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steak/include/pros/vision.h
Jacob 6569224de3 Refactored everything.
2024-09-18 13:05:17 -04:00

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/**
* \file pros/vision.h
*
* Contains prototypes for the VEX Vision Sensor-related functions.
*
* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html to learn
* more.
*
* This file should not be modified by users, since it gets replaced whenever
* a kernel upgrade occurs.
*
* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
* All rights reserved.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
#ifndef _PROS_VISION_H_
#define _PROS_VISION_H_
#define VISION_OBJECT_ERR_SIG 255
// Parameters given by VEX
#define VISION_FOV_WIDTH 316
#define VISION_FOV_HEIGHT 212
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
namespace pros {
#endif
/**
* This enumeration defines the different types of objects
* that can be detected by the Vision Sensor
*/
typedef enum vision_object_type {
E_VISION_OBJECT_NORMAL = 0,
E_VISION_OBJECT_COLOR_CODE = 1,
E_VISION_OBJECT_LINE = 2
} vision_object_type_e_t;
/**
* This structure contains the parameters used by the Vision Sensor
* to detect objects.
*/
typedef struct __attribute__((__packed__)) vision_signature {
uint8_t id;
uint8_t _pad[3];
float range;
int32_t u_min;
int32_t u_max;
int32_t u_mean;
int32_t v_min;
int32_t v_max;
int32_t v_mean;
uint32_t rgb;
uint32_t type;
} vision_signature_s_t;
/**
* Color codes are just signatures with multiple IDs and a different type.
*/
typedef uint16_t vision_color_code_t;
/**
* This structure contains a descriptor of an object detected
* by the Vision Sensor
*/
typedef struct __attribute__((__packed__)) vision_object {
// Object signature
uint16_t signature;
// Object type, e.g. normal, color code, or line detection
vision_object_type_e_t type;
// left boundary coordinate of the object
int16_t left_coord;
// top boundary coordinate of the object
int16_t top_coord;
// width of the object
int16_t width;
// height of the object
int16_t height;
// Angle of a color code object in 0.1 degree units (e.g. 10 -> 1 degree, 155
// -> 15.5 degrees)
uint16_t angle;
// coordinates of the middle of the object (computed from the values above)
int16_t x_middle_coord;
int16_t y_middle_coord;
} vision_object_s_t;
typedef enum vision_zero {
E_VISION_ZERO_TOPLEFT = 0, // (0,0) coordinate is the top left of the FOV
E_VISION_ZERO_CENTER = 1 // (0,0) coordinate is the center of the FOV
} vision_zero_e_t;
#ifdef PROS_USE_SIMPLE_NAMES
#ifdef __cplusplus
#define VISION_OBJECT_NORMAL pros::E_VISION_OBJECT_NORMAL
#define VISION_OBJECT_COLOR_CODE pros::E_VISION_OBJECT_COLOR_CODE
#define VISION_OBJECT_LINE pros::E_VISION_OBJECT_LINE
#define VISION_ZERO_TOPLEFT pros::E_VISION_ZERO_TOPLEFT
#define VISION_ZERO_CENTER pros::E_VISION_ZERO_CENTER
#else
#define VISION_OBJECT_NORMAL E_VISION_OBJECT_NORMAL
#define VISION_OBJECT_COLOR_CODE E_VISION_OBJECT_COLOR_CODE
#define VISION_OBJECT_LINE E_VISION_OBJECT_LINE
#define VISION_ZERO_TOPLEFT E_VISION_ZERO_TOPLEFT
#define VISION_ZERO_CENTER E_VISION_ZERO_CENTER
#endif
#endif
#ifdef __cplusplus
namespace c {
#endif
/**
* Clears the vision sensor LED color, reseting it back to its default behavior,
* displaying the most prominent object signature color.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*/
int32_t vision_clear_led(uint8_t port);
/**
* Creates a signature from the vision sensor utility
*
* \param id
* The signature ID
* \param u_min
* Minimum value on U axis
* \param u_max
* Maximum value on U axis
* \param u_mean
* Mean value on U axis
* \param v_min
* Minimum value on V axis
* \param v_max
* Maximum value on V axis
* \param v_mean
* Mean value on V axis
* \param range
* Scale factor
* \param type
* Signature type
*
* \return A vision_signature_s_t that can be set using vision_set_signature
*/
vision_signature_s_t vision_signature_from_utility(const int32_t id, const int32_t u_min, const int32_t u_max,
const int32_t u_mean, const int32_t v_min, const int32_t v_max,
const int32_t v_mean, const float range, const int32_t type);
/**
* Creates a color code that represents a combination of the given signature
* IDs. If fewer than 5 signatures are to be a part of the color code, pass 0
* for the additional function parameters.
*
* This function uses the following values of errno when an error state is
* reached:
* EINVAL - Fewer than two signatures have been provided or one of the
* signatures is out of its [1-7] range (or 0 when omitted).
*
* \param port
* The V5 port number from 1-21
* \param sig_id1
* The first signature id [1-7] to add to the color code
* \param sig_id2
* The second signature id [1-7] to add to the color code
* \param sig_id3
* The third signature id [1-7] to add to the color code
* \param sig_id4
* The fourth signature id [1-7] to add to the color code
* \param sig_id5
* The fifth signature id [1-7] to add to the color code
*
* \return A vision_color_code_t object containing the color code information.
*/
vision_color_code_t vision_create_color_code(uint8_t port, const uint32_t sig_id1, const uint32_t sig_id2,
const uint32_t sig_id3, const uint32_t sig_id4, const uint32_t sig_id5);
/**
* Gets the nth largest object according to size_id.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
* EDOM - size_id is greater than the number of available objects.
* EHOSTDOWN - Reading the vision sensor failed for an unknown reason.
*
* \param port
* The V5 port number from 1-21
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
*
* \return The vision_object_s_t object corresponding to the given size id, or
* PROS_ERR if an error occurred.
*/
vision_object_s_t vision_get_by_size(uint8_t port, const uint32_t size_id);
/**
* Gets the nth largest object of the given signature according to size_id.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
* EINVAL - sig_id is outside the range [1-8]
* EDOM - size_id is greater than the number of available objects.
* EAGAIN - Reading the vision sensor failed for an unknown reason.
*
* \param port
* The V5 port number from 1-21
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
* \param signature
* The signature ID [1-7] for which an object will be returned.
*
* \return The vision_object_s_t object corresponding to the given signature and
* size_id, or PROS_ERR if an error occurred.
*/
vision_object_s_t vision_get_by_sig(uint8_t port, const uint32_t size_id, const uint32_t sig_id);
/**
* Gets the nth largest object of the given color code according to size_id.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
* EAGAIN - Reading the vision sensor failed for an unknown reason.
*
* \param port
* The V5 port number from 1-21
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
* \param color_code
* The vision_color_code_t for which an object will be returned
*
* \return The vision_object_s_t object corresponding to the given color code
* and size_id, or PROS_ERR if an error occurred.
*/
vision_object_s_t vision_get_by_code(uint8_t port, const uint32_t size_id, const vision_color_code_t color_code);
/**
* Gets the exposure parameter of the Vision Sensor. See
* https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
* for more detials.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
*
* \return The current exposure setting from [0,150], PROS_ERR if an error
* occurred
*/
int32_t vision_get_exposure(uint8_t port);
/**
* Gets the number of objects currently detected by the Vision Sensor.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
*
* \return The number of objects detected on the specified vision sensor.
* Returns PROS_ERR if the port was invalid or an error occurred.
*/
int32_t vision_get_object_count(uint8_t port);
/**
* Get the white balance parameter of the Vision Sensor.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
*
* \return The current RGB white balance setting of the sensor
*/
int32_t vision_get_white_balance(uint8_t port);
/**
* Prints the contents of the signature as an initializer list to the terminal.
*
* \param sig
* The signature for which the contents will be printed
*
* \return 1 if no errors occured, PROS_ERR otherwise
*/
int32_t vision_print_signature(const vision_signature_s_t sig);
/**
* Reads up to object_count object descriptors into object_arr.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21), or
* fewer than object_count number of objects were found.
* ENODEV - The port cannot be configured as a vision sensor
* EDOM - size_id is greater than the number of available objects.
*
* \param port
* The V5 port number from 1-21
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
* \param object_count
* The number of objects to read
* \param[out] object_arr
* A pointer to copy the objects into
*
* \return The number of object signatures copied. This number will be less than
* object_count if there are fewer objects detected by the vision sensor.
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
* than size_id were found. All objects in object_arr that were not found are
* given VISION_OBJECT_ERR_SIG as their signature.
*/
int32_t vision_read_by_size(uint8_t port, const uint32_t size_id, const uint32_t object_count,
vision_object_s_t* const object_arr);
/**
* Reads up to object_count object descriptors into object_arr.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21), or
* fewer than object_count number of objects were found.
* ENODEV - The port cannot be configured as a vision sensor
* EDOM - size_id is greater than the number of available objects.
*
* \param port
* The V5 port number from 1-21
* \param object_count
* The number of objects to read
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
* \param signature
* The signature ID [1-7] for which objects will be returned.
* \param[out] object_arr
* A pointer to copy the objects into
*
* \return The number of object signatures copied. This number will be less than
* object_count if there are fewer objects detected by the vision sensor.
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
* than size_id were found. All objects in object_arr that were not found are
* given VISION_OBJECT_ERR_SIG as their signature.
*/
int32_t vision_read_by_sig(uint8_t port, const uint32_t size_id, const uint32_t sig_id, const uint32_t object_count,
vision_object_s_t* const object_arr);
/**
* Reads up to object_count object descriptors into object_arr.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21), or
* fewer than object_count number of objects were found.
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
* \param object_count
* The number of objects to read
* \param size_id
* The object to read from a list roughly ordered by object size
* (0 is the largest item, 1 is the second largest, etc.)
* \param color_code
* The vision_color_code_t for which objects will be returned
* \param[out] object_arr
* A pointer to copy the objects into
*
* \return The number of object signatures copied. This number will be less than
* object_count if there are fewer objects detected by the vision sensor.
* Returns PROS_ERR if the port was invalid, an error occurred, or fewer objects
* than size_id were found. All objects in object_arr that were not found are
* given VISION_OBJECT_ERR_SIG as their signature.
*/
int32_t vision_read_by_code(uint8_t port, const uint32_t size_id, const vision_color_code_t color_code,
const uint32_t object_count, vision_object_s_t* const object_arr);
/**
* Gets the object detection signature with the given id number.
*
* \param port
* The V5 port number from 1-21
* \param signature_id
* The signature id to read
*
* \return A vision_signature_s_t containing information about the signature.
*/
vision_signature_s_t vision_get_signature(uint8_t port, const uint8_t signature_id);
/**
* 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.
*
* \param port
* The V5 port number from 1-21
* \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
*/
int32_t vision_set_signature(uint8_t port, const uint8_t signature_id, vision_signature_s_t* const signature_ptr);
/**
* Enables/disables auto white-balancing on the Vision Sensor.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
* EINVAL - enable was not 0 or 1
*
* \param port
* The V5 port number from 1-21
* \param enabled
* Pass 0 to disable, 1 to enable
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*/
int32_t vision_set_auto_white_balance(uint8_t port, const uint8_t enable);
/**
* Sets the exposure parameter of the Vision Sensor. See
* https://pros.cs.purdue.edu/v5/tutorials/topical/vision.html#exposure-setting
* for more detials.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
* \param percent
* The new exposure setting from [0,150]
*
* \return 1 if the operation was successful or PROS_ERR if the operation
* failed, setting errno.
*/
int32_t vision_set_exposure(uint8_t port, const uint8_t exposure);
/**
* Sets the vision sensor LED color, overriding the automatic behavior.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
* \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.
*/
int32_t vision_set_led(uint8_t port, const int32_t rgb);
/**
* Sets the white balance parameter of the Vision Sensor.
*
* This function uses the following values of errno when an error state is
* reached:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
* \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.
*/
int32_t vision_set_white_balance(uint8_t port, const int32_t rgb);
/**
* 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:
* ENXIO - The given value is not within the range of V5 ports (1-21).
* ENODEV - The port cannot be configured as a vision sensor
*
* \param port
* The V5 port number from 1-21
* \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.
*/
int32_t vision_set_zero_point(uint8_t port, vision_zero_e_t zero_point);
/**
* Sets the Wi-Fi mode of the Vision sensor
*
* This functions uses the following values of errno when an error state is
* reached:
* ENXIO - The given port is not within the range of V5 ports (1-21)
* EACCESS - Anothe resources is currently trying to access the port
*
* \param port
* The V5 port number from 1-21
* \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.
*/
int32_t vision_set_wifi_mode(uint8_t port, const uint8_t enable);
#ifdef __cplusplus
} // namespace c
} // namespace pros
}
#endif
#endif // _PROS_VISION_H_
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