int main(int argc, const char **argv)
{
//Variaveis
int degrees,PosRelX,PosRelY;
float radians,Dlaser,ODM_ang, ang;
int width = 500, height = 500; //Coloque o tamanho do mapa aqui (em pixel)
int centroX = (width / 2);
int centroY = (height / 2);
playerc_client_t *client;
playerc_laser_t *laser;
playerc_position2d_t *position2d;
CvPoint pt,pt1,pt2;
CvScalar cinzaE,preto,cinzaC;
char window_name[] = "Mapa";
IplImage* image = cvCreateImage( cvSize(width,height), 8, 3 );
cvNamedWindow(window_name, 1 );
preto = CV_RGB(0, 0, 0); //Para indicar obstaculos
cinzaE = CV_RGB(92, 92, 92); //Para indicar o desconhecido
cinzaC = CV_RGB(150, 150, 150); //Para indicar espacos livres
printf ("debug: 11 - INICIO\n");
client = playerc_client_create(NULL, "localhost", 6665);
printf ("debug: 12\n");
if (playerc_client_connect(client) != 0)
return -1;
printf ("debug: 13\n");
laser = playerc_laser_create(client, 0);
printf ("debug: 21\n");
if (playerc_laser_subscribe(laser, PLAYERC_OPEN_MODE))
return -1;
printf ("debug: 22\n");
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0) {
printf ("err1\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf ("debug: 23\n");
if (playerc_client_datamode (client, PLAYERC_DATAMODE_PULL) != 0) {
printf ("err2\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf ("debug: 24\n");
if (playerc_client_set_replace_rule (client, -1, -1, PLAYER_MSGTYPE_DATA, -1, 1) != 0) {
printf ("err3\n");
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
playerc_position2d_enable(position2d, 1); // Liga os motores
printf ("debug: 25\n");
playerc_position2d_set_odom(position2d, 0, 0, 0); // Zera o odômetro
cvSet(image, cinzaE,0); //Preencha a imagem com fundo cinza escuro
pt.x = centroX; // Zera a coordenada X
pt.y = centroY; // Zera a coordenada Y
/*
if( 0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0), 1))
return -1;
*/
while(1) {
printf ("debug: 26\n");
playerc_client_read(client);
printf ("debug: 27\n");
//cvSaveImage("mapa1.jpg",image,0);
printf ("debug: 28\n");
//playerc_client_read(client);
printf ("debug: 29\n");
for (degrees = 2; degrees <= 360; degrees+=2) {
printf ("debug: 30\n");
Dlaser = laser->scan[degrees][0];
printf ("debug: 31\n");
if (Dlaser < 8) {
radians = graus2rad (degrees/2); //Converte o angulo do laser em graus para radianos
printf ("debug: 32\n");
ODM_ang = position2d->pa; //Obtem o angulo relativo do robo
ang = ((1.5*PI)+radians+ODM_ang); //Converte o angulo relativo em global
printf ("debug: 33\n");
PosRelX = arredonda(position2d->px); //Posicao X relativa do robo
PosRelY = arredonda(position2d->py); //Posicao Y relativa do robo
printf ("debug: 34\n");
pt1.y = (centroY-PosRelY); //Coordenada y global do robo
pt1.x = (centroX+PosRelX); //Coordenada x global do robo
//converte coordenadas polares para retangulares (global)
printf ("debug: 35\n");
pt.y = (int)(pt1.y-(sin(ang)*Dlaser*10));
pt.x = (int)(pt1.x+(cos(ang)*Dlaser*10));
printf ("debug: 36\n");
//Desenha a area livre
cvLine(image, pt1,pt,cinzaC, 1,4,0);
printf ("debug: 37\n");
//Marca o objeto no mapa
cvLine(image, pt,pt,preto, 1,4,0);
printf ("debug: 38\n");
//Mostra o resultado do mapeamento na tela
//cvShowImage(window_name, image );
printf ("debug: 39\n");
//cvWaitKey(10);
printf ("debug: 40\n");
}
}
}
//Desconecta o player
printf ("debug: 41\n");
playerc_laser_unsubscribe(laser);
printf ("debug: 42\n");
playerc_laser_destroy(laser);
printf ("debug: 43\n");
playerc_client_disconnect(client);
printf ("debug: 44\n");
playerc_client_destroy(client);
printf ("debug: 45\n");
//Destroi a janela OpenCV
cvReleaseImage(&image);
printf ("debug: 46\n");
cvDestroyWindow(window_name);
printf ("debug: 47\n");
return 0;
}
int
player_init(int argc, char *argv[])
{
int csize, usize, i;
if(get_options(argc, argv) < 0)
{
print_usage();
exit(-1);
}
// Create a g_client object and connect to the server; the server must
// be running on "localhost" at port 6665
g_client = playerc_client_create(NULL, g_hostname, g_port);
playerc_client_set_transport(g_client, g_transport);
if (0 != playerc_client_connect(g_client))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
exit(-1);
}
/* if (0 != playerc_client_datafreq(g_client, 20))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
*/
// Create a camera proxy (device id "camera:index") and susbscribe
g_camera = playerc_camera_create(g_client, g_camera_index);
if (0 != playerc_camera_subscribe(g_camera, PLAYER_OPEN_MODE))
{
fprintf(stderr, "camera error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a camera\n");
playerc_camera_destroy(g_camera);
g_camera = NULL;
}
// Create a blobfinder proxy (device id "blobfinder:index") and susbscribe
g_blobfinder = playerc_blobfinder_create(g_client, g_blobfinder_index);
if (0 != playerc_blobfinder_subscribe(g_blobfinder, PLAYER_OPEN_MODE))
{
fprintf(stderr, "blobfinder error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a blobfinder\n");
playerc_blobfinder_destroy(g_blobfinder);
g_blobfinder = NULL;
}
if ((NULL == g_camera) && (NULL == g_blobfinder))
{
fprintf(stderr, "we need either a camera or blobfinder! aborting\n");
exit(-1);
}
// Get up to 10 images until we have a valid frame (g_wdith > 0)
for (i=0, g_width=0; i < 10 && g_width==0 && NULL != playerc_client_read(g_client); ++i)
{
if (NULL != g_camera)
{
// Decompress the image
csize = g_camera->image_count;
playerc_camera_decompress(g_camera);
usize = g_camera->image_count;
g_print("camera: [w %d h %d d %d] [%d/%d bytes]\n",
g_camera->width, g_camera->height, g_camera->bpp, csize, usize);
g_width = g_camera->width;
g_height = g_camera->height;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
}
else // try the blobfinder
{
g_print("blobfinder: [w %d h %d]\n",
g_blobfinder->width, g_blobfinder->height);
g_width = g_blobfinder->width;
g_height = g_blobfinder->height;
usize = g_width * g_height * 3;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
// set the image data to 0 since we don't have a camera
memset(g_img, 128, usize);
}
}
g_window_width = g_width;
g_window_height = g_height;
assert(g_width>0);
assert(g_height>0);
playerc_client_datamode(g_client,PLAYER_DATAMODE_PULL);
playerc_client_set_replace_rule(g_client,-1,-1,PLAYER_MSGTYPE_DATA,-1,1);
return 0;
}
static gint playerout_open(AFormat fmt, gint rate, gint nch)
{
gint pos;
written = 0;
afmt = fmt;
sampleRate = rate;
numChannels = nch;
startTime = 0.0f;
pausedTime = 0.0f;
if (xmms_check_realtime_priority())
{
xmms_show_message("Error",
"You cannot use the Player Output plugin\n"
"when you're running in realtime mode.",
"Ok", FALSE, NULL, NULL);
return 0;
}
/* do player server connection here */
// Create a client object and connect to the server; the server must
// be running on "localhost" at port 6665
client = playerc_client_create(NULL, server_address, server_port);
if (playerc_client_connect(client) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
client = NULL;
return 0;
}
// Create a audio proxy susbscribe
audio_proxy = playerc_audio_create(client, server_index);
if (playerc_audio_subscribe(audio_proxy, PLAYERC_OPEN_MODE) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return 0;
}
// Set to PULL data mode
if (playerc_client_datamode (client, PLAYERC_DATAMODE_PULL) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return 0;
}
if (playerc_client_set_replace_rule (client, -1, -1, PLAYER_MSGTYPE_DATA, -1, 1) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return 0;
}
bytesPerSecond = rate * nch;
if (fmt == FMT_S16_LE || fmt == FMT_S16_BE || fmt == FMT_S16_NE ||
fmt == FMT_U16_LE || fmt == FMT_U16_BE || fmt == FMT_U16_NE)
bytesPerSecond *= 2;
// Allocate a buffer
bufferLength = (int) (((float) bufferTime / 1000.0f) * bytesPerSecond);
if (buffer != NULL)
free (buffer);
buffer = malloc (bufferLength);
bufferPos = 0;
return 1;
}
int main(int argc, const char **argv)
{
playerc_client_t *client;
playerc_opaque_t *ringLEDs;
playerc_opaque_t *frontLED;
playerc_opaque_t *bodyLED;
client = playerc_client_create(NULL, "localhost", 6665);
if(playerc_client_connect(client) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
ringLEDs = playerc_opaque_create(client, 0);
if(playerc_opaque_subscribe(ringLEDs, PLAYERC_OPEN_MODE) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
frontLED = playerc_opaque_create(client, 1);
if(playerc_opaque_subscribe(frontLED, PLAYERC_OPEN_MODE) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
bodyLED = playerc_opaque_create(client, 2);
if(playerc_opaque_subscribe(bodyLED, PLAYERC_OPEN_MODE) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if(playerc_client_datamode(client, PLAYERC_DATAMODE_PULL) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if(playerc_client_set_replace_rule(client, -1, -1,
PLAYER_MSGTYPE_DATA, -1, 1) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
/* Turn on the ring LEDs 2 and 6, and the front and body LEDs. */
player_opaque_data_t ringData, frontData, bodyData;
ringData.data_count = 8;
int led;
for(led = 0; led < 8; led++)
{
ringData.data[led] = 0;
}
ringData.data[2] = 1;
ringData.data[6] = 1;
frontData.data_count = 1;
frontData.data[0] = 1;
bodyData.data_count = 1;
bodyData.data[0] = 1;
playerc_opaque_cmd(ringLEDs, &ringData);
playerc_opaque_cmd(frontLED, &frontData);
playerc_opaque_cmd(bodyLED, &bodyData);
/* Without this sleep there will not be enough time for process all above *
* messages. If the camera interface is not in provides section of Player *
* configuration file, the time for e-puck initialization will be smaller, *
* and consequently this sleep time will can be smaller. */
usleep(3e6);
/* Shutdown and tidy up */
playerc_opaque_unsubscribe(ringLEDs);
playerc_opaque_destroy(ringLEDs);
playerc_opaque_unsubscribe(frontLED);
playerc_opaque_destroy(frontLED);
playerc_opaque_unsubscribe(bodyLED);
playerc_opaque_destroy(bodyLED);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
// Main
int main(int argc, char **argv)
{
playerc_client_t *client;
rtk_app_t *app;
mainwnd_t *mainwnd;
opt_t *opt;
const char *host;
int port;
int i;
int count;
double rate;
char section[256];
int device_count;
device_t devices[PLAYER_MAX_DEVICES];
device_t *device;
struct timeval tv, tc = {0, 0};
struct timespec st = {0, (1.0/GUI_UPDATE_RATE) * 1e9};
printf("PlayerViewer %s\n", PLAYER_VERSION);
// Initialise rtk lib (after we have read the program options we
// want).
rtk_init(&argc, &argv);
// Register signal handlers
signal(SIGINT, sig_quit);
signal(SIGQUIT, sig_quit);
// Load program options
opt = opt_init(argc, argv, NULL);
if (!opt)
{
print_usage();
return -1;
}
// Pick out some important program options
host = opt_get_string(opt, "", "host", NULL);
if (!host)
host = opt_get_string(opt, "", "h", "localhost");
port = opt_get_int(opt, "", "port", -1);
if (port < 0)
port = opt_get_int(opt, "", "p", 6665);
rate = opt_get_double(opt, "", "rate", 5.0);
if(rate < 0.0)
rate = 0.0;
// Connect to the server
printf("Connecting to [%s:%d]\n", host, port);
client = playerc_client_create(NULL, host, port);
if (playerc_client_connect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
print_usage();
return -1;
}
if(rate == 0.0)
{
printf("Setting delivery mode to PLAYER_DATAMODE_PUSH\n");
// Change the server's data delivery mode.
if (playerc_client_set_replace_rule(client, -1, -1, -1, -1, 0) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Change the server's data delivery mode.
// PLAYERC_DATAMODE_PUSH, PLAYERC_DATAMODE_PULL
if (playerc_client_datamode(client, PLAYERC_DATAMODE_PUSH) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
}
// Get the available devices.
if (playerc_client_get_devlist(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Create gui
app = rtk_app_create();
// Create a window for most of the sensor data
mainwnd = mainwnd_create(app, host, port);
if (!mainwnd)
return -1;
// Create a list of available devices, with their gui proxies.
device_count = 0;
for (i = 0; i < client->devinfo_count; i++)
{
device = devices + device_count;
device->addr = client->devinfos[i].addr;
device->drivername = strdup(client->devinfos[i].drivername);
// See if the device should be subscribed immediately.
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
device->subscribe = opt_get_int(opt, section, "", 0);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s",
interf_to_str(device->addr.interf));
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
// Allow for --position instead of --position2d
if(device->addr.interf == PLAYER_POSITION2D_CODE)
{
snprintf(section, sizeof(section), "%s:%d",
PLAYER_POSITION2D_STRING, device->addr.index);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s", PLAYER_POSITION2D_STRING);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
}
// Create the GUI proxy for this device.
create_proxy(device, opt, mainwnd, client);
device_count++;
}
// Print the list of available devices.
printf("Available devices: %s:%d\n", host, port);
for (i = 0; i < device_count; i++)
{
device = devices + i;
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
printf("%-16s %-40s", section, device->drivername);
if (device->proxy)
{
if (device->subscribe)
printf("subscribed");
else
printf("ready");
}
else
printf("unsupported");
printf("\n");
}
// Print out a list of unused options.
opt_warn_unused(opt);
// Start the gui; dont run in a separate thread and dont let it do
// its own updates.
rtk_app_main_init(app);
// start out timer if in pull mode
if(rate > 0.0)
gettimeofday(&tv, NULL);
while (!quit)
{
// Let gui process messages
rtk_app_main_loop(app);
if(rate == 0.0) // if we're in push mode
{
// see if there's data
count = playerc_client_peek(client, 50);
if (count < 0)
{
PRINT_ERR1("%s", playerc_error_str());
break;
}
if (count > 0)
{
/*proxy = */playerc_client_read_nonblock(client);
}
}
else // we're in pull mode
{
// we only want to request new data at the target rate
gettimeofday(&tc, NULL);
if(((tc.tv_sec - tv.tv_sec) + (tc.tv_usec - tv.tv_usec)/1e6) > 1.0/rate)
{
tv = tc;
// this requests a round of data from the server to be read
playerc_client_requestdata(client);
playerc_client_read_nonblock(client);
}
else
{
// sleep for the minimum time we can, so we don't use up too much
// processor
nanosleep(&st, NULL);
}
}
// Update the devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if(device->proxy)
(*(device->fnupdate)) (device->proxy);
}
// Update the main window
if (mainwnd_update(mainwnd) != 0)
break;
}
// Stop the gui
rtk_app_main_term(app);
// Destroy devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if (device->proxy)
(*(device->fndestroy)) (device->proxy);
free(device->drivername);
}
// Disconnect from server
if (playerc_client_disconnect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
playerc_client_destroy(client);
// For some reason, either of the following calls makes the program
// segfault on exit. I haven't figured out why, so I'm commenting them out. - BPG
// Destroy the windows
//mainwnd_destroy(mainwnd);
// Destroy the gui
//rtk_app_destroy(app);
opt_term(opt);
return 0;
}
int main(int argc, const char **argv)
{
//Variables
int degrees,PosRelX,PosRelY;
float radians,Dlaser,ODM_ang, ang;
int width = 500, height = 500; //Create the size of the map here (in pixel)
int centroX = (width / 2);
int centroY = (height / 2);
playerc_client_t *client;
playerc_laser_t *laser;
playerc_position2d_t *position2d;
CvPoint pt,pt1,pt2;
CvScalar cinzaE,preto,cinzaC;
char window_name[] = "Map";
IplImage* image = cvCreateImage( cvSize(width,height), 8, 3 );
cvNamedWindow(window_name, 1 );
preto = CV_RGB(0, 0, 0); //for indicating obstacles
cinzaE = CV_RGB(92, 92, 92); //To indicate the stranger
cinzaC = CV_RGB(150, 150, 150); //To indicate free spaces
client = playerc_client_create(NULL, "localhost", 6665);
if (playerc_client_connect(client) != 0)
return -1;
laser = playerc_laser_create(client, 0);
if (playerc_laser_subscribe(laser, PLAYERC_OPEN_MODE))
return -1;
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if (playerc_client_datamode (client, PLAYERC_DATAMODE_PULL) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
if (playerc_client_set_replace_rule (client, -1, -1, PLAYER_MSGTYPE_DATA, -1, 1) != 0) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
playerc_position2d_enable(position2d, 1); // initialise motors
playerc_position2d_set_odom(position2d, 0, 0, 0); // Set odometer to zero
cvSet(image, cinzaE,0); //set the image colour to dark
pt.x = centroX; // Zero coordinate for x
pt.y = centroY; // Zero coordinate for y
while(1) {
playerc_client_read(client);
cvSaveImage("mapa.jpg",image);
playerc_client_read(client);
for (degrees = 2; degrees <= 360; degrees+=2) {
Dlaser = laser->scan[degrees][0];
if (Dlaser < 8) {
radians = graus2rad (degrees/2); //Convert the angle of the laser to radians
ODM_ang = position2d->pa; //Obtain the angle relative to the robot
ang = ((1.5*PI)+radians+ODM_ang); //Converte the angle relative to the world
PosRelX = arredonda(position2d->px); //Position x relative to robot
PosRelY = arredonda(position2d->py); //Position y relative to robot
pt1.y = (centroY-PosRelY); //Co-ordinated global y of the robot
pt1.x = (centroX+PosRelX); //Co-ordinated global x of the robot
//t converts polar coordinates for rectangular (global)
pt.y = (int)(pt1.y-(sin(ang)*Dlaser*10));
pt.x = (int)(pt1.x+(cos(ang)*Dlaser*10));
//The free area draws cvline
cvLine(image, pt1,pt,cinzaC, 1,4,0);
//marks the object in the map
cvLine(image, pt,pt,preto, 1,4,0);
//Shows the result of the map to the screen
cvShowImage(window_name, image );
cvWaitKey(10);
}
}
}
//Disconnect player
playerc_laser_unsubscribe(laser);
playerc_laser_destroy(laser);
playerc_client_disconnect(client);
playerc_client_destroy(client);
//Destroy the OpenCV window cvReleaseImage
cvReleaseImage(&image);
cvDestroyWindow(window_name);
return 0;
}
