void playStun() {
int8_t j = 0;
int8_t i;
while (j < 10) {
for (i = 0; i < 24; i++) {
if(i % 2) {
colorRed();
} else {
colorYellow();
}
}
delay_25ms_n_times(11);
for (i = 0; i < 24; i++) {
if(i % 2) {
colorYellow();
} else {
colorRed();
}
}
delay_25ms_n_times(11);
j++;
}
}
void playArmed() {
//Setting all 24 LED's to Red and blinking rapidly
int8_t j = 0;
int8_t i;
while (j < 5) {
for (i = 0; i < 24; i++) {
if(i % 2) {
colorRed();
} else {
colorRedTwo();
}
}
delay_25ms_n_times(11);
for (i = 0; i < 24; i++) {
if(i % 2) {
colorRedTwo();
} else {
colorRed();
}
}
delay_25ms_n_times(11);
j++;
}
}
void Test::RunLocalizationTest(RGBImage* image) {
DLLExecution * executor = new DLLExecution(image);
executor->executePreProcessingStep1(false);
executor->executePreProcessingStep2(false);
executor->executePreProcessingStep3(false);
executor->executePreProcessingStep4(false);
executor->prepareLocalization();
IntensityImage* img = executor->resultPreProcessingStep4;
HistogramLocalization localizer = HistogramLocalization();
FeatureMap features = FeatureMap();
FeatureMap detectedItems = localizer.locateHead(img, features);
RGB colorRed(244, 67, 54);
RGBImage * debug = ImageFactory::newRGBImage(executor->resultPreProcessingStep1->getWidth(), executor->resultPreProcessingStep1->getHeight());
ImageIO::intensityToRGB(*executor->resultPreProcessingStep1, *debug);
for (int i = 0; i < 3; ++i)
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, Point2D<double>(detectedItems.getFeature(i).getX(), detectedItems.getFeature(i).getY()), colorRed);
ImageIO::saveRGBImage(*debug, ImageIO::getDebugFileName("localisation.png"));
ImageIO::showImage(*debug);
}
TEST(ColorToHex, Trivial) {
CColor colorRed(1.0f, 0.0f, 0.0f);
CColor colorGreen(0.0f, 1.0f, 0.0f);
CColor colorBlue(0.0f, 0.0f, 1.0f);
std::string redHex = utils::colorToHex(colorRed);
std::string greenHex = utils::colorToHex(colorGreen);
std::string blueHex = utils::colorToHex(colorBlue);
ASSERT_EQ(redHex, "ff0000");
ASSERT_EQ(greenHex, "00ff00");
ASSERT_EQ(blueHex, "0000ff");
}
void playDamage() {
//Setting all 24 LED's to Red and blinking 5 times
for (uint8_t i = 0; i < 24; i++) {
colorRed();
}
delay_25ms_n_times(5);
clearPattern();
delay_25ms_n_times(5);
}
void playTestPassed() {
int i;
for ( i = 0; i < 6; i++) {
colorRed();
}
for (i = 0; i < 6; i++) {
colorYellow();
}
for (i = 0; i < 6; i++) {
colorGreen();
}
for (i = 0; i < 6; i++) {
colorBlue();
}
delay_25ms_n_times(200);
}
void NeoPixelEffects::randomColor() {
i++;
switch ((i / 20) % 4) {
case 0:
colorBlue();
break;
case 1:
colorRed();
break;
case 2:
colorGreen();
break;
case 3:
colorYellow();
break;
}
}
void drawFeatureDebugImage(IntensityImage &image, FeatureMap &features) {
RGB colorRed(244, 67, 54);
RGBImage * debug = ImageFactory::newRGBImage(image.getWidth(), image.getHeight());
ImageIO::intensityToRGB(image, *debug);
//Nose
Point2D<double> noseLeft = features.getFeature(Feature::FEATURE_NOSE_END_LEFT)[0];
Point2D<double> noseRight = features.getFeature(Feature::FEATURE_NOSE_END_RIGHT)[0];
Point2D<double> nostrilLeft = features.getFeature(Feature::FEATURE_NOSTRIL_LEFT)[0];
Point2D<double> nostrilRight = features.getFeature(Feature::FEATURE_NOSTRIL_RIGHT)[0];
Point2D<double> noseBottom = features.getFeature(Feature::FEATURE_NOSE_BOTTOM)[0];
//These (weird) methods can be used to draw debug points
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, noseLeft, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, noseRight, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, nostrilLeft, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, nostrilRight, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, noseBottom, colorRed);
//Chin
std::vector<Point2D<double>> points = features.getFeature(Feature::FEATURE_CHIN_CONTOUR).getPoints();
for (size_t i = 0; i < points.size(); i++) {
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, points[i], colorRed);
}
//Eye
Feature leftEye = features.getFeature(Feature::FEATURE_EYE_LEFT_RECT);
Feature rightEye = features.getFeature(Feature::FEATURE_EYE_RIGHT_RECT);
//These (weird) methods can be used to draw debug rects
HereBeDragons::AsHisTriumphantPrizeProudOfThisPride(*debug, leftEye[0], leftEye[1], colorRed);
HereBeDragons::AsHisTriumphantPrizeProudOfThisPride(*debug, rightEye[0], rightEye[1], colorRed);
//Head
Feature headTop = features.getFeature(Feature::FEATURE_HEAD_TOP);
Feature headLeftNoseMiddle = features.getFeature(Feature::FEATURE_HEAD_LEFT_NOSE_MIDDLE);
Feature headLeftNoseBottom = features.getFeature(Feature::FEATURE_HEAD_LEFT_NOSE_BOTTOM);
Feature headRightNoseMiddle = features.getFeature(Feature::FEATURE_HEAD_RIGHT_NOSE_MIDDLE);
Feature headRightNoseBottom = features.getFeature(Feature::FEATURE_HEAD_RIGHT_NOSE_BOTTOM);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, headTop[0], colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, headLeftNoseMiddle[0], colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, headLeftNoseBottom[0], colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, headRightNoseMiddle[0], colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, headRightNoseBottom[0], colorRed);
//Mouth
Point2D<double> mouthTop = features.getFeature(Feature::FEATURE_MOUTH_TOP)[0];
Point2D<double> mouthBottom = features.getFeature(Feature::FEATURE_MOUTH_BOTTOM)[0];
Point2D<double> mouthLeft = features.getFeature(Feature::FEATURE_MOUTH_CORNER_LEFT)[0];
Point2D<double> mouthRight = features.getFeature(Feature::FEATURE_MOUTH_CORNER_RIGHT)[0];
//This (weird) method can be used to draw a debug line
HereBeDragons::ButRisingAtThyNameDothPointOutThee(*debug, mouthLeft, mouthRight, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, mouthTop, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, mouthBottom, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, mouthLeft, colorRed);
HereBeDragons::TriumphInLoveFleshStaysNoFatherReason(*debug, mouthRight, colorRed);
ImageIO::saveRGBImage(*debug, ImageIO::getDebugFileName("feature-points-debug.png"));
delete debug;
}
void ProcessEvent( EFlowEvent event, SActivationInfo *pActInfo )
{
IWeapon* pWeapon = GetWeapon(pActInfo);
if (!pWeapon)
return;
switch (event)
{
case eFE_Initialize:
{
m_isFiring = false;
m_numShots = GetPortInt( pActInfo, IN_NUMBEROFSHOTS );
m_actInfo = *pActInfo;
m_numShotsDone = 0;
pWeapon->StopFire();
if (pActInfo->pEntity->GetId() != m_weapId)
RemoveListener(m_weapId, this);
m_weapId = pActInfo->pEntity->GetId();
pWeapon->AddEventListener(this, __FUNCTION__);
#ifdef DEBUG_NODEFIREWEAPON
pActInfo->pGraph->SetRegularlyUpdated( pActInfo->myID, true );
#endif
break;
}
case eFE_Activate:
{
m_actInfo = *pActInfo;
if (IsPortActive(pActInfo, IN_NUMBEROFSHOTS))
m_numShots = GetPortBool( pActInfo, IN_NUMBEROFSHOTS );
if (IsPortActive(pActInfo, IN_STOPFIRE))
{
StopFiring( pActInfo, pWeapon );
}
if (IsPortActive(pActInfo, IN_STARTFIRE))
{
m_numShotsDone = 0;
ReplenishAmmo( pWeapon );
pWeapon->StopFire();
StartFiring( pActInfo, pWeapon );
}
break;
}
case eFE_Update:
{
// this fixes the problem when the entity is being externally moved/rotated, in the interval of time between when the weapon is aimed an the actual shot happens
if (m_isFiring && GetPortBool( pActInfo, IN_ALIGNTOTARGET ))
if (pActInfo->pEntity->GetWorldPos()!=m_lastPos || pActInfo->pEntity->GetWorldRotation()!=m_lastRotation)
CalcFiringPosition( pActInfo, pWeapon );
#ifdef DEBUG_NODEFIREWEAPON
ColorB colorRed( 255,0,0 );
ColorB colorGreen( 0,255,0 );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine( posOrig, colorRed, posTarget, colorRed );
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine( posTarget, colorGreen, posShot, colorGreen );
#endif
break;
}
}
}
void WorkPlaceWidget::drawEntitie(Entitie* e, bool focus, bool isAbstract){
this->calculateEntitie(e);
int x = ((IntField*)e->fieldByID("X"))->getValue();
int y = ((IntField*)e->fieldByID("Y"))->getValue();
int w = ((IntField*)e->fieldByID("W"))->getValue();
int h = ((IntField*)e->fieldByID("H"))->getValue();
int t = ((IntField*)e->fieldByID("T"))->getValue();
bool mov = true;
for(int i=0; i<this->core->getEntitieCount(); i++){
Entitie* e0 = this->core->getEntitieAt(i);
int xe = ((IntField*)e0->fieldByID("X"))->getValue();
int ye = ((IntField*)e0->fieldByID("Y"))->getValue();
int we = ((IntField*)e0->fieldByID("W"))->getValue();
int he = ((IntField*)e0->fieldByID("H"))->getValue();
if((xe-w-15<x)&&(ye-h-15<y)&&(we+xe+15>x)&&(he+ye+15>y)&&(e0!=e)){
mov = false;
}
}
int alpha = (((isAbstract)||(!mov)) ? 20 : 250);
int alpha0 = (((isAbstract)||(!mov)) ? 0 : 25);
int alpha1 = (((isAbstract)||(!mov)) ? 0 : 100);
if(isAbstract){
((IntField*)e->fieldByID("X"))->setValue(this->curX);
((IntField*)e->fieldByID("Y"))->setValue(this->curY);
}
QPainter painter(this);
QColor color(255,200,125,alpha);
QColor color1(255,170,100,alpha);
QColor color2(215,215,255,alpha);
QColor colorRed(252,139,130,alpha);
QColor colorGreen(125,220,125,alpha);
QColor colorGreenAlpha(55,155,55,alpha0);
QColor colorBlackAlpha(0,0,0,alpha1);
QPen pen1 = QPen(Qt::black, 1, Qt::SolidLine);
QPen pen2 = QPen(colorBlackAlpha, 1, Qt::SolidLine);
painter.setPen(pen1);
if(this->core->getState()==10 && this->core->getWeightOfSolution()!=-1){
bool green = false;
for(int i=0; i<this->core->getBestWay()->size(); i++){
if(e->getID()==this->core->getBestWay()->at(i)){
green = true;
}
}
if(t!=1){
if(green){
painter.setBrush(QBrush(colorGreen));
}else{
painter.setBrush(QBrush(colorRed));
}
}else{
painter.setBrush(QBrush(color2));
}
}else{
if(t==0){
painter.setBrush(QBrush(color1));
}else if(t==1){
painter.setBrush(QBrush(color2));
}else{
painter.setBrush(QBrush(color));
}
}
if(x>max_width-w-5){
((IntField*)e->fieldByID("X"))->setValue(max_width-w-5);
x=max_width-w-5;
}
if(y>max_height-h-5){
((IntField*)e->fieldByID("Y"))->setValue(max_height-h-5);
y=max_height-h-5;
}
if(x<5){
((IntField*)e->fieldByID("X"))->setValue(5);
x=5;
}
if(y<5){
((IntField*)e->fieldByID("Y"))->setValue(5);
y=5;
}
string label = e->getID();
QRect r1(x,y,w,h);
QRect r12(x+5,y+5,w-10,h-10);
QRect r2(x,y,w,20);
if(focus){
QRect rf(x-2,y-2,w+4,h+4);
painter.drawRect(rf);
}
painter.drawRect(r1);
painter.drawRect(r2);
painter.drawText(r12,label.c_str());
for(int i=work_count; i<e->fieldCount(); i++){
string field = e->fieldAt(i)->getID();
QRect tr(x+5,y+5+(i+1-work_count)*24,w-10,h-10);
painter.drawText(tr,field.c_str());
}
if(t!=1){
double distance = this->core->getDistanceOf(e);
painter.setBrush(QBrush(Qt::black));
painter.drawEllipse(QPoint(x-1,y-1), 2, 2);
if(focus){
painter.setBrush(QBrush(colorGreenAlpha));
painter.setPen(pen2);
painter.drawEllipse(QPoint(x-1,y-1), (int)qRound(distance), (int)qRound(distance));
}
}
}
