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‎DFRobot_HuskylensV2.cpp‎

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#include <DFRobot_HuskylensV2.h>
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HuskylensV2::HuskylensV2() : result{} {}
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HuskylensV2::~HuskylensV2() {
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for (uint8_t algo = 0; algo < ALGORITHM_COUNT; algo++) {
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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delete result[algo][i];
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result[algo][i] = NULL;
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}
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}
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}
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}
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bool HuskylensV2::begin(Stream &streamInput) {
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stream = &streamInput;
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wire = NULL;
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return knock();
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}
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bool HuskylensV2::begin(TwoWire &streamInput) {
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DBG("\n");
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wire = &streamInput;
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stream = NULL;
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return knock();
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}
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int8_t HuskylensV2::getResult(eAlgorithm_t algo) {
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eAlgorithm_t _algo = algo;
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// 所有结果返回到ProtocolV2内存
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// 然后将所有权转给HuskylensV2
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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delete result[algo][i];
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result[algo][i] = NULL;
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}
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}
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int8_t count = ProtocolV2::getResult(_algo);
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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// DBG(i);
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// DBG((long long)ProtocolV2::result[i]);
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result[algo][i] = ProtocolV2::result[i];
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ProtocolV2::result[i] = NULL;
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}
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return count;
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}
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bool HuskylensV2::available(eAlgorithm_t algo) {
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bool ret = false;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i] != NULL)
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if (!result[algo][i]->used) {
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DBG(i);
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ret = true;
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break;
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}
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}
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return ret;
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}
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Result *HuskylensV2::popCachedResult(eAlgorithm_t algo) {
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DBG("\n");
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (int8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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if (result[algo][i]->used) {
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continue;
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}
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result[algo][i]->used = 1;
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DBG_PRINT("return ");
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DBG_PRINTLN((unsigned long)result[algo][i]);
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DBG(i);
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return result[algo][i];
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}
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}
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return NULL;
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}
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#ifdef LARGE_MEMORY
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eAlgorithm_t HuskylensV2::toRealID(uint8_t id) {
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eAlgorithm_t algo = ALGORITHM_ANY;
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if (id >= ALGORITHM_CUSTOM_BEGIN) {
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for (uint8_t i = 0; i < CUSTOM_ALGORITHM_COUNT; i++)
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if (customId[i] == algo) {
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algo = (eAlgorithm_t)((int)ALGORITHM_CUSTOM0 + i);
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break;
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}
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}
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return algo;
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}
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#endif
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Result *HuskylensV2::getCachedCenterResult(eAlgorithm_t algo) {
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DBG("\n");
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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int8_t centerIndex = -1;
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int32_t minLen = 0x0FFFFFFF;
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for (int8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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int32_t len = SQUARE(result[algo][i]->xCenter - LCD_WIDTH / 2) +
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SQUARE(result[algo][i]->yCenter - LCD_HEIGHT / 2);
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if (len < minLen) {
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minLen = len;
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centerIndex = i;
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}
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}
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}
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if (centerIndex != -1) {
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return result[algo][centerIndex];
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}
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return NULL;
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}
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Result *HuskylensV2::getCachedResultByIndex(eAlgorithm_t algo, int16_t index) {
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DBG("\n");
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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if (index >= MAX_RESULT_NUM) {
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return NULL;
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}
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return result[algo][index];
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}
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Result *HuskylensV2::getCachedResultByID(eAlgorithm_t algo, int16_t ID) {
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DBG("\n");
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i] == NULL) {
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continue;
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}
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if (result[algo][i]->ID == ID) {
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return result[algo][i];
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}
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}
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return NULL;
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}
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int16_t HuskylensV2::getCachedResultNum(eAlgorithm_t algo) {
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DBG("\n");
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int16_t count = 0;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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count++;
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}
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}
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return count;
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}
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int16_t HuskylensV2::getCachedResultLearnedNum(eAlgorithm_t algo) {
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DBG("\n");
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int16_t count = 0;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i] && result[algo][i]->ID) {
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count++;
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}
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}
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return count;
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}
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int16_t HuskylensV2::getCachedResultNumByID(eAlgorithm_t algo, uint8_t id) {
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DBG("\n");
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int16_t count = 0;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i] && (id == result[algo][i]->ID)) {
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count++;
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}
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}
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return count;
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}
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Result *HuskylensV2::getCachedIndexResultByID(eAlgorithm_t algo, uint8_t id,
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uint8_t index) {
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DBG("\n");
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Result *rlt = NULL;
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uint8_t _index = 0;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i] && (id == result[algo][i]->ID)) {
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if (_index == index) {
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return result[algo][i];
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}
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_index++;
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}
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}
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return rlt;
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}
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int16_t HuskylensV2::getCachedResultMaxID(void) { return maxID; }
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Result *HuskylensV2::getCurrentBranch(eAlgorithm_t algo){
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DBG("\n");
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Result *rlt = NULL;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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if (result[algo][0] && (result[algo][0]->level==1)) {
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return result[algo][0];
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}
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}
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int8_t HuskylensV2::getUpcomingBranchCount(eAlgorithm_t algo){
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DBG("\n");
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int8_t count = 0;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 0; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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count++;
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}
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}
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return count>0 ? count-1 : 0;
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}
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Result *HuskylensV2::getBranch(eAlgorithm_t algo , int16_t index){
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DBG("\n");
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Result *rlt = NULL;
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index++;
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#ifdef LARGE_MEMORY
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algo = toRealID(algo);
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#else
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algo = (eAlgorithm_t)0;
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#endif
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for (uint8_t i = 1; i < MAX_RESULT_NUM; i++) {
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if (result[algo][i]) {
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if(i == index){
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rlt = result[algo][i];
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break;
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}
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}
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}
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return rlt;
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}
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#ifdef LARGE_MEMORY
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bool HuskylensV2::setMultiAlgorithm(eAlgorithm_t algo0, eAlgorithm_t algo1,
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eAlgorithm_t algo2, eAlgorithm_t algo3,
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eAlgorithm_t algo4) {
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DBG("\n");
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customAlgoNum = 0;
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memset(customId, 0, sizeof(customId));
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if (algo0 >= ALGORITHM_CUSTOM_BEGIN) {
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customId[customAlgoNum++] = algo0;
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}
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if (algo1 >= ALGORITHM_CUSTOM_BEGIN) {
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customId[customAlgoNum++] = algo1;
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}
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if (algo2 >= ALGORITHM_CUSTOM_BEGIN) {
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customId[customAlgoNum++] = algo2;
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}
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if (algo3 >= ALGORITHM_CUSTOM_BEGIN) {
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customId[customAlgoNum++] = algo3;
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}
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if (algo4 >= ALGORITHM_CUSTOM_BEGIN) {
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customId[customAlgoNum++] = algo4;
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}
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return doSetMultiAlgorithm(algo0, algo1, algo2, algo3, algo4);
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}
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#endif

‎DFRobot_HuskylensV2.h‎

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/*
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为ino提供接口
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存储分析result
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*/
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#ifndef DFROBOT_HUSKYLENS_V2_H
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#define DFROBOT_HUSKYLENS_V2_H
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#include <Arduino.h>
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#include <ProtocolV2.h>
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class HuskylensV2 : public ProtocolV2 {
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public:
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HuskylensV2();
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~HuskylensV2();
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bool begin(Stream &streamInput);
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bool begin(TwoWire &streamInput);
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int8_t getResult(eAlgorithm_t algo);
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bool available(eAlgorithm_t algo);
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Result *popCachedResult(eAlgorithm_t algo);
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Result *getCachedCenterResult(eAlgorithm_t algo);
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Result *getCachedResultByIndex(eAlgorithm_t algo, int16_t index);
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Result *getCachedResultByID(eAlgorithm_t algo, int16_t ID);
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int16_t getCachedResultNum(eAlgorithm_t algo);
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int16_t getCachedResultLearnedNum(eAlgorithm_t algo);
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int16_t getCachedResultNumByID(eAlgorithm_t algo, uint8_t id);
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Result *getCachedIndexResultByID(eAlgorithm_t algo, uint8_t id,
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uint8_t index);
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int16_t getCachedResultMaxID(void);
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Result *getCurrentBranch(eAlgorithm_t algo);
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int8_t getUpcomingBranchCount(eAlgorithm_t algo);
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Result *getBranch(eAlgorithm_t algo , int16_t index);
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#ifdef LARGE_MEMORY
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bool setMultiAlgorithm(eAlgorithm_t algo0, eAlgorithm_t algo1,
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eAlgorithm_t algo2 = ALGORITHM_ANY,
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eAlgorithm_t algo3 = ALGORITHM_ANY,
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eAlgorithm_t algo4 = ALGORITHM_ANY);
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#endif
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public:
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Result *result[ALGORITHM_COUNT][MAX_RESULT_NUM];
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#ifdef LARGE_MEMORY
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uint8_t customId[5];
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uint8_t customAlgoNum;
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eAlgorithm_t toRealID(uint8_t id);
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#endif
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};
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#define RET_ITEM_NUM(func, type, item) \
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[](type *rlt) { return rlt ? rlt->item : -1; }(static_cast<type *>(func))
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#define RET_ITEM_STR(func, type, item) \
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[](type *rlt) { return rlt ? rlt->item : ""; }(static_cast<type *>(func))
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#endif // DFROBOT_HUSKYLENS_V2_H

‎LICENSE.txt‎

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MIT License
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Copyright (c) 2020 DFRobot
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

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