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

emulator/libs/Pixy/hello_pixy.cpp

@@ -0,0 +1,150 @@
+//
+// 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
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <signal.h>
+#include <string.h>
+#include "pixy.h"
+
+#define BLOCK_BUFFER_SIZE    25
+
+// Pixy Block buffer // 
+struct Block blocks[BLOCK_BUFFER_SIZE];
+
+static bool run_flag = true;
+
+void handle_SIGINT(int unused)
+{
+  // On CTRL+C - abort! //
+
+  run_flag = false;
+}
+
+int main(int argc, char * argv[])
+{
+  int      i = 0;
+  int      index;
+  int      blocks_copied;
+  int      pixy_init_status;
+  char     buf[128];
+
+  // Catch CTRL+C (SIGINT) signals //
+  signal(SIGINT, handle_SIGINT);
+
+  printf("Hello Pixy:\n libpixyusb Version: %s\n", __LIBPIXY_VERSION__);
+
+  // Connect to Pixy //
+  pixy_init_status = pixy_init();
+
+  // Was there an error initializing pixy? //
+  if(pixy_init_status != 0)
+  {
+    // Error initializing Pixy //
+    printf("pixy_init(): ");
+    pixy_error(pixy_init_status);
+
+    return pixy_init_status;
+  }
+
+  // Request Pixy firmware version //
+  {
+    uint16_t major;
+    uint16_t minor;
+    uint16_t build;
+    int      return_value;
+
+    return_value = pixy_get_firmware_version(&major, &minor, &build);
+
+    if (return_value) {
+      // Error //
+      printf("Failed to retrieve Pixy firmware version. ");
+      pixy_error(return_value);
+
+      return return_value;
+    } else {
+      // Success //
+      printf(" Pixy Firmware Version: %d.%d.%d\n", major, minor, build);
+    }
+  }
+
+#if 0
+  // Pixy Command Examples //
+  {
+    int32_t response;
+    int     return_value;
+
+    // Execute remote procedure call "cam_setAWB" with one output (host->pixy) parameter (Value = 1)
+    //
+    //   Parameters:                 Notes:
+    //
+    //   pixy_command("cam_setAWB",  String identifier for remote procedure
+    //                        0x01,  Length (in bytes) of first output parameter
+    //                           1,  Value of first output parameter
+    //                           0,  Parameter list seperator token (See value of: END_OUT_ARGS)
+    //                   &response,  Pointer to memory address for return value from remote procedure call
+    //                           0); Parameter list seperator token (See value of: END_IN_ARGS)
+    //
+
+    // Enable auto white balance //
+    pixy_command("cam_setAWB", UINT8(0x01), END_OUT_ARGS,  &response, END_IN_ARGS);
+
+    // Execute remote procedure call "cam_getAWB" with no output (host->pixy) parameters
+    //
+    //   Parameters:                 Notes:
+    //
+    //   pixy_command("cam_setAWB",  String identifier for remote procedure
+    //                           0,  Parameter list seperator token (See value of: END_OUT_ARGS)
+    //                   &response,  Pointer to memory address for return value from remote procedure call
+    //                           0); Parameter list seperator token (See value of: END_IN_ARGS)
+    //
+
+    // Get auto white balance //
+    return_value = pixy_command("cam_getAWB", END_OUT_ARGS, &response, END_IN_ARGS);
+
+    // Set auto white balance back to disabled //
+    pixy_command("cam_setAWB", UINT8(0x00), END_OUT_ARGS,  &response, END_IN_ARGS);
+  }
+#endif
+
+  printf("Detecting blocks...\n");
+  while(run_flag)
+  {
+
+      // Wait for new blocks to be available //
+    while(!pixy_blocks_are_new() && run_flag) {
+        pixy_service();
+    }
+
+    // Get blocks from Pixy //
+    blocks_copied = pixy_get_blocks(BLOCK_BUFFER_SIZE, &blocks[0]);
+
+    if(blocks_copied < 0) {
+      // Error: pixy_get_blocks //
+      printf("pixy_get_blocks(): ");
+      pixy_error(blocks_copied);
+    }
+
+    // Display received blocks //
+    printf("frame %d:\n", i);
+    for(index = 0; index != blocks_copied; ++index) {    
+       blocks[index].print(buf);
+       printf("  %s\n", buf);
+    }
+    i++;
+  }
+  pixy_close();
+}