discoverpixy/discovery/libs/Pixy/src/pixy.cpp

#include <stdio.h>
#include <string.h>
#include "pixy.h"
#include "pixydefs.h"
#include "pixyinterpreter.hpp"

PixyInterpreter interpreter;

/** 

  \mainpage libpixyusb-0.4 API Reference

  \section introduction Introduction

  libpixyusb is an open source library that allows you to communicate with
  Pixy over the USB protocol.

  This documentation is aimed at application developers wishing to send
  commands to Pixy or read sensor data from Pixy.

  \section library_features Library features

  - Read blocks with or without color codes
  - RGB LED control (color/intensity)
  - Auto white balance control
  - Auto exposure compensation control
  - Brightness control
  - Servo position control/query
  - Custom commands

  \section dependencies Dependencies

  Required to build:

  - <a href=http://www.cmake.org>cmake</a>
 
  Required for runtime:

  - <a href=http://www.libusb.org>libusb</a>
  - <a href=http://www.boost.org>libboost</a>

  \section getting_started Getting Started
 
  The libpixyusb API reference documentation can be found here:

  libpixyusb API Reference

  Some tutorials that use libpixyusb can be found here:

  <a href=http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Raspberry_Pi>Hooking up Pixy to a Raspberry Pi</a>

  <a href=http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Beaglebone_Black>Hooking up Pixy to a BeagleBone Black</a>

  \section getting_help Getting Help

  Tutorials, walkthroughs, and more are available on the Pixy wiki page:

  <a href=http://www.cmucam.org/projects/cmucam5/wiki>Pixy Developer Wiki Page</a>

  Our friendly developers and users might be able to answer your question on the forums:

  <a href=http://www.cmucam.org/projects/cmucam5/boards/9>Pixy Software Discussion Forum</a>
  
  <a href=http://www.cmucam.org/projects/cmucam5/boards/8>Pixy Hardware Discussion Forum</a>

*/

// Pixy C API //

extern "C" 
{
  static struct
  {
    int           error;
    const char *  text;
  } PIXY_ERROR_TABLE[] = {
    { 0,                          "Success" },
    //{ PIXY_ERROR_USB_IO,          "USB Error: I/O" },
    //{ PIXY_ERROR_USB_BUSY,        "USB Error: Busy" },
    //{ PIXY_ERROR_USB_NO_DEVICE,   "USB Error: No device" },
    //{ PIXY_ERROR_USB_NOT_FOUND,   "USB Error: Target not found" },
    { PIXY_ERROR_CHIRP,           "Chirp Protocol Error" },
    { PIXY_ERROR_INVALID_COMMAND, "Pixy Error: Invalid command" },
    { 0,                          0 }
  };

  static int pixy_initialized = false;

  int pixy_init()
  {
    int return_value;

    return_value = interpreter.init();

    if(return_value == 0) 
    {
      pixy_initialized = true;
    }

    return return_value;
  }

  int pixy_get_blocks(uint16_t max_blocks, struct Block * blocks)
  {
    return interpreter.get_blocks(max_blocks, blocks);
  }

  int pixy_blocks_are_new()
  {
    return interpreter.blocks_are_new();
  }

  int pixy_service()
  {
    return interpreter.service();
  }

  int pixy_command(const char *name, ...)
  {
    va_list arguments;
    int     return_value;

    if(!pixy_initialized) return -1;

    va_start(arguments, name);
    return_value = interpreter.send_command(name, arguments);
    va_end(arguments);

    return return_value;
  }

  void pixy_close()
  {
    if(!pixy_initialized) return;

    interpreter.close();
  }

  void pixy_error(int error_code)
  {
    int index;

    // Convert pixy error code to string and display to stdout //

    index = 0;

    while(PIXY_ERROR_TABLE[index].text != 0) {

      if(PIXY_ERROR_TABLE[index].error == error_code) {
        fprintf(stderr,"%s\n", PIXY_ERROR_TABLE[index].text);
        return;
      }

      index += 1;
    }

    fprintf(stderr,"Undefined error: [%d]\n", error_code);
  }

  int pixy_led_set_RGB(uint8_t red, uint8_t green, uint8_t blue)
  {
    int      chirp_response;
    int      return_value;
    uint32_t RGB;

    // Pack the RGB value //
    RGB = blue + (green << 8) + (red << 16);

    return_value = pixy_command("led_set", INT32(RGB), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_led_set_max_current(uint32_t current)
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("led_setMaxCurrent", INT32(current), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_led_get_max_current()
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("led_getMaxCurrent", END_OUT_ARGS, &chirp_response, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_set_auto_white_balance(uint8_t enable)
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("cam_setAWB", UINT8(enable), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_get_auto_white_balance()
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("cam_getAWB", END_OUT_ARGS, &chirp_response, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  uint32_t pixy_cam_get_white_balance_value()
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("cam_getWBV", END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_set_white_balance_value(uint8_t red, uint8_t green, uint8_t blue)
  {
    int      return_value;
    uint32_t chirp_response;
    uint32_t white_balance;

    white_balance = green + (red << 8) + (blue << 16);

    return_value = pixy_command("cam_setAWB", UINT32(white_balance), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_set_auto_exposure_compensation(uint8_t enable)
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("cam_setAEC", UINT8(enable), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
}
  
  int pixy_cam_get_auto_exposure_compensation()
  {
    int      return_value;
    uint32_t chirp_response;

    return_value = pixy_command("cam_getAEC", END_OUT_ARGS, &chirp_response, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_set_exposure_compensation(uint8_t gain, uint16_t compensation)
  {
    int      return_value;
    uint32_t chirp_response;
    uint32_t exposure;

    exposure = gain + (compensation << 8);

    return_value = pixy_command("cam_setECV", UINT32(exposure), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_get_exposure_compensation(uint8_t * gain, uint16_t * compensation)
  {
    uint32_t exposure;
    int      return_value;

    return_value = pixy_command("cam_getECV", END_OUT_ARGS, &exposure, END_IN_ARGS);

    if (return_value < 0) {
      // Chirp error //
      return return_value;
    }

    if(gain == 0 || compensation == 0) {
      // Error: Null pointer //
      return PIXY_ERROR_INVALID_PARAMETER;
    }

    fprintf(stderr,"exp:%08x\n", exposure);

    *gain         = exposure & 0xFF;
    *compensation = 0xFFFF & (exposure >> 8);

    return 0;
  }

  int pixy_cam_set_brightness(uint8_t brightness)
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("cam_setBrightness", UINT8(brightness), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_cam_get_brightness()
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("cam_getBrightness", END_OUT_ARGS, &chirp_response, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_rcs_get_position(uint8_t channel)
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("rcs_getPos", UINT8(channel), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_rcs_set_position(uint8_t channel, uint16_t position)
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("rcs_setPos", UINT8(channel), INT16(position), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_rcs_set_frequency(uint16_t frequency)
  {
    int chirp_response;
    int return_value;

    return_value = pixy_command("rcs_setFreq", UINT16(frequency), END_OUT_ARGS, &chirp_response, END_IN_ARGS);

   if (return_value < 0) {
      // Error //
      return return_value;
    } else {
      // Success //
      return chirp_response;
    }
  }

  int pixy_get_firmware_version(uint16_t * major, uint16_t * minor, uint16_t * build)
  {
    uint16_t * pixy_version;
    uint32_t   version_length;
    uint32_t   response;
    uint16_t   version[3];
    int        return_value;

    if(major == 0 || minor == 0 || build == 0) {
      // Error: Null pointer //
      return PIXY_ERROR_INVALID_PARAMETER;
    }

    return_value = pixy_command("version",  END_OUT_ARGS, &response, &version_length, &pixy_version, END_IN_ARGS);

    if (return_value < 0) {
      // Error //
      return return_value;
    }

    memcpy((void *) version, pixy_version, 3 * sizeof(uint16_t));

    *major = version[0];
    *minor = version[1];
    *build = version[2];

    return 0;
  }
}