/********************************************************************************

*  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

*

*  API: Because nivision.h uses C++ style comments, any file including this

*  must be a .cpp (not .c).

*/

/*----------------------------------------------------------------------------*/

/*        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"

/*  Structures */

typedef struct TrackingThreshold_struct {

char name[64];

Range hue;

Range saturation;

Range luminance;

} TrackingThreshold;

/*  Enumerated Types */

/** Predefined hues */

typedef enum FrcHue_enum {

// Basic colors

RED, GREEN, BLUE, YELLOW, ORANGE, PURPLE, WHITE, PINK, MARIUCCI_PINK, MARIUCCI_GREEN

}FrcHue;

/** Predefined saturation / luminance settings */

typedef enum FrcLight_enum {

PASSIVE_LIGHT, BRIGHT_LIGHT, ACTIVE_LIGHT, WHITE_LIGHT, FLUORESCENT, MARIUCCI_PINK_LIGHT, MARIUCCI_GREEN_LIGHT

}FrcLight;

enum SecondColorPosition {ABOVE, BELOW, RIGHT, LEFT};

/* 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 */

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);

int FindTwoColors(TrackingThreshold td1, TrackingThreshold td2,

SecondColorPosition position, ParticleAnalysisReport *trackReport);

#endif