446 lines
16 KiB
C++
446 lines
16 KiB
C++
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/**
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* \file pros/vision.hpp
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*
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* Contains prototypes for the VEX Vision Sensor-related functions in C++.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html to learn
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* more.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
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* All rights reserved.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#ifndef _PROS_VISION_HPP_
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#define _PROS_VISION_HPP_
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#include "pros/vision.h"
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#include <cstdint>
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namespace pros {
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class Vision {
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public:
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/**
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* Create a Vision Sensor object on the given port.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param port
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* The V5 port number from 1-21
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* \param zero_point
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* One of vision_zero_e_t to set the (0,0) coordinate for the FOV
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*/
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Vision(std::uint8_t port, vision_zero_e_t zero_point = E_VISION_ZERO_TOPLEFT);
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/**
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* Clears the vision sensor LED color, reseting it back to its default
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* behavior, displaying the most prominent object signature color.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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std::int32_t clear_led(void) const;
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/**
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* Creates a signature from the vision sensor utility
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*
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* \param id
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* The signature ID
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* \param u_min
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* Minimum value on U axis
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* \param u_max
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* Maximum value on U axis
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* \param u_mean
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* Mean value on U axis
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* \param v_min
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* Minimum value on V axis
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* \param v_max
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* Maximum value on V axis
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* \param v_mean
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* Mean value on V axis
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* \param rgb
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* Scale factor
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* \param type
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* Signature type
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*
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* \return A vision_signature_s_t that can be set using Vision::set_signature
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*/
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static vision_signature_s_t signature_from_utility(const std::int32_t id, const std::int32_t u_min,
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const std::int32_t u_max, const std::int32_t u_mean,
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const std::int32_t v_min, const std::int32_t v_max,
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const std::int32_t v_mean, const float range,
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const std::int32_t type);
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/**
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* Creates a color code that represents a combination of the given signature
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* IDs.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - Fewer than two signatures have been provided or one of the
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* signatures is out of its [1-7] range (or 0 when omitted).
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*
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* \param sig_id1
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* The first signature id [1-7] to add to the color code
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* \param sig_id2
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* The second signature id [1-7] to add to the color code
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* \param sig_id3
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* The third signature id [1-7] to add to the color code
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* \param sig_id4
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* The fourth signature id [1-7] to add to the color code
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* \param sig_id5
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* The fifth signature id [1-7] to add to the color code
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*
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* \return A vision_color_code_t object containing the color code information.
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*/
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vision_color_code_t create_color_code(const std::uint32_t sig_id1, const std::uint32_t sig_id2,
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const std::uint32_t sig_id3 = 0, const std::uint32_t sig_id4 = 0,
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const std::uint32_t sig_id5 = 0) const;
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/**
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* Gets the nth largest object according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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*
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* \return The vision_object_s_t object corresponding to the given size id, or
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* PROS_ERR if an error occurred.
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*/
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vision_object_s_t get_by_size(const std::uint32_t size_id) const;
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/**
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* Gets the nth largest object of the given signature according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EINVAL - sig_id is outside the range [1-8]
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param signature
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* The vision_signature_s_t signature for which an object will be
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* returned.
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*
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* \return The vision_object_s_t object corresponding to the given signature
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* and size_id, or PROS_ERR if an error occurred.
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*/
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vision_object_s_t get_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id) const;
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/**
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* Gets the nth largest object of the given color code according to size_id.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EAGAIN - Reading the Vision Sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param color_code
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* The vision_color_code_t for which an object will be returned
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*
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* \return The vision_object_s_t object corresponding to the given color code
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* and size_id, or PROS_ERR if an error occurred.
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*/
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vision_object_s_t get_by_code(const std::uint32_t size_id, const vision_color_code_t color_code) const;
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/**
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* Gets the exposure parameter of the Vision Sensor. See
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* https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
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* for more detials.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The current exposure parameter from [0,150],
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* PROS_ERR if an error occurred
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*/
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std::int32_t get_exposure(void) const;
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/**
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* Gets the number of objects currently detected by the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The number of objects detected on the specified vision sensor.
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* Returns PROS_ERR if the port was invalid or an error occurred.
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*/
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std::int32_t get_object_count(void) const;
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/**
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* Gets the object detection signature with the given id number.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param signature_id
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* The signature id to read
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*
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* \return A vision_signature_s_t containing information about the signature.
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*/
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vision_signature_s_t get_signature(const std::uint8_t signature_id) const;
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/**
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* Get the white balance parameter of the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \return The current RGB white balance setting of the sensor
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*/
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std::int32_t get_white_balance(void) const;
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/**
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* Gets the port number of the Vision Sensor.
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*
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* \return The vision sensor's port number.
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*/
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std::uint8_t get_port(void) const;
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param object_count
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* The number of objects to read
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*/
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std::int32_t read_by_size(const std::uint32_t size_id, const std::uint32_t object_count,
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vision_object_s_t* const object_arr) const;
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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* EDOM - size_id is greater than the number of available objects.
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* EINVAL - sig_id is outside the range [1-8]
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param object_count
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* The number of objects to read
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param signature
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* The vision_signature_s_t signature for which an object will be
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* returned.
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*/
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std::int32_t read_by_sig(const std::uint32_t size_id, const std::uint32_t sig_id, const std::uint32_t object_count,
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vision_object_s_t* const object_arr) const;
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/**
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* Reads up to object_count object descriptors into object_arr.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EDOM - size_id is greater than the number of available objects.
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* ENODEV - The port cannot be configured as a vision sensor
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* EAGAIN - Reading the vision sensor failed for an unknown reason.
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*
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* \param object_count
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* The number of objects to read
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* \param size_id
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* The object to read from a list roughly ordered by object size
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* (0 is the largest item, 1 is the second largest, etc.)
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* \param color_code
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* The vision_color_code_t for which objects will be returned
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* \param[out] object_arr
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* A pointer to copy the objects into
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*
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* \return The number of object signatures copied. This number will be less than
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* object_count if there are fewer objects detected by the vision sensor.
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* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
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* than size_id were found. All objects in object_arr that were not found are
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* given VISION_OBJECT_ERR_SIG as their signature.
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*/
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int32_t read_by_code(const std::uint32_t size_id, const vision_color_code_t color_code,
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const std::uint32_t object_count, vision_object_s_t* const object_arr) const;
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/**
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* Prints the contents of the signature as an initializer list to the terminal.
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*
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* \param sig
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* The signature for which the contents will be printed
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*
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* \return 1 if no errors occured, PROS_ERR otherwise
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*/
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static std::int32_t print_signature(const vision_signature_s_t sig);
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/**
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* Enables/disables auto white-balancing on the Vision Sensor.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param enabled
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* Pass 0 to disable, 1 to enable
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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std::int32_t set_auto_white_balance(const std::uint8_t enable) const;
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/**
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* Sets the exposure parameter of the Vision Sensor. See
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* https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
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* for more detials.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENODEV - The port cannot be configured as a vision sensor
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*
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* \param percent
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* The new exposure setting from [0,150].
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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std::int32_t set_exposure(const std::uint8_t exposure) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the vision sensor LED color, overriding the automatic behavior.
|
||
|
|
*
|
||
|
|
* This function uses the following values of errno when an error state is
|
||
|
|
* reached:
|
||
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
||
|
|
*
|
||
|
|
* \param rgb
|
||
|
|
* An RGB code to set the LED to
|
||
|
|
*
|
||
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||
|
|
* failed, setting errno.
|
||
|
|
*/
|
||
|
|
std::int32_t set_led(const std::int32_t rgb) const;
|
||
|
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|
||
|
|
/**
|
||
|
|
* Stores the supplied object detection signature onto the vision sensor.
|
||
|
|
*
|
||
|
|
* NOTE: This saves the signature in volatile memory, and the signature will be
|
||
|
|
* lost as soon as the sensor is powered down.
|
||
|
|
*
|
||
|
|
* This function uses the following values of errno when an error state is
|
||
|
|
* reached:
|
||
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
||
|
|
* EINVAL - sig_id is outside the range [1-8]
|
||
|
|
*
|
||
|
|
* \param signature_id
|
||
|
|
* The signature id to store into
|
||
|
|
* \param[in] signature_ptr
|
||
|
|
* A pointer to the signature to save
|
||
|
|
*
|
||
|
|
* \return 1 if no errors occured, PROS_ERR otherwise
|
||
|
|
*/
|
||
|
|
std::int32_t set_signature(const std::uint8_t signature_id, vision_signature_s_t* const signature_ptr) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the white balance parameter of the Vision Sensor.
|
||
|
|
*
|
||
|
|
* This function uses the following values of errno when an error state is
|
||
|
|
* reached:
|
||
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
||
|
|
*
|
||
|
|
* \param rgb
|
||
|
|
* The new RGB white balance setting of the sensor
|
||
|
|
*
|
||
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||
|
|
* failed, setting errno.
|
||
|
|
*/
|
||
|
|
std::int32_t set_white_balance(const std::int32_t rgb) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the (0,0) coordinate for the Field of View.
|
||
|
|
*
|
||
|
|
* This will affect the coordinates returned for each request for a
|
||
|
|
* vision_object_s_t from the sensor, so it is recommended that this function
|
||
|
|
* only be used to configure the sensor at the beginning of its use.
|
||
|
|
*
|
||
|
|
* This function uses the following values of errno when an error state is
|
||
|
|
* reached:
|
||
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
||
|
|
*
|
||
|
|
* \param zero_point
|
||
|
|
* One of vision_zero_e_t to set the (0,0) coordinate for the FOV
|
||
|
|
*
|
||
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||
|
|
* failed, setting errno.
|
||
|
|
*/
|
||
|
|
std::int32_t set_zero_point(vision_zero_e_t zero_point) const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Sets the Wi-Fi mode of the Vision sensor
|
||
|
|
*
|
||
|
|
* This functions uses the following values of errno when an error state is
|
||
|
|
* reached:
|
||
|
|
* ENODEV - The port cannot be configured as a vision sensor
|
||
|
|
*
|
||
|
|
* \param enable
|
||
|
|
* Disable Wi-Fi on the Vision sensor if 0, enable otherwise (e.g. 1)
|
||
|
|
*
|
||
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
||
|
|
* failed, setting errno.
|
||
|
|
*/
|
||
|
|
std::int32_t set_wifi_mode(const std::uint8_t enable) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
std::uint8_t _port;
|
||
|
|
};
|
||
|
|
} // namespace pros
|
||
|
|
#endif // _PROS_VISION_HPP_
|