test.c

#include "canopen_dictionary.h"
 
 
/**
 * @brief Intialize the configuration and check that no error is in the OD.
 * 
 */
void test_demo_init() {
    CANopenDictionary_enum_errors error = CANOPEN_DICTIONARY_LIB_ERROR_NONE;
 
    size_t length = sizeof(dictionary_storage)/sizeof(dictionary_storage[0]);
    error = canopen_dictionary_init(&col_conf,dictionary_storage,length);
 
    if(error != CANOPEN_DICTIONARY_LIB_ERROR_NONE) {
        // error handling
        TEST_FAIL_MESSAGE("library could not be initialized!");
    }
 
    error = canopen_dictionary_registerCallbackFind(&col_conf,CANOPEN_IDX_LOW_NUMBER_001,CANOPEN_SUBIDX_LOW_NUMBER_001,&write_callback);
 
    TEST_ASSERT_MESSAGE(error==CANOPEN_DICTIONARY_LIB_ERROR_NONE,"the callback could not be registered");
}

test.c

#include "canopen_dictionary.h"
 
 
/**
 * @brief Intialize the configuration and check that no error is in the OD.
 * 
 */
void test_demo_init() {
    CANopenDictionary_enum_errors error = CANOPEN_DICTIONARY_LIB_ERROR_NONE;
 
    size_t length = sizeof(dictionary_storage)/sizeof(dictionary_storage[0]);
    error = canopen_dictionary_init(&col_conf,dictionary_storage,length);
 
    if(error != CANOPEN_DICTIONARY_LIB_ERROR_NONE) {
        // error handling
        TEST_FAIL_MESSAGE("library could not be initialized!");
    }
 
    error = canopen_dictionary_registerCallbackFind(&col_conf,CANOPEN_IDX_LOW_NUMBER_001,CANOPEN_SUBIDX_LOW_NUMBER_001,&write_callback);
 
    TEST_ASSERT_MESSAGE(error==CANOPEN_DICTIONARY_LIB_ERROR_NONE,"the callback could not be registered");
}

test2.c

#include "canopen_dictionary.h"
 
 
/**
 * @brief Intialize the configuration and check that no error is in the OD.
 * 
 */
void test_demo_init() {
    CANopenDictionary_enum_errors error = CANOPEN_DICTIONARY_LIB_ERROR_NONE;
 
    size_t length = sizeof(dictionary_storage)/sizeof(dictionary_storage[0]);
    error = canopen_dictionary_init(&col_conf,dictionary_storage,length);
 
    if(error != CANOPEN_DICTIONARY_LIB_ERROR_NONE) {
        // error handling
        TEST_FAIL_MESSAGE("library could not be initialized!");
    }
 
    error = canopen_dictionary_registerCallbackFind(&col_conf,CANOPEN_IDX_LOW_NUMBER_001,CANOPEN_SUBIDX_LOW_NUMBER_001,&write_callback);
 
    TEST_ASSERT_MESSAGE(error==CANOPEN_DICTIONARY_LIB_ERROR_NONE,"the callback could not be registered");
}

test2.c

#include "canopen_dictionary.h"
 
 
/**
 * @brief Intialize the configuration and check that no error is in the OD.
 * 
 */
void test_demo_init() {
    CANopenDictionary_enum_errors error = CANOPEN_DICTIONARY_LIB_ERROR_NONE;
 
    size_t length = sizeof(dictionary_storage)/sizeof(dictionary_storage[0]);
    error = canopen_dictionary_init(&col_conf,dictionary_storage,length);
 
    if(error != CANOPEN_DICTIONARY_LIB_ERROR_NONE) {
        // error handling
        TEST_FAIL_MESSAGE("library could not be initialized!");
    }
 
    error = canopen_dictionary_registerCallbackFind(&col_conf,CANOPEN_IDX_LOW_NUMBER_001,CANOPEN_SUBIDX_LOW_NUMBER_001,&write_callback);
 
    TEST_ASSERT_MESSAGE(error==CANOPEN_DICTIONARY_LIB_ERROR_NONE,"the callback could not be registered");
}

#include <opencv2/aruco.hpp>
cv::VideoCapture inputVideo;
inputVideo.open(0);
cv::aruco::DetectorParameters detectorParams = cv::aruco::DetectorParameters();
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::ArucoDetector detector(dictionary, detectorParams);
 
while (inputVideo.grab()) {
    cv::Mat image, imageCopy;
    inputVideo.retrieve(image);
    image.copyTo(imageCopy);
    std::vector<int> ids;
    std::vector<std::vector<cv::Point2f>> corners, rejected;
    detector.detectMarkers(image, corners, ids, rejected);
    // if at least one marker detected
    if (ids.size() > 0)
        cv::aruco::drawDetectedMarkers(imageCopy, corners, ids);
    cv::imshow("out", imageCopy);
    char key = (char) cv::waitKey(waitTime);
    if (key == 27)
        break;
}

#include <opencv2/aruco.hpp>
cv::VideoCapture inputVideo;
inputVideo.open(0);
cv::aruco::DetectorParameters detectorParams = cv::aruco::DetectorParameters();
cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
cv::aruco::ArucoDetector detector(dictionary, detectorParams);

while (inputVideo.grab()) {
    cv::Mat image, imageCopy;
    inputVideo.retrieve(image);
    image.copyTo(imageCopy);
    std::vector ids;
    std::vector> corners, rejected;
    detector.detectMarkers(image, corners, ids, rejected);
    // if at least one marker detected
    if (ids.size() > 0)
        cv::aruco::drawDetectedMarkers(imageCopy, corners, ids);
    cv::imshow("out", imageCopy);
    char key = (char) cv::waitKey(waitTime);
    if (key == 27)
        break;
}