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

emulator/libs/Pixy/src/calc.cpp.notneeded

@@ -0,0 +1,108 @@
+//
+// 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 "calc.h"
+
+void hsvc(uint8_t r, uint8_t g, uint8_t b, uint8_t *h, uint8_t *s, uint8_t *v, uint8_t *c)
+{
+    uint8_t min, max, delta;
+    int hue;
+    min = MIN(r, g);
+    min = MIN(min, b);
+    max = MAX(r, g);
+    max = MAX(max, b);
+
+    *v = max;
+    delta = max - min;
+    if (max>50)
+    {
+        //if (delta>50)
+            *s = ((int)delta<<8)/max;
+        //else
+        //    *s = 0;
+    }
+    else
+        *s = 0;
+    if (max==0 || delta==0)
+    {
+        *s = 0;
+        *h = 0;
+        *c = 0;
+        return;
+    }
+    if (r==max)
+        hue = (((int)g - (int)b)<<8)/delta;         // between yellow & magenta
+    else if (g==max)
+        hue = (2<<8) + (((int)b - (int)r)<<8)/delta;     // between cyan & yellow
+    else
+        hue = (4<<8) + (((int)r - (int)g)<<8)/delta;     // between magenta & cyan
+    if(hue < 0)
+        hue += 6<<8;
+    hue /= 6;
+    *h = hue;
+    *c = delta;
+}
+
+uint32_t lighten(uint32_t color, uint8_t factor)
+{
+    uint32_t r, g, b;
+
+    rgbUnpack(color, &r, &g, &b);
+
+    r += factor;
+    g += factor;
+    b += factor;
+
+    return rgbPack(r, g, b);
+}
+
+uint32_t rgbPack(uint32_t r, uint32_t g, uint32_t b)
+{
+    if (r>0xff)
+        r = 0xff;
+    if (g>0xff)
+        g = 0xff;
+    if (b>0xff)
+        b = 0xff;
+    return (r<<16) | (g<<8) | b;
+}
+
+void rgbUnpack(uint32_t color, uint32_t *r, uint32_t *g, uint32_t *b)
+{
+    *b = color&0xff;
+    color >>= 8;
+    *g = color&0xff;
+    color >>= 8;
+    *r = color&0xff;
+}
+
+uint32_t saturate(uint32_t color)
+{
+    float m;
+    uint32_t max, r, g, b;
+
+    rgbUnpack(color, &r, &g, &b);
+
+    max = MAX(r, g);
+    max = MAX(max, b);
+
+    // saturate while maintaining ratios
+    m = 255.0f/max;
+    r = (uint8_t)(m*r);
+    g = (uint8_t)(m*g);
+    b = (uint8_t)(m*b);
+
+    return rgbPack(r, g, b);
+}