From a358a0bbc889693f706bba3891820e371395b647 Mon Sep 17 00:00:00 2001
From: Shahrul Kamil bin Hassan <shahrulkamil98@g.ucla.edu>
Date: Wed, 6 Oct 2021 00:32:09 +0000
Subject: [PATCH] Replace Camera.cpp
---
Code/Kamil's Feather Code/Camera.cpp | 58 ++++++++--------------------
1 file changed, 16 insertions(+), 42 deletions(-)
diff --git a/Code/Kamil's Feather Code/Camera.cpp b/Code/Kamil's Feather Code/Camera.cpp
index 269337e..539896f 100644
--- a/Code/Kamil's Feather Code/Camera.cpp
+++ b/Code/Kamil's Feather Code/Camera.cpp
@@ -21,21 +21,6 @@ void Camera::exe_face_detection(){
Serial.println(F("]"));
}
}
-
-void Camera::exe_person_detection(){
- char buff[32 + 1] = {}; // null terminator
- if (interface->call_no_args(F("person_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
- }
-}
-
-void Camera::exe_qrcode_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("qrcode_detection"), buff, sizeof(buff) - 1)) {
- Serial.print("qrdetected: ");
- Serial.println(buff);
- }
-}
bool Camera::exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_temp){
struct { uint16_t cx, cy, rot; } result;
@@ -50,20 +35,6 @@ bool Camera::exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_te
return true;
}
}
-
-void Camera::exe_datamatrix_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("datamatrix_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
- }
-}
-
-void Camera::exe_barcode_detection(){
- char buff[128 + 1] = {}; // null terminator
- if (interface->call_no_args(F("barcode_detection"), buff, sizeof(buff) - 1)) {
- Serial.println(buff);
- }
-}
bool Camera::exe_color_detection(int8_t l_min, int8_t l_max, int8_t a_min, int8_t a_max, int8_t b_min, int8_t b_max){
int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
@@ -114,17 +85,20 @@ void Camera::exe_led_detection(){
}
}
-void Camera::exe_jpeg_snapshot(){
-
- short buff[128 + 1] = {};
- Serial.println("looking for image");
- if (interface->call_no_args(F("jpeg_snapshot"), buff, sizeof(buff)-1)) {
- Serial.println("Got JPEG");
- int i = 0;
- while (buff[i] != '\0') {
- Serial.print(buff[i]);
- i++;
- }
- Serial.println("");
- }
+bool Camera::exe_goalfinder(int goal1, int goal2, int goal3, int&id, int&tx, int&ty, int&tz, int&rx, int&ry, int&rz){
+ int goalid[3] = {goal1, goal2, goal3};
+ struct { uint16_t cid, ctx, cty, ctz, crx, cry, crz; } goalfinder_result;
+ interface->call(F("goalfinder"), goalid, sizeof(goalid), goalfinder_result, sizeof(goalfinder_result));
+ if (goalfinder_result.crx == 0 && goalfinder_result.cry == 0){
+ return false;
+ } else {
+ goalfinder.cid = id;
+ goalfinder.ctx = tx;
+ goalfinder.cty = ty;
+ goalfinder.ctz = tz;
+ goalfinder.crx = rx;
+ goalfinder.cry = ry;
+ goalfinder.crz = rz;
+ return true;
+ }
}
--
GitLab