jevois.c File Reference

#include "modules/sensors/cameras/jevois.h"
#include "std.h"
#include "mcu_periph/uart.h"
#include "subsystems/abi.h"
#include "math/pprz_algebra_float.h"
#include "subsystems/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,   JV_SEND_MSG }

Functions
void	jevois_report (void)
void	jevois_init (void)
static int	jevois_extract_nb (char *in)
static void	jevois_send_message (void)
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 71 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
JV_SEND_MSG

Definition at line 58 of file jevois.c.

Function Documentation

jevois_event()

void jevois_event

(

void

)

Definition at line 393 of file jevois.c.

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

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jevois_extract_nb()

static int jevois_extract_nb ( char *  in )

static

Definition at line 131 of file jevois.c.

References JEVOIS_MAX_LEN.

Referenced by jevois_send_message().

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jevois_init()

void jevois_init

(

void

)

Definition at line 114 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 172 of file jevois.c.

References jevois_t::buf, c(), 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_CHECK_DELIM, 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, jevois_send_message(), JV_COORD, JV_DIM, JV_EXTRA, JV_ID, JV_QUAT, JV_SEND_MSG, 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 83 of file jevois.c.

References jevois_msg_t::coord, jevois_t::data_available, DefaultChannel, DefaultDevice, jevois_msg_t::dim, jevois_msg_t::id, jevois, Max, 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 148 of file jevois.c.

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

Referenced by jevois_parse().

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jevois_send_state()

void jevois_send_state

(

void

)

Send state to camera.

Definition at line 436 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 403 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 422 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 412 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 80 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().