Package trclib.archive

Class TrcPixyCam2

java.lang.Object
trclib.archive.TrcPixyCam2
Direct Known Subclasses:
FtcPixyCam2
public abstract class TrcPixyCam2 extends Object
This class implements a platform independent pixy camera 2. 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 response packets from the pixy camera 2. It also implements pixy camera APIs for all the pixy requests.

  • Field Details

    • PIXY2_SEND_SYNC

      private static final short PIXY2_SEND_SYNC
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    • PIXY2_RECV_SYNC

      private static final short PIXY2_RECV_SYNC
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    • PIXY2_REQ_GET_RESOLUTION

      private static final byte PIXY2_REQ_GET_RESOLUTION
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    • PIXY2_REQ_GET_VERSION

      private static final byte PIXY2_REQ_GET_VERSION
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    • PIXY2_REQ_SET_CAMERA_BRIGHTNESS

      private static final byte PIXY2_REQ_SET_CAMERA_BRIGHTNESS
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    • PIXY2_REQ_SET_SERVOS

      private static final byte PIXY2_REQ_SET_SERVOS
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    • PIXY2_REQ_SET_LED

      private static final byte PIXY2_REQ_SET_LED
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    • PIXY2_REQ_SET_LAMP

      private static final byte PIXY2_REQ_SET_LAMP
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    • PIXY2_REQ_GET_FPS

      private static final byte PIXY2_REQ_GET_FPS
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    • PIXY2_REQ_GET_BLOCKS

      private static final byte PIXY2_REQ_GET_BLOCKS
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    • PIXY2_REQ_GET_MAIN_FEATURES

      private static final byte PIXY2_REQ_GET_MAIN_FEATURES
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    • PIXY2_REQ_SET_MODE

      private static final byte PIXY2_REQ_SET_MODE
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    • PIXY2_REQ_SET_VECTOR

      private static final byte PIXY2_REQ_SET_VECTOR
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    • PIXY2_REQ_SET_NEXT_TURN

      private static final byte PIXY2_REQ_SET_NEXT_TURN
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    • PIXY2_REQ_SET_DEFAULT_TURN

      private static final byte PIXY2_REQ_SET_DEFAULT_TURN
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    • PIXY2_REQ_REVERSE_VECTOR

      private static final byte PIXY2_REQ_REVERSE_VECTOR
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    • PIXY2_REQ_GET_RGB

      private static final byte PIXY2_REQ_GET_RGB
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    • PIXY2_RES_RESULT

      private static final byte PIXY2_RES_RESULT
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    • PIXY2_RES_RESOLUTION

      private static final byte PIXY2_RES_RESOLUTION
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    • PIXY2_RES_VERSION

      private static final byte PIXY2_RES_VERSION
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    • PIXY2_RES_BLOCKS

      private static final byte PIXY2_RES_BLOCKS
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    • PIXY2_RES_MAIN_FEATURES

      private static final byte PIXY2_RES_MAIN_FEATURES
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    • PIXY2_FEATURE_TYPE_MAIN

      public static final byte PIXY2_FEATURE_TYPE_MAIN
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    • PIXY2_FEATURE_TYPE_ALL

      public static final byte PIXY2_FEATURE_TYPE_ALL
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    • PIXY2_FEATURES_VECTOR

      public static final byte PIXY2_FEATURES_VECTOR
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    • PIXY2_FEATURES_INTERSECTION

      public static final byte PIXY2_FEATURES_INTERSECTION
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    • PIXY2_FEATURES_BARCODE

      public static final byte PIXY2_FEATURES_BARCODE
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    • PIXY2_FEATURES_ALL

      public static final byte PIXY2_FEATURES_ALL
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    • PIXY2_BLOCKS_SIG_1

      public static final byte PIXY2_BLOCKS_SIG_1
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    • PIXY2_BLOCKS_SIG_2

      public static final byte PIXY2_BLOCKS_SIG_2
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    • PIXY2_BLOCKS_SIG_3

      public static final byte PIXY2_BLOCKS_SIG_3
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    • PIXY2_BLOCKS_SIG_4

      public static final byte PIXY2_BLOCKS_SIG_4
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    • PIXY2_BLOCKS_SIG_5

      public static final byte PIXY2_BLOCKS_SIG_5
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    • PIXY2_BLOCKS_SIG_6

      public static final byte PIXY2_BLOCKS_SIG_6
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    • PIXY2_BLOCKS_SIG_7

      public static final byte PIXY2_BLOCKS_SIG_7
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    • PIXY2_BLOCKS_SIG_8

      public static final byte PIXY2_BLOCKS_SIG_8
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    • PIXY2_BLOCKS_ALL_SIG

      public static final byte PIXY2_BLOCKS_ALL_SIG
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    • PIXY2_MAX_BLOCKS_ALL

      public static final byte PIXY2_MAX_BLOCKS_ALL
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    • PIXY2_LINE_FLAG_INVALID

      public static final byte PIXY2_LINE_FLAG_INVALID
      See Also:

    • PIXY2_LINE_FLAG_INTERSECTION_PRESENT

      public static final byte PIXY2_LINE_FLAG_INTERSECTION_PRESENT
      See Also:

    • PIXY2_SAT_FLAG_SATURATE

      public static final byte PIXY2_SAT_FLAG_SATURATE
      See Also:

    • tracer

      protected final TrcDbgTrace tracer

    • instanceName

      protected final String instanceName

    • hardwareVersion

      private int hardwareVersion

    • firmwareVersion

      private int firmwareVersion

    • firmwareType

      private byte firmwareType

    • resolutionWidth

      private int resolutionWidth

    • resolutionHeight

      private int resolutionHeight

  • Constructor Details

    • TrcPixyCam2

      public TrcPixyCam2(String instanceName)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.

  • Method Details

    • syncWriteRequest

      public abstract void syncWriteRequest(byte[] data)
      This method writes the request data to the device synchronously.
      Parameters:
      data - specifies the request data.

    • syncReadResponse

      public abstract byte[] syncReadResponse()
      This method issues a synchronous read of the request response.

    • toString

      public String toString()
      This method returns the instance name.
      Overrides:
      toString in class Object
      Returns:
      instance name.

    • validateChecksum

      private boolean validateChecksum(byte[] data)
      This method checks if the checksum of the response packet is correct.
      Parameters:
      data - specifies the response packet.
      Returns:
      true if the checksum is correct, false otherwise.

    • sendRequest

      private byte[] sendRequest(byte requestType, byte[] data, byte expectedResponseType)
      This method builds the request packet, writes it to the device, reads the response packet, check the checksum and returns the response packet if it's valid.
      Parameters:
      requestType - specifies the request type.
      data - specifies the request data if any, null if none.
      expectedResponseType - specifies the expected response type.
      Returns:
      response packet if it's valid, null if invalid.

    • sendDataRequest

      private int sendDataRequest(byte requestType, byte[] data)
      This method builds a request that will reply with a standard PIXY2_RES_RESULT response packet. It will then returned the result code from the response packet.
      Parameters:
      requestType - specifies the request type.
      data - specifies the request data if any, null if none.
      Returns:
      result code from the response packet.

    • getVersion

      private void getVersion()
      This method sends a GET_VERSION request to the device if it hasn't already. It updates the device version info.

    • getHardwareVersion

      public int getHardwareVersion()
      This method returns the hardware version info.
      Returns:
      hardware version info.

    • getFirmwareVersion

      public int getFirmwareVersion()
      This method returns the firmware version info.
      Returns:
      firmware version info.

    • getFirmwareType

      public byte getFirmwareType()
      This method returns the firmware type info.
      Returns:
      firmware type info.

    • getResolution

      private void getResolution()
      This method sends a GET_RESOLUTION request if it hasn't already. It updates the device resolution info.

    • getResolutionWidth

      public int getResolutionWidth()
      This method returns the resolution width of the device.
      Returns:
      resolution width.

    • getResolutionHeight

      public int getResolutionHeight()
      This method returns the resolution height of the device.
      Returns:
      resolution height.

    • setCameraBrightness

      public int setCameraBrightness(byte brightness)
      This method sends a request to set the camera brightness.
      Parameters:
      brightness - specifies the brightness value (0-255).
      Returns:
      the result code.

    • setServos

      public int setServos(int panValue, int tiltValue)
      This method sends a request to set the pan and tilt value of the gimbal servos.
      Parameters:
      panValue - specifies the pan servo value (0-511)
      tiltValue - specifies the tilt servo value (0-511).
      Returns:
      the result code.

    • setLED

      public int setLED(byte red, byte green, byte blue)
      This method sends a request to set the LED color.
      Parameters:
      red - specifies the red value.
      green - specifies the green value.
      blue - specifies the blue value.
      Returns:
      the result code.

    • setLamp

      public int setLamp(boolean upper, boolean lower)
      This method sends a request to turn on/off the lamp LEDs.
      Parameters:
      upper - specifies true to turn on the two white LEDs on the top edge, false to turn off.
      lower - specifies true to turn on the lower RGB LED, false to turn off.
      Returns:
      the result code.

    • getFPS

      public int getFPS()
      This method sends a request to get the camera frame rate.
      Returns:
      the camera frame rate in frames per second.

    • getBlocks

      public TrcPixyCam2.Block[] getBlocks(byte sigMap, byte maxBlocks)
      This method sends a request to get the detected object blocks.
      Parameters:
      sigMap - specifies the bitmap of the signatures (i.e. bit 1 set for signature 1, bit 2 set for signature 2 etc).
      maxBlocks - specifies the maximum number of blocks to retrieve.
      Returns:
      an array of detected blocks.

    • getFeatures

      public TrcPixyCam2.Feature[] getFeatures(byte requestType, byte featuresMap)
      This method sends a request to get the detected features.
      Parameters:
      requestType - specifies 0 for the main features and 1 for all features.
      featuresMap - specifies the features bitmap (i.e. 1 for vectors, 2 for intersections and 4 for barcodes).
      Returns:
      an array of detected features.

    • getMainFeatures

      public TrcPixyCam2.Feature[] getMainFeatures(byte featuresMap)

    • getAllFeatures

      public TrcPixyCam2.Feature[] getAllFeatures(byte featuresMap)

    • setMode

      public int setMode(byte mode)
      This method sends a request to set the camera mode.
      Parameters:
      mode - specifies the camera mode.
      Returns:
      the result code.

    • setNextTurn

      public int setNextTurn(short angle)
      This method sends a request to set the next turn angle.
      Parameters:
      angle - specifies the turn angle.
      Returns:
      the result code.

    • setDefaultTurn

      public int setDefaultTurn(short angle)
      This method sends a request to set the default turn angle.
      Parameters:
      angle - specifies the default turn angle.
      Returns:
      the result code.

    • setVector

      public int setVector(byte index)

    • reverseVector

      public int reverseVector()

    • getRGB

      public int getRGB(int x, int y, byte satFlag)