¶ LuskyLens IA
¶ 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:
commandUse to determine whether this is arrow or blockCOMMAND_RETURN_BLOCKIt is a blockCOMMAND_RETURN_ARROWIt is an arrow
- For a block:
xCenterX Center of BlockyCenterY Center of BlockwidthWidth of BlockheightHeight of BlockIDID of Block, see ID Meaning below
- For an arrow:
xOriginX Origin of ArrowyOriginY Origin of ArrowxTargetX Target of ArrowyTargetY Target of ArrowIDID 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_RECOGNITIONFACE RECOGNITIONALGORITHM_OBJECT_TRACKINGOBJECT TRACKINGALGORITHM_OBJECT_RECOGNITIONOBJECT RECOGNITIONALGORITHM_LINE_TRACKINGLINE TRACKINGALGORITHM_COLOR_RECOGNITIONCOLOR RECOGNITIONALGORITHM_TAG_RECOGNITIONTAG RECOGNITIONALGORITHM_OBJECT_CLASSIFICATIONOBJECT 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
IDfrom HUSKYLENS. - Arguments:
IDThe 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
IDfrom HUSKYLENS - Arguments:
IDThe target ID of blocks
- Returns: Whether successfully get the result..
¶ bool requestArrows()
- Description: Request all arrows from HUSKYLENS
- Arguments:
algorithmTypeThe algorithm you need. See protocolAlgorithm for details.
- Returns: Whether successfully get the result.
¶ bool requestArrows(int16_t ID)
- Description: Request only arrows tagged with
IDfrom HUSKYLENS - Arguments:
IDThe 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:
IDThe 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:
IDThe 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:
IDThe 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:
IDThe 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:
indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancount()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancount(ID)
-
Returns: block or arrow tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getBlock(int16_t index)
-
Description: Get one of the blocks.
-
Arguments:
indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocks()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocks(ID)
-
Returns: block tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getArrow(int16_t index)
-
Description: Get one of the arrows.
-
Arguments:
indexThe index of arrows, which is ordered by the received sequence. It should less thancountArrows()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of arrow, which is ordered by the received sequence. It should less thancountArrows(ID)
-
Returns: arrow tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getLearned(int16_t index)
-
Description: Get one of the learned blocks and arrows (ID >=1)
-
Arguments:
indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancountLearned()
-
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:
indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocksLearned()
-
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:
indexThe index of arrows, which is ordered by the received sequence. It should less thancountArrowsLearned()
-
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:
algorithmTypeThe 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:
IDThe 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:
nameThe specified custom nameidThe 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:
fileNumThe 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:
fileNumThe 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:
textThe specified text you wish to enter on the screenxThe X coordinate for the UI Object (0-320)yThe 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.
¶ HUSKYLENS Protocol
¶ Version:
0.5.1
¶ Designer:
Angelo (Angelo.qiao@dfrobot.com)
Robert (robert@dfrobot.com)
¶ Init parameter:
¶ Serial
- Serial Mode: 9600 (bps) 8N1
- Address in Protocol: 0x11
¶ I2C
- I2C Speed: 100 kbit/s
- I2C Address: 0x32
- Address in Protocol: 0x11
¶ Communication Command Frame Format:
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 1 byte | 1 byte | 1 byte | Data 1～Data n | 1 byte |
| Hex | Function | |||||
| ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | |||||
| 0x55 | Header | |||||
| 0xAA | Header 2 | |||||
| 0x11 | Address | |||||
| 0x0A | Data Length | |||||
| 0x2A | Command is 0x2A | |||||
| 0x2C | Data[0] | |||||
| 0x01 | Data[1] | |||||
| 0xC8 | Data[2] | |||||
| 0x00 | Data[3] | |||||
| 0x0A | Data[4] | |||||
| 0x00 | Data[5] | |||||
| 0x14 | Data[6] | |||||
| 0x00 | Data[7] | |||||
| 0x01 | Data[8] | |||||
| 0x00 | Data[9] | |||||
| 0x58 | CheckSum, Sum all and only use low byte (Low Byte of 0x258 = 0x55 + 0xAA + 0x11 + 0x0A + 0x2A + 0x2C + 0x01 + 0xC8 + 0x00 + 0x0A + 0x00 + 0x14 + 0x00 + 0x01 +0x00) |
¶ General concept:
¶ 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. |
¶ Protocol flow:
| hosts | HUSKYLENS |
|---|---|
| COMMAND_REQUEST_KNOCK===> | |
| <===COMMAND_RETURN_OK | |
| COMMAND_REQUEST===> | |
| <=== COMMAND_RETURN_INFO | |
| <=== COMMAND_RETURN_BLOCK | |
| <=== COMMAND_RETURN_BLOCK | |
| <=== COMMAND_RETURN_ARROW | |
| COMMAND_REQUEST_BLOCKS====> | |
| <=== COMMAND_RETURN_INFO | |
| <=== COMMAND_RETURN_BLOCK | |
| <=== COMMAND_RETURN_BLOCK | |
| COMMAND_REQUEST_ARROWS====> | |
| <=== COMMAND_RETURN_INFO | |
| <=== COMMAND_RETURN_ARROW | |
| COMMAND_REQUEST_ALGORITHM===> | |
| <===COMMAND_RETURN_OK | |
| COMMAND_REQUEST_ALGORITHM===> | |
| COMMAND_REQUEST_ALGORITHM===> | |
| <===COMMAND_RETURN_BUSY | |
| <===COMMAND_RETURN_OK |
¶ Commands List:
¶ COMMAND_REQUEST (0x20):
Request all blocks and arrows from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x20 | 0x30 |
¶ COMMAND_REQUEST_BLOCKS (0x21):
Request all blocks from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x21 | 0x31 |
¶ COMMAND_REQUEST_ARROWS (0x22):
Request all arrows from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x22 | 0x32 |
¶ COMMAND_REQUEST_LEARNED (0x23):
Request all learned blocks and arrows (ID >=1) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x23 | 0x33 |
¶ COMMAND_REQUEST_BLOCKS_LEARNED (0x24):
Request all learned blocks (ID >=1) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x24 | 0x34 |
¶ COMMAND_REQUEST_ARROWS_LEARNED (0x25):
Request all learned arrows (ID >=1) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x25 | 0x35 |
¶ COMMAND_REQUEST_BY_ID (0x26):
Request all blocks and arrows by given ID (Here is 0x01) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x26 | 0x01 0x00 | 0x39 |
Data details:
| Data | Function |
|---|---|
| 0x01 | Given ID, see ID Details above (Low Byte of 1 = 0x0001) |
| 0x00 | Given ID, see ID Details above (High Byte of 1 = 0x0001) |
¶ COMMAND_REQUEST_BLOCKS_BY_ID (0x27):
Request all blocks by given ID (Here is 0x01) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x27 | 0x01 0x00 | 0x3A |
Data details:
| Data | Function |
|---|---|
| 0x01 | Given ID, see ID Details above (Low Byte of 1 = 0x0001) |
| 0x00 | Given ID, see ID Details above (High Byte of 1 = 0x0001) |
¶ COMMAND_REQUEST_ARROWS_BY_ID (0x28):
Request all arrows by given ID (Here is 0x01) from HUSKYLENS.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x28 | 0x01 0x00 | 0x3B |
Data details:
| Data | Function |
|---|---|
| 0x01 | Given ID, see ID Details above (Low Byte of 1 = 0x0001) |
| 0x00 | Given ID, see ID Details above (High Byte of 1 = 0x0001) |
¶ COMMAND_RETURN_INFO (0x29):
When HUSKYLENS Receives the command above, HUSKYLENS will return this info first and then return the arrows and blocks.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x0A | 0x29 | 0x01 0x00 0x01 0x00 0x05 0x00 0x00 0x00 0x00 0x00 | 0x4A |
Data details:
| Data | Function |
|---|---|
| 0x01 | numbers of blocks and arrows from HUSKYLENS (Low Byte of 1 = 0x0001) |
| 0x00 | numbers of blocks and arrows from HUSKYLENS (High Byte of 1 = 0x0001) |
| 0x01 | numbers of IDs HUSKYLENS have learned (Low Byte of 1 = 0x0001) |
| 0x00 | numbers of IDs HUSKYLENS have learned (High Byte of 1 = 0x0001) |
| 0x05 | current frame number (Low Byte of 5 = 0x0005) |
| 0x00 | current frame number (High Byte of 5 = 0x0005) |
| 0x00 | reserved |
| 0x00 | reserved |
| 0x00 | reserved |
| 0x00 | reserved |
¶ COMMAND_RETURN_BLOCK(0x2A):
After HUSKYLENS returns info, HUSKYLENS will return the blocks like this:
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x0A | 0x2A | 0x2C 0x01 0xC8 0x00 0x0A 0x00 0x14 0x00 0x01 0x00 | 0x58 |
Data details:
| Hex | Function |
|---|---|
| 2C | X Center of Block (Low Byte of 300 = 0x012C, range:0-319) |
| 01 | X Center of Block (High Byte of 300 = 0x012C, range:0-319) |
| C8 | Y Center of Block (Low Byte of 200 = 0x00C8, range:0-239) |
| 00 | Y Center of Block (High Byte of 200 = 0x00C8, range:0-239) |
| 0A | Width of Block (Low Byte of 10 = 0x000A, range:0-319) |
| 00 | Width of Block (High Byte of 10 = 0x000A, range:0-319) |
| 14 | Height of Block (Low Byte of 20 = 0x0014, range:0-239) |
| 00 | Height of Block (High Byte of 20 = 0x0014, range:0-239) |
| 01 | ID, see ID Meaning above (Low Byte of 1 = 0x0001) |
| 00 | ID, see ID Meaning above (High Byte of 1 = 0x0001) |
¶ COMMAND_RETURN_ARROW(0x2B):
After HUSKYLENS returns info, HUSKYLENS will return the arrows like this:
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x0A | 0x2B | 0x2C 0x01 0xC8 0x00 0x0A 0x00 0x14 0x00 0x01 0x00 | 0x5A |
Data details:
| Data | Function |
|---|---|
| 2C | X Origin of Arrow (Low Byte of 300 = 0x012C, range:0-319) |
| 01 | X Origin of Arrow (High Byte of 300 = 0x012C, range:0-319) |
| C8 | Y Origin of Arrow (Low Byte of 200 = 0x00C8, range:0-239) |
| 00 | Y Origin of Arrow (High Byte of 200 = 0x00C8, range:0-239) |
| 0A | X Target of Arrow (Low Byte of 10 = 0x000A, range:0-319) |
| 00 | X Target of Arrow (High Byte of 10 = 0x000A, range:0-319) |
| 14 | Y Target of Arrow (Low Byte of 20 = 0x0014, range:0-239) |
| 00 | Y Target of Arrow (High Byte of 20 = 0x0014, range:0-239) |
| 01 | ID, see ID Meaning above (Low Byte of 1 = 0x0001) |
| 00 | ID, see ID Meaning below (High Byte of 1 = 0x0001) |
¶ COMMAND_REQUEST_KNOCK(0x2C):
Used for test connection with HUSKYLENS. When HUSKYLENS received this command, HUSKYLENS will return COMMAND_RETURN_OK.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x2C | 0x3C |
¶ COMMAND_REQUEST_ALGORITHM(0x2D):
When HUSKYLENS receives this command, HUSKYLENS will change the algorithm by the Data. And will return COMMAND_RETURN_OK.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x2D | 0x01 0x00 | 0x40 |
Data details:
| Data | Function |
|---|---|
| 0x01 | Change to ALGORITHM_OBJECT_TRACKING (Low Byte of 1 = 0x0001) |
| 0x00 | Change to ALGORITHM_OBJECT_TRACKING (High Byte of 1 = 0x0001) |
Data's correspondent algorithm:
| Data | Algorithm |
|---|---|
| 0x00 0x00 | ALGORITHM_FACE_RECOGNITION |
| 0x01 0x00 | ALGORITHM_OBJECT_TRACKING |
| 0x02 0x00 | ALGORITHM_OBJECT_RECOGNITION |
| 0x03 0x00 | ALGORITHM_LINE_TRACKING |
| 0x04 0x00 | ALGORITHM_COLOR_RECOGNITION |
| 0x05 0x00 | ALGORITHM_TAG_RECOGNITION |
| 0x06 0x00 | ALGORITHM_OBJECT_CLASSIFICATION |
¶ COMMAND_RETURN_OK(0x2E):
HUSKYLENS will return OK, if HUSKYLENS receives COMMAND_REQUEST_ALGORITHM, COMMAND_REQUEST_KNOCK.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x2E | 0x3E |
¶
¶ COMMAND_REQUEST_CUSTOMNAMES (0x2F):
Set a custom name for a learned object.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x07 | 0x2F | 0x01 0x05 0x54 0x45 0x53 0x54 0x00 | 0x8C |
Data details:
Name: TEST
| Data | Function |
|---|---|
| 0x01 | Given ID of object |
| 0x05 | Length of name + 1 |
| 0x54 | HEX Value of "T" |
| 0x45 | HEX Value of "E" |
| 0x53 | HEX Value of "S" |
| 0x54 | HEX Value of "T" |
| 0x00 | 0 Value to mark the end of the name |
¶ COMMAND_REQUEST_PHOTO (0x30):
Save a photo on the HuskyLens SD Card.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x30 | 0x40 |
¶ COMMAND_REQUEST_SEND_KNOWLEDGES (0x32):
Save the current algorithms model to the SD Card in the following file format "AlgorithimName_Backup_FileNum.conf"
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x002 | 0x32 | 0x01 0x00 | 0x45 |
Data details:
FileNum: 1
Example File Name : LineTracking_Backup_1.conf
| Data | Function |
|---|---|
| 0x01 | LOW Byte of FileNum (1 = 0x0001) |
| 0x00 | HIGH Byte of FileNum (1 = 0x0001) |
¶ COMMAND_REQUEST_RECEIVE_KNOWLEDGES (0x33):
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"
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x33 | 0x01 0x00 | 0x46 |
Data details:
FileNum: 1
Example File Name : LineTracking_Backup_1.conf
| Data | Function |
|---|---|
| 0x01 | LOW Byte of FileNum (1 = 0x0001) |
| 0x00 | HIGH Byte of FileNum (1 = 0x0001) |
¶ COMMAND_REQUEST_CUSTOM_TEXT (0x34):
Place a string of text (less than 20 characters) on top of the HuskyLens UI. The position of the texts (X,Y) cordinate 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) cordinate, so you can replace the text string at a (X,Y) cordinate 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.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x0A | 0x34 | 0x06 0x00 0x78 0x78 0x54 0x45 0x53 0x54 0x5F 0x31 | 0x14 |
Data details:
Text: "TEST_1"
Cordinate : (120,120) or (0x78,0x78)
| Data | Function |
|---|---|
| 0x06 | Length of String ("TEST_1") |
| 0x00 | X Flag (if X>=255, this byte should be set as 0xFF) |
| 0x78 | X Cordinate (if X Flag is 0xFF, this value should X % 255 ) |
| 0x78 | Y Cordinate |
| 0x54 | HEX Value of "T" |
| 0x45 | HEX Value of "E" |
| 0x53 | HEX Value of "S" |
| 0x54 | HEX Value of "T" |
| 0x5F | HEX Value of "_" |
| 0x31 | HEX Value of "1" |
¶ COMMAND_REQUEST_CLEAR_TEXT (0x35):
Clear and delete all custom UI texts from the screen.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x35 | 0x45 |
¶ COMMAND_REQUEST_LEARN (0x36):
Learn the current recognized object on screen with a chosen ID
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x36 | 0x01 0x00 | 0x49 |
Data details:
| Data | Function |
|---|---|
| 0x01 | Given ID, see ID Details above (Low Byte of 1 = 0x0001) |
| 0x00 | Given ID, see ID Details above (High Byte of 1 = 0x0001) |
¶ COMMAND_REQUEST_FORGET (0x37):
Forget learned objects for the current running algorithm.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x37 | 0x47 |
¶ COMMAND_REQUEST_SAVE_SCREENSHOT (0x39):
Save a screenshot of the current UI to the HuskyLens SD Card.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x39 | 0x49 |
¶ COMMAND_REQUEST_IS_PRO (0x3B):
Check what model your HuskyLens is.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x3B | 0x4b |
¶ COMMAND_RETURN_IS_PRO (0x3B):
The return value for the IS_PRO command will send a 1 (logical True) if it is a pro model and 0 (logical false) if it is the standard model.
| Header | Header 2 | Address | Data Length | Command | Data | Checksum |
|---|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x02 | 0x3B | 0x01 0x00 | 0x4E |
Data details:
Return Value -> 1 (Pro Model)
| Data | Function |
|---|---|
| 0x01 | LOW Byte of return value |
| 0x00 | HIGH Byte of return value |
¶ COMMAND_REQUEST_FIRMWARE_VERSION(0x3C):
¶ COMMAND_RETURN_BUSY(0x3D):
HUSKYLENS will return Busy, if send multiple command and not wait for ok.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x3D | 0x4D |
¶ COMMAND_RETURN_NEED_PRO(0x3E):
HUSKYLENS will return need pro, if send pro only command to huskylens.
| Header | Header 2 | Address | Data Length | Command | Checksum |
|---|---|---|---|---|---|
| 0x55 | 0xAA | 0x11 | 0x00 | 0x3E | 0x4E |
¶
¶ 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:
commandUse to determine whether this is arrow or blockCOMMAND_RETURN_BLOCKIt is a blockCOMMAND_RETURN_ARROWIt is an arrow
- For a block:
xCenterX Center of BlockyCenterY Center of BlockwidthWidth of BlockheightHeight of BlockIDID of Block, see ID Meaning below
- For an arrow:
xOriginX Origin of ArrowyOriginY Origin of ArrowxTargetX Target of ArrowyTargetY Target of ArrowIDID 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_RECOGNITIONFACE RECOGNITIONALGORITHM_OBJECT_TRACKINGOBJECT TRACKINGALGORITHM_OBJECT_RECOGNITIONOBJECT RECOGNITIONALGORITHM_LINE_TRACKINGLINE TRACKINGALGORITHM_COLOR_RECOGNITIONCOLOR RECOGNITIONALGORITHM_TAG_RECOGNITIONTAG RECOGNITIONALGORITHM_OBJECT_CLASSIFICATIONOBJECT 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
IDfrom HUSKYLENS. - Arguments:
IDThe 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
IDfrom HUSKYLENS - Arguments:
IDThe target ID of blocks
- Returns: Whether successfully get the result..
¶ bool requestArrows()
- Description: Request all arrows from HUSKYLENS
- Arguments:
algorithmTypeThe algorithm you need. See protocolAlgorithm for details.
- Returns: Whether successfully get the result.
¶ bool requestArrows(int16_t ID)
- Description: Request only arrows tagged with
IDfrom HUSKYLENS - Arguments:
IDThe 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:
IDThe 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:
IDThe 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:
IDThe 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:
IDThe 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:
indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancount()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancount(ID)
-
Returns: block or arrow tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getBlock(int16_t index)
-
Description: Get one of the blocks.
-
Arguments:
indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocks()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocks(ID)
-
Returns: block tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getArrow(int16_t index)
-
Description: Get one of the arrows.
-
Arguments:
indexThe index of arrows, which is ordered by the received sequence. It should less thancountArrows()
-
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:
IDThe target ID. See ID Meaning above for details.indexThe index of arrow, which is ordered by the received sequence. It should less thancountArrows(ID)
-
Returns: arrow tagged with
IDin struct HUSKYLENSResult. See HUSKYLENSResult above for details.
¶ HUSKYLENSResult getLearned(int16_t index)
-
Description: Get one of the learned blocks and arrows (ID >=1)
-
Arguments:
indexThe index of blocks and arrows, which is ordered by the received sequence. It should less thancountLearned()
-
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:
indexThe index of blocks, which is ordered by the received sequence. It should less thancountBlocksLearned()
-
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:
indexThe index of arrows, which is ordered by the received sequence. It should less thancountArrowsLearned()
-
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:
algorithmTypeThe 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:
IDThe 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:
nameThe specified custom nameidThe 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:
fileNumThe 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:
fileNumThe 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:
textThe specified text you wish to enter on the screenxThe X coordinate for the UI Object (0-320)yThe 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.