public void SampleThreadFunc()
{
if (StateManager.TcpState.IsClientConnected)
{
InterNetwork.GetInstance().AcquirePicture();
}
else
{
WriteToConsole("No client connected !");
}
while (true)
{
if (TcpIpFileManager.GetInstance().IsFileFresh)
{
break;
}
else
{
Thread.Sleep(100);
}
}
//When the file is ready
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>((Bitmap)TcpIpFileManager.GetInstance().NowImage);
WriteToPictureRaw(rawImage);
}
private void debug1ToolStripMenuItem_Click(object sender, EventArgs e)
{
//Image<Gray,byte> debugImage = new Image<Gray, byte>("1.jpg");
//ImageViewerManager.Instance().ShowPicture(debugImage);
SampleThreadFunc();
ColorDetectResult result = Cv.DetectColor(new Image <Rgb, byte>(TcpIpFileManager.GetInstance().FilePath));
TcpIpFileManager.GetInstance().IsFileFresh = false;
WriteToConsole("Color Det= " + result.Result);
}
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);
}
}
public void G1T1ThreadFunc()
{
WriteToConsole("Ground 1 Task 1 begins to execute !");
while (true)
{
SampleThreadFunc();
Tdps.T1G1();
TcpIpFileManager.GetInstance().IsFileFresh = false;
while (StateManager.ArduinoState.IsBusy)
{
Thread.Sleep(100);
}
if (Tdps.IsT1G1End())
{
break;
}
}
WriteToConsole("Ground 1 Task 1 finished !");
}
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;
}
private void Receive(object argClient)
{
var client = (TcpManager.TcpClientWithGuid)argClient;
NetworkStream ns = client.TcpStream;
StreamReader sr = new StreamReader(ns);
while (true)
{
string data;
try
{
data = sr.ReadLine();
}
catch (IOException e)
{
client.Stop();
StateManager.TcpState.IsClientConnected = false;
break;
}
if (data == null)
{
client.Stop();
StateManager.TcpState.IsClientConnected = false;
break;
}
string[] items = data.Split(Separators, StringSplitOptions.RemoveEmptyEntries);
//Get Picture
if (items[0] == "Picture")
{
long contentLen = Convert.ToInt64(items[1]);
MemoryStream ms = new MemoryStream();
long size = 0;
while (size < contentLen)
{
//Receive 256 bytes for every loop
byte[] bits = new byte[4096];
int r = client.TcpClient.GetStream().Read(bits, 0, bits.Length);
if (r <= 0)
{
break;
}
ms.Write(bits, 0, r);
size += r;
}
System.Drawing.Image img;
try
{
img = System.Drawing.Image.FromStream(ms);
}
catch (Exception e)
{
InterNetwork.GetInstance().AcquirePicture();
continue;
}
TcpIpFileManager.GetInstance().AddTempFile(img);
}
//Motor State Feedback
else if (items[0] == "Motor")
{
if (items[1] == "Finished")
{
StateManager.ArduinoState.IsBusy = false;
}
else if (items[1] == "GetCommand")
{
StateManager.ArduinoState.IsBusy = true;
}
else
{
throw new NotImplementedException();
}
}
//MPU data send back
else if (items[0] == "MPU")
{
if (items[1] == "Angle")
{
if (items[2] == "Z")
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Z angle = " + items[3]);
}
else
{
throw new NotImplementedException();
}
}
else
{
throw new NotImplementedException();
}
}
//Get Distance Result
else if (items[0] == "DISTANCE")
{
FormArduinoControlPanel.GetInstance().WriteToConsole("Distance = " + items[1]);
Arduino.GetInstance().SonicDistance = Convert.ToSingle(items[1]);
}
//ELSE
else
{
throw new NotImplementedException();
}
}
}
public static TcpIpFileManager GetInstance()
{
return(_instance ?? (_instance = new TcpIpFileManager()));
}
