static int do_event(SDL_Event *e)
{
switch (e->type)
{
case SDL_MOUSEMOTION:
x = e->motion.x;
y = e->motion.y;
processMousePassiveMotion(move, x, y);
break;
case SDL_MOUSEBUTTONDOWN:
processMouseButtonDown(e->button.button, move);
break;
case SDL_MOUSEBUTTONUP:
processMouseButtonUp(e->button.button, move);
break;
case SDL_KEYDOWN:
processKeys(e->key.keysym.sym);
viewer->processKeys(e->key.keysym.sym);
break;
case SDL_QUIT:
return 0;
}
return 1;
}
/**
* Check for any keys pressed
*/
void Arcball::keyCallbackImpl(GLFWwindow* window, int key, int scancode, int action, int mods)
{
processKeys(window, key, action);
m_zoom_pos = m_keys[GLFW_KEY_Z];
m_zoom_neg = m_keys[GLFW_KEY_X];
}
void copySubBuffer(int x, int y, int width, int height) override {
glXCopySubBufferMESA(display, drawable, x, y, width, height);
if (window) {
processKeys(window);
}
}
void swapBuffers(void) override {
assert(!pbuffer);
glXSwapBuffers(display, drawable);
if (window) {
processKeys(window);
}
}
void Window::run() //timestep
{
double time; //not used for now, but useful for later when I need time in my scene
const double timestep = 1 / 60.0f; //for an ideal 60FPS
double lastTime = glfwGetTime();
while (!glfwWindowShouldClose(window))
{
double currentTime = glfwGetTime();
double frameTime = currentTime - lastTime;
if(frameTime > timestep)
{
glfwPollEvents();
processKeys();
processMouse();
scene->processKeys(keyboard);
scene->processMouse(mouse);
scene->update();
scene->render();
glfwSwapBuffers(window);
lastTime = glfwGetTime();
}
}
}
void Player::update(float deltaTime) {
//take input
if(!Debugger::isShown()) processKeys(deltaTime);
//transform coordinates for camera and other children
float p = getGame()->getTimeSinceFixed()/getGame()->getFixedUpdateTime();
transform = glm::translate(mat4f(1.0), lastPos*(1-p) + pos*p);
//trace view
traceView();
}
void swapBuffers(void) {
if (ever_current) {
// The window has been bound to a context at least once
glXSwapBuffers(display, window);
} else {
// Don't call glXSwapBuffers on this window to avoid an
// (untrappable) X protocol error with NVIDIA's driver.
std::cerr << "warning: attempt to issue SwapBuffers on unbound window "
" - skipping.\n";
}
processKeys(window);
}
void runInput() {
#ifndef NO_GUI
if (!video.sdlStarted)
return;
#endif
processKeys();
#ifndef NO_GUI
processMouse();
#endif
}
void GameClient::paint(){
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
processKeys();
mainPlayer->lookAt();
//gluLookAt(0,10,15, 0,0,0, 0,1,0);
wl.paint();
//dont paint mainplayer, paint all others..
for (std::vector<Player*>::iterator it=players.begin(); it!=players.end(); it++){
(*it)->paint();
}
}
void glutDisplayCallback(void)
{
processKeys();
// Draw texture.
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glBindTexture(GL_TEXTURE_2D, tex0);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_BASE_LEVEL, level);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glScalef(target_scale/win_w, target_scale/win_h, 1);
glTranslatef(target_x, target_y, 0);
drawQuad();
glutSwapBuffers();
}
void GameClient::mainloop(){
gameRunning = true;
int notifyCounter = 0;
while (gameRunning){
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
paint();
glfwSwapBuffers();
//processing keys for next paint..
processKeys();
gameRunning = glfwGetWindowParam(GLFW_OPENED);
notifyCounter = (notifyCounter+1)%30;
if (!notifyCounter){
notifyChanges();
}
Thread<GameClient,int>::sleep(20);
}
glfwTerminate();
}
/**
* \brief Called every logic cycle. This triggers the events that occur and process them through various functions
*/
void CInput::pollEvents()
{
// Semaphore
SDL_SemWait( pollSem );
if(remapper.mappingInput)
{
readNewEvent();
SDL_SemPost( pollSem );
return;
}
Vector2D<float> Pos;
#if SDL_VERSION_ATLEAST(2, 0, 0)
#else
GsRect<Uint16> Res(SDL_GetVideoSurface()->w, SDL_GetVideoSurface()->h);
#endif
// copy all the input of the last poll to a space for checking pressing or holding a button
memcpy(last_immediate_keytable, immediate_keytable, KEYTABLE_SIZE*sizeof(char));
for(int i=0 ; i<MAX_COMMANDS ; i++)
for(int j=0 ; j<NUM_INPUTS ; j++)
InputCommand[j][i].lastactive = InputCommand[j][i].active;
GsRect<Uint16> activeArea = gVideoDriver.mpVideoEngine->getAspectCorrRect();
auto &dispRect = gVideoDriver.getVidConfig().m_DisplayRect;
#if SDL_VERSION_ATLEAST(2, 0, 0)
#else
//if( !gVideoDriver.isOpenGL() )
{
activeArea.x = 0;
activeArea.y = 0;
}
#endif
// While there's an event to handle
while( SDL_PollEvent( &Event ) )
{
bool passSDLEventVec = true;
switch( Event.type )
{
case SDL_QUIT:
gLogging.textOut("SDL: Got quit event!");
m_exit = true;
gDreamsForceClose = 1;
break;
case SDL_KEYDOWN:
passSDLEventVec = processKeys(1);
break;
case SDL_KEYUP:
passSDLEventVec = processKeys(0);
break;
case SDL_JOYAXISMOTION:
passSDLEventVec = true;
processJoystickAxis();
break;
case SDL_JOYBUTTONDOWN:
passSDLEventVec = true;
processJoystickButton(1);
break;
case SDL_JOYBUTTONUP:
passSDLEventVec = true;
processJoystickButton(0);
break;
case SDL_JOYHATMOTION:
passSDLEventVec = true;
processJoystickHat();
break;
#if SDL_VERSION_ATLEAST(2, 0, 0)
case SDL_FINGERDOWN:
case SDL_FINGERUP:
case SDL_FINGERMOTION:
processMouse(Event);
break;
case SDL_WINDOWEVENT:
if(Event.window.event == SDL_WINDOWEVENT_RESIZED)
{
gVideoDriver.mpVideoEngine->resizeDisplayScreen(
GsRect<Uint16>(Event.window.data1,
Event.window.data2) );
dispRect.w = Event.window.data1;
dispRect.h = Event.window.data2;
}
break;
#else
case SDL_VIDEORESIZE:
gVideoDriver.mpVideoEngine->resizeDisplayScreen(
GsRect<Uint16>(Event.resize.w, Event.resize.h) );
dispRect.w = Event.resize.w;
dispRect.h = Event.resize.h;
break;
#endif
case SDL_MOUSEBUTTONDOWN:
// If Virtual gamepad takes control...
if(mpVirtPad && mpVirtPad->active())
{
if(Event.button.button <= 3)
{
transMouseRelCoord(Pos, Event.motion, activeArea);
mpVirtPad->mouseDown(Pos);
}
}
else
{
if(Event.button.button <= 3)
{
transMouseRelCoord(Pos, Event.motion, activeArea);
m_EventList.add( new PointingDevEvent( Pos, PDE_BUTTONDOWN ) );
gPointDevice.mPointingState.mActionButton = 1;
gPointDevice.mPointingState.mPos = Pos;
}
else if(Event.button.button == 4) // scroll up
{
gEventManager.add( new MouseWheelEvent( Vector2D<float>(0.0, -1.0) ) );
}
else if(Event.button.button == 5) // scroll down
{
gEventManager.add( new MouseWheelEvent( Vector2D<float>(0.0, 1.0) ) );
}
}
break;
case SDL_MOUSEBUTTONUP:
if(mpVirtPad && mpVirtPad->active())
{
transMouseRelCoord(Pos, Event.motion, activeArea);
mpVirtPad->mouseUp(Pos);
}
else
{
passSDLEventVec = true;
transMouseRelCoord(Pos, Event.motion, activeArea);
m_EventList.add( new PointingDevEvent( Pos, PDE_BUTTONUP ) );
gPointDevice.mPointingState.mActionButton = 0;
gPointDevice.mPointingState.mPos = Pos;
}
break;
case SDL_MOUSEMOTION:
transMouseRelCoord(Pos, Event.motion, activeArea);
m_EventList.add( new PointingDevEvent( Pos, PDE_MOVED ) );
gPointDevice.mPointingState.mPos = Pos;
break;
}
if(passSDLEventVec)
{
mSDLEventVec.push_back(Event);
}
else
{
mBackEventBuffer.push_back(Event);
}
}
#ifdef MOUSEWRAPPER
// Handle mouse emulation layer
processMouse();
#endif
for(unsigned int i = 0; i < KEYTABLE_SIZE; ++i)
firsttime_immediate_keytable[i]
= !last_immediate_keytable[i] && immediate_keytable[i];
for(int i=0 ; i<MAX_COMMANDS ; i++)
for(int j=0 ; j<NUM_INPUTS ; j++)
InputCommand[j][i].firsttimeactive
= !InputCommand[j][i].lastactive && InputCommand[j][i].active;
#ifndef MOUSEWRAPPER
// TODO: I'm not sure, if that should go here...
// Check, if LALT+ENTER was pressed
if((getHoldedKey(KALT)) && getPressedKey(KENTER))
{
bool value;
value = gVideoDriver.getFullscreen();
value = !value;
gLogging.textOut(GREEN,"Fullscreen mode triggered by user!<br>");
gVideoDriver.isFullscreen(value);
// initialize/activate all drivers
gLogging.ftextOut("Restarting graphics driver...<br>");
if ( gVideoDriver.applyMode() && gVideoDriver.start() )
{
gLogging.ftextOut(PURPLE, "Toggled Fullscreen quick shortcut...<br>");
}
else
{
value = !value;
gLogging.ftextOut(PURPLE, "Couldn't change the resolution, Rolling back...<br>");
gVideoDriver.applyMode();
gVideoDriver.start();
}
gInput.flushAll();
}
// Check, if LALT+Q or LALT+F4 was pressed
if(getHoldedKey(KALT) && (getPressedKey(KF4) || getPressedKey(KQ)) )
{
gLogging.textOut("User exit request!");
m_exit = true;
gDreamsForceClose = 1;
}
#endif
#if defined(WIZ) || defined(GP2X)
WIZ_AdjustVolume( volume_direction );
#endif
SDL_SemPost( pollSem );
}
int8_t makeReport(uint8_t* report)
{
int8_t xmit = XMIT_NONE;
int8_t at;
int8_t prev;
if (!detectGhost()) {
while (count < 8)
current[count++] = VOID_KEY;
memmove(keys[currentKey].keys, current + 2, 6);
current[0] = modifiers;
if (led & LED_SCROLL_LOCK)
current[1] |= MOD_LEFTFN;
#ifdef ENABLE_MOUSE
if (isMouseTouched())
current[1] |= MOD_PAD;
#endif
if (prefix_shift && isKanaMode(current)) {
current[0] |= prefix;
if (!(modifiersPrev & MOD_LEFTSHIFT) && (modifiers & MOD_LEFTSHIFT))
prefix ^= MOD_LEFTSHIFT;
if (!(modifiersPrev & MOD_RIGHTSHIFT) && (modifiers & MOD_RIGHTSHIFT))
prefix ^= MOD_RIGHTSHIFT;
}
modifiersPrev = modifiers;
// Copy keys that exist in both keys[prev] and keys[at] for debouncing.
at = currentKey + DELAY_MAX + 2 - currentDelay;
if (DELAY_MAX + 1 < at)
at -= DELAY_MAX + 2;
prev = at + DELAY_MAX + 1;
if (DELAY_MAX + 1 < prev)
prev -= DELAY_MAX + 2;
count = 2;
for (int8_t i = 0; i < 6; ++i) {
uint8_t key = keys[at].keys[i];
if (memchr(keys[prev].keys, key, 6))
current[count++] = key;
}
while (count < 8)
current[count++] = VOID_KEY;
#ifdef ENABLE_MOUSE
if (current[1] == MOD_PAD)
processMouseKeys(current, processed);
#endif
if (memcmp(current, processed, 8)) {
if (memcmp(current + 2, processed + 2, 6) || current[2] == VOID_KEY || current[1] || (current[0] & MOD_SHIFT)) {
if (current[2] != VOID_KEY)
prefix = 0;
xmit = processKeys(current, processed, report);
} else if (processed[1] && !current[1] ||
(processed[0] & MOD_LEFTSHIFT) && !(current[0] & MOD_LEFTSHIFT) ||
(processed[0] & MOD_RIGHTSHIFT) && !(current[0] & MOD_RIGHTSHIFT))
{
/* empty */
} else
xmit = processKeys(current, processed, report);
}
processOSMode(report);
} else {
prev = currentKey + DELAY_MAX + 1;
if (DELAY_MAX + 1 < prev)
prev -= DELAY_MAX + 2;
memmove(keys[currentKey].keys, keys[prev].keys, 6);
}
if (DELAY_MAX + 1 < ++currentKey)
currentKey = 0;
count = 2;
modifiers = 0;
current[1] = 0;
return xmit;
}
void swapBuffers(void) {
glXSwapBuffers(display, window);
processKeys();
}
void copySubBuffer(int x, int y, int width, int height) {
glXCopySubBufferMESA(display, window, x, y, width, height);
processKeys();
}
/**
* \brief Called every logic cycle. This triggers the events that occur and process them trough various functions
*/
void CInput::pollEvents()
{
// copy all the input of the last poll to a space for checking pressing or holding a button
memcpy(last_immediate_keytable, immediate_keytable, KEYTABLE_SIZE*sizeof(char));
for(int i=0 ; i<MAX_COMMANDS ; i++)
for(int j=0 ; j<NUM_INPUTS ; j++)
InputCommand[j][i].lastactive = InputCommand[j][i].active;
// While there's an event to handle
while( SDL_PollEvent( &Event ) )
{
switch( Event.type )
{
case SDL_QUIT:
g_pLogFile->textOut("SDL: Got quit event!");
m_exit = true;
break;
case SDL_KEYDOWN:
processKeys(1);
break;
case SDL_KEYUP:
processKeys(0);
break;
case SDL_JOYAXISMOTION:
processJoystickAxis();
break;
case SDL_JOYBUTTONDOWN:
processJoystickButton(1);
break;
case SDL_JOYBUTTONUP:
processJoystickButton(0);
break;
#ifdef MOUSEWRAPPER
case SDL_MOUSEBUTTONDOWN:
case SDL_MOUSEBUTTONUP:
case SDL_MOUSEMOTION:
processMouse(Event);
break;
#endif
case SDL_VIDEORESIZE:
CRect newSize(Event.resize.w, Event.resize.h);
g_pVideoDriver->mp_VideoEngine->resizeDisplayScreen(newSize);
break;
}
}
#ifdef MOUSEWRAPPER
// Handle mouse emulation layer
processMouse();
#endif
for(unsigned int i = 0; i < KEYTABLE_SIZE; ++i)
firsttime_immediate_keytable[i]
= !last_immediate_keytable[i] && immediate_keytable[i];
for(int i=0 ; i<MAX_COMMANDS ; i++)
for(int j=0 ; j<NUM_INPUTS ; j++)
InputCommand[j][i].firsttimeactive
= !InputCommand[j][i].lastactive && InputCommand[j][i].active;
#ifndef MOUSEWRAPPER
// TODO: I'm not sure, if that should go here...
// Check, if LALT+ENTER was pressed
if((getHoldedKey(KALT)) && getPressedKey(KENTER))
{
bool value;
value = g_pVideoDriver->getFullscreen();
value = !value;
g_pLogFile->textOut(GREEN,"Fullscreen mode triggered by user!<br>");
g_pVideoDriver->isFullscreen(value);
// initialize/activate all drivers
g_pVideoDriver->stop();
g_pLogFile->ftextOut("Restarting graphics driver...<br>");
if ( g_pVideoDriver->applyMode() && g_pVideoDriver->start() )
{
g_pLogFile->ftextOut(PURPLE, "Toggled Fullscreen quick shortcut...<br>");
}
else
{
value = !value;
g_pLogFile->ftextOut(PURPLE, "Couldn't change the resolution, Rolling back...<br>");
g_pVideoDriver->applyMode();
g_pVideoDriver->start();
}
if(value) g_pVideoDriver->AddConsoleMsg("Fullscreen enabled");
else g_pVideoDriver->AddConsoleMsg("Fullscreen disabled");
g_pInput->flushAll();
}
// Check, if LALT+Q or LALT+F4 was pressed
if(getHoldedKey(KALT) && (getPressedKey(KF4) || getPressedKey(KQ)) )
{
g_pLogFile->textOut("User exit request!");
m_exit = true;
}
#endif
#if defined(WIZ) || defined(GP2X)
WIZ_AdjustVolume( volume_direction );
#endif
// Fix up settings if everything gets messed up
if (g_pInput->getHoldedKey(KF) &&
g_pInput->getHoldedKey(KI) &&
g_pInput->getHoldedKey(KX))
{
g_pSettings->loadDefaultGraphicsCfg();
g_pSettings->saveDrvCfg();
g_pVideoDriver->stop();
g_pVideoDriver->start();
}
}
//main loop
int main(int argc,char* argv[])
{
// allow ctrl-c to kill program
signal(SIGINT, signal_handler);
//establishing connection with the quadcopter
heli = new CHeli();
//initializing GUI
gui = new CGui(320,240);
//this class holds the image from the drone
image = new CRawImage(320,240);
//this class can segment the image
recognition = new CRecognition();
image->getSaveNumber();
while (stop == false){
//prints the drone telemetric data, helidata struct contains drone angles, speeds and battery status
fprintf(stdout,"Angles %.2lf %.2lf %.2lf ",helidata.phi,helidata.psi,helidata.theta);
fprintf(stdout,"Speeds %.2lf %.2lf %.2lf ",helidata.vx,helidata.vy,helidata.vz);
fprintf(stdout,"Battery %.0lf ",helidata.battery);
fprintf(stdout,"Largest blob %i %i\n",pos.x,pos.y);
//image is captured
heli->renewImage(image);
//finding a blob in the image
pos = recognition->findSegment(image);
//turns the drone towards the colored blob
//yaw = 100*(pos.x-160); //uncomment to make the drone to turn towards a colored target
//getting input from the user
processKeys();
//setting the drone angles
heli->setAngles(pitch,roll,yaw,height);
pitch=roll=yaw=height=0.0;
//drawing the image, the cross etc.
if (move==false || i%1 ==0){
image->plotLine(pos.x,pos.y);
image->plotCenter();
gui->drawImage(image);
gui->update();
}
i++;
usleep(20000);
}
// cleanup
delete recognition;
delete heli;
delete image;
delete gui;
return 0;
}
int GeoMapEditor::processEvents()
{
update_window();
return processKeys();
}
/**
* \brief Decodes the HID mouse report received
*
* \param add USB address used by the transfer
* \param status Transfer status
* \param nb_transfered Number of data transfered
*/
static void uhi_hid_manta_report_reception(
usb_add_t add,
usb_ep_t ep,
uhd_trans_status_t status,
iram_size_t nb_transfered)
{
uint8_t i;
unsigned short val;
UNUSED(ep);
if ((status == UHD_TRANS_NOTRESPONDING) || (status == UHD_TRANS_TIMEOUT)) {
uhi_hid_manta_start_trans_report(add);
return; // HID mouse transfer restart
}
if ((status != UHD_TRANS_NOERROR) || (nb_transfered < 64)) {
return; // HID mouse transfer aborted
}
manta_data_lock = 1;
// Decode hexagon buttons
for(i=0; i<48; i++)
{
butt_states[i] = uhi_hid_manta_dev.report[i+1] + 0x80;
}
//decode sliders
for(i=0; i<4; i++)
sliders[i] = uhi_hid_manta_dev.report[i+53] + 0x80;
//decode function buttons
for(i=0; i<4; i++)
{
func_button_states[i] = uhi_hid_manta_dev.report[i+49] + 0x80;
}
manta_data_lock = 0;
if(((sliders[0] != pastsliders[0]) && (sliders[0] != 255)) || ((sliders[1] != pastsliders[1]) && (sliders[1] != 255)))
{
val = (sliders[0] + (sliders[1] << 8)) & 0xFFF;
processSliders(0, val);
}
if(((sliders[2] != pastsliders[2]) && (sliders[2] != 255)) || ((sliders[3] != pastsliders[3]) && (sliders[3] != 255)))
{
val = (sliders[2] + (sliders[3] << 8)) & 0xFFF;
processSliders(1, val);
}
//check if we're in sequencer mode
if (sequencer_mode == 1)
{
processSequencer();
}
//if not, we're in keyboard mode
else
{
processKeys();
}
blinkersToggle();
manta_send_LED();
uhi_hid_manta_start_trans_report(add);
}
void swapBuffers(void) {
bindAPI(api);
eglSwapBuffers(eglDisplay, surface);
processKeys(window);
}
int main(int argc,char* argv[])
{
//initialize logging system, camera and network connection
processArgs(argc,argv);
if (saveLog) initializeLogging();
if (argc < 2) {
fprintf(stderr,"usage: %s imageSource num_robots\ne.g. %s /dev/video0 1\n",argv[0],argv[0]);
return 0;
}
camera = new CCamera();
server = new CPositionServer();
server->init("6666");
moveOne = moveVal;
moveOne = 0;
//process arguments
camera->init(argv[1],&imageWidth,&imageHeight,saveVideo);
camera->loadConfig("../etc/camera.cfg");
//determine gui size so that it fits the screen
while (imageHeight/guiScale > screenHeight || imageHeight/guiScale > screenWidth) guiScale = guiScale*2;
//initialize GUI, image structures, coordinate transformation modules
if (useGui) gui = new CGui(imageWidth,imageHeight,guiScale);
image = new CRawImage(imageWidth,imageHeight);
trans = new CTransformation(imageWidth,imageHeight,circleDiameter,true);
trans->transformType = TRANSFORM_NONE; //in our case, 2D is the default
//initialize the circle detectors - each circle has its own detector instance
for (int i = 0;i<MAX_PATTERNS;i++) detectorArray[i] = new CCircleDetect(imageWidth,imageHeight,i);
image->getSaveNumber();
//setup timers to assess system performance
CTimer timer;
timer.reset();
timer.start();
CTimer globalTimer;
globalTimer.reset();
globalTimer.start();
int frameID =0;
int64_t frameTime = 0;
while (stop == false)
{
if (useGui){
camera->renewImage(image,moveOne-->0);
}else{
if (camera->renewImage(image,moveOne-->0)==-1)stop = true;
}
numFound = numStatic = 0;
timer.reset();
frameTime = globalTimer.getRealTime();
//track the robots found in the last attempt
for (int i = 0;i<numBots;i++){
if (currentSegmentArray[i].valid){
lastSegmentArray[i] = currentSegmentArray[i];
currentSegmentArray[i] = detectorArray[i]->findSegment(image,lastSegmentArray[i]);
}
}
//search for untracked (not detected in the last frame) robots
for (int i = 0;i<numBots;i++){
if (currentSegmentArray[i].valid == false){
lastSegmentArray[i].valid = false;
currentSegmentArray[i] = detectorArray[i]->findSegment(image,lastSegmentArray[i]);
}
if (currentSegmentArray[i].valid == false) break; //does not make sense to search for more patterns if the last one was not found
}
//perform transformations from camera to world coordinates
for (int i = 0;i<numBots;i++){
if (currentSegmentArray[i].valid){
objectArray[i] = trans->transform(currentSegmentArray[i],false);
numFound++;
if (currentSegmentArray[i].x == lastSegmentArray[i].x) numStatic++;
}
}
printf("Pattern detection time: %i us. Found: %i Static: %i. Clients %i.\n",globalTimer.getTime(),numFound,numStatic,server->numConnections);
evalTime = timer.getTime();
//pack up the data for sending to other systems
server->setNumOfPatterns(numFound,numBots,frameTime);
for (int i = 0;i<numBots;i++) server->updatePosition(objectArray[i],i,frameTime);
server->clearToSend();
//draw stuff on the GUI
if (useGui){
gui->drawImage(image);
gui->drawTimeStats(evalTime,numBots);
gui->displayHelp(displayHelp);
gui->guideCalibration(calibNum,fieldLength,fieldWidth);
}
for (int i = 0;i<numBots && useGui && drawCoords;i++){
if (currentSegmentArray[i].valid) gui->drawStats(currentSegmentArray[i].minx-30,currentSegmentArray[i].maxy,objectArray[i],trans->transformType == TRANSFORM_2D);
}
//establishing the coordinate system by manual or autocalibration
if (autocalibrate && numFound == numBots) autocalibration();
if (calibNum < 4) manualcalibration();
for (int i = 0;i<numBots;i++){
//if (currentSegmentArray[i].valid) printf("Object %i %03f %03f %03f %03f %03f\n",i,objectArray[i].x,objectArray[i].y,objectArray[i].z,objectArray[i].error,objectArray[i].esterror);
}
if (camera->cameraType == CT_WEBCAM){
//for real camera, continue with capturing of another frame even if not all robots have been found
moveOne = moveVal;
for (int i = 0;i<numBots;i++){
//printf("Frame %i Object %03i %03i %.5f %.5f %.5f \n",frameID,i,currentSegmentArray[i].ID,objectArray[i].x,objectArray[i].y,objectArray[i].yaw);
if (robotPositionLog != NULL) fprintf(robotPositionLog,"Frame %i Time %ld Object %03i %03i %.5f %.5f %.5f \n",frameID,frameTime,i,currentSegmentArray[i].ID,objectArray[i].x,objectArray[i].y,objectArray[i].yaw);
}
if (moveVal > 0) frameID++;
}else{
//for postprocessing, try to find all robots before loading next frame
if (numFound == numBots)
{
//gui->saveScreen(runs++);
for (int i = 0;i<numBots;i++){
//printf("Frame %i Object %03i %03i %.5f %.5f %.5f \n",frameID,i,currentSegmentArray[i].ID,objectArray[i].x,objectArray[i].y,objectArray[i].yaw);
if (robotPositionLog != NULL) fprintf(robotPositionLog,"Frame %i Time %ld Object %03i %03i %.5f %.5f %.5f \n",frameID,frameTime,i,currentSegmentArray[i].ID,objectArray[i].x,objectArray[i].y,objectArray[i].yaw);
}
moveOne = moveVal;
if (moveVal > 0) frameID++;
}else{
if (moveOne-- < -100) moveOne = moveVal;
}
}
//gui->saveScreen(runs);
if (useGui) gui->update();
if (useGui) processKeys();
}
if (robotPositionLog != NULL) fclose(robotPositionLog);
delete server;
runs--;
delete image;
if (useGui) delete gui;
for (int i = 0;i<MAX_PATTERNS;i++) delete detectorArray[i];
camera->saveConfig("../etc/camera.cfg");
delete camera;
delete trans;
return 0;
}
void EntityLinkTargetIssueGenerator::doGenerate(Entity* entity, IssueList& issues) const {
processKeys(entity, entity->findMissingLinkTargets(), issues);
processKeys(entity, entity->findMissingKillTargets(), issues);
}
