Vision2009/TrackAPI.h

/********************************************************************************
*  Project              : FIRST Motor Controller
*  File Name            : TrackAPI.h          
*  Contributors         : ELF
*  Creation Date        : August 12, 2008
*  Revision History     : Source code & revision history maintained at sourceforge.WPI.edu    
*  File Description     : Globally defined values for the FIRST Vision API
*/
/*----------------------------------------------------------------------------*/
/*        Copyright (c) FIRST 2008.  All Rights Reserved.                     */
/*  Open Source Software - may be modified and shared by FRC teams. The code  */
/*  must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/

#ifndef __TRACKAPI_H__
#define __TRACKAPI_H__

#include "VisionAPI.h"
#include "BaeUtilities.h"

/*  Constants */
#define PARTICLE_TO_IMAGE_PERCENT 0.01

/*  Structures */
typedef struct TrackingThreshold_struct {
        char name[64];
        Range hue;
        Range saturation;
        Range luminance;
} TrackingThreshold;
                
/*  Enumerated Types */

typedef enum FrcHue_enum { 
        // Basic colors
        RED, GREEN, BLUE, YELLOW, ORANGE, PURPLE, WHITE, PINK
}FrcHue;

typedef enum FrcLight_enum { 
        PASSIVE_LIGHT, BRIGHT_LIGHT, ACTIVE_LIGHT, WHITE_LIGHT, FLUORESCENT
}FrcLight;
        
/* color tracking support functions */
TrackingThreshold GetTrackingData(FrcHue hue, FrcLight light);

void PrintReport(ParticleAnalysisReport* myReport);
void PrintReport(ColorReport* myReport);
void PrintReport(TrackingThreshold* myReport);

/*  Tracking functions */

/* find a color in current camera image */
bool InArea(Image* binaryImage, int particleIndex, Rect rect);
int GetLargestParticle(Image* binaryImage, int* particleNum);
int GetLargestParticle(Image* binaryImage, int* particleNum, Rect rect);
int FindColor(FrcHue color, ParticleAnalysisReport* trackReport);
int FindColor(const Range* hueRange, ParticleAnalysisReport *trackReport);
int FindColor(const Range* hueRange, int minSaturation, ParticleAnalysisReport *trackReport);
int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range, 
                const Range* plane3Range, ParticleAnalysisReport *trackReport);
int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range, 
                const Range* plane3Range, ParticleAnalysisReport *trackReport, ColorReport *colorReport);
int FindColor(ColorMode mode, const Range* plane1Range, const Range* plane2Range, 
                const Range* plane3Range, ParticleAnalysisReport *trackReport, 
                ColorReport *colorReport, Rect rect);
#endif