html/_camera_8h_source.html

00001 //
00002 // Camera.h
00003 //
00004 // Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
00005 //
00006
00007 #ifndef CAMERA_H_
00008 #define CAMERA_H_
00009
00010 #include "I2c.h"
00011
00012 namespace ecrobot
00013 {
00052 class Camera
00053 {
00054 public:
00056         typedef struct {
00057                 SINT upperLeftX;
00058                 SINT upperLeftY;
00059                 SINT lowerRightX;
00060                 SINT lowerRightY;
00061                 SINT width;
00062                 SINT height;
00063         } Rectangle_T;
00064
00065         // Camera commands according to NXTCam-v2-User-Guide.pdf provided from Mindsensors
00067         static const U8 SORT_OBJ_BY_SIZE = 0x41;
00069         static const U8 OBJECT_TRACKING = 0x42;
00077         static const U8 WRITE_CAM_REG = 0x43;
00079         static const U8 DISABLE_TRACKING = 0x44;
00081         static const U8 ENABLE_TRACKING = 0x45;
00083         static const U8 GET_COLOR_MAP = 0x47;
00085         static const U8 READ_CAM_REG = 0x48;
00087         static const U8 ILLUMINATION_ON = 0x49;
00089         static const U8 LINE_TRACKING = 0x4C;
00091         static const U8 SET_ADPA_ON = 0x4E;
00093         static const U8 SET_ADPA_OFF = 0x4F;
00095         static const U8 PING_CAMERA_ENGINE = 0x50;
00097         static const U8 RESET_CAMERA_ENGINE = 0x52;
00099         static const U8 SET_COLOR_MAP = 0x53;
00101         static const U8 ILLUMINATION_OFF = 0x54;
00103         static const U8 SORT_OBJ_BY_COLOR = 0x55;
00105         static const U8 GET_VERSION = 0x56;
00107         static const U8 NO_SORTING_OBJ = 0x58;
00108
00112         enum eTrackingType
00113         {
00114                 OBJECT = OBJECT_TRACKING,
00115                 LINE   = LINE_TRACKING
00116         };
00117
00121         enum eSortType
00122         {
00123                 SIZE            = SORT_OBJ_BY_SIZE,
00124                 COLOR           = SORT_OBJ_BY_COLOR,
00125                 NO_SORTING      = NO_SORTING_OBJ
00126         };
00127
00137         explicit Camera(ePortS port);
00138
00144         void enableTracking(boolean enable);
00145
00151         inline void setTrackingType(eTrackingType mode) { this->sendCommand(static_cast<U8>(mode)); }
00152
00159         inline void sortBy(eSortType sortType) { this->sendCommand(static_cast<U8>(sortType)); }
00160
00166         inline SINT getNumberOfObjects(void) const { return static_cast<SINT>(mBuffer[0]); }
00167
00173         inline SINT getObjectColor(SINT id) const { return static_cast<SINT>(mBuffer[1 + id * 5]); }
00174
00180         void getRectangle(SINT id, Rectangle_T* rect);
00181
00187         bool update(void);
00188
00194         inline bool sendCommand(U8 command) { return mI2c.send(0x41, &command, 1); }
00195
00203         inline bool receive(U32 address, U8* data, U32 length) { return mI2c.receive(address, data, length); }
00204
00205 private:
00206         static const U8 DATA_BUFFER_BYTE_SIZE = 41;
00207         I2c mI2c; // composite
00208         U8  mBuffer[DATA_BUFFER_BYTE_SIZE]; // buffer to receive all data
00209 };
00210 }
00211 #endif