90 lines
2 KiB
C++
90 lines
2 KiB
C++
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#include <task.h>
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#include "../src/imagerie.h"
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#include "../src/serial.h"
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#include "../src/tcpServer.h" // include himself imagerie.h
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using namespace std;
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using namespace cv;
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using namespace raspicam;
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RT_TASK video;
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void threadVideo(void *arg)
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{
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printf("Thread lancé ... \n");
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Camera rpiCam;
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Image imgVideo;
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Arene monArene;
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position positionRobots[20];
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Jpg compress;
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openCamera(&rpiCam);
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do
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{
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getImg(&rpiCam, &imgVideo);
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if(detectArena(&imgVideo, &monArene)==0)
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{
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detectPosition(&imgVideo,positionRobots,&monArene);
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drawArena(&imgVideo,&imgVideo,&monArene);
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}
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else
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detectPosition(&imgVideo,positionRobots);
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drawPosition(&imgVideo,&imgVideo,&positionRobots[0]);
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imgCompress(&imgVideo,&compress);
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sendToUI("IMG",&compress);
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sendToUI("POS",&positionRobots[0]);
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}while(waitKey(30)!='q');
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closeCam(&rpiCam);
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}
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int main() {
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serverOpen();
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robotOpenCom();
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char header[4];
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char data[20];
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memset(data, '\0',20);
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memset(header,'\0',4);
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if(rt_task_spawn(&video,"envoieVideo",0,20,0, threadVideo, NULL) == -1)
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perror("erreur lors de la creation du thread\n");
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do
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{ receptionFromUI(header,data);
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if(strcmp(header, DMB) == 0)
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{
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printf("EVENEMENT DUMBER DETECTE AVEC LE MESSAGE :%s \n",data);
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int a = robotCmd(data[0]);
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printf("Resultat CMD : %d \n", a);
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if(data[0] == 'u' && a == 0)
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{
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sendToUI(ACK);
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}
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if(data[0] == 'r' && a == 0)
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{
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sendToUI(ACK);
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}
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}
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if(strcmp(header, MES) == 0)
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{
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printf("EVENEMENT MESSAGE DETECTE AVEC LE MESSAGE :%s \n",data);
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}
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if(strcmp(header,POS)==0)
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{
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printf("EVENEMENT POSITION DETECTE AVEC LE MESSAGE :%s \n",data);
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}
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}while((strcmp(header,MES)!=0) || (data[0] != 'C'));
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robotCloseCom();
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serverClose();
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return 0;
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}
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