Diff: navcontroller.cpp

Revision:

19:9f4510646c9e

Parent:

17:5046b27f5441

Child:

22:8f726dc175cd

--- a/navcontroller.cpp	Sat Apr 18 03:13:27 2015 +0000
+++ b/navcontroller.cpp	Sat Apr 18 03:50:32 2015 +0000
@@ -6,17 +6,9 @@
 #include <iostream>
 #include <vector>
 #include "navcontroller.h"
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <tesseract/baseapi.h>
-#include <unistd.h>
-extern "C" {
-#include <wiringX.h>
-}
 
 NavController::NavController(int mapSize) : map(mapSize), orient(NORTH)
 {
-    initIO();
     end.x = mapSize-1;
     end.y = mapSize-1; 
 }
@@ -50,13 +42,9 @@
     saveMap();
 }
 
-void NavController::goBack()
+void NavController::prepReturn()
 {
-    direction next;
-    typename ::position newPos;
-    map.setPosition(map.getStart());
-
-    stack<direction> temp;
+    stack<R5Map::direction> temp;
 
     while(!path.empty())
     {
@@ -65,41 +53,42 @@
     }
 
     path = temp;
-    
-
-    while(map.getPosition() != end)
-    {
-        next = path.top();
-        path.pop();
-        sendMove(next);
-        newPos = map.getPosition();
-        
-        switch(next)
-        {
-            case NORTH : newPos.y++;
-                break;
-            case SOUTH : newPos.y--;
-                break;
-            case EAST : newPos.x++;
-                break;
-            case WEST : newPos.x--;
-        }
-        
-        map.setPosition(newPos);
-    }
 }
 
- direction NavController::nextExploreMove()
+R5Map::direction NavController::nextTraceMove()
 {
-     typename ::position current = map.getPosition();
-     typename ::position dest = map.getFinish();
+    R5Map::position newPos = map.getPosition();
+    R5Map::nextMove;
+    
+    nextMove = path.top();
+    path.pop();
+    
+    switch(nextMove)
+    {
+        case NORTH : newPos.y++;
+            break;
+        case SOUTH : newPos.y--;
+            break;
+        case EAST : newPos.x++;
+            break;
+        case WEST : newPos.x--;
+    }
+        
+    map.setPosition(newPos);
+    return nextMove;
+}
+
+R5Map::direction NavController::nextExploreMove()
+{
+    R5Map::position current = map.getPosition();
+    R5Map::position dest = map.getFinish();
     
     int northWgt = dest.y - current.y;
     int southWgt = current.y;
     int eastWgt = current.x;
     int westWgt = current.x - dest.x;
 
-     direction nextMove;
+    R5Map::direction nextMove;
     
     if(map.getVisited(NORTH) || map.getCurWall(NORTH) == CLOSED)
         northWgt = 0;
@@ -115,7 +104,7 @@
 
     if(northWgt != 0 || westWgt != 0)
     {
-         if(northWgt > westWgt)
+        if(northWgt > westWgt)
             nextMove = NORTH;
         else
             nextMove = WEST;
@@ -133,7 +122,7 @@
     }
     else
     {
-         direction lastMove = path.top();
+        R5Map::direction lastMove = path.top();
         path.pop();
 
         switch(lastMove)
@@ -151,33 +140,6 @@
     return nextMove;
 }
 
-void NavController::sendMove(direction next)
-{
-    int diff=next-orient;
-    
-    unsigned char letter;
-    
-    switch(diff)
-    {
-        case 0 :
-            letter='F';
-            wiringXI2CWrite(frdm_i2c, letter);//forward
-            break;
-        case 1 :
-            letter='R';
-            wiringXI2CWrite(frdm_i2c, letter);//right
-            break;
-        case 2 :
-            letter='B';
-            wiringXI2CWrite(frdm_i2c, letter);//back
-            break;
-        case 3 :
-            letter='L';
-            wiringXI2CWrite(frdm_i2c, letter);//left
-    }
-    cout << strerror(errno);
-}
-
 void NavController::updateMap()
 {
     if(!map.getCurVisited())
@@ -186,61 +148,15 @@
         readSensor(SOUTH) ? map.setCurWall(SOUTH, CLOSED) : map.setCurWall(SOUTH, OPEN);
         readSensor(EAST) ? map.setCurWall(EAST, CLOSED) : map.setCurWall(EAST, OPEN);
         readSensor(WEST) ? map.setCurWall(WEST, CLOSED) : map.setCurWall(WEST, OPEN);
-
-        vector<char> symbols = readWalls();
-
-        for(int i = 1; i <= symbols.size(); i++)
-            map.addCurSymbol(symbols.at(i));
     }
 }
 
-void NavController::saveMap() 
+bool NavController::readSensor(R5Map::direction wall)
 {
-    system("mkdir /media/flash; chmod 770 /media/flash; mount -t vfat /dev/sda /media/flash");
-    char fileOut[100],
-         var[5];
-    vector<char> symbols;
-     position spot;
+    int diff = wall - orient;
     
-    for(int i = 0; i < 7; i++)
+    switch(diff)
     {
-        for(int j = 0; j < 7; j++)
-        {
-            spot.x = i;
-            spot.y = j;
-            symbols = map.getSymbols(spot);
-
-            if(!symbols.empty())
-            {
-                strcat(fileOut, "cd /media/flash; cat > characters.txt; Cell (");
-                sprintf(var, "%i", i);
-                strcat(fileOut, var);
-                strcat(fileOut, ",");
-                sprintf(var, "%i", j);
-                strcat(fileOut, var);
-                strcat(fileOut, ") : ");
-                strcat(fileOut, &symbols[0]);
-                
-                for(int k = 1; k < symbols.size(); k++)
-                {
-                    strcat(fileOut, ", ");
-                    strcat(fileOut, &symbols[k]);
-                }
-            }
-
-            strcat(fileOut, "/n");
-            system(fileOut);
-        }
-    }
-
-    system("rmdir /media/flash; umount /dev/sda");
-}
-
-bool NavController::readSensor( direction wall){
-    int diff;
-    diff=wall-orient;
-    
-    switch(diff){
         case 0:
             digitalRead(SENS_FORWARD);
         case 1:
@@ -250,162 +166,4 @@
         case 3:
             digitalRead(SENS_LEFT);
     }
-}
-
-char NavController::readWall( direction wall)
-{
-    turnCam(wall);
-    
-
-    cv::VideoCapture cap(0);
-    if(!cap.isOpened()) //check if we succeeded
-    {
-        std::cerr << "ERROR: NavController::readWall( direction) failed to locate or open camera." << endl;
-        return -1;
-    }
-
-    cv::Mat snap, gray;
-    cap >> snap; // get a new frame from camera
-    cvtColor(snap, gray, CV_BGR2GRAY);
-    // ...other image pre-processing here...
-    // Pass it to Tesseract API
-    tesseract::TessBaseAPI tess;
-    tess.Init(NULL, "eng", tesseract::OEM_DEFAULT);
-    tess.SetPageSegMode(tesseract::PSM_SINGLE_BLOCK);
-    tess.SetImage((uchar*)gray.data, gray.cols, gray.rows, 1, gray.cols);
-
-    // Get the text
-    char* outPtr = tess.GetUTF8Text();
-    char out = *outPtr;
-
-    delete [] outPtr;
-
-    return out;
-}
-
-vector<char> NavController::readWalls()
-{
-    vector<char> out;
-
-    if(map.getCurWall(NORTH) == CLOSED)
-        out.push_back(readWall(NORTH));
-    if(map.getCurWall(SOUTH) == CLOSED)
-        out.push_back(readWall(SOUTH));
-    if(map.getCurWall(EAST) == CLOSED)
-        out.push_back(readWall(EAST));
-    if(map.getCurWall(WEST) == CLOSED)
-        out.push_back(readWall(WEST));
-
-    resetCam();
-    
-    return out;
-}
-
-void NavController::initIO(){
-    if (wiringXSetup() < 0)
-    {
-    cout << "failed to initialize wiringX";
-    exit (1) ;
-    }
-    wiringXISR(1,2);
-    //pin initializations go here
-    pinMode(6, OUTPUT);
-    pinMode(SENS_FORWARD, INPUT);
-    pinMode(SENS_RIGHT, INPUT);
-    pinMode(SENS_BACK, INPUT);
-    pinMode(SENS_LEFT, INPUT);
-    pinMode(STEP, OUTPUT);
-    pinMode(STEP_DIR, OUTPUT);
-    if((frdm_i2c=wiringXI2CSetup(FRDM_ADD))<0){
-        cerr << "ERROR: Failed to establish I2C connection"<<endl;
-    }
-}
-
-void NavController::turnCam( typename ::direction wall){
-    int diff;
-    diff=wall-camorient;
-    
-    if(abs(diff)==3){
-        diff/=-3;
-    }
-    
-    if(diff<0){
-        digitalWrite(STEP_DIR, HIGH);
-        diff=abs(diff);
-    }
-    else{
-        digitalWrite(STEP_DIR, LOW);
-    }
-    
-    diff*=1024;
-    
-    for(int i=0; i<diff; i++){
-        digitalWrite(STEP, HIGH);
-        delayMicroseconds(5000);                    //.5 millisecond
-        digitalWrite(STEP, HIGH);
-        delayMicroseconds(5000);
-    }
-}
-
-void NavController::resetCam(){
-    int diff;
-    diff=orient-camorient;
-    
-    if(abs(diff)==3){
-        diff/=-3;
-    }
-    
-    if(diff<0){
-        digitalWrite(STEP_DIR, HIGH);
-        diff=abs(diff);
-    }
-    else{
-        digitalWrite(STEP_DIR, LOW);
-    }
-    
-    diff*=1024;
-    
-    for(int i=0; i<diff; i++){
-        digitalWrite(STEP, HIGH);
-        delayMicroseconds(5000);                    //millisecond
-        digitalWrite(STEP, HIGH);
-        delayMicroseconds(5000);
-    }
-}
-
-void NavController::pinWrite(int pin, int lvl){
-    if(lvl == 1)
-        digitalWrite(pin, HIGH);
-    else
-        digitalWrite(pin, LOW);
-}
-
-void NavController::waitingForInterrupt(int pin, int set){
-    waitForInterrupt(pin, set);
-}
-
-void NavController::testWithDelay()
-{
-    while(true)
-    {
-        sendMove(NORTH);
-        usleep(500);
-        sendMove(WEST);
-        usleep(500);
-        sendMove(SOUTH);
-        usleep(500);
-        sendMove(EAST);
-        usleep(500);
-    }
-}
-
-void NavController::testWithoutDelay()
-{
-    while(true)
-    {
-        sendMove(NORTH);
-        sendMove(WEST);
-        sendMove(SOUTH);
-        sendMove(EAST);
-    }
-}
+}
\ No newline at end of file