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 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();
}
}
