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
463
discovery/libs/Pixy/src/pixy.cpp
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463
discovery/libs/Pixy/src/pixy.cpp
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#include <stdio.h>
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#include <string.h>
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#include "pixy.h"
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#include "pixydefs.h"
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#include "pixyinterpreter.hpp"
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PixyInterpreter interpreter;
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/**
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\mainpage libpixyusb-0.4 API Reference
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\section introduction Introduction
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libpixyusb is an open source library that allows you to communicate with
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Pixy over the USB protocol.
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This documentation is aimed at application developers wishing to send
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commands to Pixy or read sensor data from Pixy.
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\section library_features Library features
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- Read blocks with or without color codes
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- RGB LED control (color/intensity)
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- Auto white balance control
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- Auto exposure compensation control
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- Brightness control
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- Servo position control/query
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- Custom commands
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\section dependencies Dependencies
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Required to build:
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- <a href=http://www.cmake.org>cmake</a>
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Required for runtime:
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- <a href=http://www.libusb.org>libusb</a>
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- <a href=http://www.boost.org>libboost</a>
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\section getting_started Getting Started
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The libpixyusb API reference documentation can be found here:
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libpixyusb API Reference
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Some tutorials that use libpixyusb can be found here:
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<a href=http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Raspberry_Pi>Hooking up Pixy to a Raspberry Pi</a>
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<a href=http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Beaglebone_Black>Hooking up Pixy to a BeagleBone Black</a>
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\section getting_help Getting Help
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Tutorials, walkthroughs, and more are available on the Pixy wiki page:
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<a href=http://www.cmucam.org/projects/cmucam5/wiki>Pixy Developer Wiki Page</a>
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Our friendly developers and users might be able to answer your question on the forums:
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<a href=http://www.cmucam.org/projects/cmucam5/boards/9>Pixy Software Discussion Forum</a>
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<a href=http://www.cmucam.org/projects/cmucam5/boards/8>Pixy Hardware Discussion Forum</a>
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*/
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// Pixy C API //
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extern "C"
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{
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static struct
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{
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int error;
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const char * text;
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} PIXY_ERROR_TABLE[] = {
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{ 0, "Success" },
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//{ PIXY_ERROR_USB_IO, "USB Error: I/O" },
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//{ PIXY_ERROR_USB_BUSY, "USB Error: Busy" },
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//{ PIXY_ERROR_USB_NO_DEVICE, "USB Error: No device" },
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//{ PIXY_ERROR_USB_NOT_FOUND, "USB Error: Target not found" },
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{ PIXY_ERROR_CHIRP, "Chirp Protocol Error" },
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{ PIXY_ERROR_INVALID_COMMAND, "Pixy Error: Invalid command" },
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{ 0, 0 }
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};
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static int pixy_initialized = false;
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int pixy_init()
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{
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int return_value;
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return_value = interpreter.init();
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if(return_value == 0)
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{
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pixy_initialized = true;
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}
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return return_value;
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}
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int pixy_get_blocks(uint16_t max_blocks, struct Block * blocks)
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{
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return interpreter.get_blocks(max_blocks, blocks);
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}
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int pixy_blocks_are_new()
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{
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return interpreter.blocks_are_new();
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}
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int pixy_service()
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{
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return interpreter.service();
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}
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int pixy_command(const char *name, ...)
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{
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va_list arguments;
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int return_value;
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if(!pixy_initialized) return -1;
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va_start(arguments, name);
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return_value = interpreter.send_command(name, arguments);
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va_end(arguments);
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return return_value;
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}
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void pixy_close()
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{
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if(!pixy_initialized) return;
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interpreter.close();
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}
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void pixy_error(int error_code)
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{
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int index;
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// Convert pixy error code to string and display to stdout //
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index = 0;
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while(PIXY_ERROR_TABLE[index].text != 0) {
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if(PIXY_ERROR_TABLE[index].error == error_code) {
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fprintf(stderr,"%s\n", PIXY_ERROR_TABLE[index].text);
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return;
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}
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index += 1;
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}
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fprintf(stderr,"Undefined error: [%d]\n", error_code);
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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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int chirp_response;
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int return_value;
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uint32_t RGB;
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// Pack the RGB value //
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RGB = blue + (green << 8) + (red << 16);
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return_value = pixy_command("led_set", INT32(RGB), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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int chirp_response;
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int return_value;
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return_value = pixy_command("led_setMaxCurrent", INT32(current), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_led_get_max_current()
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{
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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("led_getMaxCurrent", END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_cam_set_auto_white_balance(uint8_t enable)
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{
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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("cam_setAWB", UINT8(enable), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_cam_get_auto_white_balance()
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{
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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("cam_getAWB", END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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uint32_t pixy_cam_get_white_balance_value()
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{
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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("cam_getWBV", END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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int return_value;
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uint32_t chirp_response;
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uint32_t white_balance;
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white_balance = green + (red << 8) + (blue << 16);
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return_value = pixy_command("cam_setAWB", UINT32(white_balance), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("cam_setAEC", UINT8(enable), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_cam_get_auto_exposure_compensation()
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{
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int return_value;
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uint32_t chirp_response;
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return_value = pixy_command("cam_getAEC", END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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int return_value;
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uint32_t chirp_response;
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uint32_t exposure;
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exposure = gain + (compensation << 8);
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return_value = pixy_command("cam_setECV", UINT32(exposure), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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uint32_t exposure;
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int return_value;
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return_value = pixy_command("cam_getECV", END_OUT_ARGS, &exposure, END_IN_ARGS);
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if (return_value < 0) {
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// Chirp error //
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return return_value;
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}
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if(gain == 0 || compensation == 0) {
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// Error: Null pointer //
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return PIXY_ERROR_INVALID_PARAMETER;
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}
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fprintf(stderr,"exp:%08x\n", exposure);
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*gain = exposure & 0xFF;
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*compensation = 0xFFFF & (exposure >> 8);
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return 0;
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}
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int pixy_cam_set_brightness(uint8_t brightness)
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{
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int chirp_response;
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int return_value;
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return_value = pixy_command("cam_setBrightness", UINT8(brightness), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_cam_get_brightness()
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{
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int chirp_response;
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int return_value;
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return_value = pixy_command("cam_getBrightness", END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_rcs_get_position(uint8_t channel)
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{
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int chirp_response;
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int return_value;
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return_value = pixy_command("rcs_getPos", UINT8(channel), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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int chirp_response;
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int return_value;
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return_value = pixy_command("rcs_setPos", UINT8(channel), INT16(position), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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}
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int pixy_rcs_set_frequency(uint16_t frequency)
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{
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int chirp_response;
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int return_value;
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return_value = pixy_command("rcs_setFreq", UINT16(frequency), END_OUT_ARGS, &chirp_response, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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} else {
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// Success //
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return chirp_response;
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}
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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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{
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uint16_t * pixy_version;
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uint32_t version_length;
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uint32_t response;
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uint16_t version[3];
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int return_value;
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if(major == 0 || minor == 0 || build == 0) {
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// Error: Null pointer //
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return PIXY_ERROR_INVALID_PARAMETER;
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}
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return_value = pixy_command("version", END_OUT_ARGS, &response, &version_length, &pixy_version, END_IN_ARGS);
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if (return_value < 0) {
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// Error //
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return return_value;
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}
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memcpy((void *) version, pixy_version, 3 * sizeof(uint16_t));
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*major = version[0];
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*minor = version[1];
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*build = version[2];
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return 0;
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}
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}
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Reference in New Issue
Block a user