void MSERNode::tick( double dt )
{
Timer t;
t.start();
Pin* outPin = findPinFromLabel("out");
Pin* inPin = findPinFromLabel("in");
if( !inPin->isConnected() )
waitForConnection();
if( !outPin->isConnected() )
waitForConnection();
if( outPin->isConnected() && inPin->isConnected() )
{
vector<ObjectBlob*> b = inPin->read();
if( b.size() > 0 )
{
for( int k = 0; k < b.size(); ++k )
{
if( b[k]->getTypeName() == "Image" )
{
monadic::Image img;
img.deserialize(b[k]);
cv::Mat m( img.getHeight(), img.getWidth(), CV_8UC3, img.ptr() );
cv::Mat res( img.getHeight(), img.getWidth(), CV_8UC3 );
res = m.clone();
cv::cvtColor( m, m, CV_RGB2GRAY );
vector< vector< cv::Point > > ret;
cv::MSER* det = (cv::MSER*)(detector);
(*det)(m, ret);
for( size_t i = 0; i < ret.size(); ++i )
{
//cv::circle( res, kps[i].pt, 3, CV_RGB(255,0,0) );
cv::Rect r = cv::boundingRect(ret[i]);
cv::rectangle( res, r, CV_RGB(255,0,0), 3 );
}
monadic::Image imgout;
imgout.create( res.cols, res.rows, 8, res.channels() );
size_t bufferSize = res.cols * res.rows * res.channels();
imgout.copyFrom( (char*)res.data, bufferSize );
ObjectBlob* bout = imgout.serialize();
outPin->write( bout );
delete bout;
}
delete b[k];
}
}
}
t.stop();
}
void VibrationSensor2::run()
{
// Take a reading.
int lastReading = reading;
Pin* pin = Esp8266::getInstance()->getPin(pinId);
if (pin)
{
reading = pin->read();
}
// Each change shall be recorded as a discrete vibration.
if (reading != lastReading)
{
vibrationCount++;
}
// Periodically update the server with the overall vibration state.
if (updateTimer.isExpired())
{
// Send an update to the server.
if (serverId != "")
{
SensorUpdateMsg message(getId(), state, ((millis() - stateChangeTime) / MILLISECONDS_PER_SECOND));
message.address(getId(), serverId);
MessageRouter::getInstance()->sendMessage(message);
}
updateTimer.start();
}
// Periodically calculate the overall vibration state.
if (intervalTimer.isExpired())
{
// Increment the position in the circular queue.
queuePosition++;
if (queuePosition >= getIntervalCount())
{
// Wraparound.
queuePosition = 0;
}
// Record the vibrating state for this interval.
queue[queuePosition] = (vibrationCount > getVibrationThreshold()) ? VIBRATING : NOT_VIBRATING;
// Calculate the total number of detected vibrations over all the observed intervals.
int total = 0;
for (int i = 0; i < getIntervalCount(); i++)
{
total += queue[i];
}
// Calculate the new overall vibration state.
bool prevState = state;
state = (total > (getIntervalCount() / 2));
#if 0
String debugString = "";
for (int i = 0; i < getIntervalCount(); i++)
{
debugString += "[" + String(queue[i]) + "]";
}
debugString += "\n";
debugString += "vibration count = " + String(vibrationCount) + ", threshold = " + String(getVibrationThreshold());
debugString += "\n";
debugString += "total = " + String(total) + ", state = " + String(state);
debugString += "\n";
debugString += "\n";
Logger::logDebug(debugString);
#endif
// Respond to state changes.
if (prevState != state)
{
// Send an update to the server.
if (serverId != "")
{
SensorUpdateMsg message(getId(), state, 0);
message.address(getId(), serverId);
MessageRouter::getInstance()->sendMessage(message);
}
// Record the state change time.
stateChangeTime = millis();
}
// Reset for the next interval.
vibrationCount = 0;
intervalTimer.start();
}
}