Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs

discovery/libs/Pixy/src/pixyinterpreter.hpp

@@ -0,0 +1,149 @@
+//
+// 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
+//
+
+#ifndef __PIXYINTERPRETER_HPP__
+#define __PIXYINTERPRETER_HPP__
+
+#include <vector>
+#include "pixytypes.h"
+#include "pixy.h"
+#include "pixydefs.h"
+#include "usblink.h"
+#include "interpreter.hpp"
+#include "chirpreceiver.hpp"
+
+#define PIXY_BLOCK_CAPACITY         250
+
+class PixyInterpreter : public Interpreter
+{
+  public:
+
+    PixyInterpreter();
+    ~PixyInterpreter();
+
+    /**
+      @brief  Spawns an 'interpreter' thread which attempts to 
+              connect to Pixy using the USB interface. 
+              On successful connection, this thread will 
+              capture and store Pixy 'block' object data 
+              which can be retreived using the getBlocks()
+              method.
+       @return   0    Success
+       @return  -1    Error: Unable to open pixy USB device
+
+    */
+  
+    int init();
+    
+    /**
+      @brief  Terminates the USB connection to Pixy and
+              the 'iterpreter' thread.
+    */
+    void close();
+
+   /**
+     @brief      Get status of the block data received from Pixy. 
+ 
+     @return  0  Stale Data: Block data has previously been retrieved using 'pixy_get_blocks()'.
+     @return  1  New Data: Pixy sent new data that has not been retrieve yet.
+   */
+    int blocks_are_new();
+
+    /**
+      @brief      Copies up to 'max_blocks' number of Blocks to the address pointed
+                  to by 'blocks'. 
+      @param[in]  max_blocks Maximum number of Blocks to copy to the address pointed to
+                             by 'blocks'.
+      @param[out] blocks     Address of an array in which to copy the blocks to.
+                             The array must be large enough to write 'max_blocks' number
+                             of Blocks to.
+      @return  Non-negative                  Success: Number of blocks copied
+      @return  PIXY_ERROR_USB_IO             USB Error: I/O
+      @return  PIXY_ERROR_NOT_FOUND          USB Error: Pixy not found
+      @return  PIXY_ERROR_USB_BUSY           USB Error: Busy
+      @return  PIXY_ERROR_USB_NO_DEVICE      USB Error: No device
+      @return  PIXY_ERROR_INVALID_PARAMETER  Invalid pararmeter specified
+    */
+    int get_blocks(int max_blocks, Block * blocks);
+
+    /**
+      @brief         Sends a command to Pixy.
+      @param[in]     name       Remote procedure call identifier string.
+      @param[in,out] arguments  Argument list to function call.
+      @return        -1         Error
+    */
+    int send_command(const char * name, va_list arguments);
+
+    /**
+      @brief         Sends a command to Pixy.
+      @param[in]     name       Remote procedure call identifier string.
+      @return        -1         Error
+    */
+    int send_command(const char * name, ...);
+
+
+
+    int service();
+
+  private:
+    
+    ChirpReceiver *    receiver_;
+    USBLink            link_;
+    std::vector<Block> blocks_;
+    bool               blocks_are_new_;
+    bool               init_;
+
+
+    /**
+      @brief Interprets data sent from Pixy over the Chirp protocol.
+
+      @param[in] data  Incoming Chirp protocol data from Pixy.
+    */
+    void interpret_data(const void * chrip_data[]);
+
+    /**
+      @brief Interprets CCB1 messages sent from Pixy.
+
+      @param[in] data  Incoming Chirp protocol data from Pixy.
+    */
+    void interpret_CCB1(const void * data[]);
+
+    /**
+      @brief Interprets CCB2 messages sent from Pixy.
+
+      @param[in] data  Incoming Chirp protocol data from Pixy.
+    */
+    void interpret_CCB2(const void * data[]);
+
+    /**
+      @brief Adds blocks with normal signatures to the PixyInterpreter
+             'blocks_' buffer.
+
+      @param[in] blocks  An array of normal signature blocks to add to buffer.
+      @param[in] count   Size of the 'blocks' array.
+    */
+    void add_normal_blocks(const BlobA * blocks, uint32_t count);
+
+    /**
+      @brief Adds blocks with color code signatures to the PixyInterpreter
+             'blocks_' buffer.
+
+      @param[in] blocks  An array of color code signature blocks to add to buffer.
+      @param[in] count   Size of the 'blocks' array.
+    */
+    void add_color_code_blocks(const BlobB * blocks, uint32_t count);
+};
+
+#endif