pixy.h

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//
// begin license header
//
// This file is part of Pixy CMUcam5 or "Pixy" for short
//
// All Pixy source code is provided under the terms of the
// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
// Those wishing to use Pixy source code, software and/or
// technologies under different licensing terms should contact us at
// cmucam@cs.cmu.edu. Such licensing terms are available for
// all portions of the Pixy codebase presented here.
//
// end license header
//

#ifndef __PIXY_H__
#define __PIXY_H__

#include <stdint.h>
#include <unistd.h>
#include <pixydefs.h>

// Pixy C API //

#ifdef __cplusplus
extern "C"
{
#endif

  #define TYPE_NORMAL                           0
  #define TYPE_COLOR_CODE                       1

  struct Block
  {
    uint16_t type;
    uint16_t signature;
    uint16_t x;
    uint16_t y;
    uint16_t width;
    uint16_t height;
    int16_t  angle;
  };

  int pixy_init();

  int pixy_blocks_are_new();

  int pixy_get_blocks(uint16_t max_blocks, struct Block * blocks);

  int pixy_command(const char *name, ...);

  void pixy_close();

  void pixy_error(int error_code);

  int pixy_led_set_RGB(uint8_t red, uint8_t green, uint8_t blue);

  int pixy_led_set_max_current(uint32_t current);

  int pixy_led_get_max_current();

  int pixy_cam_set_auto_white_balance(uint8_t value);

  int pixy_cam_get_auto_white_balance();

  uint32_t pixy_cam_get_white_balance_value();

  int pixy_cam_set_white_balance_value(uint8_t red, uint8_t green, uint8_t blue);

  int pixy_cam_set_auto_exposure_compensation(uint8_t enable);

  int pixy_cam_get_auto_exposure_compensation();

  int pixy_cam_set_exposure_compensation(uint8_t gain, uint16_t compensation);

  int pixy_cam_get_exposure_compensation(uint8_t * gain, uint16_t * compensation);

  int pixy_cam_set_brightness(uint8_t brightness);

  int pixy_cam_get_brightness();

  int pixy_rcs_get_position(uint8_t channel);

  int pixy_rcs_set_position(uint8_t channel, uint16_t position);

  int pixy_rcs_set_frequency(uint16_t frequency);

  int pixy_get_firmware_version(uint16_t * major, uint16_t * minor, uint16_t * build);


#ifdef __cplusplus
}
#endif

#endif