bool VGAWorker::takePicture() {
// Reset connection with VGA2USB. Needed to handle VGA disconnections and grab
// complete VGA images
if(camera.isOpened())
camera.release();
camera.open(deviceNum);
// Get the next screen if the image feed is available
if(camera.isOpened() && camera.get(CV_CAP_PROP_FRAME_WIDTH) != 0) {
// Update old screen
if(oldScreen.data)
oldScreen.release();
oldScreen = currentScreen.clone();
// Save current screen
camera >> currentScreen;
// Flip the image horizontally and vertically if the camera is upside-down
if(flipCam) {
flip(currentScreen, currentScreen, -1);
}
// Let listeners know that an image was captured
if(runningGUI)
emit capturedImage(currentScreen);
// Capture was successful, so return true
return true;
}
// We could not pull a frame from the VGA2USB, so return false
return false;
}
void DC1394Camera::update(double timestep)
{
dc1394video_frame_t* frame = 0;
dc1394error_t err = DC1394_FAILURE;
// Grab a frame
LOGGER.debugStream() << m_guid << ": Grabbing frame " << ++m_frameNum;
err = dc1394_capture_dequeue(m_camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
assert(DC1394_SUCCESS == err && "Could not capture a frame\n");
// See if we have dropped any frames
if(frame->frames_behind == DMA_BUFFER_SIZE - 1)
{
LOGGER.warn("PROBABLE FRAME DROP");
}
// Let us know if we are not getting the most recent frame
LOGGER.debugStream() << m_guid << ": Frame Position: " << frame->id
<< " Frames Behind: " << frame->frames_behind
<< " DMA Buffers: " << DMA_BUFFER_SIZE
<< " DMA Timestamp: " << frame->timestamp;
// Put the DC1394 buffer into a temporary Image so we can copy it
// to the public side.
OpenCVImage newImage(frame->image, m_width, m_height,
false, Image::PF_RGB_8);
// Copy image to public side of the interface
capturedImage(&newImage);
// Free the space back up on the queue
LOGGER.debugStream() << m_guid << ": Releasing frame " << m_frameNum;
err = dc1394_capture_enqueue(m_camera, frame);
assert(DC1394_SUCCESS == err && "Could not enqueue used frame\n");
}
int main()
{
// Objects
CameraInput *camera = new CameraInput();
Control *controller = new Control();
Process *processer = new Process();
Tracking *tracker = new Tracking();
Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0", "/dev/ttyUSB1");
// Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0");// #### For testing with only one arduino
File_Handler *file_Handler = new File_Handler();
Window_Handler *window_Handler = new Window_Handler();
Menu *menu = new Menu();
// Threads
QThread *t1 = new QThread;
QThread *t2 = new QThread;
QThread *t3 = new QThread;
QThread *t4 = new QThread;
QThread *t5 = new QThread;
camera->moveToThread(t1);
processer->moveToThread(t2);
tracker->moveToThread(t3);
serial->moveToThread(t3);
controller->moveToThread(t4);
file_Handler->moveToThread(t5);
// Connect signals to slots. Whenever a signal is emitted in a function, its corresponding (connected) function will run.
qRegisterMetaType<cv::Mat>("cv::Mat");
//Signals calling from:
//Main thread
QObject::connect(menu, SIGNAL(startRecording(bool)), controller, SLOT(startRecording(bool)));
QObject::connect(menu, SIGNAL(stopRecording()), controller, SLOT(stopRecording()));
QObject::connect(menu, SIGNAL(displayMenu(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(menu, SIGNAL(requestDataFromFootController()), serial, SLOT(receiveDataFromFootControllerLoop()));
QObject::connect(menu, SIGNAL(startHighRep()), controller, SLOT(startDelayMode()));
QObject::connect(menu, SIGNAL(decreaseDelay()), controller, SLOT(decreaseDelay()));
QObject::connect(menu, SIGNAL(increaseDelay()), controller, SLOT(increaseDelay()));
QObject::connect(menu, SIGNAL(modeSwitch()), controller, SLOT(endMode()));
QObject::connect(menu, SIGNAL(startPlayback()), file_Handler, SLOT(readFromFile()));
QObject::connect(menu, SIGNAL(stopPlayback()), file_Handler, SLOT(stopVideo()));
QObject::connect(menu, SIGNAL(toggleSlowMotion()), file_Handler, SLOT(toggleSlowMotion()));
QObject::connect(menu, SIGNAL(toggleTracking()), controller, SLOT(toggleTracking()));
//Thread 1
QObject::connect(t1, SIGNAL(started()), camera, SLOT(captureImage()));
QObject::connect(camera, SIGNAL(capturedImage(cv::Mat)), controller, SLOT(inputImage(cv::Mat)));
//Thread 2
QObject::connect(t2, SIGNAL(started()), controller, SLOT(processerReady()));
QObject::connect(processer, SIGNAL(posXposY(int,int)), tracker, SLOT(position(int,int)));
QObject::connect(processer, SIGNAL(readyForWork()), controller, SLOT(processerReady()));
//Thread 3
QObject::connect(tracker, SIGNAL(directionAndSpeed(int,int)), serial, SLOT(sendDataToControlUnit(int,int)));
QObject::connect(serial, SIGNAL(fromFootController(char)), menu, SLOT(giveInput(char)));
//Thread 4
QObject::connect(t4, SIGNAL(started()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(controller, SIGNAL(imageToProcess(cv::Mat)), processer, SLOT(processImage(cv::Mat)));
QObject::connect(controller, SIGNAL(requestImage()), camera, SLOT(captureImage()));
QObject::connect(controller, SIGNAL(imageToRecord(cv::Mat)), file_Handler, SLOT(writeImage(cv::Mat)));
// QObject::connect(controller, SIGNAL(imageToShow(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(processer, SIGNAL(processedImage(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(controller, SIGNAL(stopMotor()), serial, SLOT(stopMotor()));
//Thread 5
QObject::connect(file_Handler, SIGNAL(showFrame(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(file_Handler, SIGNAL(readyToWrite()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(file_Handler, SIGNAL(timeout()), file_Handler, SLOT(playVideo()));
QObject::connect(file_Handler, SIGNAL(playbackEnded()), menu, SLOT(returnToLowRep()));
// Starting Threads
t1->start();
t2->start();
t3->start();
t4->start();
t5->start();
// menu->menu();
menu->inputHandler();
return 0;
}
