void data_welcome() {
myprintf(F("** MOON PHASE TABLE\n"));
myprintf(F(" JH table size : %d\n"), n_djh);
MyTime t = MyTime(yy_ref, mm_ref, dd_ref, hr_ref, 0, 0);
t.print(F(" First New Moon :"));
myprintln();
}
void data_setup() {
n_djh = sizeof(_djh);
MyTime t = MyTime(yy_ref, mm_ref, dd_ref, hr_ref, 0, 0);
jh_index = 0;
jh_prev = t.getJH();
jh_next = jh_prev + get_djh();
}
// Saves list items to file
bool FileHandler::saveRegister(list<Movie*> pMediaRegister, const char* fileName) {
try {
if (pMediaRegister.empty()) {
_errorMessage = "Cannot save. List is empty!";
throw _errorMessage;
return false;
}
_outfile.open(fileName);
// If file cannot be red
if (!_outfile.is_open()) {
throw "Error occured when reading file";
return false;
}
int i = 0;
MyTime runTime;
char* genre;
// Stepping through all list items. Extracts data from them.
// Putting data in the register file according to format specification
// (one row for one item and one ¤ between every data member
for (_it = pMediaRegister.begin(); _it != pMediaRegister.end(); _it++) {
_outfile << (*_it)->getID() << "¤";
genre = (*_it)->getGenre();
_outfile << genre << "¤";
_outfile << (*_it)->getTitle() << "¤";
_outfile << (*_it)->getYear() << "¤";
runTime = (*_it)->getRunTime();
_outfile << runTime.getHours() << "," << runTime.getMinutes() << "¤";
_outfile << (*_it)->getDescription() << "¤";
// Specific data for genres
if (strcmp(genre, "Sci-Fi") == 0) {
_outfile << (*_it)->getSubgenre() << "¤";
_outfile << (*_it)->getSciFiPeriod() << "¤";
}
else if (strcmp(genre, "Historic") == 0) {
_outfile << (*_it)->getSubgenre() << "¤";
_outfile << (*_it)->getHistoricFigure() << "¤";
_outfile << (*_it)->getTimePeriod() << "¤";
}
_outfile << endl;
}
}
catch (char* error) {
throw error;
}
catch (...) {
throw 0;
}
_outfile.close();
return true;
}
int main()
{
int hour, minute, second;
MyTime myTime;
while
(cout<<"Enter Time in the given format ie. Hour:Minute:second ")
{
cin>>hour>>minute>>second;
try{
myTime.setTime(hour, minute, second);//time is set here if exception occurs than catch will handle it.
break;//if everything is correct then the loop gets break and continues with other operation.
}
catch(RangeErrorException &RangeErrorException)//if exception occurs, then it will display the error message and the user have to input the value within the range.
{
cout<<"Exception error: "<<RangeErrorException.what()<<endl;//if exception occurs then it will perform the task in specified function.
}
}
myTime.nextSecond();
cout<<"Time on next Second :: "<<myTime.toString()<<endl;
myTime.nextMinute();
cout<<"Time on next Minute :: "<<myTime.toString()<<endl;
myTime.nextHour();
cout<<"Time on next hour :: "<<myTime.toString()<<endl;
}
void ui_prompt() {
MyTime t = MyTime();
ui_printError();
t.printJD(F("\n"));
myprintf(F(" Vcc = %ld mV \n"),ui_readVcc());
myprintln();
if (!RUNNING) myprintf(F("*!* SYSTEM IS NOT RUNNING *!*\n"));
if (PHASE_BROKEN) myprintf(F("*!* PHASE SYSTEM BROKEN FLAG IS SET *!*\n"));
if (TILT_BROKEN) myprintf(F("*!* TILT SYSTEM BROKEN FLAG IS SET *!*\n"));
if (mytime_speed != 0 ) myprintf(F("*!* CLOCK SPEED SET %4d mins/sec *!*\n"), mytime_speed);
myprintf(">");
}
void _ui_printState() {
MyTime t = MyTime();
moon_updateState(t);
float phaseAng = phase_read();
myprintf(F("** PHASE DRIVE SYSTEM\n"));
myprintf(F(" phaseOffset : %d\n"), phase_Offset);
myprintf(F(" Sensors range : %d->%d %d->%d\n"), sensor1_min, sensor1_max, sensor2_min, sensor2_max);
myprintf(F(" Sensor state : ang=%s v1=%d v2=%d \n"), myf2str(phaseAng), phase_sense1, phase_sense2);
myprintf(F("** TILT DRIVE SYSTEM\n"));
myprintf(F(" servo state : %d->%d->%d parity: %d\n"), tilt_servoDownLimit, servo_pos, tilt_servoUpLimit,tilt_parity);
myprintf(F("** LUNAR \n"));
myprintf(F(" JH index : %d\n"), data_index());
MyTime tp = MyTime(data_jh_prev(), 0, 0);
MyTime tn = MyTime(data_jh_next(), 0, 0);
if (data_isWaxing()) {
tp.print(F(" Prev New:"));
tn.print(F("\n Next Full:"));
myprintln();
} else {
tp.print(F(" Prev Full: "));
tn.print(F("\n Next New: "));
myprintln();
}
myprintf(F(" moon tilt : %s \n"), myf2str(moon_tilt));
myprintf(F(" moon alt : %s \n"), myf2str(moon_alt));
myprintf(F(" moon phase : %s \n"), myf2str(moon_phase));
myprintf(F(" season ang : %s \n"), myf2str(season_ang));
ui_printError();
}
void MyKinect::ProcessDepth(const UINT16* pBuffer, int nWidth, int nHeight, USHORT nMinDepth, USHORT nMaxDepth)
{//处理深度，并修复,产生掩码
#ifdef DEBUG
MyTime mt;
mt.Reset();
mt.Start();
#endif
// Make sure we've received valid data
if (m_pDepthRGBX && pBuffer && (nWidth == cDepthWidth) && (nHeight == cDepthHeight))
{
depthFrames++;
cout << "depthFrames第" << depthFrames << "帧" << endl;
RGBQUAD* pRGBX = m_pDepthRGBX;
const UINT16* pBufferEnd = pBuffer + (nWidth * nHeight);
int k1 = 0, k2 = 0; int k3 = 0, k4 = 0;
Mat inpaintResult;//修图结果
Mat inpaintMask;//掩码
Mat badMask;//错误点的掩码
badMask = Mat::zeros(Size(nWidth, nHeight), CV_8U);
inpaintMask = Mat::zeros(Size(nWidth, nHeight), CV_8U);
/*uchar * inpaintDataMask = inpaintMask.data;
uchar * badMaskData = badMask.data;//标记当前帧 错误点掩码
uchar * depthMat_LastData= m_pDepthMat_Last.data;
uchar * depthMat_LastDataMask = m_pDepthMat_LastMask.data;//前景的掩码
*/
/* int a = m_pDepthMat_Last.channels();
int b = m_pDepthMat_LastMask.channels();
int c = badMask.channels();
int d = inpaintMask.channels();
cout << a << " " << b << " " << c << " " << d << endl;
*/
//考虑到mat字节对齐，改为for
for (int i = 0; i < nHeight;i++)
{
uchar * inpaintDataMask = inpaintMask.ptr<uchar>(i);
uchar * badMaskData = badMask.ptr<uchar>(i);//标记当前帧 错误点掩码
uchar * depthMat_LastData = m_pDepthMat_Last.ptr<uchar>(i);
uchar * depthMat_LastDataMask = m_pDepthMat_LastMask.ptr<uchar>(i);//前景的掩码
for (int j = 0; j < nWidth;j++)
{
USHORT depth = *pBuffer;
bool maskOfPixel = 0;
if (depth <= 0)//must error pixels
{
depth = 0;
badMaskData[j] = (uchar)255;
maskOfPixel = 1;
k1++;
}
if (depth > 4500) k2++;
depth = depth >> 4;//如何最好的将 450 -- 5500映射到 0 -255里面
//有大量=0的点，2W多 ,
if (depth >= 255) {//掩码赋值
depth = 255;
}
BYTE intensity = static_cast<BYTE>(depth);
//用上一帧修正
if (maskOfPixel)
{//深度有误
k3++;
//上一帧的修复只能对背景用，不能对运动的用
//if ((depthMat_LastDataMask[j]) == 0)//是背景
//重要的地方就是 人运动的边缘，而这都是前景区域了。
{//这两个是8u3c的
intensity = (depthMat_LastData[j*3]);//采用上一帧
}
if (intensity == 0)// || intensity == 255))//结果表明 摄像头固定，有的点会一直错误
{//上一帧也是错误点，且没修复,接着修复
inpaintDataMask[j] = (uchar)255;
k4++;
}
}
pRGBX->rgbRed = intensity;
pRGBX->rgbGreen = intensity;
pRGBX->rgbBlue = intensity;
++pRGBX;
++pBuffer;
}
}
// std::cout << setw(5)<< k1 << setw(5) << k2 <<"为0点："<<setw(5)<<k3<<" 修正："<<setw(5)<<k4<<" "<<" "<<std::endl ;
//复制上一帧
// memcpy( m_pDepthRGBX_Last,m_pDepthRGBX, sizeof(RGBQUAD)*cDepthHeight*cDepthWidth);
// Draw the data with OpenCV
Mat DepthImage(nHeight, nWidth, CV_8UC4, m_pDepthRGBX);
//imshow("orignal", DepthImage);
//cvMoveWindow("orignal",0,0);
Mat depthImageRGB;
cvtColor(DepthImage,depthImageRGB,CV_RGBA2RGB);
cv::inpaint(depthImageRGB, inpaintMask, inpaintResult, 3, CV_INPAINT_TELEA);// CV_INPAINT_NS);//空洞太大了效果不好
//使用了inpaint后，就是第一帧会修复，其他的都不会修复了。
// imshow("inpaint", inpaintResult);
// cvMoveWindow("inpaint", 500, 0);
//cvSmooth(&inpaintResult, &m_pDepthMat_Last);这是c格式的支持cvmat的，下面的才是c++的
// Mat blurMat;
// blur(inpaintResult, blurMat, Size(3, 3), Point(-1, -1)); //Size( w,h ):
// imshow("blur", blurMat);
//cvMoveWindow("blur",500,500);
//2015-5-10 晚 ，修改为缩小版
cv::resize(m_pDepthMat_Last, m_pDepthMat_Last_Resize, cv::Size(cDepthWidth_RESIZE, cDepthHeight_RESIZE));
//对 fuliye版本 调整位置
cv::GaussianBlur(inpaintResult, m_pDepthMat_Last, Size(3, 3), 0,0); //Size( w,h ):
// m_pDepthMat_Last = inpaintResult.clone();//保存上一帧
// imshow("gaussianBlur", m_pDepthMat_Last);
//cvMoveWindow("gaussianBlur",0,500);
// cvMoveWindow("gaussianBlur", 0, 0);
// cvWaitKey(1);
// cout << "m_pDepthMat_Last :" << m_pDepthMat_Last.channels();
Mat foreMat;//提取前景
//m_pDepthBackProcess.process_Mog2(m_pDepthMat_Last, foreMat);
// m_pDepthBackProcess.depthProcessBackGround(m_pDepthMat_Last, m_pDepthMat_LastMask);
// m_pDepthBackProcess.testManyMethod(m_pDepthMat_Last, foreMat);
m_pDepthBackProcess.depthProcessBackGround(m_pDepthMat_Last_Resize, m_pDepthMat_LastMask_Resize);
/*
测试分割
ImageSegment iseg;
m_pTempshow=iseg.regiongrowthIndepth3(m_pDepthMat_Last, m_pDepthMat_LastMask);
*/
/* if( (foreMat.rows !=0 )&& (foreMat.cols !=0))
{
m_pDepthMat_LastMask = foreMat.clone();//保存前景的掩码
}*/
// cout <<"通道数目"<< inpaintResult.channels();
// BaseImageTools::SaveDepthImageToAVI(inpaintResult, nWidth, nHeight, depthWriter);
// BaseImageTools::SaveDepthImageToAVI(inpaintResult, nWidth, nHeight, depthWriter2);
//BaseImageTools::SaveDepthImageToAVI(DepthImage, nWidth, nHeight, depthWriter);
/* Mat show = DepthImage.clone();
imshow("DepthImage2", show);
*/
}
int main()
{
int hour,minute,second;
MyTime time;
while(cout << "Enter time in format HH:MM:SS ")
{
cin>>hour>>minute>>second;
try
{
time.setTime(hour,minute,second);
break;
}
catch (OutOfRangeException &OutOfRangeException){
cout << "Exception Occured !!! " << OutOfRangeException.what() << endl;
}
}
time.nextSecond();
cout << "After one second, time is -> " << time.toString() << endl;
time.nextMinute();
cout << "After one minute, time is -> " << time.toString() << endl;
time.nextHour();
cout << "After one hour, time is -> " << time.toString() << endl;
time.previousSecond();
cout << "Before one second, time was -> " << time.toString() << endl;
time.previousMinute();
cout << "Before one minute, time was -> " << time.toString() << endl;
time.previousHour();
cout << "Before one hour, time was -> " << time.toString() << endl;
}
bool MyTime::operator >=(const MyTime t) const
{
return (this->toMinutes() >= t.toMinutes());
}
bool MyTime::operator ==(const MyTime t) const
{
return ((this->days() == t.days()) && (this->hours() == t.hours()) && (this->minutes() == t.minutes()));
}
MyTime MyTime::operator -(const MyTime t) const
{
return MyTime(this->days() - t.days(), this->hours() - t.hours(), this->minutes() - t.minutes());
}
// +, += (Addition - takes a MyTime)
MyTime MyTime::operator+ (const MyTime & aMyTime) const {
MyTime current;
current.AddTicks(this->_ticks);
current.AddTime(aMyTime);
return current;
}
// Process a line.
static void ui_command(char *cmd) {
char *tok;
MyTime tm = MyTime();
int n = 1, incHr = 1;
int phaseOff, d, u, tmp;
myflush();
myprintln();
switch (cmd[0]) {
case 'M':
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) {
n = 10;
} else {
n = in_range(1, 200, atoi(tok));
}
moon_halfTable(n);
break;
case 'C':
phase_calibrate();
break;
case '!':
error_mess = NULL;
PHASE_BROKEN = false;
TILT_BROKEN =false;
BREAK = false;
servo_retry_count = 0;
break;
case 'H':
phase_halt();
RUNNING = false;
break;
case 'T': // tilt override.
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
ui_tilt = in_range(-80, 80, atoi(tok));
if (RUNNING) myprintf(F("*!* Halt system to take effect \n"));
break;
case 'D':
{
MyTime t1;
if (t1.parseStr(&cmd[2])) {
t1.writeRTC();
delay(1500);
MyTime t2 = MyTime();
t2.print(F("\n check me : "));
myprintln();
} else {
myprintf(F(" Error in date time input \n"));
}
}
break;
case 'P': // phase
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
ui_phase = in_range(-180, 180, atoi(tok));
if (RUNNING) myprintf(F("*!* Halt system to take effect \n"));
else phase_set(ui_phase);
break;
case 'O': // phase offset
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
phaseOff = in_range(-360, 360, atoi(tok));
phase_setOffset(phaseOff);
if (!RUNNING) phase_set(ui_phase);
break;
case 't':
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
d = in_range(SERVO_MIN, SERVO_MID, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
u = in_range(SERVO_MID, SERVO_MAX, atoi(tok));
tilt_setLimits(d, u);
break;
case 'p':
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
tilt_parity = atoi(tok) ;
break;
case 'S':
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto INVALID;
mytime_setSpeed(in_range(-100, 100, atoi(tok)));
RUNNING=true;
break;
case 'W':
eeprom_write();
break;
case 'R':
BREAK = false;
RUNNING = true;
error_mess = NULL;
mytime_setSpeed(0);
break;
case '?':
ui_welcome();
break;
case 'L':
{
int Minute = tm.getMinute();
int Second = tm.getSecond();
int Year = tm.getYear();
int Month = tm.getMonth();
int Day = tm.getDay();
int Hour = tm.getHour();
tok = strtok(cmd, " :");
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
n = in_range(1, 200, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
incHr = in_range(1, 366 * 24, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Year = in_range(2016, 2200, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Month = in_range(1, 12, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Day = in_range(1, mytime_daysInMonth(Month, Year), atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Hour = in_range(0, 23, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Minute = in_range(0, 59, atoi(tok));
tok = strtok(NULL, " ");
if (tok == NULL) goto OK2;
Second = in_range(0, 59, atoi(tok));
OK2:
MyTime tt = MyTime(Year, Month, Day, Hour, Minute, Second);
moon_printTable(tt, n, incHr);
}
break;
}
ui_prompt();
return;
INVALID:
myprintf(F("\n Command error \n>"), cmd);
ui_prompt();
return;
}
