pixyinterpreter.hpp

//
// 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();

    int init();
    
    void close();

    int blocks_are_new();

    int get_blocks(int max_blocks, Block * blocks);

    int send_command(const char * name, va_list arguments);

    int send_command(const char * name, ...);



    int service();

  private:
    
    ChirpReceiver *    receiver_;
    USBLink            link_;
    std::vector<Block> blocks_;
    bool               blocks_are_new_;
    bool               init_;


    void interpret_data(const void * chrip_data[]);

    void interpret_CCB1(const void * data[]);

    void interpret_CCB2(const void * data[]);

    void add_normal_blocks(const BlobA * blocks, uint32_t count);

    void add_color_code_blocks(const BlobB * blocks, uint32_t count);
};

#endif