TEST_F(NetworkControllerTest, loadObservations){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
SUCCEED();
}
TEST_F(NetworkControllerTest, getNetwork){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
ASSERT_TRUE(5 == n.getNetwork().size());
}
int main(int argc, char** argv)
{
if (argc<2) {
qWarning()<<"Aufruf" << argv[0] << "server [port]";
return 0;
}
QCoreApplication app(argc, argv);
app.setApplicationName(QLatin1String("roomcontrol.curtain.client"));
app.setApplicationVersion(QLatin1String("1.0"));
curtain curtainController;
NetworkController *nc = NetworkController::instance();
QObject::connect(nc, SIGNAL(serverJSON(QVariantMap)),
&curtainController, SLOT(serverJSON(QVariantMap)));
QObject::connect(nc, SIGNAL(message(QString)),
&curtainController, SLOT(message(QString)));
QObject::connect(nc, SIGNAL(stateChanged()),
&curtainController, SLOT(stateChanged()));
QByteArray server(argv[1]);
int port = argc>=3 ? QByteArray(argv[2]).toInt() : 3101;
nc->connectToServer(server,port);
int r = app.exec();
delete nc;
return r;
}
void callbackCommand(CoapPacket &packet, IPAddress ip, int port) {
NetworkController* networkController = getEventController()->getNetworkController();
String params = (const char*)packet.payload;
command(params);
networkController->sendCoapResponse(ip, port, ++packet.messageid, NULL, 0, COAP_RESPONSE_CODE::COAP_VALID, COAP_CONTENT_TYPE::COAP_TEXT_PLAIN);
}
int main(int argc, char* argv[])
{
// Create all the necessary objects (calls the default constructor for each)
TargetDetector detector;
TargetProcessor processor;
NetworkController networkController;
VideoDevice camera;
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
GUIManager gui;
if(config.getIsDevice())
{
camera.startCapture(config.getDeviceID());
if(config.getIsDebug())
std::cout << "Camera ready!\n";
}
//init networking
if(config.getIsNetworking())
networkController.startServer();
if(!config.getIsHeadless())
gui.init();
if(config.getIsDebug())
std::cout << "Im debugging! :D\n";
while(true)
{
networkController.waitForPing();
cv::Mat image = camera.getImage();
Target* target = detector.processImage(image);
bool foundTarget = (target == NULL ? false : true);
if(foundTarget)
{
processor.loadTarget(target);
double distance = processor.calculateDistance();
networkController.sendMessage("true;" +
boost::lexical_cast<std::string> (distance));
std::cout << "Target Found! Distance: " << distance;
}
else
{
networkController.sendMessage("false;");
}
}
return 0;
}
void curtain::onInputData()
{
QSocketNotifier* input = (QSocketNotifier*)sender();
input->setEnabled(false);
QTextStream stream(stdin, QIODevice::ReadOnly);
NetworkController* nc = NetworkController::instance();
QString cmd;
stream >> cmd;
if (cmd == "help") {
qDebug() << "open, close, set, stop, debug, dirnormal, dirinverted, dirok";
} else if (cmd == "set" && !stream.atEnd()) {
int v; stream >> v;
QVariantMap data;
data.insert("type_", "execute");
data.insert("plugin_", "curtain_udp");
data.insert("instanceid_", "0");
data.insert("member_", "setValue");
data.insert("value", v);
nc->write(data);
qDebug() << cmd;
} else if (cmd == "open") {
TEST_F(NetworkControllerTest, Time){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
n.trainNetwork();
ASSERT_TRUE(n.getTimeInMicroSeconds() > 0);
}
TEST_F(NetworkControllerTest, ParamDifference){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
n.trainNetwork();
ASSERT_TRUE(n.getParameterDifference() > 0.0f);
}
TEST_F(NetworkControllerTest, Runs){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
n.trainNetwork();
ASSERT_TRUE(1==n.getNumberOfEMRuns());
}
TEST_F(NetworkControllerTest, DataLikelihood){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
n.trainNetwork();
ASSERT_TRUE(n.getLikelihoodOfTheData() != 0.0f);
}
int main(int argc, char* argv[]) {
NetworkController networkController;
NetworkLayerInterface *networkIfc = &networkController;
PresentationLayerInterface *presentationIfc = new Encryption();
ApplicationLayerInterface *applicationIfc = new Client::Application::Client();
applicationIfc->setPresentationLayer(presentationIfc);
presentationIfc->setNetworkLayer(networkIfc);
presentationIfc->setApplicationLayer(applicationIfc);
networkIfc->setPresentationLayer(presentationIfc);
string username(argv[1]);
networkController.configure("127.0.0.1", 8080, username);
thread networkThread(std::ref(networkController));
thread chatThread(std::ref(*((Client::Application::Client*)applicationIfc)));
chatThread.join();
delete presentationIfc;
delete applicationIfc;
return 0;
}
TEST_F(NetworkControllerTest, EdgeAdditionPossibility){
NetworkController n;
std::vector<std::pair<unsigned int, unsigned int >> addedEdges{};
std::vector<std::pair<unsigned int, unsigned int >> removedEdges{};
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
ASSERT_TRUE(n.isEdgePossible(0,4,addedEdges,removedEdges));
ASSERT_FALSE(n.isEdgePossible(4,0,addedEdges,removedEdges));
removedEdges.push_back(std::make_pair(0,1));
ASSERT_TRUE(n.isEdgePossible(4,0,addedEdges,removedEdges));
}
TEST_F(NetworkControllerTest, trainNet){
NetworkController nc;
nc.loadNetwork(TEST_DATA_PATH("Student.na"));
nc.loadNetwork(TEST_DATA_PATH("Student.sif"));
nc.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("controlStudent.json"));
nc.trainNetwork();
Network n = nc.getNetwork();
Node grade = n.getNode("Grade");
ASSERT_NEAR(0.3f,grade.getProbability(0,0),0.001);
ASSERT_NEAR(0.05f,grade.getProbability(0,2),0.001);
ASSERT_NEAR(0.9f,grade.getProbability(0,1),0.001);
ASSERT_NEAR(0.5f,grade.getProbability(0,3),0.001);
ASSERT_NEAR(0.4f,grade.getProbability(1,0),0.001);
ASSERT_NEAR(0.25f,grade.getProbability(1,2),0.001);
ASSERT_NEAR(0.08f,grade.getProbability(1,1),0.001);
ASSERT_NEAR(0.3f,grade.getProbability(1,3),0.001);
ASSERT_NEAR(0.3f,grade.getProbability(2,0),0.001);
ASSERT_NEAR(0.7f,grade.getProbability(2,2),0.001);
ASSERT_NEAR(0.02f,grade.getProbability(2,1),0.001);
ASSERT_NEAR(0.2f,grade.getProbability(2,3),0.001);
Node letter = n.getNode("Letter");
ASSERT_NEAR(0.1f,letter.getProbability(0,0),0.001);
ASSERT_NEAR(0.4f,letter.getProbability(0,1),0.001);
ASSERT_NEAR(0.99f,letter.getProbability(0,2),0.001);
ASSERT_NEAR(0.9f,letter.getProbability(1,0),0.001);
ASSERT_NEAR(0.6f,letter.getProbability(1,1),0.001);
ASSERT_NEAR(0.01f,letter.getProbability(1,2),0.001);
Node intelligence = n.getNode("Intelligence");
ASSERT_NEAR(0.7, intelligence.getProbability(0,0),0.001);
ASSERT_NEAR(0.3, intelligence.getProbability(1,0),0.001);
Node difficulty = n.getNode("Difficulty");
ASSERT_NEAR(0.6, difficulty.getProbability(0,0),0.001);
ASSERT_NEAR(0.4, difficulty.getProbability(1,0),0.001);
Node sat = n.getNode("SAT");
ASSERT_NEAR(0.95f,sat.getProbability(0,0),0.001);
ASSERT_NEAR(0.05f,sat.getProbability(1,0),0.001);
ASSERT_NEAR(0.2f,sat.getProbability(0,1),0.001);
ASSERT_NEAR(0.8f,sat.getProbability(1,1),0.001);
}
TEST_F(NetworkControllerTest, InvalidFileTGFEdges){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("invalidEdge.tgf")), std::invalid_argument);
}
TEST_F(NetworkControllerTest, InvalidFileTGFNodes){
NetworkController n;
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("invalidNodeID.tgf")), std::invalid_argument);
}
TEST_F(NetworkControllerTest, InvalidFileTyp){
NetworkController n;
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("unkown.txt")),std::invalid_argument);
}
TEST_F(NetworkControllerTest, InvalidFileName3){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("unkownfile.sif")),std::invalid_argument);
}
TEST_F(NetworkControllerTest, InvalidFileName1){
NetworkController n;
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("unkownfile.tgf")),std::invalid_argument);
}
void callbackResponse(CoapPacket &packet, IPAddress ip, int port) {
NetworkController* networkController = getEventController()->getNetworkController();
networkController->sendCoapResponse(ip, port, ++packet.messageid, NULL, 0, COAP_RESPONSE_CODE::COAP_VALID, COAP_CONTENT_TYPE::COAP_TEXT_PLAIN);
}
TEST_F(NetworkControllerTest, ConstructorNASIF){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
SUCCEED();
}
TEST_F(NetworkControllerTest, ConstructorSIFNA){
NetworkController n;
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("Student.sif")),std::invalid_argument);
}
TEST_F(NetworkControllerTest, loadObservationsInvalidObservationFileName){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
ASSERT_THROW(n.loadObservations(TEST_DATA_PATH("StudentDat.txt"),TEST_DATA_PATH("controlStudent.txt")),std::invalid_argument);
}
TEST_F(NetworkControllerTest, InvalidNA2){
NetworkController n;
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("invalid2.na")), std::invalid_argument);
}
TEST_F(NetworkControllerTest, loadObservationsInvalidControlFile2){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
n.loadNetwork(TEST_DATA_PATH("Student.sif"));
ASSERT_ANY_THROW(n.loadObservations(TEST_DATA_PATH("StudentData.txt"),TEST_DATA_PATH("invalidControl2.txt")));
}
int main(int argc, char* argv[])
{
// Create all the necessary objects (calls the default constructor for each)
TargetDetector detector;
TargetProcessor processor;
NetworkController networkController;
VideoDevice camera;
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
//GUIManager gui;
if(config.getIsDevice()){
camera.startCapture(config.getDeviceID());
if(config.getIsDebug())
std::cout << "Camera ready!\n";
}
//init networking
if(config.getIsNetworking())
networkController.startServer();
//if(!config.getIsHeadless())
// gui.init();
if(config.getIsDebug())
std::cout << "Im debugging! :D\n";
cv::Mat image;
//debug
int loop = 1;
cv::namedWindow("Live Video Feed", cv::WINDOW_NORMAL);
cv::namedWindow("General", cv::WINDOW_NORMAL);
while(cv::waitKey(30) != 27)
{
Mat background(Size(1000,1000), CV_8UC1, Scalar(255, 255, 255 ));
if(config.getIsDebug())
std::cout << "While Loop #" << loop << std::endl;
if(config.getIsNetworking())
networkController.waitForPing();
image = camera.getImage();
if(!image.data) // check if image is valid
{
if(config.getIsDebug())
std::cout << "failed to read image" << std::endl;
return -1;
}
if(config.getIsDebug())
std::cout << "Image Read" << std::endl;
Target* target = detector.processImage(image);
if(config.getIsDebug())
std::cout << "Image Processed by Target Detector" << std::endl;
/*
(std::cout << "Target Value:" << target << "End of Target Value\n";
std::cout << "CR A OW: " << target-> crow;
target -> printPoints();
*/
bool foundTarget = false;
if (target != NULL)
{
foundTarget = true;
image = detector.getOutlinedImage();
}
std::cout <<"About to check the value of foundTarget" << std::endl;
if(foundTarget)
{
std::cout <<"Target was found " << std::endl;
if(config.getIsDebug())
std::cout << "Image Being Processed" << std::endl;
processor.loadTarget(target);
if(config.getIsDebug())
std::cout << "Target Loaded" << std::endl;
double distance = processor.calculateDistance();
if(config.getIsDebug())
std::cout << "Distance Calculated" << std::endl;
double azimuth = processor.calculateAzimuth();
if(config.getIsDebug())
std::cout << "Azimuth Calculated" << std::endl;
double altitude = processor.calculateAltitude();
if(config.getIsDebug())
std::cout << "Altitude Calculated" << std::endl;
if(config.getIsDebug())
std::cout << "Image Processed by TargetProcessor" << std::endl;
std::string dis = "distance: " + std::to_string(distance);
std::string alt = "altitude: " + std::to_string(altitude);
std::string azi = "azimuth: " + std::to_string(azimuth);
cv::putText(background, dis, cv::Point(50,100),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
cv::putText(background, alt, cv::Point(50,200),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
cv::putText(background, azi, cv::Point(50,400),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
imshow("General", background);
if (config.getIsNetworking())
{
networkController.sendMessage("true;" +
boost::lexical_cast<std::string> (distance) + ";" +
boost::lexical_cast<std::string> (azimuth) + ";" +
boost::lexical_cast<std::string> (altitude));
}
if(config.getIsDebug()){
std::cout << "Target Found! Distance: " << distance;
std::cout << "Altitude: " << altitude << std::endl;
std::cout << "Azimuth: " << azimuth << std::endl;
}
}
else
{
if (config.getIsNetworking())
networkController.sendMessage("false;");
}
imshow("Live Video Feed", image);
loop++;
delete target;
}
return 0;
}
TEST_F(NetworkControllerTest, ConstructorTGF){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("test.tgf"));
SUCCEED();
}
TEST_F(NetworkControllerTest, InvalidSIF2){
NetworkController n;
n.loadNetwork(TEST_DATA_PATH("Student.na"));
ASSERT_THROW(n.loadNetwork(TEST_DATA_PATH("invalid2.sif")), std::invalid_argument);
}
int main(int argc, char* argv[])
{
// get command line interface config options
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
GUIManager gui;
VideoDevice camera;
LProcessor processor;
NetworkController networkController;
ArduinoController arduino;
//init camera
if(config.getIsDevice())
{
camera.startCapture(config.getDeviceID());
if(config.getIsDebug())
std::cout << "Camera ready!\n";
}
//init networking
if(config.getIsNetworking())
networkController.startServer();
if(!config.getIsHeadless())
gui.init();
if (config.getHasArduino())
{
//16 is /dev/ttyUSB0, 24 is /dev/ttyACM0
arduino.init(9600, 24); //baud rate, serial port
}
//continuous server loop
do
{
if(config.getIsNetworking())
networkController.waitForPing();
LDetector detector;
cv::Mat image;
if(config.getIsFile());
//image = cv::imread(config.getFileName());
//else
// image = camera.getImage(config.getIsDebug());
//detector.elLoad(image);
//detector.elSplit();
//detector.elThresh();
//detector.elContours(); detector.elFilter();
bool foundL = true;
if (detector.getLs().size() > 0)
detector.largest2();
else
foundL = false;
if (detector.getLs().size() == 0)
foundL = false;
if (foundL)
{
processor.determineL(detector.getLs());
processor.determineAzimuth();
processor.determineDistance();
double azimuth = processor.getAzimuth();
double distance = processor.getDistance();
if(config.getIsDebug())
{
processor.outputData();
std::cout << "Final distance (m): " << processor.getDistance() << std::endl;
}
if(!config.getIsHeadless())
{
int i_dist = (int) (distance * 1000.0);
int dist_left = i_dist / 1000;
int dist_right = i_dist % 1000;
std::string dist_str = boost::lexical_cast<std::string>(dist_left) + "." + boost::lexical_cast<std::string>(dist_right);
gui.setImage(detector.show());
gui.setImageText("Distance: " + dist_str + " m");
gui.show(config.getIsFile());
}
if(config.getIsNetworking())
{
networkController.sendMessage(boost::lexical_cast<std::string> ("true") + std::string(";")
+ boost::lexical_cast<std::string> (distance) + std::string(";")
+ boost::lexical_cast<std::string> (azimuth));
}
}
else
{
if(config.getIsNetworking())
networkController.sendMessage(boost::lexical_cast<std::string> ("false") + std::string(";"));
if(!config.getIsHeadless())
{
gui.setImage(detector.show());
gui.setImageText("No L's Found");
gui.show(config.getIsFile());
}
}
if(config.getHasArduino())
{
char c = std::rand() % 26 + 'A';
arduino.sendMessage(c, cv::Point(5, 5));
cv::waitKey(300);
}
}
while(config.getIsDevice());
return 0;
}
