/* Procedure associated with the cancel button. */
void cancel_sigmabutton_callback(Widget w, XtPointer client_data,
XmSelectionBoxCallbackStruct *call_data){
action=SELECT;
refresh_action();
deactivate_sigma_dialog();
}
void activate_version_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data) {
selection = VERSION;
action = SELECT;
refresh_action();
XtManageChild(version_dialog);
}
/* Procedure associated with the ok button. */
void ok_sigmabutton_callback(Widget w, XtPointer client_data,
XmSelectionBoxCallbackStruct *call_data){
float sigma;
char *value;
/* Get sigma value from user's selection */
XmStringGetLtoR(call_data->value, XmSTRING_DEFAULT_CHARSET, &value);
sigma = atof(value);
if ( atoi(value) < 0.5 || atoi(value) > 20 )
XBell(XtDisplay(w),100);
else
switch (filter) {
case f1: gaussian_filter(sigma); break;
case f2: dgaussian_filter(sigma); break;
case f3: d2gaussian_filter(sigma); break;
case f4: dgaux_gauy_filter(sigma); break;
case f5: dgauy_gaux_filter(sigma); break;
case f6: total_gradient_filter(sigma); break;
case f7: gradient_x_y_filter(sigma); break;
default: break;
}
action=SELECT;
refresh_action();
}
void activate_merge_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data)
{
selection = SPLIT_MERGE;
action = CLICK;
refresh_action();
XtManageChild(merge_dialog);
}
void activate_split_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data)
{
if (file_not_loaded) return;
selection = SPLIT_MERGE;
action = CLICK;
refresh_action();
XtManageChild(split_dialog);
}
/*Definition of gradient_x_y functions*/
void activate_gradient_x_y_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data){
if (file_not_loaded) return;
selection = GRADIENTXY;
filter = f7;
action = SIGMAVALUE;
refresh_action();
XtManageChild(sigma_dialog);
}
/*Definition of dgauy_gaux functions*/
void activate_dgauy_gaux_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data){
if (file_not_loaded) return;
selection = DGAUYGAUX;
filter = f5;
action = SIGMAVALUE;
refresh_action();
XtManageChild(sigma_dialog);
}
/*Definition of total_gradient functions*/
void activate_total_gradient_dialog(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data){
int a,b;
FILE *p_file;
if (yhs_files_open == 0 || yhs_filename[0] == 0 || yhs_files_open > 19 || running == 1) return;
selection = TOTALGRADIENT;
filter = f6;
action = SIGMAVALUE;
refresh_action();
if((p_file = fopen(yhs_filename1,"r")) == NULL)
{
fprintf(stderr, "Cannot open: %s\n",yhs_filename1);
exit(1);
}
for (a=0;a<512;a++){
for (b=0;b<512;b++)
{ array1[a][b]=getc(p_file);array2[a][b]=0; }}
fclose(p_file);
XtManageChild(sigma_dialog);
}
/* Function definition */
void activate_ctomass_callback(Widget w, XtPointer client_data,
XmAnyCallbackStruct *call_data)
{
int i, j;
long kk;
float *ii, *jj ;
unsigned long val = 134L;
if (file_not_loaded) return;
selection = CTOMASS;
action = SELECT;
refresh_action();
/* Calculate the coordinates of the center of mass of the region(s)
marked with the value VAL. Return as (II,JJ). */
kk = 0;
*ii = 0.0; *jj = 0.0;
for (i=0; i<IMAGE_WIDTH; i++) {
for (j=0; j<IMAGE_HEIGHT; j++) {
if (XGetPixel(theXImage_1,i,j) == val) {
*ii += (float)i; *jj += (float)j;
kk += 1;
}
}
}
if (kk==0) {
return;
}
*ii = *ii/(float)kk; *jj = *jj/(float)kk;
printf("Center of Mass = %f\n , %f\n", *ii, *jj);
}
int main(int argc, char **argv)
{
ROBOT_SPECIFICATIONS robot_specifications_data;
PROGRAM_STATE program_state_data;
ROBOT_STATE robot_state_data;
ACTION action_data;
SENSATION sensation_data;
ROBOT_SPECIFICATIONS_PTR robot_specifications = &robot_specifications_data;
PROGRAM_STATE_PTR program_state = &program_state_data;
ROBOT_STATE_PTR robot_state = &robot_state_data;
ACTION_PTR action = &action_data;
SENSATION_PTR sensation = &sensation_data;
struct timeval TCX_waiting_time = {0, 0};
robot_specifications->is_initialized = 0;
program_state->is_initialized = 0;
robot_state->is_initialized = 0;
action->is_initialized = 0;
sensation->is_initialized = 0;
allGlobal.is_initialized = 0;
signal(SIGTERM, &interrupt_handler); /* kill interupt handler */
signal(SIGINT, &interrupt_handler); /* control-C interupt handler */
#if 0
signal(SIGALRM, &alarm_handler); /* handler for regular interrupts */
#endif
bParamList = bParametersAddEntry(bParamList, "robot", "name", "B21");
bParamList = bParametersAddEntry(bParamList, "", "TCXHOST", "localhost");
bParamList = bParametersAddEntry(bParamList, "", "fork", "yes");
/* add some parameter files */
bParamList = bParametersAddFile (bParamList, "etc/beeSoft.ini");
/* add some enviroment variables */
bParamList = bParametersAddEnv(bParamList, "", "TCXHOST");
bParamList = bParametersAddArray(bParamList, "", argc, argv);
bParametersFillParams(bParamList);
check_commandline_parameters(argc, argv, ALL);
init_program(ALL);
if (!load_parameters(RHINO_INIT_NAME, ALL))
exit(-1);
allocate_memory(ALL);
/*save_parameters(RHINO_INIT_NAME, ALL);*/
init_graphics(ALL);
connect_to_tcx(ALL);
G_display_switch(TITLE_BUTTON, 1);
#if 0
alarm((unsigned) robot_specifications->alarm_interval); /* set up alarm */
#endif
tcx_reset_joystick(ALL);
for (;!program_state->quit;){
program_state->something_happened = 0;
if (program_state->tcx_autoconnect)
connect_to_tcx(ALL);
if (test_mouse(ALL)) program_state->something_happened = 1;
if (refresh_action(ALL)) program_state->something_happened = 1;
if (initiate_action(ALL)) program_state->something_happened = 1;
/* if (terminate_action(ALL)) program_state->something_happened = 1; */
if (program_state->tcx_initialized){
TCX_waiting_time.tv_sec = 0;
TCX_waiting_time.tv_usec = 0;
tcxRecvLoop((void *) &TCX_waiting_time);
}
if (!program_state->something_happened){
block_waiting_time.tv_sec = 1;
block_waiting_time.tv_usec = 0;
block_wait(&block_waiting_time, program_state->tcx_initialized,
program_state->graphics_initialized);
}
#ifdef TOURGUIDE_VERSION
tourguide_check_for_timeout(ALL);
#endif /* TOURGUIDE_VERSION */
}
/* close_log_file(ALL);*/
/* if (program_state->tcx_initialized)
tcxCloseAll();*/
G_display_switch(TITLE_BUTTON, 2);
fprintf(stderr, "\nGood-bye.\n");
sleep(1);
exit(0);
}
