186 lines
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186 lines
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<li class="navelem"><a class="el" href="dir_199f00bcd9b0045362f41b6724eab9bb.html">emulator</a></li><li class="navelem"><a class="el" href="dir_5e67a00a7b81989d115187745c5becbd.html">libs</a></li><li class="navelem"><a class="el" href="dir_017204e842f691777598906361953075.html">Pixy</a></li><li class="navelem"><a class="el" href="dir_1d6043785e9a6436a0102038a303860d.html">src</a></li> </ul>
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<div class="title">pixyinterpreter.hpp</div> </div>
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<div class="contents">
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// begin license header</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// This file is part of Pixy CMUcam5 or "Pixy" for short</span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// All Pixy source code is provided under the terms of the</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// Those wishing to use Pixy source code, software and/or</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// technologies under different licensing terms should contact us at</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// cmucam@cs.cmu.edu. Such licensing terms are available for</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// all portions of the Pixy codebase presented here.</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// end license header</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">//</span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#ifndef __PIXYINTERPRETER_HPP__</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#define __PIXYINTERPRETER_HPP__</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <vector></span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "pixytypes.h"</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "pixy.h"</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "pixydefs.h"</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include "usblink.h"</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "interpreter.hpp"</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include "chirpreceiver.hpp"</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#define PIXY_BLOCK_CAPACITY 250</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">class </span><a class="code" href="class_pixy_interpreter.html">PixyInterpreter</a> : <span class="keyword">public</span> <a class="code" href="class_interpreter.html">Interpreter</a></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> {</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="class_pixy_interpreter.html">PixyInterpreter</a>();</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  ~<a class="code" href="class_pixy_interpreter.html">PixyInterpreter</a>();</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">int</span> <a class="code" href="class_pixy_interpreter.html#a484a346dbd5cf11ef73b8ee8022d12ba">init</a>();</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">void</span> <a class="code" href="class_pixy_interpreter.html#a84513fe3bb46dfbf053f214e141c170d">close</a>();</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">int</span> <a class="code" href="class_pixy_interpreter.html#a9328d917dc4cc7e5f8886e59e4b79848">blocks_are_new</a>();</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">int</span> <a class="code" href="class_pixy_interpreter.html#ad9b879b5f8c5f93aa47524223c201506">get_blocks</a>(<span class="keywordtype">int</span> max_blocks, <a class="code" href="struct_block.html">Block</a> * blocks);</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">int</span> <a class="code" href="class_pixy_interpreter.html#a92a167894ea44a4c566de34990bdc64a">send_command</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * name, va_list arguments);</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">int</span> <a class="code" href="class_pixy_interpreter.html#a92a167894ea44a4c566de34990bdc64a">send_command</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> * name, ...);</div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">int</span> service();</div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">private</span>:</div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="class_chirp_receiver.html">ChirpReceiver</a> * receiver_;</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="class_u_s_b_link.html">USBLink</a> link_;</div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  std::vector<Block> blocks_;</div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">bool</span> blocks_are_new_;</div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">bool</span> init_;</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> interpret_data(<span class="keyword">const</span> <span class="keywordtype">void</span> * chrip_data[]);</div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">void</span> interpret_CCB1(<span class="keyword">const</span> <span class="keywordtype">void</span> * data[]);</div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">void</span> interpret_CCB2(<span class="keyword">const</span> <span class="keywordtype">void</span> * data[]);</div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">void</span> add_normal_blocks(<span class="keyword">const</span> <a class="code" href="struct_blob_a.html">BlobA</a> * blocks, uint32_t count);</div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">void</span> add_color_code_blocks(<span class="keyword">const</span> <a class="code" href="struct_blob_b.html">BlobB</a> * blocks, uint32_t count);</div>
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<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> };</div>
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<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
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<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="class_pixy_interpreter_html_a92a167894ea44a4c566de34990bdc64a"><div class="ttname"><a href="class_pixy_interpreter.html#a92a167894ea44a4c566de34990bdc64a">PixyInterpreter::send_command</a></div><div class="ttdeci">int send_command(const char *name, va_list arguments)</div><div class="ttdoc">Sends a command to Pixy. </div><div class="ttdef"><b>Definition:</b> pixyinterpreter.cpp:100</div></div>
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<div class="ttc" id="class_pixy_interpreter_html_ad9b879b5f8c5f93aa47524223c201506"><div class="ttname"><a href="class_pixy_interpreter.html#ad9b879b5f8c5f93aa47524223c201506">PixyInterpreter::get_blocks</a></div><div class="ttdeci">int get_blocks(int max_blocks, Block *blocks)</div><div class="ttdoc">Copies up to 'max_blocks' number of Blocks to the address pointed to by 'blocks'. ...</div><div class="ttdef"><b>Definition:</b> pixyinterpreter.cpp:64</div></div>
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<div class="ttc" id="class_pixy_interpreter_html_a84513fe3bb46dfbf053f214e141c170d"><div class="ttname"><a href="class_pixy_interpreter.html#a84513fe3bb46dfbf053f214e141c170d">PixyInterpreter::close</a></div><div class="ttdeci">void close()</div><div class="ttdoc">Terminates the USB connection to Pixy and the 'iterpreter' thread. </div><div class="ttdef"><b>Definition:</b> pixyinterpreter.cpp:54</div></div>
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<div class="ttc" id="struct_blob_a_html"><div class="ttname"><a href="struct_blob_a.html">BlobA</a></div><div class="ttdef"><b>Definition:</b> pixytypes.h:133</div></div>
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<div class="ttc" id="class_chirp_receiver_html"><div class="ttname"><a href="class_chirp_receiver.html">ChirpReceiver</a></div><div class="ttdef"><b>Definition:</b> chirpreceiver.hpp:23</div></div>
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<div class="ttc" id="class_u_s_b_link_html"><div class="ttname"><a href="class_u_s_b_link.html">USBLink</a></div><div class="ttdef"><b>Definition:</b> usblink.h:6</div></div>
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<div class="ttc" id="struct_blob_b_html"><div class="ttname"><a href="struct_blob_b.html">BlobB</a></div><div class="ttdef"><b>Definition:</b> pixytypes.h:156</div></div>
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<div class="ttc" id="class_pixy_interpreter_html_a484a346dbd5cf11ef73b8ee8022d12ba"><div class="ttname"><a href="class_pixy_interpreter.html#a484a346dbd5cf11ef73b8ee8022d12ba">PixyInterpreter::init</a></div><div class="ttdeci">int init()</div><div class="ttdoc">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. </div><div class="ttdef"><b>Definition:</b> pixyinterpreter.cpp:31</div></div>
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<div class="ttc" id="class_pixy_interpreter_html"><div class="ttname"><a href="class_pixy_interpreter.html">PixyInterpreter</a></div><div class="ttdef"><b>Definition:</b> pixyinterpreter.hpp:29</div></div>
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<div class="ttc" id="class_interpreter_html"><div class="ttname"><a href="class_interpreter.html">Interpreter</a></div><div class="ttdef"><b>Definition:</b> interpreter.hpp:19</div></div>
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<div class="ttc" id="class_pixy_interpreter_html_a9328d917dc4cc7e5f8886e59e4b79848"><div class="ttname"><a href="class_pixy_interpreter.html#a9328d917dc4cc7e5f8886e59e4b79848">PixyInterpreter::blocks_are_new</a></div><div class="ttdeci">int blocks_are_new()</div><div class="ttdoc">Get status of the block data received from Pixy. </div><div class="ttdef"><b>Definition:</b> pixyinterpreter.cpp:289</div></div>
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<div class="ttc" id="struct_block_html"><div class="ttname"><a href="struct_block.html">Block</a></div><div class="ttdef"><b>Definition:</b> pixy.h:47</div></div>
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