Update 1.4

Potentially breaking changes to better match original C++ Pixy API
Update to WPILib 2020.2.2
Renamed cache getter methods to differentiate them from the Pixy request
methods
Added default parameters for methods to better match original C++ Pixy
API
Made data holder classes static for more convenient use
Made getFeatures() from Pixy2Line private, forcing users to use
getMainFeatures() or getAllFeatures() like in the original C++ Pixy API

Author: PseudoResonance

README.md

@@ -21,20 +21,19 @@ The maven repository is located at: https://nexus.otake.pw/repository/maven-publ
 
 Add `maven { url 'https://nexus.otake.pw/repository/maven-public/' }` under `repositories`
 
-Add `implementation 'pw.otake.pseudoresonance:pixy2-java-api:1.3.5'` under `dependencies` Replace `1.3.5` with the current version of the API.
+Add `implementation 'pw.otake.pseudoresonance:pixy2-java-api:1.4'` under `dependencies` Replace `1.4` with the current version of the API.
 
 Your `build.gradle` should resemble this:
 
 ```gradle
-// Maven central needed for JUnit
 repositories {
     maven { url 'https://nexus.otake.pw/repository/maven-public/' }
 }
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    implementation 'pw.otake.pseudoresonance:pixy2-java-api:1.3.5'
+    implementation 'pw.otake.pseudoresonance:pixy2-java-api:1.4'
     implementation wpi.deps.wpilib()
     nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.1.2"
+    id "edu.wpi.first.GradleRIO" version "2020.2.2"
     id "maven-publish"
 }
 
@@ -49,7 +49,7 @@ publishing {
             artifact javadocJar
         	groupId = 'pw.otake.pseudoresonance'
             artifactId = 'pixy2-java-api'
-            version = '1.3.5'
+            version = '1.4'
             pom {
                 name = 'Pixy2JavaAPI'
                 description = 'Java port of Pixy2 API for FIRST Robotics'

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2.java

@@ -221,7 +221,7 @@ public Pixy2Video getVideo() {
 		return this.video;
 	}
 
-	public class Version {
+	public static class Version {
 
 		protected int hardware = 0;
 		protected int firmwareMajor = 0;
@@ -692,7 +692,7 @@ public byte getFPS() {
 	}
 
 	// Checksum holder class
-	public class Checksum {
+	public static class Checksum {
 
 		int cs = 0;
 

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2CCC.java

@@ -73,7 +73,51 @@ protected Pixy2CCC(Pixy2 pixy) {
 	/**
 	 * <p>Gets signature {@link Block}s from Pixy2</p>
 	 * 
-	 * <p>Returned data should be retrieved from the cache with {@link #getBlocks()}</p>
+	 * <p>Defaults to waiting for a response, getting blocks from all signatures and a maximum of all 256 blocks</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getBlockCache()}</p>
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public int getBlocks() {
+		return getBlocks(true, CCC_SIG_ALL, 0xff);
+	}
+
+	/**
+	 * <p>Gets signature {@link Block}s from Pixy2</p>
+	 * 
+	 * <p>Defaults to getting blocks from all signatures and a maximum of all 256 blocks</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getBlockCache()}</p>
+	 * 
+	 * @param wait      Whether to wait for Pixy2 if data is not available
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public int getBlocks(boolean wait) {
+		return getBlocks(wait, CCC_SIG_ALL, 0xff);
+	}
+
+	/**
+	 * <p>Gets signature {@link Block}s from Pixy2</p>
+	 * 
+	 * <p>Defaults to getting a maximum of all 256 blocks</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getBlockCache()}</p>
+	 * 
+	 * @param wait      Whether to wait for Pixy2 if data is not available
+	 * @param sigmap    Sigmap to look for
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public int getBlocks(boolean wait, int sigmap) {
+		return getBlocks(wait, sigmap, 0xff);
+	}
+
+	/**
+	 * <p>Gets signature {@link Block}s from Pixy2</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getBlockCache()}</p>
 	 * 
 	 * @param wait      Whether to wait for Pixy2 if data is not available
 	 * @param sigmap    Sigmap to look for
@@ -141,13 +185,13 @@ public int getBlocks(boolean wait, int sigmap, int maxBlocks) {
 	 * 
 	 * @return Pixy2 signature Blocks
 	 */
-	public ArrayList<Block> getBlocks() {
+	public ArrayList<Block> getBlockCache() {
 		return blocks;
 	}
 
-	public class Block {
+	public static class Block {
 
-		private int signature, x, y, width, height, angle, index, age = 0;
+		private int signature, x, y, width, height, angle, index, age;
 
 		/**
 		 * Constructs signature block instance

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2Line.java

@@ -81,7 +81,9 @@ protected Pixy2Line(Pixy2 pixy) {
 	/**
 	 * <p>Gets all features from Pixy2</p>
 	 * 
-	 * <p>Returned data should be retrieved from the cache with {@link #getVectors()}, {@link #getIntersections()} or {@link #getBarcodes()}</p>
+	 * <p>Defaults to getting all available features and waiting for a response</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
 	 * 
 	 * @return Pixy2 error code
 	 */
@@ -93,26 +95,88 @@ public byte getAllFeatures() {
 	 * <p>Gets the main features from the Pixy2. This is a more constrained line
 	 * tracking algorithm.</p>
 	 * 
-	 * <p>Returned data should be retrieved from the cache with {@link #getVectors()}, {@link #getIntersections()} or {@link #getBarcodes()}</p>
+	 * <p>Defaults to getting all available features and waiting for a response</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
 	 * 
 	 * @return Pixy2 error code
 	 */
 	public byte getMainFeatures() {
 		return getFeatures(LINE_GET_MAIN_FEATURES, LINE_ALL_FEATURES, true);
 	}
 
+	/**
+	 * <p>Gets all features from Pixy2</p>
+	 * 
+	 * <p>Defaults to waiting for a response</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
+	 * 
+	 * @param features Features to get
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public byte getAllFeatures(byte features) {
+		return getFeatures(LINE_GET_ALL_FEATURES, features, true);
+	}
+
+	/**
+	 * <p>Gets the main features from the Pixy2. This is a more constrained line
+	 * tracking algorithm.</p>
+	 * 
+	 * <p>Defaults to waiting for a response</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
+	 * 
+	 * @param features Features to get
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public byte getMainFeatures(byte features) {
+		return getFeatures(LINE_GET_MAIN_FEATURES, features, true);
+	}
+
+	/**
+	 * <p>Gets all features from Pixy2</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
+	 * 
+	 * @param features Features to get
+	 * @param wait     Wait for response
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public byte getAllFeatures(byte features, boolean wait) {
+		return getFeatures(LINE_GET_ALL_FEATURES, features, wait);
+	}
+
+	/**
+	 * <p>Gets the main features from the Pixy2. This is a more constrained line
+	 * tracking algorithm.</p>
+	 * 
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
+	 * 
+	 * @param features Features to get
+	 * @param wait     Wait for response
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public byte getMainFeatures(byte features, boolean wait) {
+		return getFeatures(LINE_GET_MAIN_FEATURES, features, wait);
+	}
+
 	/**
 	 * <p>Gets specified features from Pixy2</p>
 	 * 
-	 * <p>Returned data should be retrieved from the cache with {@link #getVectors()}, {@link #getIntersections()} or {@link #getBarcodes()}</p>
+	 * <p>Returned data should be retrieved from the cache with {@link #getVectorCache()}, {@link #getIntersectionCache()} or {@link #getBarcodeCache()}</p>
 	 * 
 	 * @param type     Type of features to get
 	 * @param features Features to get
 	 * @param wait     Wait for response
 	 * 
 	 * @return Pixy2 error code
 	 */
-	public byte getFeatures(byte type, byte features, boolean wait) {
+	private byte getFeatures(byte type, byte features, boolean wait) {
 		byte res;
 		int offset, fsize, ftype;
 		byte[] fdata;
@@ -210,7 +274,7 @@ else if (!wait) // We're busy
 	 * 
 	 * @return Pixy2 Lines
 	 */
-	public Vector[] getVectors() {
+	public Vector[] getVectorCache() {
 		return vectors;
 	}
 
@@ -221,7 +285,7 @@ public Vector[] getVectors() {
 	 * 
 	 * @return Pixy2 Intersectionss
 	 */
-	public Intersection[] getIntersections() {
+	public Intersection[] getIntersectionCache() {
 		return intersections;
 	}
 
@@ -232,7 +296,7 @@ public Intersection[] getIntersections() {
 	 * 
 	 * @return Pixy2 Barcodes
 	 */
-	public Barcode[] getBarcodes() {
+	public Barcode[] getBarcodeCache() {
 		return barcodes;
 	}
 
@@ -348,9 +412,9 @@ public byte reverseVector() {
 			return Pixy2.PIXY_RESULT_ERROR; // Some kind of bitstream error
 	}
 
-	public class Vector {
+	public static class Vector {
 
-		private int x0, y0, x1, y1, index, flags = 0;
+		private int x0, y0, x1, y1, index, flags;
 
 		/**
 		 * Constructs Vector instance
@@ -431,10 +495,10 @@ public int getFlags() {
 
 	}
 
-	public class IntersectionLine {
+	public static class IntersectionLine {
 
-		private int index, reserved = 0;
-		private short angle = 0;
+		private int index, reserved;
+		private short angle;
 
 		/**
 		 * Constructs IntersectionLine object
@@ -488,9 +552,9 @@ public short getAngle() {
 
 	}
 
-	public class Intersection {
+	public static class Intersection {
 
-		private int x, y, number, reserved = 0;
+		private int x, y, number, reserved;
 		private IntersectionLine[] lines = new IntersectionLine[LINE_MAX_INTERSECTION_LINES];
 
 		/**
@@ -572,9 +636,9 @@ public IntersectionLine[] getLines() {
 
 	}
 
-	public class Barcode {
+	public static class Barcode {
 
-		private int x, y, flags, code = 0;
+		private int x, y, flags, code;
 
 		/**
 		 * Constructs barcode object

src/main/java/io/github/pseudoresonance/pixy2api/Pixy2Video.java

@@ -48,6 +48,21 @@ protected Pixy2Video(Pixy2 pixy) {
 		this.pixy = pixy;
 	}
 
+	/**
+	 * Gets average RGB value at 5x5 area around specified coordinates in the image
+	 * 
+	 * <p>Defaults to saturating response color</p>
+	 * 
+	 * @param x        X value
+	 * @param y        Y value
+	 * @param rgb      RGB container to return values in
+	 * 
+	 * @return Pixy2 error code
+	 */
+	public int getRGB(int x, int y, RGB rgb) {
+		return getRGB(x, y, rgb, true);
+	}
+
 	/**
 	 * Gets average RGB value at 5x5 area around specified coordinates in the image
 	 * 
@@ -92,7 +107,7 @@ public int getRGB(int x, int y, RGB rgb, boolean saturate) {
 		}
 	}
 
-	public class RGB {
+	public static class RGB {
 
 		int r, g, b;