jevois.c File Reference

#include "modules/sensors/cameras/jevois.h"
#include "std.h"
#include "mcu_periph/uart.h"
#include "modules/core/abi.h"
#include "math/pprz_algebra_float.h"
#include "modules/datalink/downlink.h"
#include <string.h>
#include <stdio.h>

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Data Structures
struct	jevois_msg_t
struct	jevois_t

Macros
#define	JEVOIS_MAX_LEN   32
#define	JEVOIS_MAX_COORD   18
#define	JEVOIS_CHECK_DELIM(_c)   (_c == ' ' || _c == '\n' || _c == '\r' || _c == '\0')

Enumerations
enum	jevois_state {   JV_SYNC = 0 , JV_TYPE , JV_ID , JV_SIZE ,   JV_COORD , JV_DIM , JV_QUAT , JV_EXTRA }

Functions
void	jevois_report (void)
void	jevois_init (void)
int	jevois_extract_nb (char *in)
	Extract a number from jevoid ID field. More...
static void	jevois_send_message (void)
static void	jevois_handle_msg (struct jevois_t *jv)
static void	jevois_parse (struct jevois_t *jv, char c)
void	jevois_event (void)
void	jevois_send_string (char *s)
	Generic function to send a string command to Jevois. More...
void	jevois_stream (bool activate)
	Start and stop streaming. More...
void	jevois_setmapping (int number)
	Set video mapping. More...
void	jevois_send_state (void)
	Send state to camera. More...

Variables
int	jevois_mapping_setting
bool	jevois_stream_setting
struct jevois_t	jevois

Detailed Description

Author

Gautier Hattenberger Decoder for standardized messages from the JEVOIS smart camera (http://jevois.org)

Definition in file jevois.c.

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Data Structure Documentation

jevois_msg_t

struct jevois_msg_t

Definition at line 47 of file jevois.c.

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Data Fields
int16_t	coord[JEVOIS_MAX_COORD]
uint16_t	dim[3]
char	extra[JEVOIS_MAX_LEN]
char	id[JEVOIS_MAX_LEN]
uint8_t	nb
struct FloatQuat	quat
uint8_t	type

jevois_t

struct jevois_t

Definition at line 70 of file jevois.c.

Collaboration diagram for jevois_t:

Data Fields
char	buf[JEVOIS_MAX_LEN]
bool	data_available
uint8_t	idx
struct jevois_msg_t	msg
uint8_t	n
enum jevois_state	state

Macro Definition Documentation

JEVOIS_CHECK_DELIM

#define JEVOIS_CHECK_DELIM

(

_c

)

(_c == ' ' || _c == '\n' || _c == '\r' || _c == '\0')

Definition at line 44 of file jevois.c.

JEVOIS_MAX_COORD

#define JEVOIS_MAX_COORD   18

Definition at line 42 of file jevois.c.

JEVOIS_MAX_LEN

#define JEVOIS_MAX_LEN   32

Definition at line 40 of file jevois.c.

Enumeration Type Documentation

jevois_state

enum jevois_state

Enumerator
JV_SYNC
JV_TYPE
JV_ID
JV_SIZE
JV_COORD
JV_DIM
JV_QUAT
JV_EXTRA

Definition at line 58 of file jevois.c.

Function Documentation

jevois_event()

void jevois_event

(

void

)

Definition at line 402 of file jevois.c.

References jevois, JEVOIS_DEV, jevois_parse(), uart_char_available(), and uart_getch().

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jevois_extract_nb()

int jevois_extract_nb

(

char *

in

)

Extract a number from jevoid ID field.

Definition at line 130 of file jevois.c.

References JEVOIS_MAX_LEN.

Referenced by jevois_send_message(), and tag_track_cb().

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jevois_handle_msg()

static void jevois_handle_msg ( struct jevois_t *  jv )

static

Definition at line 170 of file jevois.c.

References CAM_JEVOIS_ID, jevois_msg_t::coord, jevois_t::data_available, jevois_msg_t::dim, jevois_msg_t::extra, jevois_msg_t::id, jevois_t::idx, jevois_send_message(), jevois_t::msg, jevois_t::n, jevois_msg_t::nb, jevois_msg_t::quat, and jevois_msg_t::type.

Referenced by jevois_parse().

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jevois_init()

void jevois_init

(

void

)

Definition at line 113 of file jevois.c.

References jevois_t::buf, jevois_t::data_available, jevois_t::idx, jevois, jevois_mapping_setting, JEVOIS_MAX_LEN, jevois_stream_setting, JV_SYNC, jevois_t::n, and jevois_t::state.

jevois_parse()

static void jevois_parse ( struct jevois_t *  jv, char  c  )

static

Definition at line 188 of file jevois.c.

References jevois_t::buf, jevois_msg_t::coord, jevois_msg_t::dim, jevois_msg_t::extra, jevois_msg_t::id, jevois_t::idx, JEVOIS_CHECK_DELIM, jevois_handle_msg(), JEVOIS_MAX_LEN, JEVOIS_MSG_D1, JEVOIS_MSG_D2, JEVOIS_MSG_D3, JEVOIS_MSG_F2, JEVOIS_MSG_F3, JEVOIS_MSG_N1, JEVOIS_MSG_N2, JEVOIS_MSG_N3, JEVOIS_MSG_T1, JEVOIS_MSG_T2, JEVOIS_MSG_T3, JV_COORD, JV_DIM, JV_EXTRA, JV_ID, JV_QUAT, JV_SIZE, JV_SYNC, JV_TYPE, jevois_t::msg, jevois_t::n, jevois_msg_t::nb, FloatQuat::qi, jevois_msg_t::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, jevois_t::state, and jevois_msg_t::type.

Referenced by jevois_event().

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jevois_report()

void jevois_report

(

void

)

Definition at line 82 of file jevois.c.

References jevois_msg_t::coord, jevois_t::data_available, DefaultChannel, DefaultDevice, jevois_msg_t::dim, jevois_msg_t::id, jevois, jevois_t::msg, jevois_msg_t::nb, FloatQuat::qi, jevois_msg_t::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and jevois_msg_t::type.

Referenced by jevois_send_message().

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jevois_send_message()

static void jevois_send_message ( void  )

static

Definition at line 147 of file jevois.c.

References CAM_JEVOIS_ID, jevois_msg_t::coord, jevois_msg_t::dim, jevois_msg_t::id, jevois, jevois_extract_nb(), JEVOIS_HFOV, JEVOIS_NORM, jevois_report(), JEVOIS_VFOV, and jevois_t::msg.

Referenced by jevois_handle_msg().

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jevois_send_state()

void jevois_send_state

(

void

)

Send state to camera.

Definition at line 445 of file jevois.c.

References alt_mm, jevois_send_string(), FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, stateGetNedToBodyQuat_f(), stateGetPositionEnu_f(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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jevois_send_string()

void jevois_send_string

(

char *

s

)

Generic function to send a string command to Jevois.

Parameters

[in]

s

string command to send

Definition at line 412 of file jevois.c.

References JEVOIS_DEV, s, and uart_put_byte().

Referenced by jevois_send_state(), jevois_setmapping(), and jevois_stream().

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jevois_setmapping()

void jevois_setmapping

(

int

number

)

Set video mapping.

Parameters

[in]

number

video mapping number

Definition at line 431 of file jevois.c.

References jevois_mapping_setting, jevois_send_string(), jevois_stream(), and s.

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jevois_stream()

void jevois_stream

(

bool

activate

)

Start and stop streaming.

Parameters

[in]

activate

enable or disable streaming

Definition at line 421 of file jevois.c.

References jevois_send_string(), and jevois_stream_setting.

Referenced by jevois_setmapping().

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Variable Documentation

jevois

struct jevois_t jevois

Definition at line 37 of file jevois.c.

Referenced by jevois_event(), jevois_init(), jevois_report(), and jevois_send_message().

jevois_mapping_setting

int jevois_mapping_setting

Definition at line 36 of file jevois.c.

Referenced by jevois_init(), and jevois_setmapping().

jevois_stream_setting

bool jevois_stream_setting

Definition at line 37 of file jevois.c.

Referenced by jevois_init(), and jevois_stream().