void DrawDistanceMap()
{
// Distance Image
double minVal; double maxVal;
cv::minMaxLoc(_distanceMap1.GetCVImage(), &minVal, &maxVal, 0, 0, cv::Mat());
minVal = abs(minVal); maxVal = abs(maxVal);
for (int j = 0; j < _sz; j++)
{
for (int i = 0; i < _sz; i++)
{
float d = _distanceMap1.GetFloatValue(i, j);
float rVal = 255 - (int)d * 255 / maxVal;
_cvWrapper.SetPixel(_distanceMapName, i, j, MyColor(rVal, 0, 0));
}
}
for (int a = 0; a < _polylines.size(); a++)
{
_cvWrapper.DrawPoly(_distanceMapName, _polylines[a], MyColor(255), false, 1);
}
_cvWrapper.ShowImage(_distanceMapName);
}
CTetris::CTetris( DISPLAYBOARD func, int cols, int rows)
{
srand((unsigned)time(NULL));
m_nLevel = 1;
DisplayBoard = func;
m_nNumofRows = rows;
m_nNumofCols = cols;
//m_nNumofLvls = NUM_OF_LVLS;
//m_nBlocksPerTet = BLOCKS_PER_TET;
m_nSizeofBoard = rows*cols;
//m_nNumofTetrads = NUM_OF_TETRADS;
m_nAdvanceNextLvl = ADVANCE_NEXT_LVL;
m_ClearColor = MyColor(0.f,0.f,0.f);
m_bExit = false;
m_bPause = false;
m_nRowsCompleted = 0;
AnimRowCompletion = DefualtAnimRowCompl;
DisplayWin = DefualtDisplayWin;
DisplayLose = DefaultDisplayLose;
m_nNextTetName = RandomTetrad();
m_fCurrFallDelay = m_fFallDelay[m_nLevel];
m_fFallDelay[0] = FAST_FALL;
m_nTotalRowsCompleted = 0;
//m_NextTet = CTetris::m_Tetrads[ m_nNextTetName ];
//float color = RandomColor();
//for( int j=0; j<BLOCKS_PER_TET; j++ )
// m_NextTet.tet[j].r = m_NextTet.tet[j].g = m_NextTet.tet[j].b = color;
PickTetrad();
m_npBoard = new int[m_nSizeofBoard];
m_pBoard = new Block[m_nSizeofBoard];
for(int i=0; i<m_nSizeofBoard; i++)
m_npBoard[i] = BLOCK_STATE_EMPTY;
for( i=1; i<NUM_OF_LVLS; i++ )
m_fFallDelay[i] = 1.f/(float)i;
}
void DrawMainWindow()
{
if (_currentPolyline.size() > 0)
{ _cvWrapper.DrawPoly(_imageName, _currentPolyline, MyColor(255, 255, 0), false, 1); }
for (int a = 0; a < _polylines.size(); a++)
{ _cvWrapper.DrawPoly(_imageName, _polylines[a], MyColor(255), false, 1); }
/*for (int a = 0; a < _nfWrapper._lineData.size(); a++)
{
_cvWrapper.DrawCircle(_imageName, _nfWrapper._lineData[a].GetMiddlePoint(), MyColor(255, 0, 0), 1);
}*/
_cvWrapper.DrawLine( _imageName, _queryPt, _closestPt, MyColor(0, 0, 255), 1);
_cvWrapper.DrawCircle(_imageName, _queryPt, MyColor(255, 0, 0), 5);
_cvWrapper.ShowImage( _imageName);
}
void DrawInOutMap()
{
for (int x = 0; x < _sz; x++)
{
for (int y = 0; y < _sz; y++)
{
if (_inOutMap.GetIntegerValue(x, y) > 0)
{
_cvWrapper.SetPixel(_inOutName, x, y, MyColor(0, 255, 0));
}
else
{
_cvWrapper.SetPixel(_inOutName, x, y, MyColor(0, 0, 0));
}
}
}
_cvWrapper.ShowImage(_inOutName);
}
int main(int argc, char *argv[])
{
World world(QColor(0,180,180));
int samples = 1;
Material *material = new Reflective (QColor(2,255,255), 0.4, 1, 300, 0.6);
PinholeCamera camera(Vector3(0,0,0),Vector3(0,0,1),Vector3(0,-1,0),Vector2(1,0.75),1);
world.add(new Sphere(Vector3(-2,-1.15,1), 2, material));
world.add(new Sphere(Vector3(2,-1.15,1), 2, material));
world.add(new Sphere(Vector3(0,3.45-1.15,1), 2, material));
world.add(new Sphere(Vector3(0,1.15-1.15,3.45+1), 2, material));
JitteredGenerator gener(0);
SquareDistributor dist;
Sampler distributor(gener,dist,samples,60,0);
world.add_light(PointLight(Vector3(0,0,3.45-2), MyColor(1,1,1)));
Raytracer tracer(5);
QImage image;
image = tracer.ray_trace(world, camera, QSize(800, 600), &distributor);
QApplication a(argc, argv);
MainWindow w;
w.copy_world(image, world);
w.show_image();
// w.new_world();
w.show();
return a.exec();
}
//The interrupt response for our phototransistor
void PhotoTransistor_InterruptResponse(void)
{
// Clear Interrupt
clearCaptureInterrupt(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
// Determine Capture time
uint32_t ThisCapture = captureInterrupt(PHOTOTRANSISTOR_INTERRUPT_PARAMATERS);
// Calculate period
uint32_t Period = ((ThisCapture - LastCapture) * MICROSECONDS_DIVISOR ) / TICKS_PER_MS;
//Store the Last Cpature
LastCapture = ThisCapture;
//Iterate Through the different frequency options
for (int i = 0; i < NUMBER_BEACON_FREQUENCIES; i++)
{
// If the period matches a beacon period
if (ToleranceCheck(Period, beacons[i].period, PERIOD_MEASURING_ERROR_TOLERANCE))
{
// If we're searching for a beacon
if (Bucketing)
{
buckets[i]++;
}
// If we're supposed to align to the bucket, and the number of pulses we've seen for
// this beacon is greater than our threshold
if ((AligningToBucket) && (buckets[i] >= NUMBER_PULSES_FOR_BUCKET))
{
// If this is the beacon corresponding to our target bucket
if (((MyColor() == COLOR_BLUE) && (i == BEACON_INDEX_NW)) || ((MyColor() == COLOR_RED) && (i == BEACON_INDEX_SE)))
{
// stop our drive
clearDriveAligningToBucket();
// Post an aligned event
ES_Event AlignedEvent;
AlignedEvent.EventType = ES_ALIGNED_TO_BUCKET;
PostMasterSM(AlignedEvent);
// stop aligning
AligningToBucket = false;
// reset all buckets
for (int j = 0; j < NUMBER_BEACON_FREQUENCIES; j++)
{
buckets[j] = 0;
}
// reset average information
ResetAverage();
// return to searching for beacons
Bucketing = true;
LastBeacon = NULL_BEACON;
ES_Timer_StopTimer(AVERAGE_BEACONS_TIMER);
return;
}
}
// If we're not aligning to a bucket, and the number of pulses we've seen for this
// beacon is greater than our threshold
else if (buckets[i] >= NUMBER_PULSES_TO_BE_ALIGNED && LastBeacon == NULL_BEACON && !AligningToBucket)
{
// store the beacon to be recorded
LastBeacon = i;
// reset all buckets
for (int j = 0; j < NUMBER_BEACON_FREQUENCIES; j++)
{
buckets[j] = 0;
}
// restart the timer to evaluate the beacon
ES_Timer_InitTimer(AVERAGE_BEACONS_TIMER, AVERAGE_BEACONS_T);
Bucketing = false;
}
// increment the sum of all encoder angles for this beacon
sums[i] += GetPeriscopeAngle();
// increment the number of pulses seen for this beacon
numSamples[i]++;
// If the evaluation timer is already running, restart it
ES_Timer_SetTimer(AVERAGE_BEACONS_TIMER, AVERAGE_BEACONS_T);
}
}
}
