/ - Diff - Colony - Robotics Club

     int main(int argc, char** argv) {
       const char* filename = (argc == 2) ? argv[1] : (char*)"colonet.jpg";
       printf("vision_init(%s)\n", filename);
       if (vision_init(filename) != 0) {
         fprintf(stderr, "init_vision failed.\n");
         return -1;
       } else {
         fprintf(stderr, "vision_init succeeded.\n");
+      }
       VisionPosition* positions;
       int num_positions = vision_get_robot_positions(&positions);
       printf("Got %d positions.\n", num_positions);
       int i;
       for (i = 0; i < num_positions; i++) {
         printf("%d,%d\n", positions[i].x, positions[i].y);

                 found=1;
                 break;
+              }
+    	}
+            }
             if (!found){
               struct CenterP c;
-...
       image04 = cvCloneImage(image03);
       int count = 0;
       int i;
       for (i = 0; i < index; i++) {
         if (bestc[i].count > 7){
-...
+        }
+      }
       VisionPosition* pos = (VisionPosition*)malloc(sizeof(VisionPosition) * count);
       VisionPosition* pos_array = (VisionPosition*)malloc(sizeof(VisionPosition) * count);
       if (pos_array == NULL) {
         fprintf(stderr, "malloc failed\n");
         return -1;
+      }
       int c = 0;
       for (i = 0; i < index; i++) {
         if (bestc[i].count > 7){
           pos[i].x = bestc[i].center.x;
           pos[i].y = bestc[i].center.y;
           pos_array[c].x = bestc[i].center.x;
           pos_array[c].y = bestc[i].center.y;
           c++;
           if (DEBUG) cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0);
           if (DEBUG) cvCircle(image04, bestc[i].center, 20, CV_RGB(0,0,0), 5, 8, 0);
+        }
+      }
       // Show image. HighGUI use.
       if (DEBUG) cvShowImage( "Result", image04 );
       *positions = pos;
       *positions = pos_array;
       return count;
+    }

     vision:
     	$(CC) -ggdb `pkg-config opencv --cflags --libs` -c -I . vision.c
     vision_driver: vision
     	$(CC) -ggdb `pkg-config opencv --cflags --libs` -I . vision_driver.c vision.o -o vision_driver
     	$(CC) -ggdb `pkg-config opencv --cflags --libs` -g -I . vision_driver.c vision.o -o vision_driver
     fitellipse:
     	$(CC) -ggdb `pkg-config opencv --cflags --libs` fitellipse.c -o fitellipse

+    }
     int Command::parse_request_robot_positions(int pool_index) {
       printf("parse_request_robot_positions\n");
       printf("*****parse_request_robot_positions\n");
       map<int, VisionPosition> positions = colonet_server->getPositionMonitor()->getAllRobotPositions();
       map<int, VisionPosition>::iterator iter;
       char position_buffer[256] = "";
       char position_buffer[256];
       position_buffer[0] = 0;
       sprintf(position_buffer, "%d %d", RESPONSE_TO_CLIENT_REQUEST, CLIENT_REQUEST_ROBOT_POSITIONS);
       for (iter = positions.begin(); iter != positions.end(); iter++) {
         char tmpbuf[80];
         sprintf(tmpbuf, "%d %d %d ", iter->first, iter->second.x, iter->second.y);
         sprintf(tmpbuf, " %d %d %d", iter->first, iter->second.x, iter->second.y);
         strcat(position_buffer, tmpbuf);
+      }
       strcat(position_buffer, "\n");
       printf("position buffer is: %s\n", position_buffer);
       connection_pool->write_to_client(pool_index, position_buffer, strlen(position_buffer));
       return 0;

       //TODO: don't hardcode this file name
       //TODO: check for error returned from init
       vision_init("/var/www/colonet.jpg");
       newIdToAssign = 0;
       newIdToAssign = -1;
+    }
     PositionMonitor::~PositionMonitor() {
-...
       //TODO: check for error returned
       int numPositions = vision_get_robot_positions(&positions);
       printf("numPositions is %d\n", numPositions);
       /*
       //TODO: compare current set of positions to previous set of
-...
         positionMap[i] = positions[i];
+      }
       */
       //TODO: also remove robots that might have disappeared
       int i;
       for (i = 0; i < numPositions; i++) {
-...
           VisionPosition oldPos = iter->second;
           if (isProbablySameRobot(newPos, oldPos)) {
     	//TODO: is this the right use of an iterator?
     	iter->second = newPos;
     	break;
             //TODO: is this the right use of an iterator?
             iter->second = newPos;
             break;
+          }
+        }
         if (iter == positionMap.end()) {
           printf("Inserting new robot: %d (%d,%d)", newIdToAssign, newPos.x, newPos.y);
           //a position was found that probably isn't a known robot so add it in case a new robot entered the field
           positionMap.insert(make_pair(newIdToAssign, newPos));
           newIdToAssign++;
           newIdToAssign--;
+        }
+      }
-...
+    }
     map<int, VisionPosition> PositionMonitor::getAllRobotPositions() {
       //TODO do this in another thread!
       updatePositions();
       return positionMap;
+    }

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