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Implementation - Computer Vision
FOJI Reception:
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All functionality for FOJI is contained in the FltConnReceive module. The worker function will contain a blocking call to the read method of the UARTInterface in a loop. When a message is received, it will be passed into readFOJI to be decoded from a the FOJI encoding defined above into a response object of type “STATE_INFO” defined here. After decoded, it will be put into the pipeline out before a blocking call is made again to read the next message.
FIJO send:
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All functionality relating to FIJO will be contained in the FltConnSend module. When a request is recieved of type QR_COORDINATES or TARGET_COORDINATES as defined here from the input pipeline in the worker function it will call the the sendFIJO method to encode it into a string as defined above and set the required flags. The worker function will then use the write method of the UARTInterface to send the message before waiting for the next message from the pipeline.