void blink(uint8_t count)
{
uint8_t i;
for (i = 0; i < count; i++) {
// off for 400ms
eyes(OFF);
delay(50+(uint8_t)(rand()>>24)); // 50 + up to 256ms
// on for 3-4s
eyes(ON);
delay(1000+(uint16_t)(rand()>>20)); // 3000 + up to 4096ms
}
}
Acad::ErrorStatus
AsdkSmiley::osnapQuad(
const AcGePoint3d& pickPoint,
AcGePoint3dArray& snapPoints) const
{
AcGeVector3d xoff(0,0,0);
AcGeVector3d yoff(0,0,0);
// Osnap quad to the face's quad points
//
xoff.x = yoff.y = radius();
AcGePoint3d center( center() );
snapPoints.append( center + xoff );
snapPoints.append( center + yoff );
snapPoints.append( center - xoff );
snapPoints.append( center - yoff );
// Osnap quad to the eyes' quad points
//
AcGePoint3dArray eyearray;
AcGePoint3d eyecen;
eyes( eyearray );
for( int i = 0; i < eyearray.length(); i++ ){
eyecen = eyearray.at( i );
xoff.x = meyesize;
yoff.y = meyesize;
snapPoints.append( eyecen + xoff );
snapPoints.append( eyecen + yoff );
snapPoints.append( eyecen - xoff );
snapPoints.append( eyecen - yoff );
}
return Acad::eOk;
}
void Sfml::_drawSnake(Snake *snake)
{
//head
sf::CircleShape head(this->_squareSize / 2);
head.setFillColor(sf::Color(BLACK));
head.setPosition(snake->_head->getX() * this->_squareSize + 1, snake->_head->getY() * this->_squareSize + 1);
this->_win->draw(head);
//eyes
sf::CircleShape eyes((this->_squareSize / 2 - 1) / 4);
eyes.setFillColor(sf::Color(WHITE));
eyes.setPosition(snake->_head->getX() * this->_squareSize + this->_squareSize * 1 / 4, snake->_head->getY() * this->_squareSize + 1 + this->_squareSize * 1 / 4);
this->_win->draw(eyes);
eyes.setPosition(snake->_head->getX() * this->_squareSize + this->_squareSize * 3 / 4 - 1, snake->_head->getY() * this->_squareSize + 1 + this->_squareSize * 1 / 4);
this->_win->draw(eyes);
sf::CircleShape body(this->_squareSize / 2);
body.setFillColor(sf::Color(BODY_COLOR));
for (std::list<GameEntity *>::iterator it = snake->_body.begin(); it != snake->_body.end(); it++)
{
body.setPosition((*it)->getX() * this->_squareSize + 1, (*it)->getY() * this->_squareSize + 1);
this->_win->draw(body);
}
}
int main()
{
uint8_t i;
delay(64000); // delay before clock slows down, 1000ms * 64
init_wdt();
init_blink();
slow_clock();
while (1) {
blink(3+(uint8_t)(rand()>>31)); // 3 + up to 3 blinks
eyes(OFF);
sleep(3+(uint8_t)(rand()>>30)); // 3 + up to 7 seconds
}
}
Acad::ErrorStatus
AsdkSmiley::getGripPoints(
AcGePoint3dArray& gripPoints,
AcDbIntArray& osnapMasks,
AcDbIntArray& geomIds) const
{
assertReadEnabled();
// Grip points to face
//
AcGePoint3d center( center() );
gripPoints.append( center );
AcGeVector3d xoff( radius(), 0, 0 ),
yoff( 0, radius(), 0 );
gripPoints.append( center + xoff );
gripPoints.append( center + yoff );
gripPoints.append( center - xoff );
gripPoints.append( center - yoff );
// Grip points to mouth
//
AcGeLineSeg3d chord( mouthLeft(), mouthRight() );
gripPoints.append( mouthLeft() );
gripPoints.append( mouthRight() );
gripPoints.append( chord.midPoint() );
gripPoints.append( mouthBottom() );
// Grip points to eyes
//
AcGePoint3dArray eyearray;
AcGePoint3d eyecen;
eyes( eyearray );
for( int i = 0; i < eyearray.length(); i++ ){
eyecen = eyearray.at( i );
gripPoints.append( eyecen );
AcGeVector3d xoff( meyesize, 0, 0 ),
yoff( 0, meyesize, 0 );
gripPoints.append( eyecen + xoff );
gripPoints.append( eyecen + yoff );
gripPoints.append( eyecen - xoff );
gripPoints.append( eyecen - yoff );
}
return Acad::eOk;
}
Adesk::Boolean
AsdkSmiley::worldDraw(AcGiWorldDraw *wd)
{
assertReadEnabled();
AcGeVector3d offset(0,0,0);
AcGeCircArc3d face = mfacecircle;
// If dragging, don't fill the smiley
//
if( wd->isDragging() ){
wd->subEntityTraits().setColor( colorIndex() );
wd->subEntityTraits().setFillType( kAcGiFillNever );
}
else
wd->subEntityTraits().setFillType( kAcGiFillAlways );
// Give the circle a GS marker of 1
//
wd->subEntityTraits().setSelectionMarker( 1 );
wd->geometry().circle( face.center(), face.radius(), mnormal );
if( !wd->isDragging() )
wd->subEntityTraits().setColor( 250 );
// Give the eyes GS markers of 2 etc.
//
AcGePoint3dArray eyearray;
eyes( eyearray );
for( int i = 0; i < eyearray.length(); i++ ){
wd->subEntityTraits().setSelectionMarker( i + 2 );
wd->geometry().circle( eyearray.at(i) + offset, meyesize, mnormal );
}
AcGePoint3d smilecen( mouthCenter() + offset ),
startpt( mouthLeft() + offset ),
endpt( mouthRight() + offset );
AcGeVector3d startvec = startpt - smilecen,
endvec = endpt - smilecen;
double mouthangle = startvec.angleTo( endvec );
wd->subEntityTraits().setSelectionMarker( eyearray.length() + 2 );
wd->geometry().circularArc( smilecen, mouthRadius(), mnormal, startvec, mouthangle, kAcGiArcChord );
return Adesk::kTrue;
}
Rect InputProcessing::getRightEyePosition(Mat frame, Rect facePosition) {
Size minS((int)(facePosition.width*.15), (int)(facePosition.height*.15));
Size maxS((int)(facePosition.width*.4), (int)(facePosition.height*.4));
vector<Rect> eyes(1);
facePosition.width /= 2;
facePosition.height /= 2;
facePosition.y += facePosition.height / 3;
Mat face(frame, facePosition);
eyeCascade.detectMultiScale(face, eyes, 1.05, 3, CV_HAAR_FIND_BIGGEST_OBJECT,minS,maxS);
if (eyes.size() == 0) {
return Rect(0,0,0,0);
}
eyes.at(0).x += facePosition.x;
eyes.at(0).y += facePosition.y;
//from empirical observations, cascades tend to crop right parts for both eyes, so we add width
eyes.at(0).width += (int) ceil(eyes.at(0).width *.125);
return eyes.at(0);
}
Acad::ErrorStatus
AsdkSmiley::osnapCen(
const AcGePoint3d& pickPoint,
AcGePoint3dArray& snapPoints) const
{
// Osnap center to the face's center
//
snapPoints.append( center() );
// Osnap center to the eyes' center
//
AcGePoint3dArray eyearray;
eyes( eyearray );
for( int i = 0; i < eyearray.length(); i++ ){
snapPoints.append( eyearray.at( i ));
}
return Acad::eOk;
}
void
AsdkSmiley::saveAs(AcGiWorldDraw *wd, AcDb::SaveType saveType)
{
// saveType == AcDb::kR12Save for saveasr12
// saveType == AcDb::kR13Save for proxy graphics save
//
AcGiRegenType rtype = wd->regenType();
if( AcDb::kR12Save == saveType )
wd->subEntityTraits().setFillType( kAcGiFillNever );
else if( AcDb::kR13Save == saveType )
wd->subEntityTraits().setFillType( kAcGiFillAlways );
// Draw face
//
wd->geometry().circle( center(), radius(), mnormal );
if( AcDb::kR13Save == saveType )
wd->subEntityTraits().setColor( 250 );
// Draw eyes
//
AcGePoint3dArray eyearray;
eyes( eyearray );
AcGeVector3d eyevec( -1, 0, 0 );
double eyeang = kPi;
for( int i = 0; i < eyearray.length(); i++ ){
wd->geometry().circularArc( eyearray.at( i ), meyesize, mnormal, eyevec, eyeang );
}
// Draw frown
//
AcGePoint3d smilecen = center();
smilecen[Y] -= radius() * 1.1;
double smilerad = radius() * 0.8;
AcGeVector3d smilevec( 1, 1, 0 );
double smileang = kPi / 2;
wd->geometry().circularArc( smilecen, smilerad, mnormal, smilevec, smileang, kAcGiArcChord );
}
Acad::ErrorStatus
AsdkSmiley::explode(AcDbVoidPtrArray& entities) const
{
assertReadEnabled();
AcDbCircle *pCircle = new AcDbCircle( center(), mnormal, radius() );
entities.append( pCircle );
// Create eyes
//
AcGePoint3dArray eyearray;
eyes( eyearray );
for( int i = 0; i < eyearray.length(); i++ ){
AcDbCircle *pCircle = new AcDbCircle( eyearray.at(i), mnormal, meyesize );
entities.append( pCircle );
}
// Create smile arc
//
AcGePoint3d smilecen( mouthCenter() ),
startpt( mouthLeft() ),
endpt( mouthRight() );
AcGeVector3d normvec( 1, 0, 0 ),
startvec = startpt - smilecen,
endvec = endpt - smilecen;
double startang = 2 * kPi - startvec.angleTo( normvec ),
endang = 2 * kPi - endvec.angleTo( normvec );
AcDbArc *pArc = new AcDbArc( smilecen, mnormal, mouthRadius(), startang, endang );
entities.append( pArc );
// Create smile arc chord
//
AcDbLine *pLine = new AcDbLine( startpt, endpt );
entities.append( pLine );
return Acad::eOk;
}
void Bluetooth::onReadyRead(void)
{
qDebug() << "Ready read..." << "request:" << m_request;
if (!m_socket)
return;
while (m_socket->canReadLine()) {
QByteArray data = m_socket->readLine();
QString line = QString::fromUtf8(data.constData(), data.length()).trimmed();
if (line.length() > 0) {
qDebug() << "Received:" << line << "request:" << m_request;
if (m_timer->isActive()) {
m_timer->stop();
}
switch (m_request) {
case REQUEST_BATTERY:
if (line.contains(BLUETOOTH_CMD_BATTERY)) {
line.remove(BLUETOOTH_CMD_BATTERY + QString(": "));
line.remove(QChar('%'));
unsigned int capacity = line.toInt();
m_request = REQUEST_NO_REQUEST;
emit battery(capacity);
} else {
// FIXME: ERROR
}
break;
case REQUEST_EYES:
if (line.contains(BLUETOOTH_CMD_EYES)) {
PowerState state;
if (line.contains(BLUETOOTH_PARAM_ON)) {
state = PowerOn;
} else {
state = PowerOff;
}
m_request = REQUEST_NO_REQUEST;
emit eyes(state);
} else {
getEyes();
}
break;
case REQUEST_HELMET:
if (line.contains(BLUETOOTH_CMD_HELMET)) {
HelmetState state;
if (line.contains(BLUETOOTH_PARAM_CLOSE)) {
state = HelmetClose;
} else {
state = HelmetOpen;
}
m_request = REQUEST_NO_REQUEST;
emit helmet(state);
} else {
getHelmet();
}
break;
case REQUEST_INTENSITY:
if (line.contains(BLUETOOTH_CMD_INTENSITY)) {
line.remove(BLUETOOTH_CMD_INTENSITY + QString(": "));
PowerIntensity value = (PowerIntensity) line.toInt();
m_request = REQUEST_NO_REQUEST;
emit intensity(m_intensityDevice, value);
} else {
getIntensity(m_intensityDevice);
}
break;
case REQUEST_QUOTE:
if (line.contains("OK")) {
m_request = REQUEST_NO_REQUEST;
emit quoteFinished();
} else {
// FIXME: ERROR
}
break;
case REQUEST_REPULSOR:
if (line.contains("OK")) {
emit repulsorBlastGenerated(m_repulsor);
}
m_request = REQUEST_NO_REQUEST;
break;
case REQUEST_REPULSORS:
if (line.contains(BLUETOOTH_CMD_REPULSORS)) {
PowerState state;
if (line.contains(BLUETOOTH_PARAM_ON)) {
state = PowerOn;
} else {
state = PowerOff;
}
m_request = REQUEST_NO_REQUEST;
emit repulsors(state);
} else {
getRepulsors();
}
break;
case REQUEST_UNIBEAM:
if (line.contains(BLUETOOTH_CMD_UNIBEAM)) {
PowerState state;
if (line.contains(BLUETOOTH_PARAM_ON)) {
state = PowerOn;
} else {
state = PowerOff;
}
m_request = REQUEST_NO_REQUEST;
emit unibeam(state);
} else {
getUnibeam();
}
break;
case REQUEST_VERSION:
if (m_revision.isEmpty()) {
m_revision = line;
} else if (m_build.isEmpty()) {
m_build = line;
m_request = REQUEST_NO_REQUEST;
emit version(m_revision, m_build);
}
break;
case REQUEST_VOLUME:
if (line.contains(BLUETOOTH_CMD_VOLUME)) {
line.remove(BLUETOOTH_CMD_VOLUME + QString(": "));
VolumeLevel level = (VolumeLevel) line.toInt();
emit volume(level);
m_request = REQUEST_NO_REQUEST;
} else {
getVolume();
}
break;
default:
break;
}
}
}
}
Acad::ErrorStatus
AsdkSmiley::moveGripPointsAt(
const AcDbIntArray& indices,
const AcGeVector3d& offset)
{
assertWriteEnabled();
AcGePoint3dArray eyearray;
AcGePoint3d oldquad, newquad, newmouthcenter, newmouthbottom,
smilecen, startpt, endpt, midpt, newpt;
AcGeVector3d vecstart(0,0,0), vecend(0,0,0), newvec(0,0,0);
eyes( eyearray );
for( int i = 0; i < indices.length(); i++ ) {
int idx = indices[i];
switch( idx ) {
// Stretch smiley center
//
case 0:
setCenter( center() + offset );
continue;
// Stretch smiley radius
//
case 1:
oldquad = center() + AcGeVector3d( radius(), 0, 0 );
break;
case 2:
oldquad = center() + AcGeVector3d( 0, radius(), 0 );
break;
case 3:
oldquad = center() - AcGeVector3d( radius(), 0, 0 );
break;
case 4:
oldquad = center() - AcGeVector3d( 0, radius(), 0 );
break;
// Stretch smiley mouth
//
case 5:
// Left hand edge of mouth
//
setMouthLeft( mouthLeft() + offset );
ensureRadius();
continue;
case 6:
// Right hand edge of mouth
//
setMouthRight( mouthRight() + offset );
ensureRadius();
continue;
case 7:
// Middle mouth chord
//
setMouth( mouthLeft() + offset, mouthBottom() + offset, mouthRight() + offset );
ensureRadius();
continue;
case 8:
// Bottom of mouth arc
//
setMouthBottom( mouthBottom() + offset );
ensureRadius();
continue;
// Stretch smiley eyes
//
default:
if(( eyearray.length() * 5 ) + 9 > idx ){
// Get eye number, extracting it from the array
//
int eyepos = (int)(( idx - 9 ) / 5 );
AcGePoint3d eyecen = eyearray.at( eyepos );
// Handle the grip for the eye
//
int subidx = idx - 9;
while ( subidx >= 5 ){ subidx -= 5; }
switch( subidx ){
// Stretch eye center
//
case 0:
// Keep the minimum eye height at zero
//
if( meyesheight+offset[Y] < 0 )
setEyesHeight( 0 );
else
setEyesHeight( meyesheight + offset[Y] );
// Keep the eyes from overlapping
//
if( eyecen[X] < center()[X] ){ // left eye
if( meyesapart - ( offset[X] * 2 ) < meyesize * 2 )
setEyesApart( meyesize * 2 );
else
setEyesApart( meyesapart - ( offset[X] * 2 ));
}
else { // right eye
if( meyesapart + ( offset[X] * 2 ) < meyesize * 2 )
setEyesApart( meyesize * 2 );
else
setEyesApart( meyesapart + ( offset[X] * 2));
}
ensureRadius();
continue;
// Stretch eye radius
//
case 1:
oldquad = eyecen + AcGeVector3d( meyesize, 0, 0 );
break;
case 2:
oldquad = eyecen + AcGeVector3d( 0, meyesize, 0 );
break;
case 3:
oldquad = eyecen - AcGeVector3d( meyesize, 0, 0 );
break;
case 4:
oldquad = eyecen - AcGeVector3d( 0, meyesize, 0 );
break;
}
newquad = oldquad + offset;
// Keep eyes from touching
//
if( newquad.distanceTo( eyecen ) > meyesapart / 2 )
setEyeSize( meyesapart / 2 );
else
setEyeSize( newquad.distanceTo( eyecen ));
ensureRadius();
}
continue;
}
newquad = oldquad + offset;
scaleRadius( newquad.distanceTo( center() ));
}
return Acad::eOk;
}
void init_blink()
{
DDRB |= (1<<LEFTEYE)|(1<<RIGHTEYE);
eyes(OFF);
}