vex_sdk/
ai_vision.rs

1//! V5 AI Vision Sensor
2
3use core::ffi::c_double;
4
5use crate::{map_jump_table, V5_DeviceT};
6
7use core::ffi::c_float;
8
9#[repr(C, packed)]
10#[derive(Default, Debug, Copy, Clone, PartialEq)]
11pub struct V5_DeviceAiVisionColor {
12    pub id: u8,
13    pub red: u8,
14    pub grn: u8,
15    pub blu: u8,
16    pub hangle: c_float,
17    pub hdsat: c_float,
18    pub reserved: u32,
19}
20
21#[repr(C, packed)]
22#[derive(Copy, Clone)]
23pub struct V5_DeviceAiVisionObject {
24    pub id: u8,
25    pub r#type: u8,
26    pub object: V5_DeviceAiVisionObjectData,
27}
28
29#[repr(C)]
30#[derive(Copy, Clone)]
31pub union V5_DeviceAiVisionObjectData {
32    pub color: V5_DeviceAiVisionColorData,
33    pub tag: V5_DeviceAiVisionTagData,
34    pub model: V5_DeviceAiVisionModelData,
35}
36
37/// Color Detection Data
38#[repr(C)]
39#[derive(Default, Debug, Copy, Clone, PartialEq)]
40pub struct V5_DeviceAiVisionColorData {
41    /// left side of object
42    pub xoffset: u16,
43    /// top of object
44    pub yoffset: u16,
45    /// width of object
46    pub width: u16,
47    /// height of object
48    pub height: u16,
49    /// angle of CC object in 0.1 deg units
50    pub angle: u16,
51}
52
53/// Apriltag coordinate data
54#[repr(C)]
55#[derive(Default, Debug, Copy, Clone, PartialEq)]
56pub struct V5_DeviceAiVisionTagData {
57    pub x0: i16,
58    pub y0: i16,
59    pub x1: i16,
60    pub y1: i16,
61    pub x2: i16,
62    pub y2: i16,
63    pub x3: i16,
64    pub y3: i16,
65}
66
67/// AI Model Data
68#[repr(C)]
69#[derive(Default, Debug, Copy, Clone, PartialEq)]
70pub struct V5_DeviceAiVisionModelData {
71    /// left side of object
72    pub xoffset: u16,
73    /// top of object
74    pub yoffset: u16,
75    /// width of object
76    pub width: u16,
77    /// height of object
78    pub height: u16,
79    /// confidence score
80    pub score: u16,
81}
82
83#[repr(C, packed)]
84#[derive(Default, Debug, Copy, Clone, PartialEq)]
85pub struct V5_DeviceAiVisionCode {
86    pub id: u8,
87    pub len: u8,
88    pub c1: i16,
89    pub c2: i16,
90    pub c3: i16,
91    pub c4: i16,
92    pub c5: i16,
93    pub c6: i16,
94    pub c7: i16,
95}
96
97map_jump_table! {
98    0xcd4 => pub fn vexDeviceAiVisionClassNameGet(device: V5_DeviceT, id: i32, pName: *mut u8) -> i32,
99    0xcc4 => pub fn vexDeviceAiVisionCodeGet(device: V5_DeviceT, id: u32, pCode: *mut V5_DeviceAiVisionCode) -> bool,
100    0xcc0 => pub fn vexDeviceAiVisionCodeSet(device: V5_DeviceT, pCode: *mut V5_DeviceAiVisionCode),
101    0xcbc => pub fn vexDeviceAiVisionColorGet(device: V5_DeviceT, id: u32, pColor: *mut V5_DeviceAiVisionColor) -> bool,
102    0xcb8 => pub fn vexDeviceAiVisionColorSet(device: V5_DeviceT, pColor: *mut V5_DeviceAiVisionColor),
103    0xcac => pub fn vexDeviceAiVisionModeGet(device: V5_DeviceT) -> u32,
104    0xca8 => pub fn vexDeviceAiVisionModeSet(device: V5_DeviceT, mode: u32),
105    0xcb0 => pub fn vexDeviceAiVisionObjectCountGet(device: V5_DeviceT) -> i32,
106    0xcb4 => pub fn vexDeviceAiVisionObjectGet(device: V5_DeviceT, indexObj: u32, pObject: *mut V5_DeviceAiVisionObject) -> i32,
107    0xcd8 => pub fn vexDeviceAiVisionSensorSet(device: V5_DeviceT, brightness: c_double, contrast: c_double),
108    0xcc8 => pub fn vexDeviceAiVisionStatusGet(device: V5_DeviceT) -> u32,
109    0xccc => pub fn vexDeviceAiVisionTemperatureGet(device: V5_DeviceT) -> c_double,
110}
vex_sdk/ai_vision.rs

vex_sdk/
ai_vision.rs
