view main/robots/odr/PixyReader.h @ 267:bf47051f7919 main

PixyCam control software.
author Bob Cook <bob@bobcookdev.com>
date Sun, 01 May 2016 14:22:14 -0700
parents 1d246b3260c4
children f2546f8b4ba7
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/PixyReader.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
// 
//  Runnable object that reads and parses messages from a Pixycam.
//
//  Copyright (c) 2016 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODR_PIXYREADER_H
#define BCDRL_ROBOTS_ODR_PIXYREADER_H

#include <stdint.h>

#include <Poco/Event.h>
#include <Poco/Runnable.h>
#include <Poco/RWLock.h>
#include <Poco/Timer.h>
#include <Poco/Timestamp.h>

// ----------------------------------------------------------------------------------------

class PixyReader : public Poco::Runnable
{
    public:
        static bool isPixyAlive();
        static bool hasTarget( int8_t* position = NULL );

    public:
        PixyReader( const std::string& loggerName );
        virtual ~PixyReader();
        virtual void run();
        void timeToQuit();

    private:
        static void pixyIsOnline();
        static void pixyIsOffline();

    private:
        static Poco::RWLock    sm_rwLock;
        static bool            sm_isPixyAlive;
        static Poco::Timestamp sm_pixyLastUpdate;
        static bool            sm_hasTarget;
        static int8_t          sm_targetPosition;

    private:
        std::string m_loggerName;
        Poco::Event m_quitEvent;

    private:
        void closePixyCam();
        bool configurePixyCam();
        void processPixyBlocks();
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODR_PIXYREADER_H
// ----------------------------------------------------------------------------------------