Mindsensor Camera device (http://www.mindsensors.com/) class. More...

#include <Camera.h>

Classes
struct	Rectangle_T
	Type of rectangle for object being tracked. More...
Public Types
enum	eTrackingType { OBJECT = OBJECT_TRACKING, LINE = LINE_TRACKING }
	Tracking types. More...
enum	eSortType { SIZE = SORT_OBJ_BY_SIZE, COLOR = SORT_OBJ_BY_COLOR, NO_SORTING = NO_SORTING_OBJ }
	Tracked objects sorting types. More...
Public Member Functions
	Camera (ePortS port)
	Constructor (activate I2C).
void	enableTracking (boolean enable)
	Enable/disable tracking objects.
void	setTrackingType (eTrackingType mode)
	Choose either object or line tracking mode.
void	sortBy (eSortType sortType)
	Camera sorts objects it detects according to criteria, either color, size, or no sorting at all.
SINT	getNumberOfObjects (void) const
	Get the number of objects being tracked.
SINT	getObjectColor (SINT id) const
	Get the color number for a tracked object.
void	getRectangle (SINT id, Rectangle_T *rect)
	Get the rectangle containing a tracked object.
bool	update (void)
	Call regularly to poll the status of the camera device.
bool	sendCommand (U8 command)
	Send a camera command.
bool	receive (U32 address, U8 *data, U32 length)
	Receive raw data from the camera.
Static Public Attributes
static const U8	SORT_OBJ_BY_SIZE = 0x41
	Command to sort tracked objects by size.
static const U8	OBJECT_TRACKING = 0x42
	Command to select object tracing mode.
static const U8	WRITE_CAM_REG = 0x43
	Command to write to camera registers.
static const U8	DISABLE_TRACKING = 0x44
	Command to disable tracking.
static const U8	ENABLE_TRACKING = 0x45
	Command to enable tracking.
static const U8	GET_COLOR_MAP = 0x47
	Command to get the color map from camera engine.
static const U8	READ_CAM_REG = 0x48
	Command to read data from the camera engine.
static const U8	ILLUMINATION_ON = 0x49
	Command to turn illumination On (Future)
static const U8	LINE_TRACKING = 0x4C
	Command to select line tracking mode.
static const U8	SET_ADPA_ON = 0x4E
	Command to set ADPA mode On.
static const U8	SET_ADPA_OFF = 0x4F
	Command to set ADPA mode Off (default)
static const U8	PING_CAMERA_ENGINE = 0x50
	Command to ping camera engine.
static const U8	RESET_CAMERA_ENGINE = 0x52
	Command to reset camera engine.
static const U8	SET_COLOR_MAP = 0x53
	Command to send the color map to camera engine.
static const U8	ILLUMINATION_OFF = 0x54
	Command to turn illumination Off.
static const U8	SORT_OBJ_BY_COLOR = 0x55
	Command to sort tracked objects by color.
static const U8	GET_VERSION = 0x56
	Command to get camera engine firmware version.
static const U8	NO_SORTING_OBJ = 0x58
	Command to not sort tracked objects.

Detailed Description

Mindsensor Camera device (http://www.mindsensors.com/) class.

[ How to use with TOPPERS/ATK1(OSEK) ]
I2C (derived/compositted) class and Clock class internally use RTOS features. Thus, user needs to implement a C function and RTOS provided events.

+ Invoke SleeperMonitor function in user_1msec_isr_type2 hook.
  void user_1ms_isr_type2(void)
  {
    SleeperMonitor(); // needed for I2C devices and Clock class
  }

+ Define EventSleepI2C and EventSleep Events in user oil file.
  EVENT EventSleepI2C
  {
    MASK = AUTO;
  };

  EVENT EventSleep
  {
    MASK = AUTO;
  };

  TASK TaskMain
  {
    AUTOSTART = TRUE
    {
      APPMODE = appmode1;
    };
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    EVENT = EventSleepI2C; <- Here it is
    EVENT = EventSleep; <- Here it is
  };

[ How to use with TOPPERS/JSP(ITRON) ]
In case of using this class with TOPPERS/JSP(ITRON), RTOS specific definitions for the class are not needed.

Member Enumeration Documentation

enum ecrobot::Camera::eSortType

Tracked objects sorting types.

Enumerator:

SIZE	Sort tracked objects by size.
COLOR	Sort tracked objects by color.
NO_SORTING	Do not sort tracked objects.

enum ecrobot::Camera::eTrackingType

Tracking types.

Enumerator:

OBJECT	Select object tracing mode.
LINE	Select Line tracking mode.

Constructor & Destructor Documentation

ecrobot::Camera::Camera ( ePortS port ) [explicit]

Constructor (activate I2C).

Note:
This class must be constructed as a global object. Otherwise, a device assertion will be displayed
in the LCD when the object is constructed as a non global object.
When the object is destructed while the system is shut down, the device is de-activated automatically.

Parameters:

port	Camera device connected port

Returns:: -

Member Function Documentation

void ecrobot::Camera::enableTracking ( boolean enable )

Enable/disable tracking objects.

Parameters:

enable,: true(enable)/false(disable)

Returns:: -

SINT ecrobot::Camera::getNumberOfObjects ( void ) const [inline]

Get the number of objects being tracked.

Parameters:

-

Returns:: Number of objects (0 - 8)

SINT ecrobot::Camera::getObjectColor ( SINT id ) const [inline]

Get the color number for a tracked object.

Parameters:

id	The object number (starting at zero)

Returns:: the color of the object (starting at zero)

void ecrobot::Camera::getRectangle	(	SINT	id,
		Rectangle_T *	rect
	)

Get the rectangle containing a tracked object.

Parameters:

id	The object number (staring at zero)
rect	Rectangle data

bool ecrobot::Camera::receive	(	U32	address,
		U8 *	data,
		U32	length
	)		`[inline]`

Receive raw data from the camera.

Parameters:

address	I2C address
data	Data to be received
length	Length of data to be received

Returns:: The result of receive data: true(succeded)/false(failed)

bool ecrobot::Camera::sendCommand ( U8 command ) [inline]

Send a camera command.

Parameters:

command single byte camera command

Returns:: The result of update: true(succeded)/false(failed)

void ecrobot::Camera::setTrackingType ( eTrackingType mode ) [inline]

Choose either object or line tracking mode.

Parameters:

mode	OBJECT/LINE

Returns:: -

void ecrobot::Camera::sortBy ( eSortType sortType ) [inline]

Camera sorts objects it detects according to criteria, either color, size, or no sorting at all.

Parameters:

sortType SIZE/COLOR/NO_SORTING

Returns:: -

bool ecrobot::Camera::update ( void )

Call regularly to poll the status of the camera device.

Parameters:

-

Returns:: The result of update: true(succeded)/false(failed)

Member Data Documentation

const U8 ecrobot::Camera::WRITE_CAM_REG = 0x43 [static]

Command to write to camera registers.

According to Mindsensors:
Use extreme CAUTION when using this command since this can stop your camera working properly. In case this happens, please power off your NXTCam and power it on again.

The documentation for this class was generated from the following file:

device/Camera.h

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation