HUSKYLENS Arduino API

Version:

0.1

Designer:

Angelo (Angelo.qiao@dfrobot.com)

Robert (robert@dfrobot.com)

struct HUSKYLENSResult

• Description: Structure to store the blocks or arrows
• Member:
  • command Use to determine whether this is arrow or block
    • COMMAND_RETURN_BLOCK It is a block
    • COMMAND_RETURN_ARROW It is an arrow
  • For a block:
    • xCenter X Center of Block
    • yCenter Y Center of Block
    • width Width of Block
    • height Height of Block
    • ID ID of Block, see ID Meaning below
  • For an arrow:
    • xOrigin X Origin of Arrow
    • yOrigin Y Origin of Arrow
    • xTarget X Target of Arrow
    • yTarget Y Target of Arrow
    • ID ID of Arrow, see ID Meaning below
• Example:

void printResult(HUSKYLENSResult result){
    if (result.command == COMMAND_RETURN_BLOCK){
   Serial.println(String() + F("Block:xCenter=") + result.xCenter + F(",yCenter=") + result.yCenter + F(",width=") + result.width + F(",height=") + result.height + F(",ID=") + result.ID);
    }
    else if (result.command == COMMAND_RETURN_ARROW){
        Serial.println(String() + F("Arrow:xOrigin=") + result.xOrigin + F(",yOrigin=") + result.yOrigin + F(",xTarget=") + result.xTarget + F(",yTarget=") + result.yTarget + F(",ID=") + result.ID);
    }
    else{
        Serial.println("Object unknown!");
    }
}

ID Meaning:

ID	Means
1	The first learned item is detected
2	The second learned item is detected
XXX	The XXXth learned item is detected
0	Item is detected but not learned, like unlearned faces block in grey color.

enum protocolAlgorithm

• Description: The enum of the algorithm. Needed when switch to the target algorithm.
• Member:
  • ALGORITHM_FACE_RECOGNITION FACE RECOGNITION
  • ALGORITHM_OBJECT_TRACKINGOBJECT TRACKING
  • ALGORITHM_OBJECT_RECOGNITION OBJECT RECOGNITION
  • ALGORITHM_LINE_TRACKING LINE TRACKING
  • ALGORITHM_COLOR_RECOGNITION COLOR RECOGNITION
  • ALGORITHM_TAG_RECOGNITION TAG RECOGNITION
  • ALGORITHM_OBJECT_CLASSIFICATION OBJECT CLASSIFICATION

bool begin(TwoWire& streamInput)

• Description: Setup procedure of HUSKYLENS with Wire(I2C). It will try connect to HUSKYLENS and return whether HUSKYLENS is connected.
• Arguments:
  • streamInput : It could be Serial, Wire, SoftwareSerial, or other port based on Stream class.
• Returns: Whether successful connect and contact with HUSKYLENS.

bool begin(Stream& streamInput)

• Description: Setup procedure of HUSKYLENS. It will try connect to HUSKYLENS and return whether HUSKYLENS is connected.
• Arguments:
  • streamInput : It could be Serial, Wire, SoftwareSerial, or other port based on Stream class.
• Returns: Whether successful connect and contact with HUSKYLENS.

void setTimeOutDuration(unsigned long timeOutDurationInput)

• Description: Use to set the time out duration on the transmit between request and received from HUSKYLENS to avoid waiting the feedback from HUSKYLENS for a long time. Default value is 100ms.
• Arguments:
  • timeOutDurationInput : Time out duration on ms.

bool request()

• Description: Request all blocks and arrows from HUSKYLENS. This is the place where all the transmit happens.
• Arguments: None
• Returns: Whether successfully get the result.

bool request(int16_t ID)

• Description: Request only blocks and arrows tagged with ID from HUSKYLENS.
• Arguments:
  • ID The target ID of blocks and arrows
• Returns: Whether successfully get the result.

bool requestBlocks()

• Description: Request all blocks from HUSKYLENS
• Returns: Whether successfully get the result.

bool requestBlocks(int16_t ID)

• Description: Request only blocks tagged with ID from HUSKYLENS
• Arguments:
  • ID The target ID of blocks
• Returns: Whether successfully get the result..

bool requestArrows()

• Description: Request all arrows from HUSKYLENS
• Arguments:
  • algorithmType The algorithm you need. See protocolAlgorithm for details.
• Returns: Whether successfully get the result.

bool requestArrows(int16_t ID)

• Description: Request only arrows tagged with ID from HUSKYLENS
• Arguments:
  • ID The target ID of arrows
• Returns: Whether successfully get the result.

bool requestLearned()

• Description: Request all learned blocks and arrows (ID >=1) from HUSKYLENS.

• Returns: Whether successfully get the result.

bool requestBlocksLearned()

• Description: Request all learned blocks (ID >=1) from HUSKYLENS.

• Returns: Whether successfully get the result.

bool requestArrowsLearned()

• Description: Request all learned arrows (ID >=1) from HUSKYLENS.

• Returns: Whether successfully get the result.

int available()

• Description: Return the count of blocks and arrows available to read. (Works like Serial or Wire)

• Arguments: None

• Returns: The count of blocks and arrows left in the buffer.

HUSKYLENSResult read()

• Description: Read blocks or arrows.(Works like Serial or Wire)

• Returns: blocks or arrows in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

bool isLearned()

• Description: Get whether HUSKYLENS have learn something.

• Returns: Whether HUSKYLENS have learn something.

bool isLearned(int ID)

• Description: Get whether HUSKYLENS have learn something tagged with ID.

• Arguments:

  • ID The target ID. See ID Meaning above for details.

• Returns: Whether HUSKYLENS have learn something tagged with ID.

int16_t frameNumber()

• Description: Get the number of frame HUSKYLENS have processed. Once HUSKYLENS process one frame, this number will increase by one.

• Returns: The number of frame HUSKYLENS have processed.

int16_t countLearnedIDs()

• Description: Get the count of (faces, colors, objects or lines) you have learned on HUSKYLENS. This value will depend on how many times you learn something on HUSKYLENS.

• Returns: The count of (faces, colors, objects or lines) you have learned on HUSKYLENS.

int16_t count()

• Description: Get count of all blocks and arrows.

• Returns: The count of all blocks and arrows.

int16_t count(int16_t ID)

• Description: Get count of all blocks and arrows tagged with ID.

• Arguments:

  • ID The target ID. See ID Meaning above for details.

• Returns: The count of all blocks and arrows tagged with ID.

int16_t countBlocks()

• Description: Get count of all blocks.

• Returns: The count of all blocks.

int16_t countBlocks(int16_t ID)

• Description: Get count of all blocks tagged with ID.

• Arguments:

  • ID The target ID. See ID Meaning above for details.

• Returns: The count of all blocks tagged with ID.

int16_t countArrows()

• Description: Get count of all arrows.

• Returns: The count of all blocks and arrows.

int16_t countArrows(int16_t ID)

• Description: Get count of all arrows tagged with ID.

• Arguments:

  • ID The target ID. See ID Meaning above for details.

• Returns: The count of all arrows tagged with ID.

int16_t countLearned()

• Description: Get count of all learned blocks and arrows (ID >=1)

• Returns: The count of all learned blocks and arrows (ID >=1)

int16_t countBlocksLearned()

• Description: Get count of all learned blocks (ID >=1)

• Returns: The count of all learned blocks (ID >=1)

int16_t countArrowsLearned()

• Description: Get count of all learned arrows (ID >=1)

• Returns: The count of all learned arrows (ID >=1)

HUSKYLENSResult get(int16_t index)

• Description: Get one of the blocks and arrows.

• Arguments:

  • index The index of blocks and arrows, which is ordered by the received sequence. It should less than count()

• Returns: block or arrow in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult get(int16_t ID, int16_t index)

• Description: Get one of the blocks and arrows tagged with ID

• Arguments:

  • ID The target ID. See ID Meaning above for details.
  • index The index of blocks and arrows, which is ordered by the received sequence. It should less than count(ID)

• Returns: block or arrow tagged with ID in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getBlock(int16_t index)

• Description: Get one of the blocks.

• Arguments:

  • index The index of blocks, which is ordered by the received sequence. It should less than countBlocks()

• Returns: block in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getBlock(int16_t ID, int16_t index)

• Description: Get one of the blocks tagged with ID

• Arguments:

  • ID The target ID. See ID Meaning above for details.
  • index The index of blocks, which is ordered by the received sequence. It should less than countBlocks(ID)

• Returns: block tagged with ID in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getArrow(int16_t index)

• Description: Get one of the arrows.

• Arguments:

  • index The index of arrows, which is ordered by the received sequence. It should less than countArrows()

• Returns: arrow in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getArrow(int16_t ID, int16_t index)

• Description: Get one of the arrows tagged with ID

• Arguments:

  • ID The target ID. See ID Meaning above for details.
  • index The index of arrow, which is ordered by the received sequence. It should less than countArrows(ID)

• Returns: arrow tagged with ID in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getLearned(int16_t index)

• Description: Get one of the learned blocks and arrows (ID >=1)

• Arguments:

  • index The index of blocks and arrows, which is ordered by the received sequence. It should less than countLearned()

• Returns: block or arrow in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getBlockLearned(int16_t index)

• Description: Get one of the learned blocks (ID >=1)

• Arguments:

  • index The index of blocks, which is ordered by the received sequence. It should less than countBlocksLearned()

• Returns: block in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

HUSKYLENSResult getArrowLearned(int16_t index)

• Description: Get one of the learned arrows (ID >=1)

• Arguments:

  • index The index of arrows, which is ordered by the received sequence. It should less than countArrowsLearned()

• Returns: arrow in struct HUSKYLENSResult. See HUSKYLENSResult above for details.

bool writeAlgorithm(protocolAlgorithm algorithmType)

• Description: Let HUSKYLENS switch to the target algorithm you need.

• Arguments:

  • algorithmType The target algorithm. See protocolAlgorithm for details.

• Returns: Whether success.

bool writeLearn(int ID)

• Description: Let HUSKYLENS learn with ID. (It only works in Object Classification)

• Arguments:

  • ID The target ID. See ID Meaning above for details.

• Returns: Whether success.

bool writeForget()

• Description: Let HUSKYLENS forget all. (It only works in Object Classification)

• Returns: Whether success.

bool setCustomName(String name,uint8_t id)

• Description: Set a custom name for a learned object with a specified ID. For example, if you have learned your face with an ID of 1, you can use setCustomName("Robert",1) to rename the learned face to "Robert".

• Arguments:

  • name The specified custom name
  • id The ID of the object you want to set the custom name for

• Returns: Whether success.

bool savePictureToSDCard()

• Description: Save a photo from the HuskyLens camera onto the SD Card.
• Returns: Whether success. If there is no SD Card inserted or an SD Card Error, there will be a UI popup on the HuskyLens outlining the issue.

bool saveScreenshotToSDCard()

• Description: Save a screenshot of the HuskyLens UI onto the SD Card.
• Returns: Whether success.

bool saveModelToSDCard(int fileNum)

• Description: Save the current algorithms model file (its learned object data) to the SD Card. The file will be the in the format "AlgorithimName_Backup_FileNum.conf"
• Arguments:
  • fileNum The specified file number to be used in the name for the file
• Returns: Whether success. If there is no SD Card inserted or an SD Card Error, there will be a UI popup on the HuskyLens outlining the issue.

bool loadModelFromSDCard(int fileNum)

• Description: Load a model file from the SD Card to the current algorithm and refresh the algorithm. The loaded file will be the following format "AlgorithimName_Backup_FileNum.conf"
• Arguments:
  • fileNum The specified file number to be used in the name for the file
• Returns: Whether success. If there is no SD Card inserted or an SD Card Error, there will be a UI popup on the HuskyLens outlining the issue.

bool customText(String text,uint16_t x,uint8_t y)

• Description: Place a string of text (less than 20 characters) on top of the HuskyLens UI. The position of the texts (X,Y) coordinate is the top left of the text box.
  • You can have at most 10 custom texts on the UI at once, and if you continue adding texts you will replace previous texts in a circular fashion. For example, if you enter 10 texts you will fill the text buffer. If you then insert a new text object, you will overwrite the first text position (textBuffer[0]). Inserting another new text object will overwrite the second text position (textBuffer[1]).
  • Each text is uniquely identified by its (X,Y) coordinate, so you can replace the text string at a (X,Y) coordinate instead of adding a new text object. For example, if you insert "TEST_1" at (120,120) and then later submit "TEST_2" at (120,120), you will replace the string "TEST_1" with "TEST_2" and maintain an overall text count of 1.
• Arguments:
  • text The specified text you wish to enter on the screen
  • x The X coordinate for the UI Object (0-320)
  • y The Y coordinate for the UI Object (0-240)
• Returns: Whether success.

bool clearCustomText()

• Description: Clear and delete all custom UI texts from the screen.
• Returns: Whether success.

bool isPro()

• Description: Detect whether the HuskyLens is a Pro or Standard Model
• Returns: True is Pro Model, False if Standard

bool checkFirmwareVersion()

• Description: Check if the onboard firmware is out of date. If it is an old firmware, there will be a UI message that pops up on the screen
• Returns: Whether success.