Package trclib.archive

Class TrcPixyCam1

java.lang.Object

trclib.archive.TrcPixyCam1

Direct Known Subclasses:

FtcPixyCam1

public abstract class TrcPixyCam1
extends Object

This class implements a platform independent pixy camera 1. This class is intended to be extended by a platform dependent pixy class which provides the abstract methods required by this class. This class provides the parser to read and parse the object block from the pixy camera 1. It also provides access to the last detected objects reported by the pixy camera asynchronously.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrcPixyCam1.ObjectBlock	This class implements the pixy camera object block communication protocol.
static enum	TrcPixyCam1.RequestId	This is used identify the request type.

Field Summary

Fields

Modifier and Type	Field	Description
private TrcPixyCam1.ObjectBlock	currBlock
private TrcPixyCam1.ObjectBlock[]	detectedObjects
protected final String	instanceName
private final boolean	msbFirst
private final ArrayList<TrcPixyCam1.ObjectBlock>	objects
private static final byte	PIXY_CMD_SET_BRIGHTNESS
private static final byte	PIXY_CMD_SET_LED
private static final byte	PIXY_CMD_SET_PAN_TILT
private static final int	PIXY_START_WORD
private static final int	PIXY_START_WORD_CC
private static final int	PIXY_START_WORDX
private static final byte	PIXY_SYNC_HIGH
private boolean	started
private final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
TrcPixyCam1(String instanceName, boolean msbFirst)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
abstract void	asyncReadData(TrcPixyCam1.RequestId requestId, int length)	This method issues an asynchronous read of the specified number of bytes from the device.
void	asyncWriteBytes(byte[] data)	This method writes the data to the device one byte at a time.
abstract void	asyncWriteData(TrcPixyCam1.RequestId requestId, byte[] data)	This method writes the data buffer to the device asynchronously.
void	end()	This method sets the pixy camera to end state so it will start properly next time.
TrcPixyCam1.ObjectBlock[]	getDetectedObjects()	This method returns an array of detected object blocks.
private int	getWord(byte firstByte, byte secondByte, boolean msbFirst)	This method combines the two byte into a 16-bit word according to whether the MSB is first.
private void	processData(TrcPixyCam1.RequestId requestId, byte[] data, int length)	This method processes the data from the read completion handler.
protected void	requestHandler(Object context)	This method is called when the read request is completed.
void	setBrightness(byte brightness)	This method sets the camera brightness.
void	setLED(byte red, byte green, byte blue)	This method sets the LED to the specified color.
void	setPanTilt(int pan, int tilt)	This method sets the pan and tilt servo positions.
void	start()	This method starts the pixy camera by queuing the initial read request if not already.
String	toString()	This method returns the instance name.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

PIXY_SYNC_HIGH

private static final byte PIXY_SYNC_HIGH

See Also:

• Constant Field Values

PIXY_START_WORD

private static final int PIXY_START_WORD

See Also:

• Constant Field Values

PIXY_START_WORD_CC

private static final int PIXY_START_WORD_CC

See Also:

• Constant Field Values

PIXY_START_WORDX

private static final int PIXY_START_WORDX

See Also:

• Constant Field Values

PIXY_CMD_SET_LED

private static final byte PIXY_CMD_SET_LED

See Also:

• Constant Field Values

PIXY_CMD_SET_BRIGHTNESS

private static final byte PIXY_CMD_SET_BRIGHTNESS

See Also:

• Constant Field Values

PIXY_CMD_SET_PAN_TILT

private static final byte PIXY_CMD_SET_PAN_TILT

See Also:

• Constant Field Values

tracer

private final TrcDbgTrace tracer

instanceName

protected final String instanceName

msbFirst

private final boolean msbFirst

objects

private final ArrayList<TrcPixyCam1.ObjectBlock> objects

detectedObjects

private TrcPixyCam1.ObjectBlock[] detectedObjects

currBlock

private TrcPixyCam1.ObjectBlock currBlock

started

private boolean started

Constructor Details

TrcPixyCam1

public TrcPixyCam1(String instanceName,
 boolean msbFirst)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

msbFirst - specifies true if a word has MSB first.

Method Details

asyncReadData

public abstract void asyncReadData(TrcPixyCam1.RequestId requestId,
 int length)

This method issues an asynchronous read of the specified number of bytes from the device.

Parameters:

requestId - specifies the ID to identify the request for the request handler. Can be null if none was provided.

length - specifies the number of bytes to read.

asyncWriteData

public abstract void asyncWriteData(TrcPixyCam1.RequestId requestId,
 byte[] data)

This method writes the data buffer to the device asynchronously.

Parameters:

requestId - specifies the ID to identify the request for the request handler. Can be null if none was provided.

data - specifies the data buffer.

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

start

public void start()

This method starts the pixy camera by queuing the initial read request if not already.

end

public void end()

This method sets the pixy camera to end state so it will start properly next time.

asyncWriteBytes

public void asyncWriteBytes(byte[] data)

This method writes the data to the device one byte at a time.

Parameters:

data - specifies the buffer containing the data to be written to the device.

setLED

public void setLED(byte red,
 byte green,
 byte blue)

This method sets the LED to the specified color.

Parameters:

red - specifies the red value.

green - specifies the green value.

blue - specifies the blue value.

setBrightness

public void setBrightness(byte brightness)

This method sets the camera brightness.

Parameters:

brightness - specifies the brightness value.

setPanTilt

public void setPanTilt(int pan,
 int tilt)

This method sets the pan and tilt servo positions.

Parameters:

pan - specifies the pan position between 0 and 1000.

tilt - specifies the tilt position between 0 and 1000.

getDetectedObjects

public TrcPixyCam1.ObjectBlock[] getDetectedObjects()

This method returns an array of detected object blocks.

Returns:

array of detected object blocks, can be null if no object detected or result of the next frame not yet available.

processData

private void processData(TrcPixyCam1.RequestId requestId,
 byte[] data,
 int length)

This method processes the data from the read completion handler.

Parameters:

requestId - specifies the ID to identify the request. Can be null if none was provided.

data - specifies the data read.

length - specifies the number of bytes read.

getWord

private int getWord(byte firstByte,
 byte secondByte,
 boolean msbFirst)

This method combines the two byte into a 16-bit word according to whether the MSB is first.

Parameters:

firstByte - specifies the first byte.

secondByte - specifies the second byte.

msbFirst - specifies true if first byte is the MSB.

Returns:

combined 16-bit word.

requestHandler

protected void requestHandler(Object context)

This method is called when the read request is completed.

Parameters:

context - specifies the read request.