void decipherImage(int direction) {
// Convert RGB camera frame to binary
BinaryRGBFrame(cameraFrame);
//WaitUs(3000000);
// Try to identify the forms and make a list of it.
// CAN IDENTIFY MULTIPLE FORMS IN THE SAME IMAGE.
// pattern defined in pattern.h
numFormsThisFrame = IdentifyForm(cameraFrame, formsListThisFrame, pattern);
// No forms identified this frame
if (numFormsThisFrame == 0) {
DrawBitmap(0, 0, IDB_NOFORMS, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=-1;
}
// Parse the list of the form and print result on the Pob-Terminal and the LCD Screen
// Draw bitmap and store into screenBuffer, then output screenBuffer
// to the LCD screen. Note: This displays BIGA when a Trefle is observed?
for (formsThisFrameIdx = 0; formsThisFrameIdx < numFormsThisFrame; formsThisFrameIdx++) {
// Switch on the Pattern ID observed this frame
switch (formsListThisFrame[formsThisFrameIdx].id) {
// TRACK
case IDP_0_CROSS:
DrawBitmap(0, 0, IDB_CROSS, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=IDP_0_CROSS;
break;
// ROBOT
case IDP_1_BIGA:
DrawBitmap(0, 0, IDB_BIGA, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=IDP_5_TRIANGLE;
break;
// TRAIN
case IDP_2_KING:
DrawBitmap(0, 0, IDB_KING, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=IDP_2_KING;
break;
// TRACK
case IDP_3_TOWER:
DrawBitmap(0, 0, IDB_TOWER, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=IDP_0_CROSS;
break;
// NOT USED
case IDP_4_TREFLE:
DrawBitmap(0, 0, IDB_BIGA, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
break;
// ROBOT
case IDP_5_TRIANGLE:
DrawBitmap(0, 0, IDB_TRIANGLE, bitmap, &screenBuffer);
DrawLCD(&screenBuffer);
canCross[direction]=IDP_5_TRIANGLE;
break;
// SAFE
default:
canCross[direction]=-1;
break;
}
}
}
int main (void)
{
UInt8 i=0,Nb_Identify=0;
// List of form
Form ListOfForm[MAX_OF_FORM];
// Struct of three pointers on the RGB components
UInt8 * FrameFromCam;
//The pixels will be stocked in the LCD buffer
UInt8 LCD_Buffer [LCD_WIDTH*LCD_HEIGHT*BITS] ;
GraphicBuffer ScreenBuffer ;
// System and LCD screen initialization
InitPobeye2();
InitI2C(I2C_100_KHZ);
InitCameraPobeye2();
InitLCD();
InitPobProto();
SwitchOnAllServo();
// Get the pointer of the red,green and blue video buffer
FrameFromCam = GetRGBFrame();
// Init the Graphic buffer with 128 per 64, one pixel per bit and LCD_Buffer
InitGraphicBuffer( &ScreenBuffer, LCD_WIDTH,LCD_HEIGHT,ONE_BIT,LCD_Buffer);
// clear the graphic buffer
ClearGraphicBuffer(&ScreenBuffer);
while(1)
{
// grab the RGB components
GrabRGBFrame();
// Binary the three RGB Buffer
BinaryRGBFrame(FrameFromCam);
// Try to identify the forms and make a list of it
Nb_Identify=IdentifyForm(FrameFromCam,ListOfForm,pattern);
// Parse the list of the form and print result on the Pob-Terminal and the LCD Screen
for (i=0;i<Nb_Identify;i++)
{
switch (ListOfForm[i].id)
{
case IDP_0_CROSS:
// Draw bitmap on the buffer and the LCD screen
DrawBitmap(0,0,IDB_CROSS,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
MoveBot(RUN);
break;
// case IDP_1_BIGA:
// DrawBitmap(0,0,IDB_BIGA,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
case IDP_2_KING:
DrawBitmap(0,0,IDB_KING,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
MoveBot(LEFT);
break;
// case IDP_3_TOWER:
// DrawBitmap(0,0,IDB_TOWER,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
// case IDP_4_TREFLE:
// DrawBitmap(0,0,IDB_BIGA,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
// case IDP_5_TRIANGLE:
// DrawBitmap(0,0,IDB_TRIANGLE,bitmap,&ScreenBuffer);
// DrawLCD(&ScreenBuffer);
// break;
default:
MoveBot(STOP);
break;
}
}
if (Nb_Identify == 0)
{
DrawBitmap(0,0,IDB_NOFORMS,bitmap,&ScreenBuffer);
DrawLCD(&ScreenBuffer);
}
}
return 0;
}
