pixycam.cpp

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/**
 * @file pixycam.cpp
 *
 * Example for reading deteced blocks and print them on the console
 *
 * @author Leo Mustafa
 */
#include <px4_platform_common/app.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>

#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <math.h>

#include "Pixy2I2C_PX4.h"

extern "C" __EXPORT int pixycam_main(int argc, char *argv[]);

int pixycam_main(int argc, char *argv[])
{
	PX4_INFO("Hello pixycam driver");
	usleep(5000);

	Pixy2 pixy;

	if (pixy.init() == 0)
	{

		pixy.getVersion();
		pixy.version->print();
		usleep(1000);

		while (1)
		{

			int i;
			// grab blocks!
			pixy.ccc.getBlocks();

			// If there are detect blocks, print them!
			if (pixy.ccc.numBlocks)
			{
				printf("Detected ");
				printf("%i", pixy.ccc.numBlocks);
				printf("\n");

				for (i = 0; i < pixy.ccc.numBlocks; i++)
				{
					printf("  block ");
					printf("%i", i);
					printf(": ");
					pixy.ccc.blocks[i].print();
				}
			}

			usleep(500);
		}
	}

	PX4_INFO("Exit pixycam driver");

	return 0;
}