NO_DEVICE USB Error: No device
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@return PIXY_ERROR_INVALID_PARAMETER Invalid pararmeter specified
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*/
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int pixy_get_blocks(uint16_t max_blocks, struct Block * blocks);
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int pixy_service();
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/**
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@brief Send a command to Pixy.
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@param[in] name Chirp remote procedure call identifier string.
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@return -1 Error
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*/
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int pixy_command(const char *name, ...);
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/**
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@brief Terminates connection with Pixy.
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*/
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void pixy_close();
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/**
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@brief Send description of pixy error to stdout.
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@param[in] error_code Pixy error code
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*/
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void pixy_error(int error_code);
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/**
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@brief Set color of pixy LED.
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@param[in] red Brightness value for red LED element. [0, 255] 0 = Off, 255 = On
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@param[in] green Brightness value for green LED element. [0, 255] 0 = Off, 255 = On
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@param[in] blue Brightness value for blue LED element. [0, 255] 0 = Off, 255 = On
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@return 0 Success
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@return Negative Error
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*/
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int pixy_led_set_RGB(uint8_t red, uint8_t green, uint8_t blue);
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/**
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@brief Set pixy LED maximum current.
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@param[in] current Maximum current (microamps).
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@return 0 Success
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@return Negative Error
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*/
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int pixy_led_set_max_current(uint32_t current);
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/**
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@brief Get pixy LED maximum current.
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@return Non-negative Maximum LED current value (microamps).
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@return Negative Error
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*/
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int pixy_led_get_max_current();
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/**
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@brief Enable or disable pixy camera auto white balance.
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@param enable 1: Enable white balance.
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0: Disable white balance.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_set_auto_white_balance(uint8_t value);
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/**
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@brief Get pixy camera auto white balance setting.
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@return 1 Auto white balance is enabled.
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@return 0 Auto white balance is disabled.
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@return Negative Error
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*/
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int pixy_cam_get_auto_white_balance();
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/**
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@brief Get pixy camera white balance()
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@return Composite value for RGB white balance:
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white balance = green_value + (red_value << 8) + (blue << 16)
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*/
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uint32_t pixy_cam_get_white_balance_value();
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/**
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@brief Set pixy camera white balance.
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@param[in] red Red white balance value.
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@param[in] green Green white balance value.
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@param[in] blue Blue white balance value.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_set_white_balance_value(uint8_t red, uint8_t green, uint8_t blue);
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/**
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@brief Enable or disable pixy camera auto exposure compensation.
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@param[in] enable 0: Disable auto exposure compensation.
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1: Enable auto exposure compensation.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_set_auto_exposure_compensation(uint8_t enable);
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/**
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@brief Get pixy camera auto exposure compensation setting.
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@return 1 Auto exposure compensation enabled.
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@return 0 Auto exposure compensation disabled.
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@return Negative Error
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*/
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int pixy_cam_get_auto_exposure_compensation();
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/**
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@brief Set pixy camera exposure compensation.
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@param[in] gain Camera gain.
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@param[in] comp Camera exposure compensation.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_set_exposure_compensation(uint8_t gain, uint16_t compensation);
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/**
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@brief Get pixy camera exposure compensation.
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@param[out] gain Camera gain.
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@param[out] comp Camera exposure compensation.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_get_exposure_compensation(uint8_t * gain, uint16_t * compensation);
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/**
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@brief Set pixy camera brightness.
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@param[in] brightness Brightness value.
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@return 0 Success
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@return Negative Error
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*/
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int pixy_cam_set_brightness(uint8_t brightness);
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/**
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@brief Get pixy camera brightness.
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@return Non-negative Brightness value.
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@return Negative Error
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*/
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int pixy_cam_get_brightness();
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/**
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@brief Get pixy servo axis position.
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@param channel Channel value. Range: [0, 1]
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@return Position of channel. Range: [0, 999]
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@return Negative Error
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*/
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int pixy_rcs_get_position(uint8_t channel);
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/**
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@brief Set pixy servo axis position.
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@param channel Channel value. Range: [0, 1]
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@param position Position value of the channel. Range: [0, 999]
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@return 0 Success
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@return Negative Error
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*/
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int pixy_rcs_set_position(uint8_t channel, uint16_t position);
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/**
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@brief Set pixy servo pulse width modulation (PWM) frequency.
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@param frequency Range: [20, 300] Hz Default: 50 Hz
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*/
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int pixy_rcs_set_frequency(uint16_t frequency);
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/**
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@brief Get pixy firmware version.
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@param[out] major Major version component
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@param[out] minor Minor version component
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@param[out] build Build identifier
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@return 0 Success
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@return Negative Error
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*/
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int pixy_get_firmware_version(uint16_t * major, uint16_t * minor, uint16_t * build);
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#ifdef __cplusplus
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}
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#endif
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#endif
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92
common/pixy/pixydefs.h
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92
common/pixy/pixydefs.h
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@@ -0,0 +1,92 @@
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//
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// begin license header
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//
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// This file is part of Pixy CMUcam5 or "Pixy" for short
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//
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// All Pixy source code is provided under the terms of the
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// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
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// Those wishing to use Pixy source code, software and/or
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// technologies under different licensing terms should contact us at
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// cmucam@cs.cmu.edu. Such licensing terms are available for
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// all portions of the Pixy codebase presented here.
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//
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// end license header
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//
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#ifndef __PIXYDEFS_H__
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#define __PIXYDEFS_H__
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//#include "libusb.h"
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//#define PIXY_VID 0xB1AC
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//#define PIXY_DID 0xF000
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//#define PIXY_DFU_VID 0x1FC9
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//#define PIXY_DFU_DID 0x000C
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//#define PIXY_ERROR_USB_IO LIBUSB_ERROR_IO
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//#define PIXY_ERROR_USB_NOT_FOUND LIBUSB_ERROR_NOT_FOUND
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//#define PIXY_ERROR_USB_BUSY LIBUSB_ERROR_BUSY
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//#define PIXY_ERROR_USB_NO_DEVICE LIBUSB_ERROR_NO_DEVICE
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#define PIXY_ERROR_INVALID_PARAMETER -150
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#define PIXY_ERROR_CHIRP -151
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#define PIXY_ERROR_INVALID_COMMAND -152
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#define CRP_ARRAY 0x80 // bit
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#define CRP_FLT 0x10 // bit
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#define CRP_NO_COPY (0x10 | 0x20)
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#define CRP_NULLTERM_ARRAY (0x20 | CRP_ARRAY) // bits
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#define CRP_INT8 0x01
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#define CRP_UINT8 0x01
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#define CRP_INT16 0x02
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#define CRP_UINT16 0x02
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#define CRP_INT32 0x04
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#define CRP_UINT32 0x04
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#define CRP_FLT32 (CRP_FLT | 0x04)
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#define CRP_FLT64 (CRP_FLT | 0x08)
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#define CRP_STRING (CRP_NULLTERM_ARRAY | CRP_INT8)
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#define CRP_TYPE_HINT 0x64 // type hint identifier
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#define CRP_INTS8 (CRP_INT8 | CRP_ARRAY)
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#define CRP_INTS16 (CRP_INT16 | CRP_ARRAY)
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#define CRP_INTS32 (CRP_INT32 | CRP_ARRAY)
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#define CRP_UINTS8 CRP_INTS8
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#define CRP_UINTS8_NO_COPY (CRP_INTS8 | CRP_NO_COPY)
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#define CRP_UINTS16_NO_COPY (CRP_INTS16 | CRP_NO_COPY)
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#define CRP_UINTS32_NO_COPY (CRP_INTS32 | CRP_NO_COPY)
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#define CRP_UINTS16 CRP_INTS16
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#define CRP_UINTS32 CRP_INTS32
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#define CRP_FLTS32 (CRP_FLT32 | CRP_ARRAY)
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#define CRP_FLTS64 (CRP_FLT64 | CRP_ARRAY)
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// regular call args
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#define INT8(v) CRP_INT8, v
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#define UINT8(v) CRP_INT8, v
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#define INT16(v) CRP_INT16, v
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#define UINT16(v) CRP_INT16, v
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#define INT32(v) CRP_INT32, v
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#define UINT32(v) CRP_INT32, v
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#define FLT32(v) CRP_FLT32, v
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#define FLT64(v) CRP_FLT64, v
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#define STRING(s) CRP_STRING, s
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#define INTS8(len, a) CRP_INTS8, len, a
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#define UINTS8(len, a) CRP_INTS8, len, a
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#define UINTS8_NO_COPY(len) CRP_UINTS8_NO_COPY, len
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#define UINTS16_NO_COPY(len) CRP_UINTS16_NO_COPY, len
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#define UINTS32_NO_COPY(len) CRP_UINTS32_NO_COPY, len
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#define INTS16(len, a) CRP_INTS16, len, a
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#define UINTS16(len, a) CRP_INTS16, len, a
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#define INTS32(len, a) CRP_INTS32, len, a
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#define UINTS32(len, a) CRP_INTS32, len, a
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#define FLTS32(len, a) CRP_FLTS32, len, a
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#define FLTS64(len, a) CRP_FLTS64, len, a
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#ifndef END
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#ifdef __x86_64__
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#define END (int64_t)0
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#else
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#define END 0
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#endif
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#endif
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#define END_OUT_ARGS END
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#define END_IN_ARGS END
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#endif
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