int main(int argc, char **argv)
{
if (argc != 2)
{
printf("usage: %s %s\n", argv[0], "filename");
return 0;
}
FILE *file = fopen(argv[1], "r");
if (!file)
{
perror("Could not open file.\n");
return 1;
}
int mode = 1; /* 1 = ucase; 0 = lcase */
char c;
while ((c = fgetc(file)) && !feof(file))
{
if (c == '\n') /* reset case pattern on newline */
mode = 1;
if (mode)
{
if (c >= 'a' && c <= 'z')
{
printf("%c", c - 32);
modeSwitch(&mode);
}
else if (c >= 'A' && c <= 'Z')
{
printf("%c", c);
modeSwitch(&mode);
}
else
printf("%c", c);
}
else
{
if (c >= 'A' && c <= 'Z')
{
printf("%c", c + 32);
modeSwitch(&mode);
}
else if (c >= 'a' && c <= 'z')
{
printf("%c", c);
modeSwitch(&mode);
}
else
printf("%c", c);
}
}
fclose(file);
return 0;
}
void* GlassesVideo::runThread(void*)
{
VideoCapture gl_capture(3);
gl_capture.set(CV_CAP_PROP_FRAME_WIDTH , 640);
gl_capture.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
if(!gl_capture.isOpened())
{
cout << "Cannot open glasses video !" << endl;
}
Mat gl_img, gl_img_OR;
Mat curMat, preMat;
//glassesOR glOR(&gl_img_OR);
//glOR.stopRunning();
ObjectRecognition gl_or("g20111105_4.yml.gz");
Mat gl_img_bk;
Mat glres_image; //display result image
int gl_result=255;
RobotSearch robotsearch;
//robotsearch.create();
robotsearch.stopRunning();
//namedWindow("Glasses Video");
//moveWindow("Glasses Video", 645, 0);
namedWindow("Video Live");
moveWindow("Video Live", 645, 0);
namedWindow("Glasses_result",CV_WINDOW_NORMAL);
moveWindow("Glasses_result",1000,600);
//G_glassesMode = glassesOR;
while(1)
{
gl_capture >> gl_img;
cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
imshow("Video Live",gl_img_bk);
waitKey(1);
//----------------------------glasses Motion ------------------------
preMat = gl_img.clone();
//imshow("preMat", preMat);
gl_capture >> curMat;
//imshow ("cur", curMat);
modeSwitch(preMat, curMat);
//-------------------------------------------------------------------
if(G_glassesMode == glassesOR) //OR MODE
{
//Open Glasses Objct Recognition
//glOR.runAsync();
gl_result=255;
gl_result = gl_or.find(gl_img_bk, 'G');
//if(gl_result !=255)
//{
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// /*if(gl_result !=255)
// {
// gl_capture >> gl_img;
// cvtColor(gl_img,gl_img_bk,CV_RGB2GRAY);
// imshow("Video Live",gl_img);
// waitKey(1);
// gl_result=255;
// gl_result = gl_or.find(gl_img_bk, 'G');
// }
// else gl_result=255;*/
//}
//gl_result=4;
if(gl_result !=255)
{
//-------------------------Display the result ------------------------
robotSpeak(gl_result, "name");
stringstream ret_src1; //result src
ObjectRecognition::loadImage(ret_src1, gl_result, 'G', 1);
glres_image = imread(ret_src1.str());
imshow("Glasses_result", glres_image);
waitKey(1);
//--------------------glasses goes to roobt search mode------------------
GlassesModeMutex.lock();
CB.clear();
G_glassesMode = robotSearch;
G_Search_Step = 0;
isDoneRobot = true;
G_Target= gl_result/5;
gl_result = 255;
HelpStartTime = time(NULL);
//RobotCommand(CameraMotion); //cameraMotion
GlassesModeMutex.unlock();
////-------------------------Open robot search thread ------------------------
if(!robotsearch.getRunning())
robotsearch.runAsync();
}
}
}
//return 0;
}
int main()
{
// Objects
CameraInput *camera = new CameraInput();
Control *controller = new Control();
Process *processer = new Process();
Tracking *tracker = new Tracking();
Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0", "/dev/ttyUSB1");
// Serial_Communication *serial = new Serial_Communication("/dev/ttyUSB0");// #### For testing with only one arduino
File_Handler *file_Handler = new File_Handler();
Window_Handler *window_Handler = new Window_Handler();
Menu *menu = new Menu();
// Threads
QThread *t1 = new QThread;
QThread *t2 = new QThread;
QThread *t3 = new QThread;
QThread *t4 = new QThread;
QThread *t5 = new QThread;
camera->moveToThread(t1);
processer->moveToThread(t2);
tracker->moveToThread(t3);
serial->moveToThread(t3);
controller->moveToThread(t4);
file_Handler->moveToThread(t5);
// Connect signals to slots. Whenever a signal is emitted in a function, its corresponding (connected) function will run.
qRegisterMetaType<cv::Mat>("cv::Mat");
//Signals calling from:
//Main thread
QObject::connect(menu, SIGNAL(startRecording(bool)), controller, SLOT(startRecording(bool)));
QObject::connect(menu, SIGNAL(stopRecording()), controller, SLOT(stopRecording()));
QObject::connect(menu, SIGNAL(displayMenu(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(menu, SIGNAL(requestDataFromFootController()), serial, SLOT(receiveDataFromFootControllerLoop()));
QObject::connect(menu, SIGNAL(startHighRep()), controller, SLOT(startDelayMode()));
QObject::connect(menu, SIGNAL(decreaseDelay()), controller, SLOT(decreaseDelay()));
QObject::connect(menu, SIGNAL(increaseDelay()), controller, SLOT(increaseDelay()));
QObject::connect(menu, SIGNAL(modeSwitch()), controller, SLOT(endMode()));
QObject::connect(menu, SIGNAL(startPlayback()), file_Handler, SLOT(readFromFile()));
QObject::connect(menu, SIGNAL(stopPlayback()), file_Handler, SLOT(stopVideo()));
QObject::connect(menu, SIGNAL(toggleSlowMotion()), file_Handler, SLOT(toggleSlowMotion()));
QObject::connect(menu, SIGNAL(toggleTracking()), controller, SLOT(toggleTracking()));
//Thread 1
QObject::connect(t1, SIGNAL(started()), camera, SLOT(captureImage()));
QObject::connect(camera, SIGNAL(capturedImage(cv::Mat)), controller, SLOT(inputImage(cv::Mat)));
//Thread 2
QObject::connect(t2, SIGNAL(started()), controller, SLOT(processerReady()));
QObject::connect(processer, SIGNAL(posXposY(int,int)), tracker, SLOT(position(int,int)));
QObject::connect(processer, SIGNAL(readyForWork()), controller, SLOT(processerReady()));
//Thread 3
QObject::connect(tracker, SIGNAL(directionAndSpeed(int,int)), serial, SLOT(sendDataToControlUnit(int,int)));
QObject::connect(serial, SIGNAL(fromFootController(char)), menu, SLOT(giveInput(char)));
//Thread 4
QObject::connect(t4, SIGNAL(started()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(controller, SIGNAL(imageToProcess(cv::Mat)), processer, SLOT(processImage(cv::Mat)));
QObject::connect(controller, SIGNAL(requestImage()), camera, SLOT(captureImage()));
QObject::connect(controller, SIGNAL(imageToRecord(cv::Mat)), file_Handler, SLOT(writeImage(cv::Mat)));
// QObject::connect(controller, SIGNAL(imageToShow(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(processer, SIGNAL(processedImage(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(controller, SIGNAL(stopMotor()), serial, SLOT(stopMotor()));
//Thread 5
QObject::connect(file_Handler, SIGNAL(showFrame(cv::Mat)), window_Handler, SLOT(drawImage(cv::Mat)));
QObject::connect(file_Handler, SIGNAL(readyToWrite()), controller, SLOT(fileHandlerReadyToWrite()));
QObject::connect(file_Handler, SIGNAL(timeout()), file_Handler, SLOT(playVideo()));
QObject::connect(file_Handler, SIGNAL(playbackEnded()), menu, SLOT(returnToLowRep()));
// Starting Threads
t1->start();
t2->start();
t3->start();
t4->start();
t5->start();
// menu->menu();
menu->inputHandler();
return 0;
}
