MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
// Brush
QBrush backgroundBrush(Qt::cyan, Qt::Dense6Pattern);
// Scene and View
scene = new QGraphicsScene(this);
view = new myView(scene);
view->setParent(this);
view->setBackgroundBrush(backgroundBrush);
view->display = new GUI;
view->display->scene = scene;
view->display->setPos(view->gameManager.board.currentPos);
ui->layout->addWidget(view);
view->show();
// Label Font
QFont f( "Helvetica Neue", 16);
ui->strengthLabel->setFont(f);
ui->toPlayLabel->setFont(f);
updateToPlayLabel();
// Search Thread
search = new searchThread();
search->view = view;
connect(view, SIGNAL(moveSearch()), this, SLOT(moveSearch()));
connect(view, SIGNAL(updateToPlayLabel()), this, SLOT(updateToPlayLabel()));
connect(search, SIGNAL(finished()), this, SLOT(finishSearch()));
searchLeftTimer = new QTimer(this);
searchLeftTimer->setInterval(1000);
connect(searchLeftTimer, SIGNAL(timeout()), this, SLOT(updateSearchLeft()) );
// New Game Pop Up
newGamePU = new newGamePopUp(this);
connect(newGamePU, SIGNAL(colorChosen(int)), this, SLOT(getColorChoice(int)));
view->ready = 1;
}
void MainWindow::on_MoveButton_clicked() {
if (!view->ready)
return;
moveSearch();
}
void CamControl::search(HeadMotor &hm)
{
if(!hm.ismoving_motor())
moveSearch(hm, 65,65);
}
void xboardLoop(Position *pos) {
int version = 1;
int player = 2; //don't make moves
setbuf(stdout, NULL);
while (1) {
char *line;
char *word;
line = readLine();
word = strtok(line, " ");
if (strcmp(word, "xboard") == 0) {
; //no action required
} else if (strcmp(word, "protover") == 0) {
int i;
word = strtok(NULL, " ");
version = atol(word);
for (i = 0; i < n_features; ++i) {
if (features[i].s_value) {
printf("feature %s=\"%s\"\n", features[i].name, features[i].s_value);
} else {
printf("feature %s=%d\n", features[i].name, features[i].i_value);
}
}
printf("feature done=1\n");
} else if (strcmp(word, "accepted") == 0) {
int i;
word = strtok(NULL, " ");
for (i = 0; i < n_features; ++i) {
if (strcmp(word, features[i].name) == 0) {
features[i].accepted = 1;
}
}
} else if (strcmp(word, "rejected") == 0) {
int i;
word = strtok(NULL, " ");
for (i = 0; i < n_features; ++i) {
if (strcmp(word, features[i].name) == 0) {
features[i].accepted = 0;
}
}
} else if (strcmp(word, "new") == 0) {
initPosition(pos);
player = 1;
} else if (strcmp(word, "variant") == 0) {
//uh oh, variants not supported yet
exit(1);
} else if (strcmp(word, "quit") == 0) {
exit(0);
} else if (strcmp(word, "random") == 0) {
;//not supported, nop for the time being
} else if (strcmp(word, "force") == 0) {
player = 2; //no player
} else if (strcmp(word, "go") == 0) {
player = pos->ply % 2;
} else if (strcmp(word, "playother") == 0) {
player = 1 - (pos->ply % 2);
} else if (strcmp(word, "level") == 0) {
//TODO: add time controls
;
} else if (strcmp(word, "st") == 0) {
;
} else if (strcmp(word, "sd") == 0) {
//TODO: set depth
;
} else {
int move;
move = fromAlg(pos, word);
if (move < -1) {
printf("Illegal move: %s\n", word);
} else if (move > 0) {
makeMove(pos, move);
}
}
if (player == pos->ply % 2) {
char moveStr[21];
int move, score;
move = moveSearch(pos, SEARCH_DEPTH, &score);
toAlg(pos, move, moveStr);
makeMove(pos, move);
printf("move %s\n", moveStr);
}
}
}
//Refer findBall.mm in Dropbox/ for flowchart
//TODO: prev_ballx is compared with 320. Replace it by image-width/2 if possible, also same thing in rest of code
//TODO: there are constant 4 passes for finding ball. Replace by default variable possibly?
BallReturns CamControl::findBall(FeatureDetection &fd, HeadMotor &hm) // new findball function
{
if(fd.ballFound()==true) // function to return ball coordinates if found
{
prev_img_flag=1; // flag to check whether prev img has ball in it or not. to be used ltr.
prev_ballx=fd.ballX();
prev_bally=fd.ballY();
float ballx_center=fd.ballX()-(IMAGE_WIDTH/2);
float bally_center=fd.ballY()-(IMAGE_HEIGHT/2);
if(inCentreRect(fd.ballX(), fd.ballY(), CENTRE_RECT_X1, CENTRE_RECT_Y1, CENTRE_RECT_X2, CENTRE_RECT_Y2)) // function which checks whether ball in centre or not
{
//ball is found and it is in centre
pass_counter=0;
prev_img_flag = 0;
return BALLFOUND;
//distance and angle stored in ball.r and ball.theta
}
else // if ball not in centre
{
switch(moveToPoint(fd.ballX(), fd.ballY(), hm)) /*function which controls motor movements and
Returns 0 on success. -2: can't move along x, -4: unable to read, -10: turn left, -20: turn right*/
{
case 0:
case -2:
case -4:
return BALLFINDING;
case -10:
return TURNLEFT;
case -20:
return TURNRIGHT;
}
}
}
else // if ball not found
{
if(prev_img_flag==1)// if ball in prev img then w'll move motors accordingly...
{
prev_img_flag=0;
if(prev_ballx>(IMAGE_WIDTH/2))//for turning right
{
state_of_motion = 0;
}
else//for turning left
{
state_of_motion = 1;
}
moveSearch(hm, 30, 70);
}
else// ball not in prev. img either....
{
if(!hm.ismoving_motor(18))//if motor is not moving
{
moveSearch(hm, 30, 70);
pass_counter++;
if(pass_counter>1)
{
pass_counter=0;
return TURNRIGHT;
}
}
//hm.read_motor(thetaX, thetaY);
}
return BALLFINDING;
}
}
