public static Cube AnalyseCube(List<ColorFilter> filters, int faceletMinWidth, int faceletMinHeight, ArduinoChannel channel)
{
/*
1- Get all images from Arduino
2- Open a thread to each face and call ImageAnalyser.AnalyseImageSample()
3- Wait all 6 threads
4- Sort the positions of the facelets to the 6 faces
5- Create the string of original cube
6- Create new cube
*/
if (channel == null)
{
return null;
}
// inicializa visão do Arduino
channel.SendInitVision();
Cube newCube = new Cube();
const int nFaces = 6;
ManualResetEvent[] doneEvents = new ManualResetEvent[nFaces];
ImageSample imgSmp = new ImageSample();
imgSmp.FaceletMinWidth = faceletMinWidth;
imgSmp.FaceletMinHeight = faceletMinHeight;
List<ImageAnalyser> analysers = new List<ImageAnalyser>();
for (int i = 0; i < nFaces; i++)
{
doneEvents[i] = new ManualResetEvent(false);
ImageAnalyser imgAn = new ImageAnalyser();
imgAn.Filters = filters;
imgSmp.FaceNumber = i;
PositioningFace(channel, i+1);
imgSmp.SampleImg = CubeAnalyser.SourceImage;
imgAn.Sample = imgSmp.Clone();
analysers.Add(imgAn);
ThreadPool.QueueUserWorkItem(imgAn.AnalyseImageSample, doneEvents[i]);
}
foreach (ManualResetEvent item in doneEvents)
{
WaitHandle hdl = (WaitHandle)item;
hdl.WaitOne();
}
int[] faces;
Dictionary<CubeFace, CubeFaceType> cubeMap = new Dictionary<CubeFace, CubeFaceType>();
for (int i = 0; i < nFaces; i++)
{
Dictionary<CubeFaceletType, CubeFaceColor> tmpFacelets = new Dictionary<CubeFaceletType, CubeFaceColor>();
faces = SortFacelets((CubeFaceType)i);
for (int j = 0; j < 9; j++)
{
tmpFacelets.Add((CubeFaceletType)faces[j], GetCubeFaceColor(analysers[i].Sample.Cores[j]));
}
cubeMap.Add(new CubeFace(tmpFacelets), (CubeFaceType)i);
}
newCube = new Cube(cubeMap);
return newCube;
}
private static bool PositioningFace(ArduinoChannel channel, int numberFace)
{
RotateCubeMovement rotMov = new RotateCubeMovement();
switch (numberFace)
{
case 1:
// não faz nada, é a primeira face
break;
case 2:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 3:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 4:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 5:
rotMov.Axis = CoordinateAxis.X;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
rotMov = new RotateCubeMovement();
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.HalfTurnRight;
channel.SendVisualizationMovement(rotMov);
break;
case 6:
rotMov.Axis = CoordinateAxis.Y;
rotMov.Type = TurnType.FullTurn;
channel.SendVisualizationMovement(rotMov);
break;
default:
return false;
}
return true;
}
