root / trunk / code / projects / colonet / server / PositionMonitor.cpp @ 482
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1 | 436 | jknichel | /**
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2 | * @file PositionMonitor.cpp
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3 | *
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4 | * @author Jason Knichel
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5 | *
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6 | * @date 2/4/08
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7 | */
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8 | |||
9 | //TODO: make this file asynchronous
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10 | |||
11 | 443 | emarinel | #include <PositionMonitor.h> |
12 | 436 | jknichel | #include <stdlib.h> |
13 | #include <vision.h> |
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14 | |||
15 | 449 | jknichel | #include <stdio.h> |
16 | |||
17 | #include <map> |
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18 | using namespace std; |
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19 | |||
20 | 436 | jknichel | PositionMonitor::PositionMonitor() { |
21 | //TODO: don't hardcode this file name
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22 | //TODO: check for error returned from init
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23 | vision_init("/var/www/colonet.jpg");
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24 | 466 | emarinel | newIdToAssign = -1;
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25 | 436 | jknichel | } |
26 | |||
27 | PositionMonitor::~PositionMonitor() { |
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28 | } |
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29 | |||
30 | int PositionMonitor::startMonitoring() {
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31 | 449 | jknichel | //TODO: fill this in when this becomes asynchronous
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32 | 436 | jknichel | return 0; |
33 | } |
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34 | |||
35 | int PositionMonitor::stopMonitoring() {
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36 | 449 | jknichel | //TODO: fill this in when this becomes asynchronous
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37 | 436 | jknichel | return 0; |
38 | } |
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39 | |||
40 | 447 | emarinel | int PositionMonitor::updatePositions() {
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41 | 449 | jknichel | VisionPosition * positions = NULL;
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42 | 436 | jknichel | |
43 | //TODO: check for error returned
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44 | 449 | jknichel | int numPositions = vision_get_robot_positions(&positions);
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45 | 466 | emarinel | printf("numPositions is %d\n", numPositions);
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46 | 467 | emarinel | for (int i = 0; i < numPositions; i++) { |
47 | printf("{%d,%d} ", positions[i].x, positions[i].y);
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48 | } |
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49 | printf("\n");
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50 | 436 | jknichel | |
51 | 468 | jknichel | map<int, VisionPosition> newPositionMap;
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52 | 467 | emarinel | |
53 | 458 | jknichel | //TODO: also remove robots that might have disappeared
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54 | int i;
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55 | for (i = 0; i < numPositions; i++) { |
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56 | VisionPosition newPos = positions[i]; |
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57 | map<int, VisionPosition>::iterator iter;
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58 | for (iter = positionMap.begin(); iter != positionMap.end(); iter++) {
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59 | VisionPosition oldPos = iter->second; |
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60 | 449 | jknichel | |
61 | 458 | jknichel | if (isProbablySameRobot(newPos, oldPos)) {
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62 | 466 | emarinel | //TODO: is this the right use of an iterator?
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63 | 468 | jknichel | newPositionMap.insert(make_pair(iter->first, newPos)); |
64 | 466 | emarinel | break;
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65 | 458 | jknichel | } |
66 | } |
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67 | 466 | emarinel | |
68 | 458 | jknichel | if (iter == positionMap.end()) {
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69 | 468 | jknichel | //a position was found that probably isn't a known
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70 | // robot so add it in case a new robot entered the field
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71 | 466 | emarinel | printf("Inserting new robot: %d (%d,%d)", newIdToAssign, newPos.x, newPos.y);
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72 | |||
73 | 458 | jknichel | //a position was found that probably isn't a known robot so add it in case a new robot entered the field
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74 | 468 | jknichel | newPositionMap.insert(make_pair(newIdToAssign, newPos)); |
75 | 466 | emarinel | newIdToAssign--; |
76 | 458 | jknichel | } |
77 | } |
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78 | |||
79 | 468 | jknichel | positionMap = newPositionMap; |
80 | |||
81 | 449 | jknichel | //TODO: remove this debug information
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82 | map<int, VisionPosition>::iterator iter;
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83 | for (iter = positionMap.begin(); iter != positionMap.end(); iter++) {
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84 | printf("%d has position (%d, %d)\n", iter->first, iter->second.x, iter->second.y);
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85 | } |
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86 | |||
87 | if (positions)
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88 | free(positions); |
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89 | 458 | jknichel | |
90 | 436 | jknichel | return 0; |
91 | } |
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92 | 443 | emarinel | |
93 | 455 | emarinel | int PositionMonitor::assignRealId(int old_id, int real_id) { |
94 | printf("assigning real_id %d to old_id %d\n", real_id, old_id);
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95 | |||
96 | map<int,VisionPosition>::iterator iter = positionMap.find(old_id);
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97 | |||
98 | if (iter == positionMap.end()) {
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99 | fprintf(stderr, "assignRealId: old_id not found\n");
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100 | return -1; |
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101 | } |
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102 | |||
103 | positionMap.insert(make_pair(real_id, iter->second)); |
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104 | positionMap.erase(old_id); |
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105 | |||
106 | return 0; |
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107 | } |
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108 | |||
109 | 447 | emarinel | map<int, VisionPosition> PositionMonitor::getAllRobotPositions() {
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110 | 466 | emarinel | //TODO do this in another thread!
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111 | updatePositions(); |
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112 | |||
113 | 447 | emarinel | return positionMap;
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114 | } |
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115 | |||
116 | 443 | emarinel | int PositionMonitor::getRobotPosition(int robot_id, int* xbuf, int* ybuf) { |
117 | 449 | jknichel | //TODO: figure out what a map returns if the element doesn't exist
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118 | 451 | jknichel | if (positionMap.find(robot_id) == positionMap.end()){
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119 | 449 | jknichel | return -1; |
120 | } |
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121 | |||
122 | VisionPosition pos = positionMap[robot_id]; |
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123 | 455 | emarinel | |
124 | 449 | jknichel | *xbuf = pos.x; |
125 | *ybuf = pos.y; |
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126 | 443 | emarinel | |
127 | return 0; |
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128 | } |
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129 | 458 | jknichel | |
130 | bool PositionMonitor::isProbablySameRobot(VisionPosition p1, VisionPosition p2) {
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131 | int xDiff = p1.x - p2.x;
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132 | int yDiff = p1.y - p2.y;
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133 | return (xDiff*xDiff + yDiff*yDiff < MAX_DISTANCE*MAX_DISTANCE);
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134 | } |