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🐛 Update vision_read_by_sig to be less funky #124

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merged 2 commits into from
Jun 10, 2019
Merged

🐛 Update vision_read_by_sig to be less funky #124

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a9472b0
Update vision_read_by_sig to properly transform all coordinates and
edjubuh Jan 30, 2019
98972f2
Update vdml_vision.c
edjubuh Feb 26, 2019
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33 changes: 22 additions & 11 deletions src/devices/vdml_vision.c
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Original file line number Diff line number Diff line change
Expand Up @@ -145,8 +145,8 @@ int32_t vision_read_by_size(uint8_t port, const uint32_t size_id, const uint32_t
port_mutex_give(port - 1);
errno = EDOM;
return PROS_ERR;
} else if (c > object_count) {
c = object_count;
} else if (c > object_count + size_id) {
c = object_count + size_id;
}

for (uint32_t i = size_id; i < c; i++) {
Expand Down Expand Up @@ -174,18 +174,29 @@ int32_t _vision_read_by_sig(uint8_t port, const uint32_t size_id, const uint32_t
c = object_count;
}

uint8_t count = 0;
for (uint8_t i = 0; i < c; i++) {
vexDeviceVisionObjectGet(device->device_info, i, (V5_DeviceVisionObject*)(object_arr + i));
if (object_arr[i].signature == sig_id) {
if (count > size_id) {
_vision_transform_coords(port - 1, &object_arr[i]);
uint32_t j = 0; // track how many objects we've placed into object_arr
uint32_t seen = 0; // track how many objects we've seen matching sig_id
for (uint8_t i = 0; i < c; i++) { // loop through all objects on sensor
// place i-th object on vision sensor on j-th position in object_arr
if (!vexDeviceVisionObjectGet(device->device_info, i, (V5_DeviceVisionObject*)(object_arr + j))) {
errno = EAGAIN;
object_arr[i].signature = VISION_OBJECT_ERR_SIG;
goto rtn;
}
// check if this (j-th) object matches sig_id
if (object_arr[j].signature == sig_id) {
seen++;
if (seen >= size_id) { // have we seen enough objects to start adding to object_arr?
// if so, transform the coords and "commit" it by incrementing j
_vision_transform_coords(port - 1, &object_arr[j]);
j++;
if (j == object_count) goto rtn;
}
count++;
}
if (count == object_count) break;
}
return_port(port - 1, count);
errno = EDOM; // read through all objects and couldn't find enough objects matching filter parameters
rtn:
return_port(port - 1, j);
}

int32_t vision_read_by_sig(uint8_t port, const uint32_t size_id, const uint32_t sig_id, const uint32_t object_count,
Expand Down