void game_hub::areaMenu()
{
bool areaMenu = true;
while (areaMenu)
{
int area_sel = getSel("1. Go to dungeons", "2. Go to random dungeon",
"3. Return to town");
switch(area_sel)
{
case 1:
{
printAreas();
printf("%d. Cancel\n", active_areas+1);
int sel = getSel(active_areas+1);
if (sel < active_areas+1)
{
sel--;
//Dungeons[sel]->dungeon_loop();
Dungeons[sel]->enter_area();
areaMenu = false;
}
else
printf("Cancelling action...\n");
break;
}
case 2:
{
rand_dungeon = new areas;
rand_dungeon->setArea("Random Dungeon", 4, Team);
//rand_dungeon->dungeon_loop();
rand_dungeon->enter_area();
areaMenu = false;
delete rand_dungeon;
rand_dungeon = NULL;
break;
}
case 3:
{
printf("Returning to town...\n");
areaMenu = false;
break;
}
}
}
incrementAreas();
}
int main(int argv, char **argc) {
robot_if_t ri;
int major, minor, x_dist_diff, square_count, prev_square_area_1 = 0, prev_square_area_2 = 0;
IplImage *image = NULL, *hsv = NULL, *threshold_1 = NULL, *threshold_2 = NULL, *final_threshold = NULL;
squares_t *squares, *biggest_1, *biggest_2, , *pair_square_1, *pair_square_2, *sq_idx;
bool same_square;
bool hasPair = 0;
square_count = 0;
// Make sure we have a valid command line argument
if(argv <= 1) {
printf("Usage: robot_test <address of robot>\n");
exit(-1);
}
ri_api_version(&major, &minor);
printf("Robot API Test: API Version v%i.%i\n", major, minor);
// Setup the robot with the address passed in
if(ri_setup(&ri, argc[1], 0)) {
printf("Failed to setup the robot!\n");
exit(-1);
}
// Setup the camera
if(ri_cfg_camera(&ri, RI_CAMERA_DEFAULT_BRIGHTNESS, RI_CAMERA_DEFAULT_CONTRAST, 5, RI_CAMERA_RES_640, RI_CAMERA_QUALITY_LOW)) {
printf("Failed to configure the camera!\n");
exit(-1);
}
// Create a window to display the output
//cvNamedWindow("Rovio Camera", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Biggest Square", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Thresholded", CV_WINDOW_AUTOSIZE);
// Create an image to store the image from the camera
image = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
// Create an image to store the HSV version in
// We configured the camera for 640x480 above, so use that size here
hsv = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
// And an image for each thresholded version
threshold_1 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
threshold_2 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
final_threshold = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
// Move the head up to the middle position
ri_move(&ri, RI_HEAD_MIDDLE, RI_FASTEST);
// Action loop
do {
// Update the robot's sensor information
if(ri_update(&ri) != RI_RESP_SUCCESS) {
printf("Failed to update sensor information!\n");
continue;
}
// Get the current camera image and display it
if(ri_get_image(&ri, image) != RI_RESP_SUCCESS) {
printf("Unable to capture an image!\n");
continue;
}
//cvShowImage("Rovio Camera", image);
// Convert the image from RGB to HSV
cvCvtColor(image, hsv, CV_BGR2HSV);
// Pick out the first range of pink color from the image
cvInRangeS(hsv, RC_PINK_LOW_1, RC_PINK_HIGH_1, threshold_1);
// Pick out the second range of pink color from the image
cvInRangeS(hsv, RC_PINK_LOW_2, RC_PINK_HIGH_2, threshold_2);
// compute the final threshold image by using cvOr
cvOr(threshold_1, threshold_2, final_threshold, NULL);
cvShowImage("Thresholded", final_threshold);
// Find the squares in the image
squares = ri_find_squares(final_threshold, RI_DEFAULT_SQUARE_SIZE);
if( squares != NULL ) {
printf("Sorting squares!\n");
sort_squares(squares);
printf("Sort Complete!\n");
printAreas(squares);
printf("Done printing");
//find biggest pair (if it exists)
sq_idx = squares;
while(sq_idx != NULL){
if(sq_idx->next == NULL) break;
else if(isPair(sq_idx, sq_idx->next, 0.75)){
hasPair = 1;
break;
}
sq_idx = sq_idx->next;
}
printf("Pair ID complete!\n");
if(hasPair){
printf("Pair found.\n");
//draw_green_X(sq_idx, image);
//draw_green_X(sq_idx->next, image);
biggest_1 = sq_idx;
biggest_2 = sq_idx->next;
}
else {
printf("Pair not found. Marking largest.\n");
draw_red_X(squares, image);
//temporary:
biggest_1 = squares;
biggest_2 = squares;
}
hasPair = 0;
}
else {
printf("No squares found.\n");
}
hasPair = 0;
if(biggest_1 != NULL){
draw_green_X(biggest_1, image);
printf("Area 1 = %d", biggest_1->area);
}
//we only see the last pair of squares, go straight ahead until IR_Detect stops the robot
if (square_count == 3){
ri_move(&ri, RI_MOVE_FORWARD, 1);
if (ri_IR_Detected(&ri)) {
square_count++;
printf("Object detected, square_count = %d\n", square_count);
}
}
//once the robot is at the intersection, rotate right until it detects a pair of squares
else if(square_count == 4){
printf("Rotating\n");
if (biggest_1 != NULL && biggest_2 != NULL && (biggest_1->area - biggest_2->area) < 500){
square_count++;
printf("New Path Found\n");
}
ri_move(&ri, RI_TURN_RIGHT, 7);
}
else{
/*
* If we only find a single usable largest square:
* if square is on left of screen, turn right, strafe right
* if square is on right of screen, turn left, strafe left
*/
if(biggest_1 != NULL && biggest_2 != NULL ) {
draw_red_X(biggest_2, image);
printf("\tArea 2 = %d\n", biggest_2->area);
//get the difference in distance between the two biggest squares and the center vertical line
x_dist_diff = get_square_diffence(biggest_1, biggest_2, image);
get_diff_in_y(biggest_1, biggest_2);
//when the camera can't detect a pair of squares, which means now the second biggest square
//is much smaller than the first biggest square
if ((biggest_1->area - biggest_2->area) > 500){
//if both squares are at the left side of the center line
if (biggest_1->center.x < image->width/2 && biggest_2->center.x < image->width/2){
printf("rotate right at speed = 6\n");
ri_move(&ri, RI_TURN_RIGHT, 6);
}
//if both squares are at the right side of the center line
else if (biggest_1->center.x > image->width/2 && biggest_2->center.x > image->width/2){
printf("rotate left at speed = 6\n");
ri_move(&ri, RI_TURN_LEFT, 6);
}
//if the center line is in the middle of the two biggest squares
else if (biggest_1->center.x < image->width/2 && biggest_2->center.x > image->width/2 ){
printf("rotate right at speed = 2\n");
ri_move(&ri, RI_TURN_RIGHT, 2);
}
else{
printf("rotate left at speed = 2\n");
ri_move(&ri, RI_TURN_LEFT, 2);
}
}
else{
//increment square_count whenever the robot pass by a pair of squares
if (prev_square_area_1 != 0 && prev_square_area_2 != 0 &&
biggest_1->area < prev_square_area_1 && biggest_2->area < prev_square_area_2 ){
square_count++;
printf("square count = %d\n", square_count);
}
//rotate to the left
if (x_dist_diff < -40){
printf("rotate left at speed = 6\n");
ri_move(&ri, RI_TURN_LEFT, 6);
}
//rotate to the right
else if (x_dist_diff > 40){
printf("rotate right at speed = 6\n");
ri_move(&ri, RI_TURN_RIGHT, 6);
}
prev_square_area_1 = biggest_1->area;
prev_square_area_2 = biggest_2->area;
}
ri_move(&ri, RI_MOVE_FORWARD, 5);
}
//once the camera can't detect any squares, make the robot go backwards
else if (biggest_1 == NULL && biggest_2 == NULL){
printf("Move Backwards\n");
ri_move(&ri, RI_MOVE_BACKWARD , 1);
}
}
// display a straight vertical line
draw_vertical_line(image);
// Display the image with the drawing oon ito
cvShowImage("Biggest Square", image);
// Update the UI (10ms wait)
cvWaitKey(10);
// Release the square data
while(squares != NULL) {
sq_idx = squares->next;
free(squares);
squares = sq_idx;
}
biggest_1 = NULL;
biggest_2 = NULL;
// Move forward unless there's something in front of the robot
/*if(!ri_IR_Detected(&ri))
ri_move(&ri, RI_MOVE_FORWARD, RI_SLOWEST);*/
//printf("Loop Complete\n");
//getc(stdin);
} while(1);
// Clean up (although we'll never get here...)
//cvDestroyWindow("Rovio Camera");
cvDestroyWindow("Biggest Square");
cvDestroyWindow("Thresholded");
// Free the images
cvReleaseImage(&threshold_1);
cvReleaseImage(&threshold_2);
cvReleaseImage(&final_threshold);
cvReleaseImage(&hsv);
cvReleaseImage(&image);
return 0;
}
