iq_apitypes.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2016, All rights reserved.               */
/*                                                                            */
/*    Module:     iq_apitypes.h                                               */
/*    Author:     James Pearman                                               */
/*    Created:    20 March 2019                                               */
/*                                                                            */
/*    Revisions:  V0.1                                                        */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef IQ_APITYPES_H_
#define IQ_APITYPES_H_
 
#include <stdint.h>
#include <stdbool.h>
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
#ifdef __cplusplus
extern "C" {
#endif
 
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// hard coded for SDK as we don't want to include VEX_Api.h
// same names as V5
//
#ifndef IQ_API_H_
typedef enum {
  kDeviceTypeNoSensor        = 0,
  kDeviceTypeMotorSensor     = 2,
  kDeviceTypeLedSensor       = 3,
  kDeviceTypeRgbSensor       = 4,
  kDeviceTypeBumperSensor    = 5,
  kDeviceTypeGyroSensor      = 6,
  kDeviceTypeSonarSensor     = 7,
  kDeviceTypeRadioSensor     = 8,
  kDeviceTypeTetherSensor    = 9,
  kDeviceTypeVisionSensor    = 11,
 
  kDeviceTypeGenericSensor   = 0x80,
  kDeviceTypeUserSensor      = 0xFF
} IQ_DeviceType;
#endif
 
// Some ports will be virtual, some physical, same number as V5 even though we have less
#define IQ_MAX_DEVICE_PORTS   32
typedef IQ_DeviceType IQ_DeviceTypeBuffer[IQ_MAX_DEVICE_PORTS];
 
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// subject to change
typedef enum {
  kVisionModeNormal      = 0,
  kVisionModeMixed       = 1,
  kVisionModeLineDetect  = 2,
  kVisionTypeTest        = 3
} IQVisionMode;
 
typedef enum {
  kVisionTypeNormal      = 0,
  kVisionTypeColorCode   = 1,
  kVisionTypeLineDetect  = 2
} IQVisionBlockType;
 
// White balance
typedef enum {
  kVisionWBNormal       = 0,
  kVisionWBStart        = 1,
  kVisionWBManual       = 2
} IQVisionWBMode;
 
// LED control, from V5 or by the vision sensor
typedef enum {
  kVisionLedModeAuto    = 0,
  kVisionLedModeManual  = 1
} IQVisionLedMode;
 
// Wifi mode
typedef enum {
  kVisionWifiModeOff    = 0,
  kVisionWifiModeOn     = 1
} IQVisionWifiMode;
 
// signature should be 40 bytes and is the same data
// as sent to the vision sensor
 
// if bit0 is now set you know signature is read back
#define VISION_SIG_FLAG_STATUS    (1<<0) 
 
 
typedef struct __attribute(( packed )) _IQ_DeviceVisionObject {
    uint16_t            signature;        
    IQVisionBlockType   type;             
    uint16_t            xoffset;          
    uint16_t            yoffset;          
    uint16_t            width;            
    uint16_t            height;           
    uint16_t            angle;            
} IQ_DeviceVisionObject;
 
// Color structure, used for LED and white balance
typedef struct __attribute(( packed )) _IQ_DeviceVisionRgb {
    uint8_t             red;
    uint8_t             green;
    uint8_t             blue;
    uint8_t             brightness;    
} IQ_DeviceVisionRgb;
 
//
// local copies of the external vision structures on IQ
//
typedef struct  __attribute__ ((__packed__))
{
    uint16_t    ID;
    uint8_t     XPos;
    uint8_t     YPos;
    uint8_t     Width;
    uint8_t     Height;
    uint16_t    Angle;
} IQ_VisionDetectionObj;
 
typedef struct __attribute__ ((__packed__)) 
{
    uint8_t     id;
    float         range;
    int32_t     uMin;
    int32_t     uMax;
    int32_t     uMean;
    int32_t     vMin;
    int32_t     vMax;
    int32_t     vMean;
    uint32_t    mRgb;
    uint32_t    mType;
} IQ_VisionDetectionSettings;
 
 
#ifdef __cplusplus
}
#endif
#endif /* IQ_APITYPES_H_*/