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wiki:v2:ccc-packets [2018/09/28 22:46] jfrench |
wiki:v2:ccc-packets [2019/02/15 21:00] (current) jfrench |
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===== Color Connected Components - Packet Reference ===== | ===== Color Connected Components - Packet Reference ===== | ||
+ | See [[wiki:v2:ccc_api#member-functions|Color Connected Components API]] for more details on sigmap, maxblocks, tracking index, etc. | ||
- | ==== getBlocks(wait, sigmap, maxBlocks) ==== | + | ==== getBlocks(sigmap, maxBlocks) ==== |
- | ^Bit ^Description ^Value ^ | + | === Request: === |
- | |h0 |Length of packet |2 | | + | ^Bit ^Description ^Value(s) ^ |
- | |h1 |Type of packet |0x20 | | + | |0 - 1 |16-bit sync | 174, 193 (0xc1ae) | |
- | |1 |?? |x | | + | |2 |Type of packet |32 | |
- | |2 |?? |x | | + | |3 |Length of payload |2 | |
+ | |4 |Sigmap - indicate which signatures to receive data from |0 (none) - 255 (all) | | ||
+ | |5 |Maximum blocks to return |0 (none) - 255 (all blocks) | | ||
=== Response: === | === Response: === | ||
- | ^Bit ^Description ^Value ^ | + | ^Byte ^Description ^Value(s) ^ |
- | | | | | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af) | |
- | | | | | | + | |2 |Type of packet |33 | |
+ | |3 |Length of payload |14 | | ||
+ | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
+ | |6 - 7 |16-bit signature / Color code number |0 - 255| | ||
+ | |8 - 9 |16-bit X (center) of block in pixels |0 - 315 | | ||
+ | |10 - 11 |16-bit Y (center) of block in pixels |0 - 207 | | ||
+ | |12 - 13 |16-bit Width of block in pixels |0 - 316 | | ||
+ | |14 - 15 |16-bit Height of block in pixels |0 - 208 | | ||
+ | |16 - 17 |16-bit Angle of color-code in degrees |-180 - 180 (0 if not a color code) | | ||
+ | |18 |Tracking index of block (see API for more info)|0 - 255 | | ||
+ | |19 |Age - number of frames this block has been tracked |0 - 255 (stops incrementing at 255) | |