minimal.cpp

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// ============================================================================
// declarations
// ============================================================================

// ----------------------------------------------------------------------------
// headers
// ----------------------------------------------------------------------------

/*
// For compilers that support precompilation, includes "wx/wx.h".
#include "wx/wxprec.h"

#ifdef __BORLANDC__
    #pragma hdrstop
#endif

// for all others, include the necessary headers (this file is usually all you
// need because it includes almost all "standard" wxWidgets headers)
#ifndef WX_PRECOMP
    #include "wx/wx.h"
#endif
*/
#include "wx/wx.h"
#include "CVIPtoolsInc.h"

#define VIEWER "C:\\Progra~1\\XnView\\xnview.exe"

#include <list>

#include "Entity.h"


#include "VFWImage.h"


#include "imageprocessing.h"

//#include <string>
//#include <iostream>




//#include "liblnp.h"

#include "com.h"

void print_entities(ENTITYLIST *entitylist);
void send_entities(ENTITYLIST *entitylist);


// ----------------------------------------------------------------------------
// private classes
// ----------------------------------------------------------------------------

// Define a new CONSOLE application type, each program should derive a class from wxApp
class MyApp : public wxAppConsole
{
public:
    // override base class virtuals
    // ----------------------------

    // this one is called on application startup and is a good place for the app
    // initialization (doing it here and not in the ctor allows to have an error
    // return: if OnInit() returns false, the application terminates)
    virtual bool OnInit();

        // main 
        virtual int OnRun();
};



// Create a new CONSOLE application object: this macro will allow wxWidgets to create
// the application object during program execution (it's better than using a
// static object for many reasons) and also implements the accessor function
// wxGetApp() which will return the reference of the right type (i.e. MyApp and
// not wxApp)
IMPLEMENT_APP_CONSOLE(MyApp)

// ============================================================================
// implementation
// ============================================================================

// ----------------------------------------------------------------------------
// the application class
// ----------------------------------------------------------------------------
   
bool MyApp::OnInit() 
{
    //put initialization code here : run before OnRun    
        wxInitAllImageHandlers();


    init_com(0);
  
    return true;
}

 

  int MyApp::OnRun() {

/*
        int i=7;
        
        com_send(0,1,2,&i);
        
        
        printf("TRIGGER1 : %d \n",TRIGGER1);
    ::Sleep(5000);
        printf("TRIGGER1 : %d \n",TRIGGER1);
        sem_com.Wait();
        TRIGGER1=0;
        sem_com.Post();
        printf("TRIGGER1 : %d \n",TRIGGER1);

        */
//      ::Sleep(4000);
  
  
        (void) setDisplay_Image(VIEWER, "PPM");
    CVFWImage bmp;
        //bmp.Capture();
        //bmp.SaveToFile("d:\\out.bmp");

        //wxImage image1=bmp.getWxImage();
        //image1.SaveFile("d:\\wx2.png");
    
//      Image *tmp1;
//      tmp1=bmp.getCVIPImage();

        //view_Image(tmp1,"out1.ppm");

        //wxImage image2=CVIP2WX(tmp1);
        //image2.SaveFile("d:\\wx3.png");



  int r,center_row,center_col,arrow_col,arrow_row, *ctr;
  byte **image;
  unsigned int no_of_rows,no_of_cols;
  Matrix *mat;
  Image *inputImage1, *inputImage2, *inputImage3;
  Image *band1, *band2, *band3, *tmp1, *tmp2, *tmp3, *lab;
  IMAGE_FORMAT format;
  char *inputfile1, *inputfile2, *outputfile;

  ENTITYLIST entitylist;

 // (void) setDisplay_Image(VIEWER, "PPM");
  
   // read in image
   // inputfile1 = "c:\\cygwin\\tmp\\snapshots\\ring2_var.ppm";
  // inputfile1 = "c:\\cygwin\\tmp\\snapshots\\goededata\\rings_close_half.ppm";
   // inputfile1 = "c:\\cygwin\\tmp\\snapshots\\goededata\\rings_roodengroen.ppm";
//inputfile1 = "c:\\cygwin\\tmp\\snapshots\\goededata\\rings_roodengeengroen.ppm";
//inputImage1 = read_Image(inputfile1, 1);
   //inputImage2 = read_Image(inputfile1, 1);
   //inputImage3 = read_Image(inputfile1, 1);
 
  init_imageprocessing();
        char *automode = getenv( "AUTO" );
        int AUTO=0;
        if (automode) AUTO=atoi(automode);
    int akn=1;

//for (int x=0; x<5;x++) {
  while (1 ) {
  if ( TEMPERATURE ) {
        printf("TEMPERATURE : %d",TEMPERATURE);
    com_send(0,1,6,&akn);
    com_send(0,2,6,&akn);
    sem_com.Wait();
        TEMPERATURE=0;
    sem_com.Post();
  }  
  
  if ( AUTO ||  TRIGGER1 ) {
        
        if ( !AUTO ) { // TRIGGER1
     sem_com.Wait();
         TRIGGER1=0;
     sem_com.Post();
     // send received aknowledgment to both rcx's
     com_send(0,1,1,&akn);
     com_send(0,2,1,&akn);
        }


  bmp.Capture();
  inputImage1=bmp.getCVIPImage();
 
   inputImage2 = duplicate_Image(inputImage1); 
   inputImage3 = duplicate_Image(inputImage1);

//   view_Image(inputImage1,"out0.ppm");

  // Gets the number of rows and columns in the input image  
  no_of_rows =  getNoOfRows_Image(inputImage1);
  no_of_cols =  getNoOfCols_Image(inputImage1);

   
     tmp3=find_color_entities(inputImage3,RGB_BLUE,&entitylist);
         tmp2=find_color_entities(inputImage2,RGB_GREEN,&entitylist);
         tmp1=find_color_entities(inputImage1,RGB_RED,&entitylist);
  //tmp=get_component(inputImage1,RGB_RED);

// view_Image(tmp1,"out1.ppm");
// view_Image(tmp2,"out2.ppm");
// view_Image(tmp3,"out3.ppm");

  //print_entities(&entitylist);
  entitylist.sort();
   print_entities(&entitylist);
   send_entities(&entitylist);
  entitylist.clear();

    } else {
      ::Sleep(50) ; 
    }
  }      


  

  //lnp_shutdown();
  return 0;
}










void print_entities(ENTITYLIST *entitylist) 
{
        //std::list <Entity>::iterator i;
        ENTITYLIST_ITER i;
    short x,y,angle;
        Entity::Color color;
        Entity::Type type;
        
        printf("\r\n"); printf("\r\n");
    printf("--------------------------------------------------\r\n");
    for ( i= entitylist->begin(); i != entitylist->end(); ++i )
    { 
        color=(*i).getColor();
        x=(*i).getX();
        y=(*i).getY();
        type=(*i).getType();
        if ( type == Entity::ROBOT ) {
            angle=(*i).getAngle();
            printf("robot  x=%d,y=%d,angle=%d,color=%d \r\n",x,y,angle,color);
        } 
        if ( type == Entity::SUBJECT ) {
            printf("subject x=%d,y=%d,color=%d \r\n",x,y,color);
        }
        if ( type == Entity::GOAL ) {
            printf("goal  x=%d,y=%d,color=%d \r\n",x,y,color);
        }        
    }
    printf("--------------------------------------------------\r\n");
    printf("\r\n");     printf("\r\n");

}


void send_entities(ENTITYLIST *entitylist) 
{

        //std::list <Entity>::iterator i;
        ENTITYLIST_ITER i;
    short x,y,angle;
        Entity::Color color;
        Entity::Type type;
    //myprintf("--------");
        int k=0;
    int coordnts[9];

    for ( i= entitylist->begin(); i != entitylist->end() && k < 3  ; ++i,++k )
    { 
        color=(*i).getColor();
        x=(*i).getX();
        y=(*i).getY();
        type=(*i).getType();

                coordnts[3*k]=x;
                coordnts[3*k+1]=y;
        coordnts[3*k+2]=color;

    }
        // fill the remaining space with ones
        for ( ; k < 3 ; k++) {
                coordnts[3*k]=1;
                coordnts[3*k+1]=1;
                coordnts[3*k+2]=1;
    }
        com_send(0,1,7,coordnts);

}

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