Working draft of the OpenMV Cam Interface Library

Author: kwagyeman

LICENSE

@@ -0,0 +1,183 @@
+
+// Remote Control - As The Controller Device
+//
+// This script configures your Arduino to remotely control an OpenMV Cam using the RPC
+// library.
+//
+// This script is designed to pair with "popular_features_as_the_remote_device.py" running
+// on the OpenMV Cam.
+
+#include <openmvrpc.h>
+
+// The RPC library above provides mutliple classes for controlling an OpenMV Cam over
+// CAN, I2C, SPI, or Serial (UART).
+
+// We need to define a scratch buffer for holding messages. The maximum amount of data
+// you may pass in any on direction is limited to the size of this buffer minus 4.
+
+uint8_t scratch_buffer[256 + 4];
+
+///////////////////////////////////////////////////////////////
+// Choose the interface you wish to control an OpenMV Cam over.
+///////////////////////////////////////////////////////////////
+
+// Uncomment the below line to setup your Arduino for controlling over CAN.
+//
+// * message_id - CAN message to use for data transport on the can bus (11-bit).
+// * bit_rate - CAN bit rate.
+//
+// NOTE: Master and slave message ids and can bit rates must match. Connect master can high to slave
+//       can high and master can low to slave can lo. The can bus must be terminated with 120 ohms.
+//
+// openmv::rpc_can_master interface(message_id=0x7FF, bit_rate=250000, sampling_point=75);
+
+// Uncomment the below line to setup your Arduino for controlling over I2C.
+//
+// * slave_addr - I2C address.
+// * rate - I2C Bus Clock Frequency.
+//
+// NOTE: Master and slave addresses must match. Connect master scl to slave scl and master sda
+//       to slave sda. You must use external pull ups. Finally, both devices must share a ground.
+//
+openmv::rpc_i2c_master interface(scratch_buffer, sizeof(scratch_buffer), 0x12, 100000);
+
+// Uncomment the below line to setup your Arduino for controlling over SPI.
+//
+// * cs_pin - Slave Select Pin.
+// * freq - SPI Bus Clock Frequency.
+// * spi_mode - See (https://www.arduino.cc/en/reference/SPI)
+//
+// NOTE: Master and slave settings much match. Connect CS, SCLK, MOSI, MISO to CS, SCLK, MOSI, MISO.
+//       Finally, both devices must share a common ground.
+//
+// openmv::rpc_spi_master interface(scratch_buffer, sizeof(scratch_buffer), 10, 1000000, SPI_MODE2);
+
+// Uncomment the below line to setup your Arduino for controlling over a hardware UART.
+//
+// * baudrate - Serial Baudrate.
+//
+// NOTE: Master and slave baud rates must match. Connect master tx to slave rx and master rx to
+//       slave tx. Finally, both devices must share a common ground.
+//
+// WARNING: The program and debug port for your Arduino may be "Serial". If so, you cannot use
+//          "Serial" to connect to an OpenMV Cam without blocking your Arduino's ability to
+//          be programmed and use print/println.
+//
+// openmv::rpc_hardware_serial_uart_master -> Serial
+// openmv::rpc_hardware_serial1_uart_master -> Serial1
+// openmv::rpc_hardware_serial2_uart_master -> Serial2
+// openmv::rpc_hardware_serial3_uart_master -> Serial3
+//
+// openmv::rpc_hardware_serial1_uart_master interface(scratch_buffer, sizeof(scratch_buffer), 115200);
+
+// Uncomment the below line to setup your Arduino for controlling over a software UART.
+//
+// * rx_pin - RX Pin (See the reference guide about what pins can be used)
+// * tx_pin - TX Pin (see the reference guide about what pins can be used)
+// * baudrate - Serial Baudrate (See the reference guide https://www.arduino.cc/en/Reference/SoftwareSerial)
+//
+// NOTE: Master and slave baud rates must match. Connect master tx to slave rx and master rx to
+//       slave tx. Finally, both devices must share a common ground.
+//
+// openmv::rpc_software_serial_uart_master interface(scratch_buffer, sizeof(scratch_buffer), 2, 3, 19200);
+
+void setup() {
+    Serial.begin(115200);
+}
+
+//////////////////////////////////////////////////////////////
+// Call Back Handlers
+//////////////////////////////////////////////////////////////
+
+void exe_face_detection()
+{
+    struct { uint16_t x, y, w, h; } face_detection_result;
+    if (interface.call_no_args(F("face_detection"), &face_detection_result, sizeof(face_detection_result))) {
+        Serial.print(F("Largest Face Detected [x="));
+        Serial.print(face_detection_result.x);
+        Serial.print(F(", y="));
+        Serial.print(face_detection_result.y);
+        Serial.print(F(", w="));
+        Serial.print(face_detection_result.w);
+        Serial.print(F(", h="));
+        Serial.print(face_detection_result.h);
+        Serial.println(F("]"));
+    }
+}
+
+void exe_person_detection()
+{
+    char buff[32 + 1] = {}; // null terminator
+    if (interface.call_no_args(F("person_detection"), buff, sizeof(buff) - 1)) {
+        Serial.println(buff);
+    }
+}
+
+void exe_qrcode_detection()
+{
+    char buff[128 + 1] = {}; // null terminator
+    if (interface.call_no_args(F("qrcode_detection"), buff, sizeof(buff) - 1)) {
+        Serial.println(buff);
+    }
+}
+
+void exe_apriltag_detection()
+{
+    struct { uint16_t cx, cy, id, rot; } apriltag_detection_result;
+    if (interface.call_no_args(F("apriltag_detection"), &apriltag_detection_result, sizeof(apriltag_detection_result))) {
+        Serial.print(F("Largest Tag Detected [cx="));
+        Serial.print(apriltag_detection_result.cx);
+        Serial.print(F(", cy="));
+        Serial.print(apriltag_detection_result.cy);
+        Serial.print(F(", id="));
+        Serial.print(apriltag_detection_result.id);
+        Serial.print(F(", rot="));
+        Serial.print(apriltag_detection_result.rot);
+        Serial.println(F("]"));
+    }
+}
+
+void exe_datamatrix_detection()
+{
+    char buff[128 + 1] = {}; // null terminator
+    if (interface.call_no_args(F("datamatrix_detection"), buff, sizeof(buff) - 1)) {
+        Serial.println(buff);
+    }
+}
+
+void exe_barcode_detection()
+{
+    char buff[128 + 1] = {}; // null terminator
+    if (interface.call_no_args(F("barcode_detection"), buff, sizeof(buff) - 1)) {
+        Serial.println(buff);
+    }
+}
+
+void exe_color_detection()
+{
+    int8_t color_thresholds[6] = {30, 100, 15, 127, 15, 127}; // generic_red_thresholds
+    // int8_t color_thresholds[6] = {30, 100, -64, -8, -32, 32}; // generic_green_thresholds
+    // int8_t color_thresholds[6] = {0, 30, 0, 64, -128, 0}; // generic_blue_thresholds
+    struct { uint16_t cx, cy; } color_detection_result;
+    if (interface.call(F("color_detection"), color_thresholds, sizeof(color_thresholds), &color_detection_result, sizeof(color_detection_result))) {
+        Serial.print(F("Largest Color Detected [cx="));
+        Serial.print(color_detection_result.cx);
+        Serial.print(F(", cy="));
+        Serial.print(color_detection_result.cy);
+        Serial.println(F("]"));
+    }
+}
+
+// Execute remote functions in a loop. Please choose and uncomment one remote function below.
+// Executing multiple at a time may run slowly if the camera needs to change camera modes
+// per execution.
+
+void loop() {
+    exe_face_detection(); // Face should be about 2ft away.
+    // exe_person_detection();
+    // exe_qrcode_detection(); // Place the QRCode about 2ft away.
+    // exe_apriltag_detection();
+    // exe_datamatrix_detection(); // Place the Datamatrix about 2ft away.
+    // exe_barcode_detection(); // Place the Barcode about 2ft away.
+    // exe_color_detection();
+}

examples/OpenMV/OpenMV.ino

@@ -1,11 +1,11 @@
-name=ArduinoRPC
+name=OpenMV RPC
 version=1.0.0
-author=Kwabena Agyeman
-maintainer=Kwabena Agyeman
-sentence=Remote procedure call library.
-paragraph=Perform remote procedure calls from on Arduino device to another or between two Raspberry Pi's or any combination.
-category=Device Control
-url=https://github.com/openmv/ArduinoRPC
+author=OpenMV
+maintainer=OpenMV
+sentence=OpenMV Cam RPC Interface Library
+paragraph=Allows your Arduino to control an OpenMV Cam over Serial (UART), I2C, SPI, and CAN.
+category=Communication
+url=https://github.com/openmv/openmv-rpc-cpp
 architectures=*
-includes=ArduinoRPC.h
-depends=
+depends=CAN
+includes=openmvrpc.h