int blobsSetup()
{
uint8_t c;
// setup camera mode
cam_setMode(CAM_MODE1);
#ifdef DA
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
#endif
// if there have been any parameter changes, we should regenerate the LUT (do it regardless)
g_blobs->m_clut.generateLUT();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
// flush serial receive queue
while(ser_getSerial()->receive(&c, 1));
g_state = 0; // reset recv state machine
return 0;
}
int ptSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
// extend range of servos (handled in params)
// rcs_setLimits(0, -200, 200); (handled in rcservo params)
// rcs_setLimits(1, -200, 200); (handled in rcservo params)
// Increasing the PWM frequency makes the servos zippier.
// Pixy updates at 50 Hz, so a default servo update freq of 50 Hz
// adds significant latency to the control loop--- increasing to 100 Hz decreases this.
// Increasing to more than 130 Hz or so creates buzzing, prob not good for the servo.
// rcs_setFreq(100); (handled in rcservo params)
ptLoadParams();
g_panLoop.reset();
g_tiltLoop.reset();
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
void cc_loadParams(void)
{
int i;
ColorModel model;
char id[32], desc[32];
// set up signatures, load later
for (i=1; i<=NUM_MODELS; i++)
{
sprintf(id, "signature%d", i);
sprintf(desc, "Color signature %d", i);
// add if it doesn't exist yet
prm_add(id, PRM_FLAG_INTERNAL, desc, INTS8(sizeof(ColorModel), &model), END);
}
// others -----
// setup
prm_add("Max blocks", 0,
"Sets the maximum total blocks sent per frame. (default 1000)", UINT16(1000), END);
prm_add("Max blocks per signature", 0,
"Sets the maximum blocks for each color signature sent for each frame. (default 1000)", UINT16(1000), END);
prm_add("Min block area", 0,
"Sets the minimum required area in pixels for a block. Blocks with less area won't be sent. (default 20)", UINT32(1), END); //TMS: default 20
prm_add("Min saturation", 0,
"@c Signature_creation Sets the minimum allowed color saturation for when generating color signatures. Applies during teaching. (default 15.0)", FLT32(15.0), END);
prm_add("Hue spread", 0,
"@c Signature_creation Sets how inclusive the color signatures are with respect to hue. Applies during teaching. (default 1.5)", FLT32(1.5), END);
prm_add("Saturation spread", 0,
"@c Signature_creation Sets how inclusive the color signatures are with respect to saturation. Applies during teaching. (default 1.5)", FLT32(1.5), END);
prm_add("CC min saturation", 0,
"@c Signature_creation Sets the minimum allowed color saturation for when generating color code (CC) signatures. Applies during teaching. (default 15.0)", FLT32(15.0), END);
prm_add("CC hue spread", 0,
"@c Signature_creation Sets how inclusive the color code (CC) signatures are with respect to hue. Applies during teaching. (default 3.0)", FLT32(3.0), END);
prm_add("CC saturation spread", 0,
"@c Signature_creation Sets how inclusive the color code (CC) signatures are with respect to saturation for color codes. Applies during teaching. (default 50.0)", FLT32(50.0), END);
prm_add("Color code mode", 0,
"Sets the color code mode, 0=disabled, 1=enabled, 2=color codes only, 3=mixed (default 1)", INT8(1), END);
// load
uint8_t ccMode;
uint16_t maxBlobs, maxBlobsPerModel;
uint32_t minArea;
prm_get("Max blocks", &maxBlobs, END);
prm_get("Max blocks per signature", &maxBlobsPerModel, END);
prm_get("Min block area", &minArea, END);
prm_get("Color code mode", &ccMode, END);
g_blobs->setParams(maxBlobs, maxBlobsPerModel, minArea, (ColorCodeMode)ccMode);
cc_loadLut();
}
int blobsSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int chaseSetup()
{
// setup camera mode
cam_setMode(CAM_MODE1);
chaseLoadParams();
rcs_setPos(LEFT_AXIS, RCS_CENTER_POS);
rcs_setPos(RIGHT_AXIS, RCS_CENTER_POS);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
return 0;
}
int32_t cc_clearSig(const uint8_t &model)
{
char id[32];
ColorModel cmodel;
int res;
if (model<1 || model>NUM_MODELS)
return -1;
memset(&cmodel, 0, sizeof(cmodel));
sprintf(id, "signature%d", model);
res = prm_set(id, INTS8(sizeof(ColorModel), &cmodel), END);
// update lut
cc_loadLut();
return res;
}
int blobsSetup()
{
uint8_t c;
// setup camera mode
cam_setMode(CAM_MODE1);
// load lut if we've grabbed any frames lately
if (g_rawFrame.m_pixels)
cc_loadLut();
// setup qqueue and M0
g_qqueue->flush();
exec_runM0(0);
// flush serial receive queue
while(ser_getSerial()->receive(&c, 1));
return 0;
}
int32_t cc_getRLSFrameChirpFlags(Chirp *chirp, uint8_t renderFlags)
{
int32_t result;
uint32_t len, numRls;
if (g_rawFrame.m_pixels)
cc_loadLut();
g_qqueue->flush();
// figure out prebuf length (we need the prebuf length and the number of runlength segments, but there's a chicken and egg problem...)
len = Chirp::serialize(chirp, RLS_MEMORY, RLS_MEMORY_SIZE, HTYPE(0), UINT16(0), UINT16(0), UINTS32_NO_COPY(0), END);
result = cc_getRLSFrame((uint32_t *)(RLS_MEMORY+len), LUT_MEMORY);
// copy from IPC memory to RLS_MEMORY
numRls = g_qqueue->readAll((Qval *)(RLS_MEMORY+len), (RLS_MEMORY_SIZE-len)/sizeof(Qval));
Chirp::serialize(chirp, RLS_MEMORY, RLS_MEMORY_SIZE, HTYPE(FOURCC('C','C','Q','1')), HINT8(renderFlags), UINT16(CAM_RES2_WIDTH), UINT16(CAM_RES2_HEIGHT), UINTS32_NO_COPY(numRls), END);
// send frame, use in-place buffer
chirp->useBuffer(RLS_MEMORY, len+numRls*4);
return result;
}
int32_t cc_clearAllSig()
{
char id[32];
uint8_t model;
ColorModel cmodel;
int res;
memset(&cmodel, 0, sizeof(cmodel));
for (model=1; model<=NUM_MODELS; model++)
{
sprintf(id, "signature%d", model);
res = prm_set(id, INTS8(sizeof(ColorModel), &cmodel), END);
if (res<0)
return res;
}
// update lut
cc_loadLut();
return 0;
}
