From 203c6f5343e082cfa2ae9a47199ebfcd3f882ff6 Mon Sep 17 00:00:00 2001 From: Omar Rizwan Date: Thu, 20 Jul 2023 15:14:51 -0400 Subject: Fix sharing behavior of AprilTag detector --- virtual-programs/apriltags.folk | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'virtual-programs') diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk index 461d365a..75622fcd 100644 --- a/virtual-programs/apriltags.folk +++ b/virtual-programs/apriltags.folk @@ -2,8 +2,22 @@ On process { source pi/AprilTags.tcl AprilTags::init + # TODO: Clean this up. We retract these so that we don't bounce + # statements back to the main Folk process that it sends us. + Retract /anyone/ wishes $::thisProcess shares all wishes + Retract /anyone/ wishes $::thisProcess shares all claims Wish $::thisProcess receives statements like \ [list /someone/ claims the camera frame is /grayFrame/] + Wish $::thisProcess shares statements like \ + [list /someone/ wishes /process/ receives statements like /pattern/] + Wish $::thisProcess shares statements like \ + [list /someone/ claims tag /tag/ has center /center/ size /size/] + Wish $::thisProcess shares statements like \ + [list /someone/ claims tag /tag/ has corners /corners/] + Wish $::thisProcess shares statements like \ + [list /someone/ claims the AprilTag time is /aprilTime/] + Wish $::thisProcess shares statements like \ + [list /someone/ claims $::thisProcess has pid /pid/] When the camera frame is /grayFrame/ { set aprilTime [time { -- cgit v1.2.3