float Cylinder::contributionD(float angle, float k_angle) const
{
float alpha = dFi(dFi(angle, getrT()), k_angle) * ISIGMAD;
/*Area of the curve computation*/
return doLeft(alpha + 0.5) - doLeft(alpha - 0.5);
}
void GameScene::onTouchEnded(Touch* touch, Event* event)
{
Point pos = touch->getLocation();
SimpleGestures rtn = recognizer->endPoint(pos);
switch (rtn) {
case SimpleGesturesLeft:
doLeft();
doCheck();
setScore(score);
break;
case SimpleGesturesRight:
doRight();
doCheck();
setScore(score);
break;
case SimpleGesturesUp:
doUp();
doCheck();
setScore(score);
break;
case SimpleGesturesDown:
doDown();
doCheck();
setScore(score);
break;
case SimpleGesturesNotSupport:
case SimpleGesturesError:
log("not support or error touch,use geometricRecognizer!!");
break;
default:
break;
}
}
void BlockEdgeSimilarDetector::Run()
{
#ifdef BED_OUTPUT_DEBUG_INFO
drowDebugResult = image.clone();
if (drowDebugResult.channels() == 1)
cv::cvtColor(drowDebugResult, drowDebugResult, CV_GRAY2BGR);
doUp();
doDown();
doLeft();
doRight();
#else
thread t1 = thread(std::mem_fn(&BlockEdgeSimilarDetector::doUp), this);
thread t2 = thread(std::mem_fn(&BlockEdgeSimilarDetector::doDown), this);
thread t3 = thread(std::mem_fn(&BlockEdgeSimilarDetector::doLeft), this);
thread t4 = thread(std::mem_fn(&BlockEdgeSimilarDetector::doRight), this);
t1.join();
t2.join();
t3.join();
t4.join();
#endif
//double maxdiff = (maxdiff_X > maxdiff_Y) ? maxdiff_X : maxdiff_Y;
//int maxDeep = (maxDeep_X > maxDeep_Y) ? maxDeep_X : maxDeep_Y;
//stringstream ss;
//ss << "BED定标消息：最大不相似度=" << maxdiff << "，缺陷最大深度 = " << maxDeep << "pix" << endl;
//MFCConsole::Output(ss.str());
}
void BlockEdgeLineDetector::Run()
{
#ifdef BELD_OUTPUT_DEBUG_INFO
drowDebugResult = image.clone();
if (drowDebugResult.channels() == 1)
cv::cvtColor(drowDebugResult, drowDebugResult, CV_GRAY2BGR);
doUp();
doDown();
doLeft();
doRight();
#else
thread t1 = thread(std::mem_fn(&BlockEdgeLineDetector::doUp), this);
thread t2 = thread(std::mem_fn(&BlockEdgeLineDetector::doDown), this);
thread t3 = thread(std::mem_fn(&BlockEdgeLineDetector::doLeft), this);
thread t4 = thread(std::mem_fn(&BlockEdgeLineDetector::doRight), this);
t1.join();
t2.join();
t3.join();
t4.join();
#endif
minLengthPix = minLengthPix == 9999 ? 0 : minLengthPix;
minDeepPix = minDeepPix == 9999 ? 0 : minDeepPix;
stringstream ss;
ss << "BLED定标消息：最大崩边长度=" << maxLengthPix << "pix，最大深度 = " << maxDeepPix << "pix" << endl;
ss << "BLED定标消息：最小崩边长度=" << minLengthPix << "pix，最小深度 = " << minDeepPix << "pix" << endl;
MFCConsole::Output(ss.str());
}
void GameScene::onTouchEnded(Touch *touch, Event *unused_event){
Point pos = touch->getLocation();
SimpleGestures gesture = recognizer->endPoint(pos);
switch (gesture) {
case SimpleGesturesLeft:
doLeft();
log("left");
break;
case SimpleGesturesRight:
doRight();
log("right");
break;
case SimpleGesturesUp:
doUp();
log("up");
break;
case SimpleGesturesDown:
doDown();
log("dowm");
break;
default:
break;
}
createCardNumber(true);
}
//事件监听回调：触摸结束
void HelloWorld::onTouchEnded(cocos2d::Touch *touch, cocos2d::Event *unused_event)
{
//获取X轴和Y轴的移动范围
Point touchPoint=touch->getLocation(); //获取OpenGL坐标（即cocos2d-x坐标，原点在左下角）
endX=firstX - touchPoint.x;
endY=firstY - touchPoint.y;
//判断X轴和Y轴的移动距离，如果X轴的绝对值大，则向左右滑动，如果Y轴的绝对值大，则向上下滑动
if(abs(endX) > abs(endY))
{
//手势向左右
//判断向左还是向右
if(endX+5>0)
{
//向左
doLeft();
//判断游戏是否还能继续
doCheckGameOver();
}
else
{
//向右
doRight();
//判断游戏是否还能继续
doCheckGameOver();
}
}
else
{
//手势向上下
//判断手势向上还是向下
if(endY+5>0)
{
//向下
doDown();
//判断游戏是否还能继续
doCheckGameOver();
}
else
{
//向上
doUp();
//判断游戏是否还能继续
doCheckGameOver();
}
}
}
void GameScene::onTouchEnded(Touch* touch, Event* event)
{
//得到触摸结束时坐标
Point endTouch = touch->getLocation(); //获取OpenGL坐标，以左下角为原点
//计算手指在X，Y移动的距离
endX = beginX - endTouch.x;
endY = beginY - endTouch.y;
if (abs(endX) > abs(endY))
{
//如果X轴移动的距离大于Y轴，则是左右移动
if (endX + 5 > 0)
{
//向左移动
doLeft();
createCardNumber();
doCheck();
setScore(score);
}
else
{
//向右移动
doRight();
createCardNumber();
doCheck();
setScore(score);
}
}
else //否则是上下移动
{
if (endY + 5 > 0)
{
//向下移动
doDown();
createCardNumber();
doCheck();
setScore(score);
}
else
{
//向上移动
doUp();
createCardNumber();
doCheck();
setScore(score);
}
}
}
void BlockEdgeDetectorT::Run()
{
#ifdef BED_OUTPUT_DEBUG_INFO
drowDebugResult = image.clone();
if (drowDebugResult.channels() == 1)
cv::cvtColor(drowDebugResult, drowDebugResult, CV_GRAY2BGR);
//doUp();
//doDown();
doLeft();
//doLeft();
//doRight();
#else
thread t1 = thread(std::mem_fn(&BlockEdgeDetectorT::doUp), this);
thread t2 = thread(std::mem_fn(&BlockEdgeDetectorT::doDown), this);
thread t3 = thread(std::mem_fn(&BlockEdgeDetectorT::doLeft), this);
thread t4 = thread(std::mem_fn(&BlockEdgeDetectorT::doRight), this);
t1.join();
t2.join();
t3.join();
t4.join();
#endif
}
void HelloWorld::onTouchEnded(Touch *touch, Event *unused_event){
Point touchPo = touch->getLocation();
endX = firstX - touchPo.x;
endY = firstY - touchPo.y;
if (abs(endX) > abs(endY)){//绝对值
//左右
if (endX+5>0){
//左边
if (doLeft()){
autoCreateCardNumber();
doCheckGameOver();
}
}else{
//右边
if (doRight()){
autoCreateCardNumber();
doCheckGameOver();
}
}
}else{
//上下
if (endY + 5 < 0){
//上
if (doUp()){
autoCreateCardNumber();
doCheckGameOver();
}
}else{
//下
if (doDown()){
autoCreateCardNumber();
doCheckGameOver();
}
}
}
}
task main ()
{
ubyte type;
ubyte ID;
ubyte state;
ubyte value;
string dataString;
string tmpString;
// initialise the port, etc
RS485initLib();
StartTask(updateScreen);
// Disconnect if already connected
N2WDisconnect();
N2WchillOut();
wait1Msec(1000);
if (!N2WCustomExist())
{
StopTask(updateScreen);
wait1Msec(50);
eraseDisplay();
PlaySound(soundException);
nxtDisplayCenteredBigTextLine(1, "ERROR");
nxtDisplayTextLine(3, "No custom profile");
nxtDisplayTextLine(4, "configured!!");
while(true) EndTimeSlice();
}
N2WLoad();
wait1Msec(100);
N2WConnect(true);
connStatus = "connecting";
while (!N2WConnected()) wait1Msec(100);
wait1Msec(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
wait1Msec(1000);
// 123456789012345
dataStrings[0] = "Tch | Snr | Clr";
// on | 011 | 1"
while (true)
{
if (N2WreadWS(type, ID, state, value))
{
writeDebugStreamLine("btn: %d, state: %d", ID, state);
switch (ID)
{
case 1: doStraight(state); break;
case 3: doRight(state); break;
case 4: doStop(state); break;
case 5: doLeft(state); break;
case 7: doReverse(state); break;
case 9: doAction(state); break;
case 11: handleColour(state); break;
default: break;
}
}
// All values are only updated when they've changed.
// This cuts backs drastically on the number of messages
// that have to be sent to the NXT2WIFI
// Fetch the state of the Touch Sensor
// This value is displayed by field 0 (in0) on the page
currTouchState = SensorBoolean[TOUCH];
if (currTouchState != prevTouchState)
{
memset(data, 0, sizeof(data));
data[0] = (currTouchState) ? '1' : '0';
N2WwriteWS(1, 0, data, 2);
prevTouchState = currTouchState;
N2WchillOut();
}
// Fetch the currently detected colour.
// This value is displayed by field 1 (in1) on the page
currDetectedColour = SensorValue[COLOUR];
if (currDetectedColour != prevDetectedColour)
{
sprintf(dataString, "%d", currDetectedColour);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 1, data, strlen(dataString));
prevDetectedColour = currDetectedColour;
N2WchillOut();
}
// Fetch the distance detected by the sonar sensor
// This value is displayed by field 2 (in2) on the page
currSonarDistance = SensorValue[SONAR];
if (currSonarDistance != prevSonarDistance)
{
sprintf(dataString, "%d", currSonarDistance);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 2, data, strlen(dataString));
prevSonarDistance = currSonarDistance;
N2WchillOut();
}
// Fetch the tacho count for motor A
// This value is displayed by field 3 (in3) on the page
currEncMotorA = nMotorEncoder[MOT_ACTION];
if (currEncMotorA != prevEncMotorA)
{
sprintf(dataString, "%d", currEncMotorA);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 3, data, strlen(dataString));
prevEncMotorA = currEncMotorA;
N2WchillOut();
}
// Fetch the tacho count for motor B
// This value is displayed by field 4 (in4) on the page
//currEncMotorB = nMotorEncoder[MOT_LEFT];
if (currEncMotorB != prevEncMotorB)
{
sprintf(dataString, "%d", currEncMotorB);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 4, data, strlen(dataString));
prevEncMotorB = currEncMotorB;
N2WchillOut();
}
// Fetch the tacho count for motor C
// This value is displayed by field 5 (in5) on the page
currEncMotorC = nMotorEncoder[MOT_RIGHT];
if (currEncMotorC != prevEncMotorC)
{
sprintf(dataString, "%d", currEncMotorC);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 5, data, strlen(dataString));
prevEncMotorC = currEncMotorC;
N2WchillOut();
}
// Fetch the current voltage level. The average one
// works best, the other one jumps around too much.
// This value is displayed by field 6 (in6) on the page
currBatteryLevel = nAvgBatteryLevel;
if (currBatteryLevel != prevBatteryLevel)
{
sprintf(dataString, "%d", currBatteryLevel);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 6, data, strlen(dataString));
prevBatteryLevel = currBatteryLevel;
N2WchillOut();
}
sprintf(dataStrings[2], "A: %d", currEncMotorA);
sprintf(dataStrings[3], "B: %d", currEncMotorB);
sprintf(dataStrings[4], "C: %d", currEncMotorC);
sprintf(tmpString, "%s | %3d", (currTouchState == 0) ? "off" : "on ", currSonarDistance);
sprintf(dataStrings[1], "%s | %3d", tmpString, currDetectedColour);
}
}
task main ()
{
ubyte type;
ubyte ID;
ubyte state;
ubyte value;
string dataString;
string tmpString;
// initialise the port, etc
RS485initLib();
StartTask(updateScreen);
// Disconnect if already connected
N2WDisconnect();
N2WchillOut();
wait1Msec(1000);
// enable DHCP
N2WsetDHCP(true);
wait1Msec(100);
// Disable adhoc
N2WsetAdHoc(false);
wait1Msec(100);
// Network Configuration
N2WsetMask("255.255.255.0");
wait1Msec(100);
N2WsetGateway("10.0.0.138");
wait1Msec(100);
N2WsetDNS1("8.8.8.8");
wait1Msec(100);
N2WsetDNS2("8.8.4.4");
wait1Msec(100);
N2WsetNetbiosName("NXT2WIFI1");
wait1Msec(100);
// SSID to connect to
N2WsetSSID("test");
wait1Msec(100);
// The passphrase to use
N2WSecurityWPA2Passphrase("pwasde08");
wait1Msec(100);
// Save this profile to the custom profile
N2WSave();
wait1Msec(500);
// Load the custom profile
N2WLoad();
wait1Msec(100);
N2WConnect(true);
connStatus = "connecting";
while (!N2WConnected()) wait1Msec(100);
wait1Msec(1000);
connStatus = "connected";
PlaySound(soundBeepBeep);
wait1Msec(3000);
N2WgetIP(IPaddress);
wait1Msec(1000);
// 123456789012345
dataStrings[0] = "Tch | Snr | Clr";
// on | 011 | 1"
while (true)
{
if (N2WreadWS(type, ID, state, value))
{
writeDebugStreamLine("btn: %d, state: %d", ID, state);
switch (ID)
{
case 1: doStraight(state); break;
case 3: doRight(state); break;
case 4: doStop(state); break;
case 5: doLeft(state); break;
case 7: doReverse(state); break;
case 9: doAction(state); break;
case 11: handleColour(state); break;
default: break;
}
}
// All values are only updated when they've changed.
// This cuts backs drastically on the number of messages
// that have to be sent to the NXT2WIFI
// Fetch the state of the Touch Sensor
// This value is displayed by field 0 (in0) on the page
currTouchState = SensorValue[TOUCH];
if (currTouchState != prevTouchState)
{
sprintf(dataString, "%d", currTouchState);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 0, data, strlen(&data));
prevTouchState = currTouchState;
N2WchillOut();
}
// Fetch the currently detected colour.
// This value is displayed by field 1 (in1) on the page
currDetectedColour = SensorValue[COLOUR];
if (currDetectedColour != prevDetectedColour)
{
sprintf(dataString, "%d", currDetectedColour);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 1, data, strlen(dataString));
prevDetectedColour = currDetectedColour;
N2WchillOut();
}
// Fetch the distance detected by the sonar sensor
// This value is displayed by field 2 (in2) on the page
currSonarDistance = SensorValue[SONAR];
if (currSonarDistance != prevSonarDistance)
{
sprintf(dataString, "%d", currSonarDistance);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 2, data, strlen(dataString));
prevSonarDistance = currSonarDistance;
N2WchillOut();
}
// Fetch the tacho count for motor A
// This value is displayed by field 3 (in3) on the page
currEncMotorA = nMotorEncoder[MOT_ACTION];
if (currEncMotorA != prevEncMotorA)
{
sprintf(dataString, "%d", currEncMotorA);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 3, data, strlen(dataString));
prevEncMotorA = currEncMotorA;
N2WchillOut();
}
// Fetch the tacho count for motor B
// This value is displayed by field 4 (in4) on the page
currEncMotorB = nMotorEncoder[MOT_LEFT];
if (currEncMotorB != prevEncMotorB)
{
sprintf(dataString, "%d", currEncMotorB);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 4, data, strlen(dataString));
prevEncMotorB = currEncMotorB;
N2WchillOut();
}
// Fetch the tacho count for motor C
// This value is displayed by field 5 (in5) on the page
currEncMotorC = nMotorEncoder[MOT_RIGHT];
if (currEncMotorC != prevEncMotorC)
{
sprintf(dataString, "%d", currEncMotorC);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 5, data, strlen(dataString));
prevEncMotorC = currEncMotorC;
N2WchillOut();
}
// Fetch the current voltage level. The average one
// works best, the other one jumps around too much.
// This value is displayed by field 6 (in6) on the page
currBatteryLevel = nAvgBatteryLevel;
if (currBatteryLevel != prevBatteryLevel)
{
sprintf(dataString, "%d", currBatteryLevel);
memcpy(data, dataString, strlen(dataString));
N2WwriteWS(1, 6, data, strlen(dataString));
prevBatteryLevel = currBatteryLevel;
N2WchillOut();
}
sprintf(dataStrings[2], "A: %d", currEncMotorA);
sprintf(dataStrings[3], "B: %d", currEncMotorB);
sprintf(dataStrings[4], "C: %d", currEncMotorC);
sprintf(tmpString, "%s | %3d", (currTouchState == 0) ? "off" : "on ", currSonarDistance);
sprintf(dataStrings[1], "%s | %3d", tmpString, currDetectedColour);
}
}