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rovio_cc_lib.cc
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rovio_cc_lib.cc
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// *****************************************************************************
// Rovio API C++ Class Library : C++ Interface to Rovio Robot API
// Copyright (c) 2011-2013 Toby Breckon, School of Engineering, Cranfield University
// License : GPL - http://www.gnu.org/copyleft/gpl.html
// *****************************************************************************
// ********************* SEE DOCUMENTATION IN HEADER FILE **********************
#include "rovio_cc_lib.h"
// *****************************************************************************
Rovio::Rovio (char* hostname, char* username, char* password)
{
// create the base URL string
if ((strlen(username) > 0) && (strlen(password) > 0))
{
sprintf_s(urlBase, ROVIO_COMMUNICATION_URL_MEMORY_SIZE, "http://%s:%s@%s/", username, password, hostname);
}
else
{
sprintf_s(urlBase, ROVIO_COMMUNICATION_URL_MEMORY_SIZE, "http://%s/", hostname);
}
//setup global hostname
strcpy_s(name, strlen(hostname) + 1, hostname);
// setup CURL object(s)
curlCom = curl_easy_init();
curl_easy_setopt(curlCom, CURLOPT_VERBOSE, 0);
curl_easy_setopt(curlCom, CURLOPT_NOPROGRESS, 1);
curl_easy_setopt(curlCom, CURLOPT_TIMEOUT, ROVIO_COMMUNICATION_TIMEOUT);
curlVid = curl_easy_init();
curl_easy_setopt(curlVid, CURLOPT_VERBOSE, 0);
curl_easy_setopt(curlVid, CURLOPT_NOPROGRESS, 1);
curl_easy_setopt(curlVid, CURLOPT_TIMEOUT, ROVIO_COMMUNICATION_TIMEOUT);
// set modes within object
verboseMode = false;
pathRecordingState = false;
httpVerboseMode = false;
// set pointers to NULL for memory buffer
buffer.memory = NULL;
buffer.size = 0;
// set pointers to NULL for frame buffer
frame.memory = NULL;
frame.size = 0;
frame.inputSaveBuffer = NULL;
frame.inputSaveBufferSize = 0;
// init. the video streaming stuff
#ifdef linux
pthread_mutex_init (&(frame.completed), NULL);
#endif
#ifdef _WIN32
frame.completed = CreateMutex(NULL, FALSE, NULL);
if (frame.completed == NULL)
{
printf("CreateMutex error: %d\n", GetLastError());
}
#endif
streaming = false;
// reset the wheel encoders
resetWheelEncoders();
}
// *****************************************************************************
bool Rovio::isConnected()
{
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot((char *) "") == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
cv::Mat Rovio::getImage(int format)
{
long serverReturnCode; // server return code
cv::Mat imgTmp; // image object
// set up the write to memory buffer
curl_easy_setopt(curlCom,CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send command (with image data going to memory)
serverReturnCode = sendToRobot((char *) ROVIO_CAMERA_IMAGE_DEFAULT_URL_STEM);
if (verboseMode)
{
printf("\nROVIO: image request : %s response is OK ? : %i (buffer size = %d bytes)\n",
ROVIO_CAMERA_IMAGE_DEFAULT_URL_STEM,
(serverReturnCode == ROVIO_HTTP_RETURN_CODE_ALL_OK), (int) buffer.size);
}
// check the buffer looks like a JPEG image
if ((buffer.size >= ROVIO_JPEG_MIN_SIZE) &&
(buffer.memory[0] & ROVIO_JPEG_SOI_FIRST_BYTE) &&
(buffer.memory[1] & ROVIO_JPEG_SOI_SECOND_BYTE))
{
// decode image (in memory) using OpenCV
imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), format);
}
// clean up the buffer and return image
clearBuffer();
return imgTmp;
}
// *****************************************************************************
#ifdef linux
void* ROVIOthreadPasser(void* args)
{
Rovio* pass = (Rovio*) args;
while(pass->streaming)
{
pass->videoStreamServiceThread();
usleep(ROVIO_CAMERA_VIDEO_STREAMING_SERVICE_WAIT_TIME); // assume ~30 fps max.
}
sleep(ROVIO_CAMERA_VIDEO_STREAMING_STOP_WAIT_TIME);
return 0;
}
#endif
#ifdef _WIN32
DWORD ROVIOthreadPasser(LPVOID lpParameter) {
Rovio* pass = (Rovio*) lpParameter;
while(pass->streaming)
{
pass->videoStreamServiceThread();
Sleep(ROVIO_CAMERA_VIDEO_STREAMING_SERVICE_WAIT_TIME); // assume ~30 fps max.
}
sleep(ROVIO_CAMERA_VIDEO_STREAMING_STOP_WAIT_TIME);
return 0;
}
#endif
bool Rovio::startVideoStreaming()
{
// first check if already streaming
if (streaming)
{
return false;
}
streaming = true; // set streaming here (or we get a race condition)
#ifdef linux
if (pthread_create(&(this->videoStreamThread), NULL, ROVIOthreadPasser, (void *) this))
#endif
#ifdef _WIN32
this->videoStreamThread = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE) ROVIOthreadPasser, (LPVOID) this, 0, NULL);
if (this->videoStreamThread == NULL)
#endif
{
if (verboseMode)
{
printf("ROVIO: video thread could not be created.\n");
}
streaming = false;
return false;
}
else
{
if (verboseMode)
{
printf("ROVIO: video thread created.\n");
}
return true;
}
}
// *****************************************************************************
bool Rovio::stopVideoStreaming()
{
// first check if it has stopped streaming
if (!streaming)
{
return true; // streaming is already stopped so return false
}
streaming = false;
#ifdef linux
if (pthread_cancel(videoStreamThread))
#endif
#ifdef _WIN32
if (TerminateThread(videoStreamThread, 0))
#endif
{
if (verboseMode)
{
printf("ROVIO: video thread could not be stopped.\n");
}
return false;
}
else
{
if (verboseMode)
{
printf("ROVIO: video thread stopped.\n");
}
// clear any frame memory
sleep(ROVIO_CAMERA_VIDEO_STREAMING_STOP_WAIT_TIME);
clearFrame();
#ifdef _WIN32
CloseHandle(this->videoStreamThread);
#endif
return true;
}
}
// *****************************************************************************
void Rovio::videoStreamServiceThread()
{
long serverReturnCode; // server return code
// set up the write to memory buffer
curl_easy_setopt(curlVid,CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryVideoFrameCallback);
curl_easy_setopt(curlVid,CURLOPT_WRITEDATA, (void *) &frame);
serverReturnCode = sendToRobot(curlVid, (char*)ROVIO_CAMERA_VIDEO_URL_STEM);
}
// *****************************************************************************
cv::Mat Rovio::getVideoStreamFrame()
{
cv::Mat returnImageFrame;
// if we are not streaming we return an empty frame
if (!streaming)
{
return returnImageFrame;
}
// return a clone so that when this image is used externally the
// effects of it being updated internally are not felt outside the Rovio object
#ifdef linux
pthread_mutex_lock( &(frame.completed));
returnImageFrame = frame.image.clone();
pthread_mutex_unlock( &(frame.completed));
#endif
#ifdef _WIN32
WaitForSingleObject(frame.completed, INFINITE);
returnImageFrame = frame.image.clone();
ReleaseMutex(frame.completed);
#endif
return returnImageFrame;
}
// *****************************************************************************
bool Rovio::rotateRight(int speed, int angle)
{
return manualDrive(ROVIO_ROTATERIGHT20, speed,
(int) floor(((double) angle / 360.0) * 30));
}
bool Rovio::rotateLeft(int speed, int angle)
{
return manualDrive(ROVIO_ROTATELEFT20, speed,
(int) floor(((double) angle / 360.0) * 30));
}
// *****************************************************************************
bool Rovio::manualDrive(int command, int speed)
{
return manualDrive(command, speed, 0);
}
// *****************************************************************************
bool Rovio::manualDrive(int command, int speed, int angle)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
int cgicode;
// check inputs
if (((command < 0) || (command > 18)) || ((speed < 0) || (speed > 10))
|| ((angle < 0) || (angle > 30)))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"rev.cgi?Cmd=nav&action=18&drive=%d&speed=%d&angle=%d", command, speed, angle);
if (verboseMode)
{
printf("\nROVIO: drive command code: %d @ speed : %d w/ angle (approx.) %d\n",
command, speed, (int) (((double) angle / 30.0) * 360));
}
// set up the write to memory buffer
curl_easy_setopt(curlCom,CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
cgicode = getCGIResponse();
clearBuffer();
// update encoders as drive command ws successful
#if ROVIO_WILL_UPDATE_WHEEL_ENCODERS_AFTER_DRIVE_COMMAND
updateWheelEncoders();
#endif
return (cgicode == ROVIO_CGI_RETURN_CODE_ALL_OK);
}
// update encoders anyway (!)
#if ROVIO_WILL_UPDATE_WHEEL_ENCODERS_AFTER_DRIVE_COMMAND
updateWheelEncoders();
#endif
clearBuffer();
return false;
}
// *****************************************************************************
void Rovio::waitUntilComplete(int seconds)
{
int swait;
if (seconds < 0)
{
swait = (int) HUGE;
}
else
{
swait = seconds;
}
for(int i = 0; i < swait; i++)
{
if (this->getNavStatus() != ROVIO_IDLE)
{
if (verboseMode)
{
printf("\nROVIO: busy (path/docking/home) - waiting 1 sec.\n");
}
// in MS Windows this parameter is in milliseconds (but our #def sleep(X)
// deals with this case) - #def sleep(X) Sleep(X * 1000)
// in Linux this parameter is in seconds
sleep(1);
}
else
{
return;
}
}
return;
}
// *****************************************************************************
bool Rovio::setFrameRate(int rate)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((rate < 2) || (rate > 32))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"ChangeFramerate.cgi?Framerate=%d", rate);
if (verboseMode)
{
printf("\nROVIO: frame rate command @ rate : %d\n", rate);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
int Rovio::getFrameRate()
{
int returnValue = -1;
// set up a memory write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send the command
sendToRobot((char *) "rev.cgi?Cmd=nav&action=1");
// extract information from the buffer
if (buffer.memory)
{
char* ptr = strstr(buffer.memory, "frame_rate=");
if (ptr)
{
ptr += strlen("frame_rate=");
if (ptr < (buffer.memory + buffer.size))
{
sscanf_s(ptr, "%d|", &returnValue);
}
}
}
if (verboseMode)
{
printf("ROVIO: Frame rate returned : %d\n", returnValue);
}
// reset buffer
clearBuffer();
return returnValue;
}
// *****************************************************************************
bool Rovio::setBrightness(int level)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((level < 0) || (level > 6))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"ChangeBrightness.cgi?Brightness=%d", level);
if (verboseMode)
{
printf("\nROVIO: brightness command @ level : %d\n", level);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
bool Rovio::setContrast(int level)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((level < 0) || (level > 255))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"debug.cgi?action=write_i2c&address=0x56&value=0x%02x", level);
if (verboseMode)
{
printf("\nROVIO: contrast command @ level : %d\n", level);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
bool Rovio::setResolution(int res)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((res < 0) || (res > 3))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"ChangeResolution.cgi?ResType=%d", res);
if (verboseMode)
{
printf("\nROVIO: resolution command @ setting : %d\n", res);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
int Rovio::getResolution()
{
int returnValue = -1;
// set up a memory write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send the command
sendToRobot((char *) "rev.cgi?Cmd=nav&action=1");
// extract information from the buffer
if (buffer.memory)
{
char* ptr = strstr(buffer.memory, "resolution=");
if (ptr)
{
ptr += strlen("resolution=");
if (ptr < (buffer.memory + buffer.size))
{
sscanf_s(ptr, "%d|", &returnValue);
}
}
}
if (verboseMode)
{
printf("ROVIO: Camera resolution returned : %d\n", returnValue);
}
// reset buffer
clearBuffer();
return returnValue;
}
// *****************************************************************************
bool Rovio::setCompressionQuality(int level)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((level < 0) || (level > 2))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"ChangeCompressRatio.cgi?Ratio=%d", level);
if (verboseMode)
{
printf("\nROVIO: compression command @ setting : %d\n", level);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
bool Rovio::setSensorFrequencyCompensation(int level)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// check input
if ((level != 0) && (level != 50) && (level != 60))
return false;
// construct command
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"SetCamera.cgi?Frequency=%d", level);
if (verboseMode)
{
printf("ROVIO: frequency command @ setting : %d\n", level);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
int Rovio::getSensorFrequencyCompensation()
{
int setting = - 1;
// set up a memory write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send the command
sendToRobot((char *) "GetCamera.cgi");
// extract frequency information from the buffer
if (buffer.memory)
{
char* ptr = strstr(buffer.memory, "Frequency = ");
if (ptr)
{
ptr += strlen("Frequency = ");
if (ptr < (buffer.memory + buffer.size))
{
sscanf_s(ptr, "%d\n", &setting);
}
}
}
if (verboseMode)
{
printf("ROVIO: frequency get command returned : %d\n", setting);
}
// reset buffer
clearBuffer();
return setting;
}
// *****************************************************************************
bool Rovio::setAGC(bool state)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
// if AGC on / off consturct command
// sets AGC ceiling using http://.../debug.cgi?action=write_i2c&address=0x14&value=0xn8
// where last n = 0,1,2,....,6 (default appears to be when n=1)
if (state)
{
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE, "/debug.cgi?action=write_i2c&address=0x14&value=0x68");
} else {
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE, "/debug.cgi?action=write_i2c&address=0x14&value=0x18");
}
if (verboseMode)
{
printf("ROVIO: AGC command @ setting : %d\n", state);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
bool Rovio::setAWB(bool state)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
unsigned char setting = 0;
// first get current setting
// set up a memory write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send the command
sendToRobot((char *) "debug.cgi?action=read_i2c&address=0x13");
// extract frequency information from the buffer
if (buffer.memory)
{
char* ptr = strstr(buffer.memory, "read_i2c = 00000013=");
if (ptr)
{
// N.B. returned string is of format
// read_i2c = 00000013=000000f4
ptr += strlen("read_i2c = 00000013=0000");
if (ptr < (buffer.memory + buffer.size))
{
sscanf_s(ptr, "%x\n", &setting);
}
}
if (verboseMode)
{
printf("ROVIO: AWB setting from robot : %d\n", getBitN(setting, 1));
}
}
// reset buffer
clearBuffer();
// if AWB on / off construct command
if (state)
{
setting |= (1 << 1); // set bit 2, i.e. index 1
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x13&value=0x%x", setting);
} else {
setting &= ~(1 << 1); // clear bit 2, i.e. index 1
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x13&value=0x%x", setting);
}
if (verboseMode)
{
printf("ROVIO: AWB command @ setting : %d\n", state);
}
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// if return code is zero, then all OK
if (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK)
{
return true;
}
return false;
}
// *****************************************************************************
bool Rovio::setAWBGain(unsigned char R, unsigned char G, unsigned char B, bool reset)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
bool r,g,b; // return values
// set up a NULL write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, NULLWriteFunction);
// set AWB Gains
if (reset)
{
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x01&value=0x%x", ROVIO_IMAGE_DEFAULT_AWB_GAIN_B);
b = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x02&value=0x%x", ROVIO_IMAGE_DEFAULT_AWB_GAIN_R);
r = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x02&value=0x%x", ROVIO_IMAGE_DEFAULT_AWB_GAIN_G);
g = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
} else {
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x01&value=0x%x", B);
b = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x02&value=0x%x", R);
r = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x02&value=0x%x", G);
g = (sendToRobot(commandStringStem) == ROVIO_HTTP_RETURN_CODE_ALL_OK);
}
if (verboseMode)
{
printf("ROVIO: AWB Gain command @ setting : %d %d %d reset = %i\n", R, G, B, reset);
}
// if return code is zero, then all OK
return (r && b && g);
}
// *****************************************************************************
bool Rovio::setAEC(bool state)
{
char commandStringStem[ROVIO_COMMUNICATION_URL_MEMORY_SIZE];
unsigned char setting = 0;
// first get current setting
// set up a memory write function
curl_easy_setopt(curlCom, CURLOPT_WRITEFUNCTION, ROVIO_CURL_WriteMemoryCallback);
curl_easy_setopt(curlCom,CURLOPT_WRITEDATA, (void *) &buffer);
// send the command
sendToRobot((char *) "debug.cgi?action=read_i2c&address=0x13");
// extract frequency information from the buffer
if (buffer.memory)
{
char* ptr = strstr(buffer.memory, "read_i2c = 00000013=");
if (ptr)
{
// N.B. returned string is of format
// read_i2c = 00000013=000000f4
ptr += strlen("read_i2c = 00000013=0000");
if (ptr < (buffer.memory + buffer.size))
{
sscanf_s(ptr, "%x\n", &setting);
}
}
if (verboseMode)
{
printf("ROVIO: AEC setting from robot : %d\n", getBitN(setting, 0));
}
}
// reset buffer
clearBuffer();
// if AEC on / off construct command
if (state)
{
setting |= (1 << 1); // set bit 1, i.e. index 0
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x13&value=0x%x", setting);
} else {
setting &= ~(1 << 1); // clear bit 1, i.e. index 0
sprintf_s(commandStringStem, ROVIO_COMMUNICATION_URL_MEMORY_SIZE,
"/debug.cgi?action=write_i2c&address=0x13&value=0x%x", setting);
}