Colony

########Update This Section########

#

#

# Relative path to the root directory (containing lib directory)

#ifndef COLONYROOT

COLONYROOT = ../../../../../

#endif

# Target file name (without extension).

TARGET = robot_slave

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

#AVRDUDE_PORT = /dev/ttyUSB1

AVRDUDE_PORT = /dev/ttyUSB0

#

#

###################################

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging,

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

#if you want your code to work on the Firefly++ and not Firefly+

#then add the -DFFPP line to CDEFS

CDEFS =

#-DFFPP

# MCU name

MCU = atmega128

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the

#     processor frequency. You can then use this symbol in your source code to

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c)

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC =

# Optimization level, can be [0, 1, 2, 3, s].

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG =

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS += -DF_CPU=$(F_CPU)UL

CDEFS += -DFFP

# for wireless library

ifdef USE_WIRELESS

	CDEFS += -DROBOT

endif

# Place -I, -L options here

CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly

CINCS += -L$(COLONYROOT)/code/lib/bin

ifdef USE_WIRELESS

	CINCS += -I$(COLONYROOT)/code/projects/libwireless/lib -I$(COLONYROOT)/code/projects/colonet/lib -I$(COLONYROOT)/code/projects/colonet/lib/colonet_dragonfly

endif

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS =

# CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(CSTANDARD)

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

PRINTF_LIB =

#PRINTF_LIB = $(PRINTF_LIB_MIN)

#PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB =

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

ifdef USE_WIRELESS

	LDFLAGS += -lwireless -lcolonet_dragonfly

endif

LDFLAGS += -ldragonfly

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrisp

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#don't check for device signature

AVRDUDE_FLAGS += -F

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

REMOVEDIR = rm -rf

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before:

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

../../lib/colonet_dragonfly/libcolonet_dragonfly.a: ../../lib/colonet_dragonfly/colonet_dragonfly.c ../../lib/colonet_dragonfly/colonet_dragonfly.h

	cd ../../lib/colonet_dragonfly; make

build: ../../lib/colonet_dragonfly/libcolonet_dragonfly.a elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion :

	@$(CC) --version

# Program the device.

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set

#     a breakpoint at main().

gdb-config:

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVEDIR) .dep

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

/**

 * Eugene Marinelli

 * 4/5/07

 *

 * Robot slave program -- just listens for packets

 */

#include <dragonfly_lib.h>

#include <colonet_dragonfly.h>

#include <wireless.h>

#include <wl_token_ring.h>

#include <serial.h>

#include <stdio.h>

int main(void) {

  dragonfly_init(ALL_ON);

  orb_set_color(RED);

  usb_puts("calling wl_init\n");

  wl_init();

  colonet_init();

  wl_token_ring_register();

  if (wl_token_ring_join() == 0) {

    orb_set_color(GREEN);

    //usb_puts("test!\n");

    while(1) {

      wl_do();

    }

  } else {

    orb_set_color(RED);

  }

  while(1);

  return 0;

}

/**

 * Driver for testing vision library.

 */

#include <vision.h>

#include <stdio.h>

#include <stdlib.h>

int main(int argc, char** argv) {

  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);

  }

  free(positions);

  return 0;

}

/**

 * Robot Detection

 * based on opencv's sample program fitellipse.c by Denis Burenkov

 *

 * @author Rich Hong

 * @date 11/18/2007

 */

#include <vision.h>

#include <cv.h>

#include <highgui.h>

#include <stdio.h>

#include <stdlib.h>

#define MINH 100 //min threshold level

#define MAXH 220 //max threshold level

#define DEBUG 0 //Debug to find threshold level

struct CenterP {

  CvPoint center;

  int count;

};

static IplImage *image02, *image03, *image04;

static char* filename;

int vision_init(char* filename_) {

  filename = filename_;

  return 0;

}

int vision_get_robot_positions(VisionPosition** positions) {

  CvMemStorage* stor;

  CvSeq* cont;

  CvBox2D32f* box;

  CvPoint* PointArray;

  CvPoint2D32f* PointArray2D32f;

  if ((image03 = cvLoadImage(filename, 0)) == 0) {

    fprintf(stderr, "Failed to load image.\n");

    return -1;

  }

  // load image and force it to be grayscale

  if ((image03 = cvLoadImage(filename, 0)) == 0) {

    fprintf(stderr, "Failed to load image.\n");

    return -1;

  }

  // Create the destination images

  image02 = cvCloneImage(image03);

  image04 = cvCloneImage(image03);

  if (DEBUG) cvNamedWindow("Result", 1);

  // Create dynamic structure and sequence.

  stor = cvCreateMemStorage(0);

  cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

  struct CenterP bestc[100];

  int index=0;

  int h;

  for (h = MINH; h < MAXH; h++) {

    // Threshold the source image. This needful for cvFindContours().

    cvThreshold(image03, image02, h, 255, CV_THRESH_BINARY);

    // Find all contours.

    cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));

    // Clear images. IPL use.

    cvZero(image02);

    cvZero(image04);

    // This cycle draw all contours and approximate it by ellipses.

    for(; cont; cont = cont->h_next) {

      int i; // Indicator of cycle.

      int count = cont->total; // This is number point in contour

      CvPoint center;

      CvSize size;

      // Number point must be more than or equal to 6 (for cvFitEllipse_32f).

      if (count < 6) continue;

      // Alloc memory for contour point set.

      PointArray = (CvPoint*) malloc(count * sizeof(CvPoint));

      PointArray2D32f= (CvPoint2D32f*) malloc(count * sizeof(CvPoint2D32f));

      // Alloc memory for ellipse data.

      box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));

      // Get contour point set.

      cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);

      // Convert CvPoint set to CvBox2D32f set.

      for(i=0; i<count; i++) {

        PointArray2D32f[i].x = (float)PointArray[i].x;

        PointArray2D32f[i].y = (float)PointArray[i].y;

      }

      // Fits ellipse to current contour.

      cvFitEllipse(PointArray2D32f, count, box);

      // Convert ellipse data from float to integer representation.

      center.x = cvRound(box->center.x);

      center.y = cvRound(box->center.y);

      size.width = cvRound(box->size.width*0.5);

      size.height = cvRound(box->size.height*0.5);

      box->angle = -box->angle;

      if (size.width>10&&size.height>10&&size.width<20&&size.height<20){

        //printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);

        int found=0, j;

        for (j = 0; j < index; j++) {

          if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9) {

            bestc[j].count++;

            found=1;

            break;

          }

        }

        if (!found){

          struct CenterP c;

          c.center=center;

          c.count=1;

          bestc[index]=c;

          index++;

        }

      }

      // Free memory.

      free(PointArray);

      free(PointArray2D32f);

      free(box);

    }

  }

  image04 = cvCloneImage(image03);

  int count = 0;

  int i;

  for (i = 0; i < index; i++) {

    if (bestc[i].count > 7){

      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_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) cvWaitKey(0);

  cvReleaseImage(&image02);

  cvReleaseImage(&image03);

  if (DEBUG) cvDestroyWindow("Result");

  // Show image. HighGUI use.

  if (DEBUG) cvShowImage( "Result", image04 );

  *positions = pos_array;

  return count;

}

/**

 * Rich Hong's colony vision library.

 */

#ifndef COLONY_VISION_H

#define COLONY_VISION_H

typedef struct {

  int x;

  int y;

} VisionPosition;

int vision_init(char* filename);

int vision_get_robot_positions(VisionPosition** positions);

#endif

# Makefile for vision.

CC = g++

all: clean_programs clean_vision vision vision_driver fitellipse

vision: 

	$(CC) -ggdb `pkg-config opencv --cflags --libs` -c -I . vision.c

vision_driver: vision

	$(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

.PHONY: clean_programs clean

clean_vision:

	rm -rf vision.o

clean_programs:

	rm -rf vision_driver fitellipse

clean: clean_programs clean_vision

	rm -rf *~ *.o

#!/bin/sh

while [ 1 ]

do

# only use wget when not on roboclub9

# wget -q http://roboclub9.frc.ri.cmu.edu/colonet.jpg -O colonet.jpg

sudo ./vision_driver /var/www/colonet.jpg > /var/www/colonet/locations.txt

sleep .1s

done

Robot Detection by Rich Hong

You need to have OpenCV installed and correct path configuration.

Run "make" to compile.

Run "./vision.sh" to get robot positions.

/**

 * fitellipse.c

 * based on opencv's sample program fitellipse.c by Denis Burenkov

 *

 * @author Rich Hong

 * @date 12/05/2007

 */

#ifdef _CH_

#pragma package <opencv>

#endif

#ifndef _EiC

#include "cv.h"

#include "highgui.h"

#endif

#include <stdio.h>

#include <stdlib.h>

int slider_pos = 200;

// Load the source image. HighGUI use.

IplImage *image02 = 0, *image03 = 0, *image04 = 0;

void process_image(int h);

int main( int argc, char** argv ) {

	const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg";

	// load image and force it to be grayscale

	if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1;

	// Create the destination images

	image02 = cvCloneImage( image03 );

	image04 = cvCloneImage( image03 );

	// Create windows.

	cvNamedWindow("Source", 1);

	// Show the image.

	cvShowImage("Source", image03);

	cvNamedWindow("Result", 1);

	// Create toolbars. HighGUI use.

	cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );

	process_image(0);

	// Wait for a key stroke; the same function arranges events processing

	cvWaitKey(0);

	cvReleaseImage(&image02);

	cvReleaseImage(&image03);

	cvDestroyWindow("Source");

	cvDestroyWindow("Result");

	return 0;

}

// Define trackbar callback functon. This function find contours,

// draw it and approximate it by ellipses.

void process_image(int h)

{

    CvMemStorage* stor;

    CvSeq* cont;

    CvBox2D32f* box;

    CvPoint* PointArray;

    CvPoint2D32f* PointArray2D32f;

    // Create dynamic structure and sequence.

    stor = cvCreateMemStorage(0);

    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

    // Threshold the source image. This needful for cvFindContours().

    cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );

    // Find all contours.

    cvFindContours( image02, stor, &cont, sizeof(CvContour), 

                    CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));

    // Clear images. IPL use.

    cvZero(image02);

    cvZero(image04);

    // This cycle draw all contours and approximate it by ellipses.

    for(;cont;cont = cont->h_next)

    {   

        int i; // Indicator of cycle.

        int count = cont->total; // This is number point in contour

        CvPoint center;

        CvSize size;

        // Number point must be more than or equal to 6 (for cvFitEllipse_32f).        

        if( count < 6 )

            continue;

        // Alloc memory for contour point set.    

        PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );

        PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );

        // Alloc memory for ellipse data.

        box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));

        // Get contour point set.

        cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);

        // Convert CvPoint set to CvBox2D32f set.

        for(i=0; i<count; i++)

        {

            PointArray2D32f[i].x = (float)PointArray[i].x;

            PointArray2D32f[i].y = (float)PointArray[i].y;

        }

        // Fits ellipse to current contour.

        cvFitEllipse(PointArray2D32f, count, box);

        // Draw current contour.

        cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));

        // Convert ellipse data from float to integer representation.

        center.x = cvRound(box->center.x);

        center.y = cvRound(box->center.y);

        size.width = cvRound(box->size.width*0.5);

        size.height = cvRound(box->size.height*0.5);

        box->angle = -box->angle;

	if (size.width>10&&size.height>10&&size.width<20&&size.height<20){

		//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);

		// Draw ellipse.

       		cvEllipse(image04, center, size,

		box->angle, 0, 360,

		CV_RGB(0,0,255), 1, CV_AA, 0);

	}

        // Free memory.          

        free(PointArray);

        free(PointArray2D32f);

        free(box);

    }

    // Show image. HighGUI use.

    cvShowImage( "Result", image04 );

}

#ifdef _EiC

main(1,"fitellipse.c");

#endif

VISIONOBJECTS = vision/vision.o

VPATH = ../lib:vision

INCLUDE_DIRS = ../lib ../../libwireless/lib includes vision

LIBRARY_DIRS = ../lib ../../libwireless/lib vision