From d13f37efef99d39595a844c63e89428ab7abdc25 Mon Sep 17 00:00:00 2001
From: Naveen Michaud-Agrawal <naveen.michaudagrawal@gmail.com>
Date: Mon, 17 Jul 2023 22:52:58 -0400
Subject: Split out apriltag detection

---
 virtual-programs/apriltags.folk | 18 ++++++++++++++++++
 virtual-programs/camera.folk    | 11 -----------
 2 files changed, 18 insertions(+), 11 deletions(-)
 create mode 100644 virtual-programs/apriltags.folk

(limited to 'virtual-programs')

diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
new file mode 100644
index 00000000..265610bb
--- /dev/null
+++ b/virtual-programs/apriltags.folk
@@ -0,0 +1,18 @@
+
+source pi/AprilTags.tcl
+
+AprilTags::init
+
+When the camera frame is /grayFrame/ {
+    set aprilTime [time {
+        set tags [AprilTags::detect $grayFrame]
+    }]
+    Commit {
+        Claim the AprilTag time is $aprilTime
+
+        foreach tag $tags {
+            Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size]
+            Claim tag [dict get $tag id] has corners [dict get $tag corners]
+        }
+    }
+}
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index b865392e..919519fe 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -7,9 +7,7 @@ namespace eval ::Camera {
 
 On process {
     source pi/Camera.tcl
-    source pi/AprilTags.tcl
     Camera::init 1280 720
-    AprilTags::init
 
     puts "Camera tid: [getTid]"
     
@@ -17,20 +15,11 @@ On process {
         set cameraTime [time {
             set grayFrame [Camera::grayFrame]
         }]
-        set aprilTime [time {
-            set tags [AprilTags::detect $grayFrame]
-        }]
         
         Commit {
             Claim the camera frame is $grayFrame
 
             Claim the camera time is $cameraTime
-            Claim the AprilTag time is $aprilTime
-
-            foreach tag $tags {
-                Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size]
-                Claim tag [dict get $tag id] has corners [dict get $tag corners]
-            }
         }
         Step
     }
-- 
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