int main(int argc, char * argv[])
{
int index;
uint16_t blocks_copied;
// Catch CTRL+C (SIGINT) signals //
signal(SIGINT, handle_SIGINT);
printf("Hello Pixy: libpixyusb Version: %s\n", __LIBPIXY_VERSION__);
// Connect to Pixy //
pixy_init();
for(;;)
{
// Get blocks from Pixy //
blocks_copied = pixy_get_blocks(BLOCK_BUFFER_SIZE, &blocks[0]);
// Display received blocks //
for(index = 0; index != blocks_copied; ++index) {
printf("[sig:%2u w:%3u h:%3u x:%3u y:%3u]\n",
blocks[index].signature,
blocks[index].width,
blocks[index].height,
blocks[index].x,
blocks[index].y);
}
// Sleep for 1/10 sec //
usleep(100000);
}
}
int main(int argc, char * argv[])
{
int i = 0;
int index;
int blocks_copied;
int pixy_init_status;
char buf[128];
// Catch CTRL+C (SIGINT) signals //
signal(SIGINT, handle_SIGINT);
printf("Hello Pixy:\n libpixyusb Version: %s\n", __LIBPIXY_VERSION__);
// Connect to Pixy //
pixy_init_status = pixy_init();
// Was there an error initializing pixy? //
if(!pixy_init_status == 0)
{
// Error initializing Pixy //
printf("pixy_init(): ");
pixy_error(pixy_init_status);
return pixy_init_status;
}
// Request Pixy firmware version //
{
uint16_t major;
uint16_t minor;
uint16_t build;
int return_value;
return_value = pixy_get_firmware_version(&major, &minor, &build);
if (return_value) {
// Error //
printf("Failed to retrieve Pixy firmware version. ");
pixy_error(return_value);
return return_value;
} else {
// Success //
printf(" Pixy Firmware Version: %d.%d.%d\n", major, minor, build);
}
}
#if 0
// Pixy Command Examples //
{
int32_t response;
int return_value;
// Execute remote procedure call "cam_setAWB" with one output (host->pixy) parameter (Value = 1)
//
// Parameters: Notes:
//
// pixy_command("cam_setAWB", String identifier for remote procedure
// 0x01, Length (in bytes) of first output parameter
// 1, Value of first output parameter
// 0, Parameter list seperator token (See value of: END_OUT_ARGS)
// &response, Pointer to memory address for return value from remote procedure call
// 0); Parameter list seperator token (See value of: END_IN_ARGS)
//
// Enable auto white balance //
pixy_command("cam_setAWB", UINT8(0x01), END_OUT_ARGS, &response, END_IN_ARGS);
// Execute remote procedure call "cam_getAWB" with no output (host->pixy) parameters
//
// Parameters: Notes:
//
// pixy_command("cam_setAWB", String identifier for remote procedure
// 0, Parameter list seperator token (See value of: END_OUT_ARGS)
// &response, Pointer to memory address for return value from remote procedure call
// 0); Parameter list seperator token (See value of: END_IN_ARGS)
//
// Get auto white balance //
return_value = pixy_command("cam_getAWB", END_OUT_ARGS, &response, END_IN_ARGS);
// Set auto white balance back to disabled //
pixy_command("cam_setAWB", UINT8(0x00), END_OUT_ARGS, &response, END_IN_ARGS);
}
#endif
printf("Detecting blocks...\n");
while(run_flag)
{
// Wait for new blocks to be available //
while(!pixy_blocks_are_new() && run_flag);
// Get blocks from Pixy //
blocks_copied = pixy_get_blocks(BLOCK_BUFFER_SIZE, &blocks[0]);
if(blocks_copied < 0) {
// Error: pixy_get_blocks //
printf("pixy_get_blocks(): ");
pixy_error(blocks_copied);
}
// Display received blocks //
printf("frame %d:\n", i);
for(index = 0; index != blocks_copied; ++index) {
blocks[index].print(buf);
printf(" %s\n", buf);
}
i++;
}
pixy_close();
}
