QVariantMap MobExample2Action::metaData() const
{
QVariantMap variantMap;
QVariant localization("Test action 2");
variantMap.insert(KCntUiActionMetaTitleText, localization);
const QString& string(QContactPhoneNumber::FieldNumber);
QVariant detailField(string);
variantMap.insert(KCntUiActionMetaValueTextDetail, detailField);
QString menuString("Do example action2");
QVariant longPressMenu(menuString);
variantMap.insert(KCntUiActionMetaValueTextLongPress, longPressMenu);
return variantMap;
}
QVariantMap MobExampleAction::metaData() const
{
QVariantMap variantMap;
const QString& string("Test action 1");
QVariant localization(string);
variantMap.insert(KCntUiActionMetaTitleText, localization);
const QString& string2(QContactOnlineAccount::FieldAccountUri);
const QVariant detailField(string2);
variantMap.insert(KCntUiActionMetaValueTextDetail, detailField);
QString menuString("Do example action");
QVariant longPressMenu(menuString);
variantMap.insert(KCntUiActionMetaValueTextLongPress, longPressMenu);
HbIcon hIcon("qtg_large_voip.svg");
// Must be QIcon
QIcon icon(hIcon.qicon());
QVariant iconVariant(icon);
variantMap.insert("icon", iconVariant);
return variantMap;
}
void detectKeypoints(cv::gpu::GpuMat& keypoints, int scales)
{
ensureSizeIsEnough(SIFT_GPU::ROWS_COUNT, MAXEXTREMAS, CV_32FC1, keypoints);
keypoints.setTo(cv::Scalar::all(0));
for (int octave = 0; octave < 1; ++octave)
{
const int scaleCols = cols >> octave;
const int scaleRows = rows >> octave;
createDoGSpace(inImage.data, &deviceDoGData, scales, scaleRows, scaleCols);
findExtremas(deviceDoGData, &sift_.extremaBuffer, &maxCounter, octave, scales, scaleRows, scaleCols);
localization(deviceDoGData, scaleRows, scaleCols, scales, octave, sift_.nOctaves, sift_.extremaBuffer, maxCounter,
keypoints.ptr<float>(SIFT_GPU::X_ROW), keypoints.ptr<float>(SIFT_GPU::Y_ROW),
keypoints.ptr<float>(SIFT_GPU::OCTAVE_ROW), keypoints.ptr<float>(SIFT_GPU::SIZE_ROW),
keypoints.ptr<float>(SIFT_GPU::ANGLE_ROW), keypoints.ptr<float>(SIFT_GPU::RESPONSE_ROW));
}
std::cout << "Number of keypoints: " << maxCounter[0] << std::endl;
}
// This is only for the qualifying
int qualify_test(int* command, unsigned int* blobs, float* location, int* orientation_flag, int* west_flag, int* east_flag, float* calibration)
{
if(*command == PLAY)
{
int temp;
temp = localization(blobs, calibration, location);
float goal[3];
if(temp)
{
if(*orientation_flag == 0)
{
*orientation_flag = 1;
if(location[0] >= 0) *east_flag = 1;
else *west_flag = 1;
}
}
if(*west_flag)
{
goal[0] = 115;
goal[1] = 0;
}
else if(*east_flag)
{
goal[0] = -115;
goal[1] = 0;
}
if(*orientation_flag)
{
int temp;
temp = move(location, goal);
if(!temp)
{
*command = PAUSE;
*orientation_flag = 0;
*west_flag = 0;
*east_flag = 0;
}
}
}
else if(*command == GOALA)
{
*west_flag = 0;
*east_flag = 1;
*orientation_flag = 1;
*command = PLAY;
}
else if(*command == GOALB)
{
*west_flag = 1;
*east_flag = 0;
*orientation_flag = 1;
*command = PLAY;
}
else if(*command == HALFTIME)
{
OCR1B = 0;
OCR1C = 0;
}
else if(*command == GAMEOVER)
{
OCR1B = 0;
OCR1C = 0;
}
else if(*command == PAUSE)
{
OCR1B = 0;
OCR1C = 0;
}
}
int main(void)
{
robockey_init();
while(1)
{
comm(command);
mode = check_mode();
if(wii_flag && command == PLAY)
{
location_flag = localization(blobs, calibration, location);
wii_flag = 0;
}
switch(mode)
{
case 0: // normal mode(GOAL A), need command PLAY TO START
if(switch_flag)
{
goal[0] = -125;
goal[1] = 0;
goal[2] = 0;
if(command == HALFTIME)
{
goal[0] = 125;
switch_flag = 0;
}
}
if(command == PLAY)
{
//if(!found)
//{
//found = find(adc1, adc2, &count);
//set(TIMSK0,OCIE0A); // Enable timer0 interrupt
//}
if(find(adc1, adc2, &count))
{
m_green(TOGGLE);
m_red(OFF);
move(location, goal);
}
}
break;
case 1: // normal mode(GOAL B), need command PLAY TO START
if(switch_flag)
{
goal[0] = 125;
goal[1] = 0;
goal[2] = 0;
if(command == HALFTIME)
{
goal[0] = -125;
switch_flag = 0;
}
}
if(command == PLAY)
{
if(find(adc1, adc2, &count))
{
m_green(TOGGLE);
m_red(OFF);
move(location, goal);
}
}
break;
case 2: // calibrate the center of the rink
m_green(ON);
m_red(ON);
if(wii_flag)
{
float calibrationDefault[2] = {0, 0};
float calibrationResult[3] = {0, 0, 0};
if(localization(blobs, calibrationDefault, calibrationResult))
{
//m_green(ON);
//m_red(ON);
calibration[0] = calibrationResult[0];
calibration[1] = calibrationResult[1];
}
}
break;
case 3: // test mode(GOAL A), always play while the power is on.
m_green(TOGGLE);
m_red(OFF);
if(find(adc1, adc2, &count))
{
if(wii_flag)
{
//if(!found)
//{
//found = find(adc1, adc2, &count);
//set(TIMSK0,OCIE0A); // Enable interrupt
//}
if(localization(blobs, calibration, location))
{
float goal[3] = {-115, 0, 0};
move(location, goal);
}
}
}
break;
case 4: // test mode(GOAL B), always play while the power is on.
m_red(TOGGLE);
m_green(OFF);
if(find(adc1, adc2, &count))
{
if(wii_flag)
{
if(localization(blobs, calibration, location))
{
float goal[3] = {115, 0, 0};
move(location, goal);
}
}
}
break;
case 5:
m_green(ON);
m_red(ON);
OCR1B = OCR1A;
OCR1C = 0.98*OCR1A;
break;
case 6:
qualify_test(&command, blobs, location, &orientation_flag, &west_flag, &east_flag, calibration);
break;
case 7:
OCR1B = OCR1A;
OCR1C = 0;
m_wait(3200);
OCR1B = OCR1A/2;
OCR1C = OCR1A/2;
m_wait(32000);
break;
default:
OCR1B = 0.5*OCR1A;
OCR1C = 0.5*OCR1A;
m_green(OFF);
m_red(OFF);
}
m_usb_tx_int((int)(location[0]));
m_usb_tx_char('\t');
m_usb_tx_int((int)(location[1]));
m_usb_tx_char('\t');
m_usb_tx_int((int)(adc1[0]));
m_usb_tx_char('\t');
m_usb_tx_int((int)(adc2[0]));
m_usb_tx_char('\t');
m_usb_tx_int((int)(check(PIND, 7)));
m_usb_tx_char('\t');
m_usb_tx_char('\r');
if(!check(ADCSRA, ADIF)) set(ADCSRA,ADSC);
}
}
