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waypointspath_control.cpp
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waypointspath_control.cpp
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#include <QMainWindow>
#include <QtGui>
#include "FlyCapture2.h"
//#include "mainwindow.h"
#include <qthread.h>
#include "waypointspath_control.h"
#include<conio.h>
#include<stdio.h>
#include<iostream>
#include <qlayout.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/video/background_segm.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/flann/flann.hpp>
#include <opencv2/flann/flann_base.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography
#include <opencv2/nonfree/nonfree.hpp>
#include <math.h>
#include <time.h>
#include<windows.h>
#include<string.h>
#include<atlstr.h>
#include "SiUSBXp.h"
waypointspath_control::waypointspath_control(QObject * parent = (QObject *)0, MainWindow * mw = NULL): QThread(parent){
tolerance = 10;
w = mw;
prevdist = prevangle = 0.0;
juggle = ycontrol = false; xcontrol = true;
toBeWritten = 7; commcount = prevcount = coilchange_track = jiggle_track = 0;
written = (DWORD*)malloc(sizeof(DWORD));
event = (DWORD *)malloc(sizeof(DWORD));
for(int i = 0; i < 7; i++)
data_command[i] = 0x00;
//start_command = 0x00;
QObject::connect(this,SIGNAL(started()), this, SLOT(waypoints_autopath()));
QObject::connect(this,SIGNAL(autopath_finished()), this , SLOT(quit()));
}
void waypointspath_control::TimeDelay(UINT delay)
{
DWORD start, end;
start = end = GetTickCount();
// Wait for 'delay' milliseconds.
while ((end - start) < delay)
{
end = GetTickCount();
}
}
double waypointspath_control::calc_distance(Point waypt){
return sqrt(pow(std::abs(COM.x - waypt.x * conv_factor[0]),2) + pow(std::abs(COM.y - waypt.y * conv_factor[1]),2));}
void waypointspath_control::waypoints_autopath(){
commcount = coilchange_track = jiggle_track= 0;
qDebug() << "Waypoints control thread running";
//qDebug() << " Command entered : " << command;
command = start_command;
command_x = command_y = start_command;
TimeDelay(1000);
if(w->clicks)
{
CString comport = "\\\\.\\COM4";
w->serialHandle = CreateFile(comport, GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
if(w->serialHandle == INVALID_HANDLE_VALUE)
emit autopath_finished();
DCB serialParams = { 0 };
serialParams.DCBlength = sizeof(serialParams);
GetCommState(w->serialHandle, &serialParams);
serialParams.BaudRate = 9600;
serialParams.ByteSize = 8;
serialParams.StopBits = ONESTOPBIT;
serialParams.Parity = PARITY_NONE;
GetCommState(w->serialHandle, &serialParams);
// Set timeouts
COMMTIMEOUTS timeout = { 0 };
timeout.ReadIntervalTimeout = 50;
timeout.ReadTotalTimeoutConstant = 50;
timeout.ReadTotalTimeoutMultiplier = 50;
timeout.WriteTotalTimeoutConstant = 50;
timeout.WriteTotalTimeoutMultiplier = 10;
SetCommTimeouts(w->serialHandle, &timeout);
COM = w->COM;
for(int l = 1; l <= cycles_no; l++){
for(wayptno = 0; wayptno < w->clicks; wayptno++){
prevdist = calc_distance(w->waypoints[wayptno]);
xdist = std::abs(COM.x - w->waypoints[wayptno].x * conv_factor[0]);
ydist = std::abs(COM.y - w->waypoints[wayptno].y * conv_factor[1]);
prevangle = w->angle;
COMprev = w->COM;
while(wayptno < w->clicks && sqrt(pow(std::abs(w->COM.x - w->waypoints[wayptno].x),2) + pow(std::abs(w->COM.y - w->waypoints[wayptno].y),2)) > tolerance)
{
//data_command = determine_command(COM,waypoints,l);
commcount++;
//data_command[3] = 0xaa;
determine_command(wayptno);
//WriteFile(w->serialHandle,(LPCVOID)data_command, toBeWritten, written,NULL);
qDebug() << "Check state waypoint control : "<< WriteFile(w->serialHandle,(LPVOID)data_command, toBeWritten, written,NULL);
TimeDelay(1000);
if(!WriteFile(w->serialHandle,(LPCVOID)w->prevsent,toBeWritten, written, NULL));
emit autopath_finished();
TimeDelay(100);
//for(int i = 0; i < 7; i++)
//data_command[i] = 0x00;
}
}
}
}
CloseHandle(w->serialHandle);
emit autopath_finished();
}
void waypointspath_control::determine_command(int waypt_no){
// w->prevsent[i] = 0x00;
if(w->processing_status)
COM = w->COM;
else
COM = w->COMprev;
data_command[2] = data_command[3] = data_command[5] = data_command[6] = 0x00;
qDebug()<<" COM : ("<< COM.x <<"," << COM.y <<")"<< " Waypoint "<<waypt_no <<" : ("<< w->waypoints[waypt_no].x * conv_factor[0] <<"," << w->waypoints[waypt_no].y * conv_factor[1]<<")";
qDebug() << " Conversion factor x : " << conv_factor[0] << " Conversion fact y : "<< conv_factor[1];
if(commcount - jiggle_track == 7)
{juggle = true; xcontrol = true; ycontrol = false;}
if(!juggle){
if(prevdist - calc_distance(w->waypoints[waypt_no]) < 4 && (commcount - prevcount) >= 3 && std::abs(prevangle - w->angle) < 5){
//prevcount = commcount;
if(command_x != 0xee)
command_x += 34;
if(command_y != 0xee)
{ command_y += 34;}
else if((command_x == 0e00 && command_y == 0xee) || (xcontrol && std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0]) < std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1])) || (ycontrol && std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0]) > std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1])))
goto changecoil;
}
if(commcount - coilchange_track == 4){
changecoil:
if(xcontrol && std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1]) > 5)// && std::abs(COM.x - w->waypoints[waypt_no].x) < std::abs(COM.y - w->waypoints[waypt_no].y))
{xcontrol = false; ycontrol = true; }
else if(ycontrol && std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0]) > 5)// && std::abs(COM.x - w->waypoints[waypt_no].x) > std::abs(COM.y - w->waypoints[waypt_no].y))
{xcontrol = true; ycontrol = false;}
coilchange_track = commcount;}
else if(prevdist - calc_distance(w->waypoints[waypt_no]) > 5 || std::abs(prevangle - w->angle) > 5){
prevdist = calc_distance(w->waypoints[waypt_no]);
command = start_command;
xdist = std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0]);
ydist = std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1]);
prevangle = w->angle;
COMprev = COM; prevcount = jiggle_track = commcount;}
if(std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0]) < 10){
if(command_x <= start_command && command_x != 0x00)
command_x -= 0x22;
else
command_x = start_command;}
if(std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1]) < 10){
if(command_y <= start_command && command_y != 0x00)
command_y -= 0x22;
else
command_y = start_command;}
//if(std::abs(COMprev.x - COM.x) > 10)
// command_x = 0x44;
//if(std::abs(COMprev.y - COM.y) > 10)
//command_y = 0x44;
if(COM.x - w->waypoints[waypt_no].x * conv_factor[0] > 5){
if(!ycontrol && xcontrol)
data_command[5] = command_x;
motiondir[0] = 'L'; }
else if(w->waypoints[waypt_no].x * conv_factor[0] - COM.x > 5){
if(!ycontrol && xcontrol)
data_command[6] = command_x;
motiondir[0] = 'R'; }
if(COM.y - w->waypoints[waypt_no].y * conv_factor[1] > 5){
if(ycontrol && !xcontrol)
data_command[3] = command_y;
motiondir[1] = 'U'; }
else if(w->waypoints[waypt_no].y * conv_factor[1] - COM.y > 5){
if(ycontrol && !xcontrol)
data_command[2] = command_y;
motiondir[1] = 'D'; }}
if(juggle){
if(commcount - jiggle_track == 14)
juggle = false;
if(std::abs(xdist - std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0])) < 5 && xcontrol){
if(std::abs(ydist - std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1])) < 5){
juggle_y:
if(motiondir[1] == 'U')
data_command[2] = start_command;
if(motiondir[1] == 'D')
data_command[3] = start_command;}
else{jiggle_track += 4;
goto juggle_x;}
if(commcount - jiggle_track == 10){
ycontrol = true; xcontrol = false;}
}
if(std::abs(ydist - std::abs(COM.y - w->waypoints[waypt_no].y * conv_factor[1])) < 5 && ycontrol){
juggle_x:
if(std::abs(xdist - std::abs(COM.x - w->waypoints[waypt_no].x * conv_factor[0])) < 5){
if(motiondir[0] == 'L')
data_command[6] = start_command;
if(motiondir[0] == 'R')
data_command[5] = start_command;}
else goto juggle_y;
}
coilchange_track++;
}
//ydist = std::abs(w->COM.y - w->waypoints[waypt_no].y);
/*if(data_command[2] == data_command[3] && !juggle){
if(motiondir[1] == 'U')
data_command[2] = 0x00;
else
data_command[3] = 0x00;
}*/
qDebug() << " x[2] : "<<data_command[2] << " x[3] : "<<data_command[3] << " x[5] : "<<data_command[5]<<" x[6] : "<<data_command[6];
qDebug() <<" Direction of command, x : " << xcontrol << " y : "<< ycontrol << " Command " << command;
qDebug() << " Direction of commands : "<< motiondir[0] << motiondir[1] << " Distance : "<<calc_distance(w->waypoints[waypt_no]);
qDebug() << " Commcount - coiltrack : " <<commcount - coilchange_track << " Commcount - juggletrack "<<commcount - jiggle_track;
data_command[0]=data_command[1]=data_command[4] = 0x00;
return ;
}