pixy.h

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//
// 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 __PIXY_H__
#define __PIXY_H__

#include <stdint.h>
#include <unistd.h>
#include "pixydefs.h"

// Pixy C API //

#ifdef __cplusplus
extern "C"
{
#endif

  #define PIXY_MAX_SIGNATURE          7

  // Pixy x-y position values
  #define PIXY_MIN_X                  0
  #define PIXY_MAX_X                  319
  #define PIXY_MIN_Y                  0
  #define PIXY_MAX_Y                  199

  // RC-servo values
  #define PIXY_RCS_MIN_POS            0
  #define PIXY_RCS_MAX_POS            1000
  #define PIXY_RCS_CENTER_POS         ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2)

  // Block types
  #define PIXY_BLOCKTYPE_NORMAL       0
  #define PIXY_BLOCKTYPE_COLOR_CODE   1

  struct Block
  {
    /*void print(char *buf)
    {
      int i, j;
      char sig[6], d;
      bool flag;
      if (type==PIXY_BLOCKTYPE_COLOR_CODE)
      {
        // convert signature number to an octal string
        for (i=12, j=0, flag=false; i>=0; i-=3)
        {
          d = (signature>>i)&0x07;
          if (d>0 && !flag)
            flag = true;
          if (flag)
            sig[j++] = d + '0';
        }
        sig[j] = '\0';  
        sprintf(buf, "CC block! sig: %s (%d decimal) x: %d y: %d width: %d height: %d angle %d", sig, signature, x, y, width, height, angle);
      }
      else // regular block.  Note, angle is always zero, so no need to print
        sprintf(buf, "sig: %d x: %d y: %d width: %d height: %d", signature, x, y, width, height);       
    }*/

    uint16_t type;
    uint16_t signature;
    uint16_t x;
    uint16_t y;
    uint16_t width;
    uint16_t height;
    int16_t  angle;
  };

  int pixy_init();

  int pixy_blocks_are_new();

  int pixy_get_blocks(uint16_t max_blocks, struct Block * blocks);



  int pixy_service();

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

  void pixy_close();

  void pixy_error(int error_code);

  int pixy_led_set_RGB(uint8_t red, uint8_t green, uint8_t blue);

  int pixy_led_set_max_current(uint32_t current);

  int pixy_led_get_max_current();

  int pixy_cam_set_auto_white_balance(uint8_t value);

  int pixy_cam_get_auto_white_balance();

  uint32_t pixy_cam_get_white_balance_value();

  int pixy_cam_set_white_balance_value(uint8_t red, uint8_t green, uint8_t blue);

  int pixy_cam_set_auto_exposure_compensation(uint8_t enable);

  int pixy_cam_get_auto_exposure_compensation();

  int pixy_cam_set_exposure_compensation(uint8_t gain, uint16_t compensation);

  int pixy_cam_get_exposure_compensation(uint8_t * gain, uint16_t * compensation);

  int pixy_cam_set_brightness(uint8_t brightness);

  int pixy_cam_get_brightness();

  int pixy_rcs_get_position(uint8_t channel);

  int pixy_rcs_set_position(uint8_t channel, uint16_t position);

  int pixy_rcs_set_frequency(uint16_t frequency);

  int pixy_get_firmware_version(uint16_t * major, uint16_t * minor, uint16_t * build);

#ifdef __cplusplus
}
#endif

#endif