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main.cpp
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#include <vector>
#include <iostream>
#include <opencv2/opencv.hpp>
#include "RobotDetection.h"
#include "RobotOverseer.h"
#include "RobotObject.h"
#include "RobotControl.h"
#include "Gui.h"
#include "vect2d.h"
//main function
int main(int argc, char** argv)
{
RobotOverseer *ro = new RobotOverseer(0);
Gui *gui = new Gui(ro);
ro->addGUI(gui);
gui->initGUI();
RobotControl *r1 = new RobotControl(1);
RobotControl *r2 = new RobotControl(2);
RobotControl *r3 = new RobotControl(3);
RobotControl *r4 = new RobotControl(4);
//r1->OpenSocket("30:14:11:26:01:34"); // Bertle_03
r2->OpenSocket("30:14:08:26:27:65"); // Bertle_11
r3->OpenSocket("98:D3:31:30:84:9C"); // Bertle_13
//r4->OpenSocket("98:D3:34:90:62:36"); // Bertle_12
while(!gui->isOK()) {
cv::imshow(GLOBAL_WINDOW,ro->getThresholdedImage());
}
std::vector<Vect2D> r1Points;
r1Points.push_back(Vect2D(100,100));
r1Points.push_back(Vect2D(300,300));
r2->setTargetPoints(r1Points);
//ro->AddRobotForOverseeing(r1);
ro->AddRobotForOverseeing(r2);
ro->AddRobotForOverseeing(r3);
//ro->AddRobotForOverseeing(r4);
ro->initRobotPos();
ro->startOverseerTread();
while(!gui->isOK());
ro->stopOverseerTread();
r1->CloseSocket();
r2->CloseSocket();
r3->CloseSocket();
r4->CloseSocket();
delete r1;
delete r2;
delete r3;
delete r4;
printf("end");
}
/*
int main(int argc, char** argv)
{
#if GRAPIC_DEBUG
int ok = 80;
gRobDec = &rb;
HSV_FILTER hsv;
hsv.iLowH = 55;
hsv.iHighH = 75;
hsv.iLowS = 100;
hsv.iHighS = 255;
hsv.iLowV = 100;
hsv.iHighV = 255;
rb.setHSV(hsv.iLowH, hsv.iHighH, hsv.iLowS, hsv.iHighS, hsv.iLowV,hsv.iHighV);
cv::namedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
cv::namedWindow("Contures", CV_WINDOW_NORMAL);
cv::namedWindow("HSV", CV_WINDOW_NORMAL);
cv::startWindowThread();
//Create trackbars in "Control" window
cv::createTrackbar("LowH", "Control", &(hsv.iLowH), 179,updateHSV,&hsv); //Hue (0 - 179)
cv::createTrackbar("HighH", "Control", &(hsv.iHighH), 179,updateHSV,&hsv);
cv::createTrackbar("LowS", "Control", &(hsv.iLowS), 255,updateHSV,&hsv); //Saturation (0 - 255)
cv::createTrackbar("HighS", "Control", &(hsv.iHighS), 255,updateHSV,&hsv);
cv::createTrackbar("LowV", "Control", &(hsv.iLowV), 255,updateHSV,&hsv); //Value (0 - 255)
cv::createTrackbar("HighV", "Control", &(hsv.iHighV), 255,updateHSV,&hsv);
cv::createTrackbar(">90 OK","Control",&ok,100);
//check hsv
cv::Mat img;
while(ok < 90){
rb.readFrame(img);
cv::imshow("Contures",img);
rb.applyHsvFilter(img,img);
cv::imshow("HSV",img);
}
#endif
r1->OpenSocket("30:14:11:26:01:34"); // Bertle_03
r2->OpenSocket("30:14:08:26:27:65"); // Bertle_11
// r3->OpenSocket("98:D3:31:30:84:9C"); // Bertle_13
// r4->OpenSocket("98:D3:34:90:62:36"); // Bertle_12
//TODO: Handle bt error
ro.AddRobotForOverseeing(r1);
ro.AddRobotForOverseeing(r2);
// ro.AddRobotForOverseeing(r3);
// ro.AddRobotForOverseeing(r4);
ro.DetektRobots(rb);
rb.startDetection(ro);
delete r1;
delete r2;
// delete r3;
// delete r4;
return 0;
}
*/