public static bool IsT1G1End()
{
if (!FinalSign)
{
return(false);
}
ColorDetectResult result = Cv.DetectColor(new Image <Rgb, byte>(TcpIpFileManager.GetInstance().FilePath));
if (result.Result > 180)
{
while (true)
{
FormMain.GetInstance().SampleThreadFunc();
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
100, 200, 300
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
TcpIpFileManager.GetInstance().IsFileFresh = false;
float threshold = 0.05f;
if (Math.Abs(textureAnalysisResult.Diff - 0.15) < threshold)
{
return(true);
}
else
{
if (textureAnalysisResult.Diff > threshold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 80, MotorDirection.Backward, 80, 300);
}
else if (textureAnalysisResult.Diff < -threshold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Forward, 80, 300);
}
}
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
}
}
else
{
return(false);
}
}
private static void AutoSampleTimerCallbackFunc(object state)
{
if (AutoSampleTimerCallbackFuncSign)
{
return;
}
if (StateManager.ArduinoState.IsBusy == true)
{
return;
}
AutoSampleTimerCallbackFuncSign = true;
FormMain.GetInstance().SampleThreadFunc();
AutoSampleTimerCallbackFuncSign = false;
}
public static void T1G2()
{
Arduino.GetInstance().GoStraight(110);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
FormMain.GetInstance().SampleThreadFunc();
TcpIpFileManager.GetInstance().IsFileFresh = false;
FormMain.GetInstance().SampleThreadFunc();
ColorDetectResult result = Cv.DetectColor(new Image <Rgb, byte>(TcpIpFileManager.GetInstance().FilePath));
TcpIpFileManager.GetInstance().IsFileFresh = false;
Arduino.GetInstance().GoStraight(7);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
//if (result.Result <= 130 && result.Result >= 60) //Yellow Green
//{
// FormMain.GetInstance().WriteToConsole("YELLOW");
// Arduino.GetInstance().PidTurn(90);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().GoStraight(180);
// while (true)
// {
// Arduino.GetInstance().GoStraight(3);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().GetDistance();
// float dis = Arduino.GetInstance().SonicDistance;
// if (dis > 40 && dis < 80)
// {
// break;
// }
// }
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().PidTurn(-90);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
//}
//else if (result.Result <= 240) //Blue
//{
// FormMain.GetInstance().WriteToConsole("BLUE");
// Arduino.GetInstance().PidTurn(135);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().GoStraight(75);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().PidTurn(-55);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// //Finish
// Arduino.GetInstance().GoStraight(160);
// while (true)
// {
// Arduino.GetInstance().GoStraight(3);
// while (StateManager.ArduinoState.IsBusy)
// {
// Thread.Sleep(100);
// }
// Arduino.GetInstance().GetDistance();
// float dis = Arduino.GetInstance().SonicDistance;
// if (dis > 40 && dis < 80)
// {
// break;
// }
// }
// Arduino.GetInstance().PidTurn(-80);
//}
if (result.Result <= 320) //Violet
{
FormMain.GetInstance().WriteToConsole("VIOLET");
Arduino.GetInstance().PidTurn(45);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
Arduino.GetInstance().GoStraight(75);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
Arduino.GetInstance().PidTurn(45);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
//Finish
Arduino.GetInstance().GoStraight(160);
while (true)
{
Arduino.GetInstance().GoStraight(3);
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
Arduino.GetInstance().GetDistance();
float dis = Arduino.GetInstance().SonicDistance;
if (dis > 40 && dis < 80)
{
break;
}
}
Arduino.GetInstance().PidTurn(-90);
}
else
{
throw new LogicErrorException();
}
}
public static void T1G1()
{
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
100, 200, 300
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
//[obsolote] Detect lines and then remove them from final image.
//DetectLineResult lineResult = Cv.DetectLine(textureAnalysisResult.Img);
//Image<Gray, Byte> outputImage = textureAnalysisResult.Img;
//foreach (LineSegment2D line in lineResult.Line)
//{
// outputImage.Draw(line, new Gray(0), 2);
//}
//CannyTextureAnalysisResult reduceLinesResult = new CannyTextureAnalysisResult(rawImage, "Reduce the lines");
float diff = textureAnalysisResult.Diff;
LinearRegressionResult lrResult = Cv.CalculateLinearRegression(textureAnalysisResult.Img);
FormMain.GetInstance().WriteToConsole("Diff= " + diff + " Slope= " + lrResult.Slope + " Count= " + lrResult.Count + " CounterFinal= " + Counter);
FormMain.GetInstance().WriteToPicture1(textureAnalysisResult.Img);
//[obsolote] Generate nine patch graph.
//NinePatchResult patchResult = Cv.CalculateNinePatch(textureAnalysisResult.Img);
//int height = FormMain.GetInstance().GetPicture2Size().Height;
//int width = FormMain.GetInstance().GetPicture2Size().Width;
//byte[,,] patchImageData = new byte[height, width, 1];
//for (var index0 = 0; index0 < 3; index0++)
//{
// for (var index1 = 0; index1 < 3; index1++)
// {
// if (patchResult.Patch[index0,index1])
// {
// for (var y = height/3*index1; y < height/3*(index1+1); y++)
// {
// for (var x = width/3*index0; x < width/3*(index0+1); x++)
// {
// patchImageData[y, x, 0] = 255;
// }
// }
// }
// }
//}
//Image<Gray, Byte> patchImage = new Image<Gray, Byte>(patchImageData);
//FormMain.GetInstance().WriteToPicture2(patchImage);
//threshold
float threshold = 0.05f;
if (lrResult.Count < 2000)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Backward, 80, 300);
return;
}
if (Math.Abs(diff) > threshold)
{
countAcc = 0;
if (diff > threshold)
{
if (_previousDiff < -threshold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 300);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 80, MotorDirection.Backward, 100, 300);
}
}
else if (diff < -threshold)
{
if (_previousDiff > threshold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 300);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 80, MotorDirection.Forward, 100, 300);
}
}
}
else
{
if (lrResult.Slope < 0.1)
{
countAcc++;
if (countAcc > 2)
{
if (FinalSign)
{
Counter++;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 1000);
}
else
{
Counter = Counter + 3;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 3000);
}
}
else
{
Counter++;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 1000);
}
}
else
{
countAcc = 0;
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
}
_previousDiff = diff;
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(FormMain.GetInstance());
}
