stereoprotocol.h File Reference

standard protocol for TUDelft stereocamera data transfer More...

#include <inttypes.h>
#include "pprzlink/pprzlink_device.h"

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Data Structures
struct	MsgProperties

Typedefs
typedef struct MsgProperties	MsgProperties

Functions
uint16_t	stereoprot_add (uint16_t counter, uint16_t i, uint16_t buffer_size)
	Increment circular buffer counter by i. More...
uint16_t	stereoprot_diff (uint16_t counter, uint16_t i, uint16_t buffer_size)
	Decrement circular buffer counter by i. More...
uint8_t	stereoprot_isEndOfMsg (uint8_t *stack, uint16_t i, uint16_t buffer_size)
	Checks if the sequence in the array is equal to 255-0-0-171, as this means that this is the end of an image. More...
uint8_t	stereoprot_isStartOfMsg (uint8_t *stack, uint16_t i, uint16_t buffer_size)
	Checks if the sequence in the array is equal to 255-0-0-171, as this means a new image is starting from here. More...
uint8_t	WritePart (struct link_device *, uint8_t *, uint8_t)
void	stereoprot_sendArray (struct link_device *fd, uint8_t *b, uint8_t array_width, uint8_t array_height)
uint8_t	handleStereoPackage (uint8_t newByte, uint16_t buffer_size, uint16_t *insert_loc, uint16_t *extract_loc, uint16_t *msg_start, uint8_t *msg_buf, uint8_t *ser_read_buf, uint8_t *stereocam_datadata_new, uint8_t *stereocam_datalen, uint8_t *stereocam_data_matrix_width, uint8_t *stereocam_data_matrix_height)
	Get all available data from stereo com link and decode any complete messages. More...
void	stereoprot_get_msg_properties (uint8_t *raw, MsgProperties *properties, uint16_t start, uint16_t buffer_size)
	Retrieve size of image from message. More...

Detailed Description

standard protocol for TUDelft stereocamera data transfer

Definition in file stereoprotocol.h.

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Data Structure Documentation

struct MsgProperties

Definition at line 33 of file stereoprotocol.h.

Data Fields
uint8_t	height
uint16_t	positionImageStart
uint8_t	width

Typedef Documentation

typedef struct MsgProperties MsgProperties

Definition at line 38 of file stereoprotocol.h.

Function Documentation

uint8_t handleStereoPackage	(	uint8_t	newByte,
		uint16_t	buffer_size,
		uint16_t *	insert_loc,
		uint16_t *	extract_loc,
		uint16_t *	msg_start,
		uint8_t *	msg_buf,
		uint8_t *	ser_read_buf,
		uint8_t *	stereocam_datadata_new,
		uint8_t *	stereocam_datalen,
		uint8_t *	stereocam_data_matrix_width,
		uint8_t *	stereocam_data_matrix_height
	)

Get all available data from stereo com link and decode any complete messages.

Returns as soon as a complete message is found. Messages placed in msg_buf

Definition at line 122 of file stereoprotocol.c.

References extract_loc, MsgProperties::height, insert_loc, msgProperties, stereoprot_add(), stereoprot_diff(), stereoprot_get_msg_properties(), stereoprot_isEndOfMsg(), stereoprot_isStartOfMsg(), and MsgProperties::width.

Referenced by stereocam_periodic().

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uint16_t stereoprot_add	(	uint16_t	counter,
		uint16_t	i,
		uint16_t	buffer_size
	)

Increment circular buffer counter by i.

Definition at line 32 of file stereoprotocol.c.

Referenced by handleStereoPackage(), stereocam_periodic(), stereoprot_get_msg_properties(), stereoprot_isEndOfMsg(), and stereoprot_isStartOfMsg().

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uint16_t stereoprot_diff	(	uint16_t	counter,
		uint16_t	i,
		uint16_t	buffer_size
	)

Decrement circular buffer counter by i.

Definition at line 41 of file stereoprotocol.c.

Referenced by handleStereoPackage(), and stereoprot_get_msg_properties().

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void stereoprot_get_msg_properties	(	uint8_t *	raw,
		MsgProperties *	properties,
		uint16_t	start,
		uint16_t	buffer_size
	)

Retrieve size of image from message.

Definition at line 177 of file stereoprotocol.c.

References MsgProperties::height, stereoprot_add(), stereoprot_diff(), and MsgProperties::width.

Referenced by handleStereoPackage().

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uint8_t stereoprot_isEndOfMsg	(	uint8_t *	stack,
		uint16_t	i,
		uint16_t	buffer_size
	)

Checks if the sequence in the array is equal to 255-0-0-171, as this means that this is the end of an image.

Definition at line 50 of file stereoprotocol.c.

References stereoprot_add().

Referenced by handleStereoPackage().

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uint8_t stereoprot_isStartOfMsg	(	uint8_t *	stack,
		uint16_t	i,
		uint16_t	buffer_size
	)

Checks if the sequence in the array is equal to 255-0-0-171, as this means a new image is starting from here.

Definition at line 64 of file stereoprotocol.c.

References stereoprot_add().

Referenced by handleStereoPackage().

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void stereoprot_sendArray	(	struct link_device *	fd,
		uint8_t *	b,
		uint8_t	array_width,
		uint8_t	array_height
	)

Definition at line 88 of file stereoprotocol.c.

References WritePart().

Referenced by write_serial_rot().

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uint8_t WritePart	(	struct link_device *	,
		uint8_t *	,
		uint8_t
	)

Definition at line 77 of file stereoprotocol.c.

References fd.

Referenced by stereoprot_sendArray().

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