int
main (int argc, char *argv[]) {
MonoAssembly *assembly = NULL;
const char *aname = NULL;
const char *outfile = NULL;
const char *rootfile = NULL;
int i;
gboolean all_meta = FALSE;
mono_init (argv [0]);
type_table = g_hash_table_new (NULL, NULL);
method_table = g_hash_table_new (NULL, NULL);
field_table = g_hash_table_new (NULL, NULL);
image_table = g_hash_table_new (NULL, NULL);
for (i = 1; i < argc; ++i) {
all_meta = FALSE;
aname = argv [i];
if (strcmp (aname, "-v") == 0) {
verbose++;
continue;
} else if (strcmp (aname, "-e") == 0) {
force_enums = 1;
continue;
} else if (strcmp (aname, "-h") == 0) {
usage (0);
} else if (strcmp (aname, "-o") == 0) {
i++;
if (i >= argc)
usage (1);
outfile = argv [i];
continue;
} else if (strcmp (aname, "-F") == 0) {
i++;
if (i >= argc)
usage (1);
all_meta = TRUE;
aname = argv [i];
} else if (strcmp (aname, "-a") == 0) {
i++;
if (i >= argc)
usage (1);
rootfile = argv [i];
continue;
}
assembly = mono_assembly_open (aname, NULL);
if (!assembly) {
g_print ("cannot open assembly %s\n", aname);
exit (1);
}
process_assembly (assembly, all_meta);
}
if (!assembly)
usage (1);
if (rootfile)
load_roots (rootfile);
process_images ();
dump_images (outfile);
return 0;
}
void ManualOperation::work()
{
#ifndef DEBUG_FRAME_BY_FRAME
// Turn off display by default
if (image_input->can_display()) {
mvWindow::setShowImage(show_raw_images);
}
#else
// Show first image
process_image();
#endif
display_start_message();
// Take keyboard commands
bool loop = true;
while (loop) {
char c = CharacterStreamSingleton::get_instance().wait_key(WAIT_KEY_IN_MS);
// Print yaw and depth unless delayed by another message
if (c == '\0') {
if (count < 0) {
count++;
} else if (mode != VISION) {
static int attitude_counter = 0;
attitude_counter++;
if (attitude_counter == 1000 / WAIT_KEY_IN_MS / REFRESH_RATE_IN_HZ) {
attitude_counter = 0;
char buf[128];
sprintf(buf, "Yaw: %+04d degrees, Depth: %+04d cm, Target Yaw: %+04d degrees, Target Depth: %+04d",
attitude_input->yaw(), attitude_input->depth(), attitude_input->target_yaw(), attitude_input->target_depth());
message(buf);
}
}
}
switch(c) {
case 'q':
loop = false;
break;
case 'z':
dump_images();
break;
case 'y':
if (image_input->can_display()) {
show_raw_images = !show_raw_images;
mvWindow::setShowImage(show_raw_images);
} else {
message_hold("Image stream should already be displayed");
}
break;
case 'u':
use_fwd_img = !use_fwd_img;
break;
case 'i':
actuator_output->special_cmd(SIM_MOVE_FWD);
break;
case 'k':
actuator_output->special_cmd(SIM_MOVE_REV);
break;
case 'j':
actuator_output->special_cmd(SIM_MOVE_LEFT);
break;
case 'l':
actuator_output->special_cmd(SIM_MOVE_RIGHT);
break;
case 'p':
actuator_output->special_cmd(SIM_MOVE_RISE);
break;
case ';':
actuator_output->special_cmd(SIM_MOVE_SINK);
break;
case 'e':
actuator_output->stop();
break;
case 'w':
actuator_output->set_attitude_change(FORWARD, SPEED_CHG);
break;
case 's':
actuator_output->set_attitude_change(REVERSE, SPEED_CHG);
break;
case 'a':
actuator_output->set_attitude_change(LEFT, YAW_CHG_IN_DEG);
break;
case 'd':
actuator_output->set_attitude_change(RIGHT, YAW_CHG_IN_DEG);
break;
case 'r':
actuator_output->set_attitude_change(RISE, DEPTH_CHG_IN_CM);
break;
case 'f':
actuator_output->set_attitude_change(SINK, DEPTH_CHG_IN_CM);
break;
case ' ':
actuator_output->special_cmd(SIM_ACCEL_ZERO);
#ifdef DEBUG_FRAME_BY_FRAME
process_image();
#endif
break;
case '^':
actuator_output->special_cmd(SUB_POWER_ON);
break;
case '%':
actuator_output->stop();
actuator_output->special_cmd(SUB_STARTUP_SEQUENCE);
break;
case '$':
actuator_output->special_cmd(SUB_POWER_OFF);
break;
case '#':
long_input();
break;
case 'm':
endwin();
// Scope mission so that it is destructed before display_start_message
{
Mission m(attitude_input, image_input, actuator_output);
m.work_internal(true);
}
display_start_message();
message_hold("Mission complete!");
break;
case 'M': // same as mission, but force turn off show_image
endwin();
// Scope mission so that it is destructed before display_start_message
{
Mission m(attitude_input, image_input, actuator_output);
m.work();
}
display_start_message();
message_hold("Mission complete!");
break;
case '0':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_TEST test_task(attitude_input, image_input, actuator_output);
ret_code = test_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Test task completed successfully");
break;
case TASK_QUIT:
message_hold("Test task quit by user");
break;
default:
message_hold("Test task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected test vision module\n");
vision_module = new MDA_VISION_MODULE_TEST();
use_fwd_img = true;
break;
case '1':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_GATE gate_task(attitude_input, image_input, actuator_output);
ret_code = gate_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Gate task completed successfully");
break;
case TASK_QUIT:
message_hold("Gate task quit by user");
break;
default:
message_hold("Gate task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected gate vision module\n");
vision_module = new MDA_VISION_MODULE_GATE();
use_fwd_img = true;
break;
case '2':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_PATH path_task(attitude_input, image_input, actuator_output);
ret_code = path_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Path task completed successfully");
break;
case TASK_QUIT:
message_hold("Path task quit by user");
break;
default:
message_hold("Path task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected path vision module\n");
vision_module = new MDA_VISION_MODULE_PATH();
use_fwd_img = false;
break;
case '3':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_BUOY buoy_task(attitude_input, image_input, actuator_output);
ret_code = buoy_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Buoy task completed successfully");
break;
case TASK_QUIT:
message_hold("Buoy task quit by user");
break;
default:
message_hold("Buoy task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected buoy vision module\n");
vision_module = new MDA_VISION_MODULE_BUOY();
use_fwd_img = true;
break;
case '4':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_FRAME frame_task(attitude_input, image_input, actuator_output);
ret_code = frame_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Frame task completed successfully");
break;
case TASK_QUIT:
message_hold("Frame task quit by user");
break;
default:
message_hold("Frame task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected frame vision module\n");
vision_module = new MDA_VISION_MODULE_FRAME();
use_fwd_img = true;
break;
case '5':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_MARKER marker_task(attitude_input, image_input, actuator_output);
ret_code = marker_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Marker task completed successfully");
break;
case TASK_QUIT:
message_hold("Marker task quit by user");
break;
default:
message_hold("Marker task errored out");
break;
}
break;
}
delete vision_module;
message_hold("Selected marker dropper vision module\n");
vision_module = new MDA_VISION_MODULE_MARKER();
use_fwd_img = false;
break;
case '8':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_PATH_SKIP path_skip(attitude_input, image_input, actuator_output);
ret_code = path_skip.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Path skip task completed successfully");
break;
case TASK_QUIT:
message_hold("Path skip task quit by user");
break;
default:
message_hold("Path skip task errored out");
break;
}
}
break;
case '9':
if (mode != VISION) {
endwin();
MDA_TASK_RETURN_CODE ret_code;
// Scope task so that it is destructed before display_start_message
{
MDA_TASK_SURFACE surface_task(attitude_input, image_input, actuator_output);
ret_code = surface_task.run_task();
}
display_start_message();
switch(ret_code) {
case TASK_DONE:
message_hold("Surface task completed successfully");
break;
case TASK_QUIT:
message_hold("Surface task quit by user");
break;
default:
message_hold("Surface task errored out");
break;
}
}
break;
case 'x':
if (mode == NORMAL) {
break;
}
delete vision_module;
vision_module = NULL;
mode = NORMAL;
display_start_message();
break;
case 'v':
if (mode == VISION) {
delete vision_module;
vision_module = NULL;
}
endwin();
mode = VISION;
message(
"Entering Vision Mode:\n"
" 0 - test vision\n"
" 1 - gate vision\n"
" 2 - path vision\n"
" 3 - buoy vision\n"
" 4 - frame vision\n"
" 5 - marker dropper vision\n"
"\n"
" v - cancel current vision selection\n"
" x - exit vision mode\n"
" q - exit simulator\n"
);
break;
case '\0': // timeout
#ifndef DEBUG_FRAME_BY_FRAME
process_image();
#else
char ch = cvWaitKey(3);
if (ch != -1) {
CharacterStreamSingleton::get_instance().write_char(ch);
}
#endif
break;
}
}
// close ncurses
endwin();
// Surface
MDA_TASK_SURFACE surface(attitude_input, image_input, actuator_output);
surface.run_task();
actuator_output->special_cmd(SUB_POWER_OFF);
}
