Project

General

Profile

Revision 552

Creation of branch for work with new charge stations.

View differences:

branches/charge_station_isp/code/projects/template/main.c
1
#include <dragonfly_lib.h>
2
#include <battery.h>
3

  
4
int main(void) {
5
	dragonfly_init(ALL_ON);
6
	usb_init();
7
	analog_init();
8

  
9
	while(1) {
10
		
11
		
12
		//Prints out the results of three functions
13
		usb_puts("battery8_avg(50): ");
14
		usb_puti(battery8_avg(50));
15
		
16
		usb_puts("\t\t");
17
		
18
		usb_puts("battery8(): ");
19
		usb_puti(battery8());
20
		
21
		usb_puts("\t\t");
22
		
23
		usb_puts("battery(): ");
24
		usb_puti(battery());
25
		
26
		usb_puts("\r\n");
27
		
28
		delay_ms(100);
29
		
30
	}
31
	
32
	return 0;
33
}
34

  
branches/charge_station_isp/code/projects/template/Makefile
1
########Update This Section########
2
#
3
#
4

  
5
# Relative path to the root directory (containing lib directory)
6
ifndef COLONYROOT
7
COLONYROOT = ../../..
8
endif
9

  
10
# Target file name (without extension).
11
TARGET = template
12

  
13
# Uncomment this to use the wireless library
14
# USE_WIRELESS = 1
15

  
16
# com1 = serial port. Use lpt1 to connect to parallel port.
17
AVRDUDE_PORT = com4
18
#
19
#
20
###################################
21

  
22
# Hey Emacs, this is a -*- makefile -*-
23
#----------------------------------------------------------------------------
24
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.
25
#
26
# Released to the Public Domain
27
#
28
# Additional material for this makefile was written by:
29
# Peter Fleury
30
# Tim Henigan
31
# Colin O'Flynn
32
# Reiner Patommel
33
# Markus Pfaff
34
# Sander Pool
35
# Frederik Rouleau
36
#
37
#----------------------------------------------------------------------------
38
# On command line:
39
#
40
# make all = Make software.
41
#
42
# make clean = Clean out built project files.
43
#
44
# make coff = Convert ELF to AVR COFF.
45
#
46
# make extcoff = Convert ELF to AVR Extended COFF.
47
#
48
# make program = Download the hex file to the device, using avrdude.
49
#                Please customize the avrdude settings below first!
50
#
51
# make debug = Start either simulavr or avarice as specified for debugging,
52
#              with avr-gdb or avr-insight as the front end for debugging.
53
#
54
# make filename.s = Just compile filename.c into the assembler code only.
55
#
56
# make filename.i = Create a preprocessed source file for use in submitting
57
#                   bug reports to the GCC project.
58
#
59
# To rebuild project do "make clean" then "make all".
60
#----------------------------------------------------------------------------
61

  
62
#if you want your code to work on the Firefly++ and not Firefly+
63
#then add the -DFFPP line to CDEFS
64
CDEFS =
65
#-DFFPP
66

  
67
# MCU name
68
MCU = atmega128
69

  
70
# Processor frequency.
71
#     This will define a symbol, F_CPU, in all source code files equal to the
72
#     processor frequency. You can then use this symbol in your source code to
73
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
74
#     automatically to create a 32-bit value in your source code.
75
F_CPU = 8000000
76

  
77
# Output format. (can be srec, ihex, binary)
78
FORMAT = ihex
79

  
80
# List C source files here. (C dependencies are automatically generated.)
81
SRC = $(wildcard *.c)
82

  
83
# List Assembler source files here.
84
#     Make them always end in a capital .S.  Files ending in a lowercase .s
85
#     will not be considered source files but generated files (assembler
86
#     output from the compiler), and will be deleted upon "make clean"!
87
#     Even though the DOS/Win* filesystem matches both .s and .S the same,
88
#     it will preserve the spelling of the filenames, and gcc itself does
89
#     care about how the name is spelled on its command-line.
90
ASRC =
91

  
92
# Optimization level, can be [0, 1, 2, 3, s].
93
#     0 = turn off optimization. s = optimize for size.
94
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
95
OPT = s
96

  
97
# Debugging format.
98
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
99
#     AVR Studio 4.10 requires dwarf-2.
100
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
101
DEBUG =
102

  
103
# Compiler flag to set the C Standard level.
104
#     c89   = "ANSI" C
105
#     gnu89 = c89 plus GCC extensions
106
#     c99   = ISO C99 standard (not yet fully implemented)
107
#     gnu99 = c99 plus GCC extensions
108
CSTANDARD = -std=gnu99
109

  
110
# Place -D or -U options here
111
CDEFS += -DF_CPU=$(F_CPU)UL
112
CDEFS += -DFFP
113
# for wireless library
114
ifdef USE_WIRELESS
115
	CDEFS += -DROBOT
116
endif
117

  
118
# Place -I, -L options here
119
CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly
120
CINCS += -L$(COLONYROOT)/code/lib/bin
121
ifdef USE_WIRELESS
122
	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless
123
endif
124

  
125
#---------------- Compiler Options ----------------
126
#  -g*:          generate debugging information
127
#  -O*:          optimization level
128
#  -f...:        tuning, see GCC manual and avr-libc documentation
129
#  -Wall...:     warning level
130
#  -Wa,...:      tell GCC to pass this to the assembler.
131
#    -adhlns...: create assembler listing
132
CFLAGS =
133
# CFLAGS = -g$(DEBUG)
134
CFLAGS += $(CDEFS) $(CINCS)
135
CFLAGS += -O$(OPT)
136
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
137
CFLAGS += -Wall -Wstrict-prototypes
138
CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
139
CFLAGS += $(CSTANDARD)
140

  
141
#---------------- Assembler Options ----------------
142
#  -Wa,...:   tell GCC to pass this to the assembler.
143
#  -ahlms:    create listing
144
#  -gstabs:   have the assembler create line number information; note that
145
#             for use in COFF files, additional information about filenames
146
#             and function names needs to be present in the assembler source
147
#             files -- see avr-libc docs [FIXME: not yet described there]
148
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
149

  
150

  
151
#---------------- Library Options ----------------
152
# Minimalistic printf version
153
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
154

  
155
# Floating point printf version (requires MATH_LIB = -lm below)
156
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
157

  
158
# If this is left blank, then it will use the Standard printf version.
159
PRINTF_LIB =
160
#PRINTF_LIB = $(PRINTF_LIB_MIN)
161
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
162

  
163

  
164
# Minimalistic scanf version
165
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
166

  
167
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
168
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
169

  
170
# If this is left blank, then it will use the Standard scanf version.
171
SCANF_LIB =
172
#SCANF_LIB = $(SCANF_LIB_MIN)
173
#SCANF_LIB = $(SCANF_LIB_FLOAT)
174

  
175
MATH_LIB = -lm
176

  
177
#---------------- External Memory Options ----------------
178

  
179
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
180
# used for variables (.data/.bss) and heap (malloc()).
181
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
182

  
183
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
184
# only used for heap (malloc()).
185
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
186

  
187
EXTMEMOPTS =
188

  
189
#---------------- Linker Options ----------------
190
#  -Wl,...:     tell GCC to pass this to linker.
191
#    -Map:      create map file
192
#    --cref:    add cross reference to  map file
193
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
194
LDFLAGS += $(EXTMEMOPTS)
195
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
196
ifdef USE_WIRELESS
197
	LDFLAGS += -lwireless
198
endif
199
LDFLAGS += -ldragonfly
200

  
201

  
202

  
203
#---------------- Programming Options (avrdude) ----------------
204

  
205
# Programming hardware: alf avr910 avrisp bascom bsd
206
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
207
#
208
# Type: avrdude -c ?
209
# to get a full listing.
210
#
211
AVRDUDE_PROGRAMMER = avrisp
212

  
213
# programmer connected to serial device
214

  
215
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex
216
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
217

  
218

  
219
# Uncomment the following if you want avrdude's erase cycle counter.
220
# Note that this counter needs to be initialized first using -Yn,
221
# see avrdude manual.
222
#AVRDUDE_ERASE_COUNTER = -y
223

  
224
# Uncomment the following if you do /not/ wish a verification to be
225
# performed after programming the device.
226
#AVRDUDE_NO_VERIFY = -V
227

  
228
# Increase verbosity level.  Please use this when submitting bug
229
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
230
# to submit bug reports.
231
#AVRDUDE_VERBOSE = -v -v
232

  
233
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
234
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
235
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
236
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
237

  
238
#don't check for device signature
239
AVRDUDE_FLAGS += -F
240

  
241

  
242

  
243
#---------------- Debugging Options ----------------
244

  
245
# For simulavr only - target MCU frequency.
246
DEBUG_MFREQ = $(F_CPU)
247

  
248
# Set the DEBUG_UI to either gdb or insight.
249
# DEBUG_UI = gdb
250
DEBUG_UI = insight
251

  
252
# Set the debugging back-end to either avarice, simulavr.
253
DEBUG_BACKEND = avarice
254
#DEBUG_BACKEND = simulavr
255

  
256
# GDB Init Filename.
257
GDBINIT_FILE = __avr_gdbinit
258

  
259
# When using avarice settings for the JTAG
260
JTAG_DEV = /dev/com1
261

  
262
# Debugging port used to communicate between GDB / avarice / simulavr.
263
DEBUG_PORT = 4242
264

  
265
# Debugging host used to communicate between GDB / avarice / simulavr, normally
266
#     just set to localhost unless doing some sort of crazy debugging when
267
#     avarice is running on a different computer.
268
DEBUG_HOST = localhost
269

  
270

  
271

  
272
#============================================================================
273

  
274

  
275
# Define programs and commands.
276
SHELL = sh
277
CC = avr-gcc
278
OBJCOPY = avr-objcopy
279
OBJDUMP = avr-objdump
280
SIZE = avr-size
281
NM = avr-nm
282
AVRDUDE = avrdude
283
REMOVE = rm -f
284
REMOVEDIR = rm -rf
285
COPY = cp
286
WINSHELL = cmd
287

  
288

  
289
# Define Messages
290
# English
291
MSG_ERRORS_NONE = Errors: none
292
MSG_BEGIN = -------- begin --------
293
MSG_END = --------  end  --------
294
MSG_SIZE_BEFORE = Size before:
295
MSG_SIZE_AFTER = Size after:
296
MSG_COFF = Converting to AVR COFF:
297
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
298
MSG_FLASH = Creating load file for Flash:
299
MSG_EEPROM = Creating load file for EEPROM:
300
MSG_EXTENDED_LISTING = Creating Extended Listing:
301
MSG_SYMBOL_TABLE = Creating Symbol Table:
302
MSG_LINKING = Linking:
303
MSG_COMPILING = Compiling:
304
MSG_ASSEMBLING = Assembling:
305
MSG_CLEANING = Cleaning project:
306

  
307

  
308

  
309

  
310
# Define all object files.
311
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
312

  
313
# Define all listing files.
314
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)
315

  
316

  
317
# Compiler flags to generate dependency files.
318
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d
319

  
320

  
321
# Combine all necessary flags and optional flags.
322
# Add target processor to flags.
323
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
324
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
325

  
326

  
327

  
328

  
329

  
330
# Default target.
331
all: begin gccversion sizebefore build sizeafter end
332

  
333
build: elf hex eep lss sym
334

  
335
elf: $(TARGET).elf
336
hex: $(TARGET).hex
337
eep: $(TARGET).eep
338
lss: $(TARGET).lss
339
sym: $(TARGET).sym
340

  
341

  
342

  
343
# Eye candy.
344
# AVR Studio 3.x does not check make's exit code but relies on
345
# the following magic strings to be generated by the compile job.
346
begin:
347
	@echo
348
	@echo $(MSG_BEGIN)
349

  
350
end:
351
	@echo $(MSG_END)
352
	@echo
353

  
354

  
355
# Display size of file.
356
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
357
ELFSIZE = $(SIZE) -A $(TARGET).elf
358
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)
359

  
360
sizebefore:
361
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
362
	$(AVRMEM) 2>/dev/null; echo; fi
363

  
364
sizeafter:
365
	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
366
	$(AVRMEM) 2>/dev/null; echo; fi
367

  
368

  
369

  
370
# Display compiler version information.
371
gccversion :
372
	@$(CC) --version
373

  
374

  
375

  
376
# Program the device.
377
program: $(TARGET).hex $(TARGET).eep
378
	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
379

  
380

  
381
# Generate avr-gdb config/init file which does the following:
382
#     define the reset signal, load the target file, connect to target, and set
383
#     a breakpoint at main().
384
gdb-config:
385
	@$(REMOVE) $(GDBINIT_FILE)
386
	@echo define reset >> $(GDBINIT_FILE)
387
	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
388
	@echo end >> $(GDBINIT_FILE)
389
	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
390
	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
391
ifeq ($(DEBUG_BACKEND),simulavr)
392
	@echo load  >> $(GDBINIT_FILE)
393
endif
394
	@echo break main >> $(GDBINIT_FILE)
395

  
396
debug: gdb-config $(TARGET).elf
397
ifeq ($(DEBUG_BACKEND), avarice)
398
	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
399
	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
400
	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
401
	@$(WINSHELL) /c pause
402

  
403
else
404
	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
405
	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
406
endif
407
	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
408

  
409

  
410

  
411

  
412
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
413
COFFCONVERT=$(OBJCOPY) --debugging \
414
--change-section-address .data-0x800000 \
415
--change-section-address .bss-0x800000 \
416
--change-section-address .noinit-0x800000 \
417
--change-section-address .eeprom-0x810000
418

  
419

  
420
coff: $(TARGET).elf
421
	@echo
422
	@echo $(MSG_COFF) $(TARGET).cof
423
	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
424

  
425

  
426
extcoff: $(TARGET).elf
427
	@echo
428
	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
429
	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
430

  
431

  
432

  
433
# Create final output files (.hex, .eep) from ELF output file.
434
%.hex: %.elf
435
	@echo
436
	@echo $(MSG_FLASH) $@
437
	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
438

  
439
%.eep: %.elf
440
	@echo
441
	@echo $(MSG_EEPROM) $@
442
	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
443
	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
444

  
445
# Create extended listing file from ELF output file.
446
%.lss: %.elf
447
	@echo
448
	@echo $(MSG_EXTENDED_LISTING) $@
449
	$(OBJDUMP) -h -S $< > $@
450

  
451
# Create a symbol table from ELF output file.
452
%.sym: %.elf
453
	@echo
454
	@echo $(MSG_SYMBOL_TABLE) $@
455
	$(NM) -n $< > $@
456

  
457

  
458

  
459
# Link: create ELF output file from object files.
460
.SECONDARY : $(TARGET).elf
461
.PRECIOUS : $(OBJ)
462
%.elf: $(OBJ)
463
	@echo
464
	@echo $(MSG_LINKING) $@
465
	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
466

  
467

  
468
# Compile: create object files from C source files.
469
%.o : %.c
470
	@echo
471
	@echo $(MSG_COMPILING) $<
472
	$(CC) -c $(ALL_CFLAGS) $< -o $@
473

  
474

  
475
# Compile: create assembler files from C source files.
476
%.s : %.c
477
	$(CC) -S $(ALL_CFLAGS) $< -o $@
478

  
479

  
480
# Assemble: create object files from assembler source files.
481
%.o : %.S
482
	@echo
483
	@echo $(MSG_ASSEMBLING) $<
484
	$(CC) -c $(ALL_ASFLAGS) $< -o $@
485

  
486
# Create preprocessed source for use in sending a bug report.
487
%.i : %.c
488
	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
489

  
490

  
491
# Target: clean project.
492
clean: begin clean_list end
493

  
494
clean_list :
495
	@echo
496
	@echo $(MSG_CLEANING)
497
	$(REMOVE) $(TARGET).hex
498
	$(REMOVE) $(TARGET).eep
499
	$(REMOVE) $(TARGET).cof
500
	$(REMOVE) $(TARGET).elf
501
	$(REMOVE) $(TARGET).map
502
	$(REMOVE) $(TARGET).sym
503
	$(REMOVE) $(TARGET).lss
504
	$(REMOVE) $(OBJ)
505
	$(REMOVE) $(LST)
506
	$(REMOVE) $(SRC:.c=.s)
507
	$(REMOVE) $(SRC:.c=.d)
508
	$(REMOVEDIR) .dep
509

  
510

  
511

  
512
# Include the dependency files.
513
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
514

  
515

  
516
# Listing of phony targets.
517
.PHONY : all begin finish end sizebefore sizeafter gccversion \
518
build elf hex eep lss sym coff extcoff \
519
clean clean_list program debug gdb-config
520

  
branches/charge_station_isp/code/projects/colonet/vision/vision.sh
1
#!/bin/sh
2
while [ 1 ]
3
do
4
wget -q http://roboclub9.frc.ri.cmu.edu/colonet.jpg -O colonet.jpg
5
./vision colonet.jpg > colonet.txt
6
sleep 5s
7
done
0 8

  
branches/charge_station_isp/code/projects/colonet/vision/vision.c
1
/**
2
 * find the locations of each robot
3
 * based on opencv's sample program fitellipse.c by Denis Burenkov
4
 *
5
 * @author Rich Hong
6
 * @date 11/10/2007
7
 */
8
#ifdef _CH_
9
#pragma package <opencv>
10
#endif
11

  
12
#ifndef _EiC
13
#include "cv.h"
14
#include "highgui.h"
15
#endif
16
#include <stdio.h>
17
#include <stdlib.h>
18

  
19
int slider_pos = 200;
20

  
21
#define MINH 100 //min threshold level
22
#define MAXH 150 //max threshold level
23
#define DEBUG 0 //Debug to find threshold level
24

  
25
// Load the source image. HighGUI use.
26
IplImage *image02 = 0, *image03 = 0, *image04 = 0;
27

  
28
void process_image(int h);
29
void loop_image();
30

  
31
struct CenterP {
32
	CvPoint center;
33
	int count;
34
};
35

  
36
int main( int argc, char** argv ) {
37
    const char* filename = argc == 2 ? argv[1] : (char*)"colonet.jpg";
38
    
39
    // load image and force it to be grayscale
40
    if( (image03 = cvLoadImage(filename, 0)) == 0 ) return -1;
41

  
42
    // Create the destination images
43
    image02 = cvCloneImage( image03 );
44
    image04 = cvCloneImage( image03 );
45

  
46
	if (DEBUG){
47
    	// Create windows.
48
    	cvNamedWindow("Source", 1);
49
    	// Show the image.
50
    	cvShowImage("Source", image03);
51

  
52
    	cvNamedWindow("Result", 1);
53
	// Create toolbars. HighGUI use.
54
    	cvCreateTrackbar( "Threshold", "Result", &slider_pos, 255, process_image );
55
	}
56

  
57
	if (!DEBUG) loop_image();
58
	if (DEBUG) process_image(0);
59

  
60
    // Wait for a key stroke; the same function arranges events processing
61
    if (DEBUG) cvWaitKey(0);
62
    cvReleaseImage(&image02);
63
    cvReleaseImage(&image03);
64

  
65
    	if (DEBUG){
66
    		cvDestroyWindow("Source");
67
    		cvDestroyWindow("Result");
68
	}
69

  
70
    return 0;
71
}
72

  
73
void loop_image(){
74
	CvMemStorage* stor;
75
    CvSeq* cont;
76
    CvBox2D32f* box;
77
    CvPoint* PointArray;
78
    CvPoint2D32f* PointArray2D32f;
79
    
80
    // Create dynamic structure and sequence.
81
    stor = cvCreateMemStorage(0);
82
    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
83
    
84
	struct CenterP bestc[100];
85
	int index=0;
86

  
87
	int h;
88
	for (h=MINH;h<MAXH;h++){
89
		// Threshold the source image. This needful for cvFindContours().
90
    	cvThreshold( image03, image02, h, 255, CV_THRESH_BINARY );
91
    
92
    	// Find all contours.
93
    	cvFindContours( image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
94
    
95
    	// Clear images. IPL use.
96
    	cvZero(image02);
97
    	cvZero(image04);
98
    
99
    	// This cycle draw all contours and approximate it by ellipses.
100
    	for(;cont;cont = cont->h_next) {   
101
        	int i; // Indicator of cycle.
102
        	int count = cont->total; // This is number point in contour
103
        	CvPoint center;
104
        	CvSize size;
105
        
106
        	// Number point must be more than or equal to 6 (for cvFitEllipse_32f).
107
        	if( count < 6 ) continue;
108
        
109
        	// Alloc memory for contour point set.    
110
        	PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
111
        	PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
112
        
113
        	// Alloc memory for ellipse data.
114
        	box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
115
        
116
        	// Get contour point set.
117
        	cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
118
        
119
        	// Convert CvPoint set to CvBox2D32f set.
120
        	for(i=0; i<count; i++) {
121
            	PointArray2D32f[i].x = (float)PointArray[i].x;
122
            	PointArray2D32f[i].y = (float)PointArray[i].y;
123
        	}
124
        
125
        	// Fits ellipse to current contour.
126
        	cvFitEllipse(PointArray2D32f, count, box);
127
        
128
        	// Convert ellipse data from float to integer representation.
129
        	center.x = cvRound(box->center.x);
130
        	center.y = cvRound(box->center.y);
131
        	size.width = cvRound(box->size.width*0.5);
132
        	size.height = cvRound(box->size.height*0.5);
133
        	box->angle = -box->angle;
134

  
135
			if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
136
				//printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
137
        
138
				int found=0;
139
				int j;
140
				for (j=0;j<index;j++)
141
					if (abs(bestc[j].center.x-center.x)<9&&abs(bestc[j].center.y-center.y)<9){
142
						bestc[j].count++;
143
						found=1;
144
						break;
145
					}
146
				if (!found){
147
					struct CenterP c;
148
					c.center=center;
149
					c.count=1;
150
					bestc[index]=c;
151
					index++;
152
				}
153
			}
154
        	// Free memory.          
155
        	free(PointArray);
156
        	free(PointArray2D32f);
157
      		free(box);
158
		}
159
	}
160
	image04 = cvCloneImage( image03 );
161
	int i;
162
	for (i=0;i<index;i++){
163
		if (bestc[i].count>7){
164
			printf("%d,%d\n",bestc[i].center.x,bestc[i].center.y);
165
			//cvCircle(image04,bestc[i].center, 20, CV_RGB(0,0,0),5,8,0);
166
		}
167
	}
168
    // Show image. HighGUI use.
169
    //cvShowImage( "Result", image04 );
170
}
171

  
172
// Define trackbar callback functon. This function find contours,
173
// draw it and approximate it by ellipses.
174
void process_image(int h)
175
{
176
    CvMemStorage* stor;
177
    CvSeq* cont;
178
    CvBox2D32f* box;
179
    CvPoint* PointArray;
180
    CvPoint2D32f* PointArray2D32f;
181
    
182
    // Create dynamic structure and sequence.
183
    stor = cvCreateMemStorage(0);
184
    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);
185
    
186
    // Threshold the source image. This needful for cvFindContours().
187
    cvThreshold( image03, image02, slider_pos, 255, CV_THRESH_BINARY );
188
    
189
    // Find all contours.
190
    cvFindContours( image02, stor, &cont, sizeof(CvContour), 
191
                    CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));
192
    
193
    // Clear images. IPL use.
194
    cvZero(image02);
195
    cvZero(image04);
196
    
197
    // This cycle draw all contours and approximate it by ellipses.
198
    for(;cont;cont = cont->h_next)
199
    {   
200
        int i; // Indicator of cycle.
201
        int count = cont->total; // This is number point in contour
202
        CvPoint center;
203
        CvSize size;
204
        
205
        // Number point must be more than or equal to 6 (for cvFitEllipse_32f).        
206
        if( count < 6 )
207
            continue;
208
        
209
        // Alloc memory for contour point set.    
210
        PointArray = (CvPoint*)malloc( count*sizeof(CvPoint) );
211
        PointArray2D32f= (CvPoint2D32f*)malloc( count*sizeof(CvPoint2D32f) );
212
        
213
        // Alloc memory for ellipse data.
214
        box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));
215
        
216
        // Get contour point set.
217
        cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);
218
        
219
        // Convert CvPoint set to CvBox2D32f set.
220
        for(i=0; i<count; i++)
221
        {
222
            PointArray2D32f[i].x = (float)PointArray[i].x;
223
            PointArray2D32f[i].y = (float)PointArray[i].y;
224
        }
225
        
226
        // Fits ellipse to current contour.
227
        cvFitEllipse(PointArray2D32f, count, box);
228
        
229
        // Draw current contour.
230
        cvDrawContours(image04,cont,CV_RGB(255,255,255),CV_RGB(255,255,255),0,1,8,cvPoint(0,0));
231
        
232
        // Convert ellipse data from float to integer representation.
233
        center.x = cvRound(box->center.x);
234
        center.y = cvRound(box->center.y);
235
        size.width = cvRound(box->size.width*0.5);
236
        size.height = cvRound(box->size.height*0.5);
237
        box->angle = -box->angle;
238

  
239
		if (size.width>10&&size.height>10&&size.width<20&&size.height<20){
240
		printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);
241
        
242
        // Draw ellipse.
243
        cvEllipse(image04, center, size,
244
                  box->angle, 0, 360,
245
                  CV_RGB(0,0,255), 1, CV_AA, 0);
246
		}
247
        // Free memory.          
248
        free(PointArray);
249
        free(PointArray2D32f);
250
        free(box);
251
    }
252
    
253
    // Show image. HighGUI use.
254
    cvShowImage( "Result", image04 );
255
}
256

  
257
#ifdef _EiC
258
main(1,"vision.c");
259
#endif
260

  
branches/charge_station_isp/code/projects/colonet/vision/README
1
You need to have OpenCV installed and correct path configuration.
2

  
3
build_vision.sh to compile
4
vision.sh to run
5
colonet.txt contains the locations of each robot
branches/charge_station_isp/code/projects/colonet/vision/build_vision.sh
1
#!/bin/sh
2
gcc -ggdb `pkg-config opencv --cflags --libs` vision.c -o vision
0 3

  
branches/charge_station_isp/code/projects/colonet/ColonetGUI/Colonet.xcodeproj/gmtress.pbxuser
1
// !$*UTF8*$!
2
{
3
	00E6828EFEC88D1A11DB9C8B /* Project object */ = {
4
		activeBuildConfigurationName = Default;
5
		activeExecutable = 130F8B8C001BDBAD11CA292A;
6
		activeTarget = 130F8B84001BDB6411CA292A /* Colonet */;
7
		addToTargets = (
8
			130F8B84001BDB6411CA292A /* Colonet */,
9
		);
10
		breakpoints = (
11
		);
12
		breakpointsGroup = A3D78BA80CB6E4FF00A79632 /* XCBreakpointsBucket */;
13
		codeSenseManager = A341617F0C989B510007BEF2 /* Code sense */;
14
		executables = (
15
			130F8B8C001BDBAD11CA292A,
16
		);
17
		perUserDictionary = {
18
			"PBXConfiguration.PBXBreakpointsDataSource.v1:1CA1AED706398EBD00589147" = {
19
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
20
				PBXFileTableDataSourceColumnSortingKey = PBXBreakpointsDataSource_BreakpointID;
21
				PBXFileTableDataSourceColumnWidthsKey = (
22
					20,
23
					20,
24
					210,
25
					20,
26
					110,
27
					109,
28
					20,
29
				);
30
				PBXFileTableDataSourceColumnsKey = (
31
					PBXBreakpointsDataSource_ActionID,
32
					PBXBreakpointsDataSource_TypeID,
33
					PBXBreakpointsDataSource_BreakpointID,
34
					PBXBreakpointsDataSource_UseID,
35
					PBXBreakpointsDataSource_LocationID,
36
					PBXBreakpointsDataSource_ConditionID,
37
					PBXBreakpointsDataSource_ContinueID,
38
				);
39
			};
40
			PBXConfiguration.PBXFileTableDataSource3.PBXBookmarksDataSource = {
41
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
42
				PBXFileTableDataSourceColumnSortingKey = PBXBookmarksDataSource_NameID;
43
				PBXFileTableDataSourceColumnWidthsKey = (
44
					200,
45
					200,
46
					300,
47
				);
48
				PBXFileTableDataSourceColumnsKey = (
49
					PBXBookmarksDataSource_LocationID,
50
					PBXBookmarksDataSource_NameID,
51
					PBXBookmarksDataSource_CommentsID,
52
				);
53
			};
54
			PBXConfiguration.PBXFileTableDataSource3.PBXErrorsWarningsDataSource = {
55
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
56
				PBXFileTableDataSourceColumnSortingKey = PBXErrorsWarningsDataSource_LocationID;
57
				PBXFileTableDataSourceColumnWidthsKey = (
58
					20,
59
					300,
60
					200,
61
				);
62
				PBXFileTableDataSourceColumnsKey = (
63
					PBXErrorsWarningsDataSource_TypeID,
64
					PBXErrorsWarningsDataSource_MessageID,
65
					PBXErrorsWarningsDataSource_LocationID,
66
				);
67
			};
68
			PBXConfiguration.PBXFileTableDataSource3.PBXExecutablesDataSource = {
69
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
70
				PBXFileTableDataSourceColumnSortingKey = PBXExecutablesDataSource_NameID;
71
				PBXFileTableDataSourceColumnWidthsKey = (
72
					22,
73
					300,
74
					131,
75
				);
76
				PBXFileTableDataSourceColumnsKey = (
77
					PBXExecutablesDataSource_ActiveFlagID,
78
					PBXExecutablesDataSource_NameID,
79
					PBXExecutablesDataSource_CommentsID,
80
				);
81
			};
82
			PBXConfiguration.PBXFileTableDataSource3.PBXFileTableDataSource = {
83
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
84
				PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID;
85
				PBXFileTableDataSourceColumnWidthsKey = (
86
					20,
87
					819,
88
					20,
89
					48,
90
					43,
91
					43,
92
					20,
93
				);
94
				PBXFileTableDataSourceColumnsKey = (
95
					PBXFileDataSource_FiletypeID,
96
					PBXFileDataSource_Filename_ColumnID,
97
					PBXFileDataSource_Built_ColumnID,
98
					PBXFileDataSource_ObjectSize_ColumnID,
99
					PBXFileDataSource_Errors_ColumnID,
100
					PBXFileDataSource_Warnings_ColumnID,
101
					PBXFileDataSource_Target_ColumnID,
102
				);
103
			};
104
			PBXConfiguration.PBXFileTableDataSource3.PBXSymbolsDataSource = {
105
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
106
				PBXFileTableDataSourceColumnSortingKey = PBXSymbolsDataSource_SymbolNameID;
107
				PBXFileTableDataSourceColumnWidthsKey = (
108
					16,
109
					200,
110
					50,
111
					183,
112
				);
113
				PBXFileTableDataSourceColumnsKey = (
114
					PBXSymbolsDataSource_SymbolTypeIconID,
115
					PBXSymbolsDataSource_SymbolNameID,
116
					PBXSymbolsDataSource_SymbolTypeID,
117
					PBXSymbolsDataSource_ReferenceNameID,
118
				);
119
			};
120
			PBXConfiguration.PBXFileTableDataSource3.XCSCMDataSource = {
121
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
122
				PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID;
123
				PBXFileTableDataSourceColumnWidthsKey = (
124
					20,
125
					20,
126
					795,
127
					20,
128
					48,
129
					43,
130
					43,
131
					20,
132
				);
133
				PBXFileTableDataSourceColumnsKey = (
134
					PBXFileDataSource_SCM_ColumnID,
135
					PBXFileDataSource_FiletypeID,
136
					PBXFileDataSource_Filename_ColumnID,
137
					PBXFileDataSource_Built_ColumnID,
138
					PBXFileDataSource_ObjectSize_ColumnID,
139
					PBXFileDataSource_Errors_ColumnID,
140
					PBXFileDataSource_Warnings_ColumnID,
141
					PBXFileDataSource_Target_ColumnID,
142
				);
143
			};
144
			PBXConfiguration.PBXTargetDataSource.PBXTargetDataSource = {
145
				PBXFileTableDataSourceColumnSortingDirectionKey = "-1";
146
				PBXFileTableDataSourceColumnSortingKey = PBXFileDataSource_Filename_ColumnID;
147
				PBXFileTableDataSourceColumnWidthsKey = (
148
					20,
149
					200,
150
					63,
151
					20,
152
					48,
153
					43,
154
					43,
155
				);
156
				PBXFileTableDataSourceColumnsKey = (
157
					PBXFileDataSource_FiletypeID,
158
					PBXFileDataSource_Filename_ColumnID,
159
					PBXTargetDataSource_PrimaryAttribute,
160
					PBXFileDataSource_Built_ColumnID,
161
					PBXFileDataSource_ObjectSize_ColumnID,
162
					PBXFileDataSource_Errors_ColumnID,
163
					PBXFileDataSource_Warnings_ColumnID,
164
				);
165
			};
166
			PBXPerProjectTemplateStateSaveDate = 214950164;
167
			PBXWorkspaceStateSaveDate = 214950164;
168
		};
169
		perUserProjectItems = {
170
			A30FC0970CBD7DFA000A16EC = A30FC0970CBD7DFA000A16EC /* PBXTextBookmark */;
171
			A30FC0A60CBD7E05000A16EC = A30FC0A60CBD7E05000A16EC /* PBXTextBookmark */;
172
			A30FC0E20CBD7F47000A16EC = A30FC0E20CBD7F47000A16EC /* PBXTextBookmark */;
173
			A30FC13A0CBD8587000A16EC = A30FC13A0CBD8587000A16EC /* PBXTextBookmark */;
174
			A31266650C9B131A00D15EBF = A31266650C9B131A00D15EBF /* PBXTextBookmark */;
175
			A312666C0C9B131A00D15EBF = A312666C0C9B131A00D15EBF /* PBXTextBookmark */;
176
			A3B0CF2B0CCFE11A001E32E1 /* PBXTextBookmark */ = A3B0CF2B0CCFE11A001E32E1 /* PBXTextBookmark */;
177
			A3B0CF320CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF320CCFE191001E32E1 /* PBXTextBookmark */;
178
			A3B0CF330CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF330CCFE191001E32E1 /* PBXTextBookmark */;
179
			A3B0CF340CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF340CCFE191001E32E1 /* PBXTextBookmark */;
180
			A3B0CF350CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF350CCFE191001E32E1 /* PBXTextBookmark */;
181
			A3B0CF360CCFE191001E32E1 /* PBXTextBookmark */ = A3B0CF360CCFE191001E32E1 /* PBXTextBookmark */;
182
			A3B0CF370CCFE198001E32E1 /* PBXTextBookmark */ = A3B0CF370CCFE198001E32E1 /* PBXTextBookmark */;
183
			A3B0CF380CCFE198001E32E1 /* PBXTextBookmark */ = A3B0CF380CCFE198001E32E1 /* PBXTextBookmark */;
184
			A3B0CF410CCFE1F7001E32E1 /* PBXTextBookmark */ = A3B0CF410CCFE1F7001E32E1 /* PBXTextBookmark */;
185
			A3B0CF420CCFE1F7001E32E1 /* PBXTextBookmark */ = A3B0CF420CCFE1F7001E32E1 /* PBXTextBookmark */;
186
			A3B0CF430CCFE260001E32E1 /* PBXTextBookmark */ = A3B0CF430CCFE260001E32E1 /* PBXTextBookmark */;
187
			A3B0CF470CCFE362001E32E1 /* PBXTextBookmark */ = A3B0CF470CCFE362001E32E1 /* PBXTextBookmark */;
188
			A3B0CF480CCFE365001E32E1 /* PBXTextBookmark */ = A3B0CF480CCFE365001E32E1 /* PBXTextBookmark */;
189
			A3B0CF490CCFE365001E32E1 /* PBXTextBookmark */ = A3B0CF490CCFE365001E32E1 /* PBXTextBookmark */;
190
			A3B0CF4C0CCFE487001E32E1 /* PBXTextBookmark */ = A3B0CF4C0CCFE487001E32E1 /* PBXTextBookmark */;
191
			A3B0CF500CCFE4BB001E32E1 /* PBXTextBookmark */ = A3B0CF500CCFE4BB001E32E1 /* PBXTextBookmark */;
192
			A3B0CF510CCFE4BD001E32E1 /* PBXTextBookmark */ = A3B0CF510CCFE4BD001E32E1 /* PBXTextBookmark */;
193
			A3B0CF520CCFE4BD001E32E1 /* PBXTextBookmark */ = A3B0CF520CCFE4BD001E32E1 /* PBXTextBookmark */;
194
			A3B0CF530CCFE50B001E32E1 /* PBXTextBookmark */ = A3B0CF530CCFE50B001E32E1 /* PBXTextBookmark */;
195
			A3B0CF570CCFE51B001E32E1 /* PBXTextBookmark */ = A3B0CF570CCFE51B001E32E1 /* PBXTextBookmark */;
196
			A3B0CF580CCFE51E001E32E1 /* PBXTextBookmark */ = A3B0CF580CCFE51E001E32E1 /* PBXTextBookmark */;
197
			A3B0CF590CCFE51E001E32E1 /* PBXTextBookmark */ = A3B0CF590CCFE51E001E32E1 /* PBXTextBookmark */;
198
			A3B0CF5A0CCFE559001E32E1 /* PBXTextBookmark */ = A3B0CF5A0CCFE559001E32E1 /* PBXTextBookmark */;
199
			A3B0CF5C0CCFE565001E32E1 /* PBXTextBookmark */ = A3B0CF5C0CCFE565001E32E1 /* PBXTextBookmark */;
200
			A3B0CF5D0CCFE565001E32E1 /* PBXTextBookmark */ = A3B0CF5D0CCFE565001E32E1 /* PBXTextBookmark */;
201
			A3B0CF610CCFF662001E32E1 /* PBXTextBookmark */ = A3B0CF610CCFF662001E32E1 /* PBXTextBookmark */;
202
			A3B0CF620CCFF662001E32E1 /* PBXTextBookmark */ = A3B0CF620CCFF662001E32E1 /* PBXTextBookmark */;
203
			A3B0CF650CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF650CCFFA8F001E32E1 /* PBXTextBookmark */;
204
			A3B0CF660CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF660CCFFA8F001E32E1 /* PBXTextBookmark */;
205
			A3B0CF670CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF670CCFFA8F001E32E1 /* PBXTextBookmark */;
206
			A3B0CF680CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF680CCFFA8F001E32E1 /* PBXTextBookmark */;
207
			A3B0CF690CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF690CCFFA8F001E32E1 /* PBXTextBookmark */;
208
			A3B0CF6A0CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF6A0CCFFA8F001E32E1 /* PBXTextBookmark */;
209
			A3B0CF6B0CCFFA8F001E32E1 /* PBXTextBookmark */ = A3B0CF6B0CCFFA8F001E32E1 /* PBXTextBookmark */;
210
			A3B0CF6C0CCFFA91001E32E1 /* PBXTextBookmark */ = A3B0CF6C0CCFFA91001E32E1 /* PBXTextBookmark */;
211
			A3B0CF6D0CCFFA91001E32E1 /* PBXTextBookmark */ = A3B0CF6D0CCFFA91001E32E1 /* PBXTextBookmark */;
212
			A3B0CF740CCFFFF2001E32E1 /* PBXTextBookmark */ = A3B0CF740CCFFFF2001E32E1 /* PBXTextBookmark */;
213
			A3B0CF750CCFFFF2001E32E1 /* PBXTextBookmark */ = A3B0CF750CCFFFF2001E32E1 /* PBXTextBookmark */;
214
			A3B0CF760CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF760CD00046001E32E1 /* PBXTextBookmark */;
215
			A3B0CF770CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF770CD00046001E32E1 /* PBXTextBookmark */;
216
			A3B0CF780CD00046001E32E1 /* PBXTextBookmark */ = A3B0CF780CD00046001E32E1 /* PBXTextBookmark */;
217
			A3B0CF800CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF800CD00163001E32E1 /* PBXTextBookmark */;
218
			A3B0CF810CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF810CD00163001E32E1 /* PBXTextBookmark */;
219
			A3B0CF820CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF820CD00163001E32E1 /* PBXTextBookmark */;
220
			A3B0CF830CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF830CD00163001E32E1 /* PBXTextBookmark */;
221
			A3B0CF840CD00163001E32E1 /* PBXTextBookmark */ = A3B0CF840CD00163001E32E1 /* PBXTextBookmark */;
222
			A3B0CF930CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF930CD0097E001E32E1 /* PBXTextBookmark */;
223
			A3B0CF940CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF940CD0097E001E32E1 /* PBXTextBookmark */;
224
			A3B0CF950CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF950CD0097E001E32E1 /* PBXTextBookmark */;
225
			A3B0CF960CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF960CD0097E001E32E1 /* PBXTextBookmark */;
226
			A3B0CF970CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF970CD0097E001E32E1 /* PBXTextBookmark */;
227
			A3B0CF980CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF980CD0097E001E32E1 /* PBXTextBookmark */;
228
			A3B0CF990CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF990CD0097E001E32E1 /* PBXTextBookmark */;
229
			A3B0CF9A0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9A0CD0097E001E32E1 /* PBXTextBookmark */;
230
			A3B0CF9B0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9B0CD0097E001E32E1 /* PBXTextBookmark */;
231
			A3B0CF9C0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9C0CD0097E001E32E1 /* PBXTextBookmark */;
232
			A3B0CF9D0CD0097E001E32E1 /* PBXTextBookmark */ = A3B0CF9D0CD0097E001E32E1 /* PBXTextBookmark */;
233
			A3B0CFA20CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA20CD009A1001E32E1 /* PBXTextBookmark */;
234
			A3B0CFA30CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA30CD009A1001E32E1 /* PBXTextBookmark */;
235
			A3B0CFA40CD009A1001E32E1 /* PBXTextBookmark */ = A3B0CFA40CD009A1001E32E1 /* PBXTextBookmark */;
236
			A3B0CFA80CD00B25001E32E1 /* PBXTextBookmark */ = A3B0CFA80CD00B25001E32E1 /* PBXTextBookmark */;
237
			A3B0CFA90CD00B25001E32E1 /* PBXTextBookmark */ = A3B0CFA90CD00B25001E32E1 /* PBXTextBookmark */;
238
			A3B0CFAD0CD00BCD001E32E1 /* PBXTextBookmark */ = A3B0CFAD0CD00BCD001E32E1 /* PBXTextBookmark */;
239
			A3B0CFAE0CD00BCD001E32E1 /* PBXTextBookmark */ = A3B0CFAE0CD00BCD001E32E1 /* PBXTextBookmark */;
240
			A3B0CFB20CD00C0B001E32E1 /* PBXTextBookmark */ = A3B0CFB20CD00C0B001E32E1 /* PBXTextBookmark */;
241
			A3B0CFB30CD00C0B001E32E1 /* PBXTextBookmark */ = A3B0CFB30CD00C0B001E32E1 /* PBXTextBookmark */;
242
			A3B0CFB80CD00E1D001E32E1 /* PBXTextBookmark */ = A3B0CFB80CD00E1D001E32E1 /* PBXTextBookmark */;
243
			A3B0CFB90CD00E1D001E32E1 /* PBXTextBookmark */ = A3B0CFB90CD00E1D001E32E1 /* PBXTextBookmark */;
244
			A3B0CFBD0CD00E62001E32E1 /* PBXTextBookmark */ = A3B0CFBD0CD00E62001E32E1 /* PBXTextBookmark */;
245
			A3B0CFBE0CD00E62001E32E1 /* PBXTextBookmark */ = A3B0CFBE0CD00E62001E32E1 /* PBXTextBookmark */;
246
			A3B0CFC20CD00F34001E32E1 /* PBXTextBookmark */ = A3B0CFC20CD00F34001E32E1 /* PBXTextBookmark */;
247
			A3B0CFC30CD00F34001E32E1 /* PBXTextBookmark */ = A3B0CFC30CD00F34001E32E1 /* PBXTextBookmark */;
248
			A3B0CFC40CD01004001E32E1 /* PBXTextBookmark */ = A3B0CFC40CD01004001E32E1 /* PBXTextBookmark */;
249
			A3B0CFC70CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC70CD01044001E32E1 /* PBXTextBookmark */;
250
			A3B0CFC80CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC80CD01044001E32E1 /* PBXTextBookmark */;
251
			A3B0CFC90CD01044001E32E1 /* PBXTextBookmark */ = A3B0CFC90CD01044001E32E1 /* PBXTextBookmark */;
252
			A3B0CFCC0CD01072001E32E1 /* PBXTextBookmark */ = A3B0CFCC0CD01072001E32E1 /* PBXTextBookmark */;
253
			A3B0CFCD0CD01072001E32E1 /* PBXTextBookmark */ = A3B0CFCD0CD01072001E32E1 /* PBXTextBookmark */;
254
			A3B0CFD00CD010D0001E32E1 /* PBXTextBookmark */ = A3B0CFD00CD010D0001E32E1 /* PBXTextBookmark */;
255
			A3B0CFD10CD010D0001E32E1 /* PBXTextBookmark */ = A3B0CFD10CD010D0001E32E1 /* PBXTextBookmark */;
256
			A3B0CFD70CD011D6001E32E1 /* PBXTextBookmark */ = A3B0CFD70CD011D6001E32E1 /* PBXTextBookmark */;
257
			A3B0CFD80CD011D6001E32E1 /* PBXTextBookmark */ = A3B0CFD80CD011D6001E32E1 /* PBXTextBookmark */;
258
			A3B0CFDB0CD01243001E32E1 /* PBXTextBookmark */ = A3B0CFDB0CD01243001E32E1 /* PBXTextBookmark */;
259
			A3B0CFDC0CD01243001E32E1 /* PBXTextBookmark */ = A3B0CFDC0CD01243001E32E1 /* PBXTextBookmark */;
260
			A3B0CFDF0CD012E6001E32E1 /* PBXTextBookmark */ = A3B0CFDF0CD012E6001E32E1 /* PBXTextBookmark */;
261
			A3B0CFE00CD012E6001E32E1 /* PBXTextBookmark */ = A3B0CFE00CD012E6001E32E1 /* PBXTextBookmark */;
262
			A3B0CFE40CD01324001E32E1 /* PBXTextBookmark */ = A3B0CFE40CD01324001E32E1 /* PBXTextBookmark */;
263
			A3B0CFE50CD01324001E32E1 /* PBXTextBookmark */ = A3B0CFE50CD01324001E32E1 /* PBXTextBookmark */;
264
			A3B0CFE90CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFE90CD01397001E32E1 /* PBXTextBookmark */;
265
			A3B0CFEA0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEA0CD01397001E32E1 /* PBXTextBookmark */;
266
			A3B0CFEB0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEB0CD01397001E32E1 /* PBXTextBookmark */;
267
			A3B0CFEC0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFEC0CD01397001E32E1 /* PBXTextBookmark */;
268
			A3B0CFED0CD01397001E32E1 /* PBXTextBookmark */ = A3B0CFED0CD01397001E32E1 /* PBXTextBookmark */;
269
			A3B0CFF10CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF10CD0141F001E32E1 /* PBXTextBookmark */;
270
			A3B0CFF20CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF20CD0141F001E32E1 /* PBXTextBookmark */;
271
			A3B0CFF30CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF30CD0141F001E32E1 /* PBXTextBookmark */;
272
			A3B0CFF40CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF40CD0141F001E32E1 /* PBXTextBookmark */;
273
			A3B0CFF50CD0141F001E32E1 /* PBXTextBookmark */ = A3B0CFF50CD0141F001E32E1 /* PBXTextBookmark */;
274
			A3B0CFF90CD0147E001E32E1 /* PBXTextBookmark */ = A3B0CFF90CD0147E001E32E1 /* PBXTextBookmark */;
275
			A3B0CFFA0CD0147E001E32E1 /* PBXTextBookmark */ = A3B0CFFA0CD0147E001E32E1 /* PBXTextBookmark */;
276
			A3D287EC0CC5047400CBC5D0 = A3D287EC0CC5047400CBC5D0 /* PBXTextBookmark */;
277
			A3D288110CC5826A00CBC5D0 = A3D288110CC5826A00CBC5D0 /* PBXTextBookmark */;
278
			A3D288260CC6CA3100CBC5D0 = A3D288260CC6CA3100CBC5D0 /* PBXTextBookmark */;
279
			A3D288270CC6CA3100CBC5D0 = A3D288270CC6CA3100CBC5D0 /* PBXTextBookmark */;
280
			A3D288280CC6CA3100CBC5D0 = A3D288280CC6CA3100CBC5D0 /* PBXTextBookmark */;
281
			A3D288380CC6CB0A00CBC5D0 = A3D288380CC6CB0A00CBC5D0 /* PBXTextBookmark */;
282
			A3D2883A0CC6CB0A00CBC5D0 = A3D2883A0CC6CB0A00CBC5D0 /* PBXTextBookmark */;
283
			A3D2883B0CC6CB0A00CBC5D0 = A3D2883B0CC6CB0A00CBC5D0 /* PBXTextBookmark */;
284
			A3D288410CC6CB8E00CBC5D0 = A3D288410CC6CB8E00CBC5D0 /* PBXTextBookmark */;
285
			A3D288420CC6CB8E00CBC5D0 = A3D288420CC6CB8E00CBC5D0 /* PBXTextBookmark */;
286
			A3D288430CC6CB8E00CBC5D0 = A3D288430CC6CB8E00CBC5D0 /* PBXTextBookmark */;
287
			A3D288490CC6DC8E00CBC5D0 = A3D288490CC6DC8E00CBC5D0 /* PBXTextBookmark */;
288
			A3D2884A0CC6DC8E00CBC5D0 = A3D2884A0CC6DC8E00CBC5D0 /* PBXTextBookmark */;
289
			A3D78E650CB72FF100A79632 = A3D78E650CB72FF100A79632 /* PBXTextBookmark */;
290
		};
291
		sourceControlManager = A341617E0C989B510007BEF2 /* Source Control */;
292
		userBuildSettings = {
293
		};
294
	};
295
	00E68290FEC88D7311DB9C8B /* Colonet.java */ = {
296
		uiCtxt = {
297
			sepNavIntBoundsRect = "{{0, 0}, {1011, 17248}}";
298
			sepNavSelRange = "{19292, 0}";
299
			sepNavVisRect = "{{0, 8546}, {1011, 558}}";
300
			sepNavWindowFrame = "{{38, 133}, {613, 699}}";
301
		};
302
	};
303
	00E68291FEC88ED911DB9C8B /* index.html */ = {
304
		uiCtxt = {
305
			sepNavIntBoundsRect = "{{0, 0}, {1011, 896}}";
306
			sepNavSelRange = "{774, 0}";
307
			sepNavVisRect = "{{0, 182}, {1011, 558}}";
308
			sepNavWindowFrame = "{{597, 56}, {651, 776}}";
309
		};
310
	};
311
	130F8B84001BDB6411CA292A /* Colonet */ = {
312
		activeExec = 0;
313
	};
314
	130F8B8C001BDBAD11CA292A = {
315
		isa = PBXExecutable;
316
		activeArgIndex = 0;
317
		activeArgIndices = (
318
			YES,
319
		);
320
		argumentStrings = (
321
			index.html,
322
		);
323
		autoAttachOnCrash = 1;
324
		configStateDict = {
325
		};
326
		customDataFormattersEnabled = 1;
327
		debuggerPlugin = JavaDebugging;
328
		disassemblyDisplayState = 0;
329
		dylibVariantSuffix = "";
330
		enableDebugStr = 1;
331
		environmentEntries = (
332
		);
333
		executableSystemSymbolLevel = 0;
334
		executableUserSymbolLevel = 0;
335
		launchableReference = 130F8B8D001BDBAD11CA292A /* appletviewer */;
336
		libgmallocEnabled = 0;
337
		sourceDirectories = (
338
		);
339
	};
340
	130F8B8D001BDBAD11CA292A /* appletviewer */ = {
341
		isa = PBXFileReference;
342
		explicitFileType = "compiled.mach-o.executable";
343
		name = appletviewer;
344
		path = /usr/bin/appletviewer;
345
		sourceTree = "<absolute>";
346
	};
347
	A30FC0970CBD7DFA000A16EC /* PBXTextBookmark */ = {
348
		isa = PBXTextBookmark;
349
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
350
		name = "Colonet.java: 300";
351
		rLen = 0;
352
		rLoc = 11049;
353
		rType = 0;
354
		vrLen = 949;
355
		vrLoc = 0;
356
	};
357
	A30FC0A60CBD7E05000A16EC /* PBXTextBookmark */ = {
358
		isa = PBXTextBookmark;
359
		fRef = 00E68291FEC88ED911DB9C8B /* index.html */;
360
		name = "index.html: 14";
361
		rLen = 0;
362
		rLoc = 463;
363
		rType = 0;
364
		vrLen = 1014;
365
		vrLoc = 648;
366
	};
367
	A30FC0E20CBD7F47000A16EC /* PBXTextBookmark */ = {
368
		isa = PBXTextBookmark;
369
		fRef = A34161900C989CB30007BEF2 /* ColonetServerInterface.java */;
370
		name = "ColonetServerInterface.java: 251";
371
		rLen = 0;
372
		rLoc = 6851;
373
		rType = 0;
374
		vrLen = 0;
375
		vrLoc = 0;
376
	};
377
	A30FC13A0CBD8587000A16EC /* PBXTextBookmark */ = {
378
		isa = PBXTextBookmark;
379
		fRef = 00E68291FEC88ED911DB9C8B /* index.html */;
380
		name = "index.html: 24";
381
		rLen = 0;
382
		rLoc = 757;
383
		rType = 0;
384
		vrLen = 0;
385
		vrLoc = 0;
386
	};
387
	A31266650C9B131A00D15EBF /* PBXTextBookmark */ = {
388
		isa = PBXTextBookmark;
389
		fRef = A34161820C989C090007BEF2 /* colonetstyle.css */;
390
		name = "colonetstyle.css: 1";
391
		rLen = 0;
392
		rLoc = 0;
393
		rType = 0;
394
		vrLen = 397;
395
		vrLoc = 52;
396
	};
397
	A312666C0C9B131A00D15EBF /* PBXTextBookmark */ = {
398
		isa = PBXTextBookmark;
399
		fRef = A34161820C989C090007BEF2 /* colonetstyle.css */;
400
		name = "colonetstyle.css: 1";
401
		rLen = 0;
402
		rLoc = 0;
403
		rType = 0;
404
		vrLen = 396;
405
		vrLoc = 53;
406
	};
407
	A341617E0C989B510007BEF2 /* Source Control */ = {
408
		isa = PBXSourceControlManager;
409
		fallbackIsa = XCSourceControlManager;
410
		isSCMEnabled = 0;
411
		scmConfiguration = {
412
			SubversionToolPath = /usr/local/bin/svn;
413
		};
414
		scmType = scm.subversion;
415
	};
416
	A341617F0C989B510007BEF2 /* Code sense */ = {
417
		isa = PBXCodeSenseManager;
418
		indexTemplatePath = "";
419
	};
420
	A34161820C989C090007BEF2 /* colonetstyle.css */ = {
421
		uiCtxt = {
422
			sepNavIntBoundsRect = "{{0, 0}, {1011, 574}}";
423
			sepNavSelRange = "{0, 0}";
424
			sepNavVisRect = "{{0, 0}, {1011, 558}}";
425
			sepNavWindowFrame = "{{15, 56}, {651, 776}}";
426
		};
427
	};
428
	A34161900C989CB30007BEF2 /* ColonetServerInterface.java */ = {
429
		uiCtxt = {
430
			sepNavIntBoundsRect = "{{0, 0}, {1011, 5068}}";
431
			sepNavSelRange = "{5919, 0}";
432
			sepNavVisRect = "{{0, 4510}, {1011, 558}}";
433
			sepNavWindowFrame = "{{15, 56}, {651, 776}}";
434
		};
435
	};
436
	A3B0CF2B0CCFE11A001E32E1 /* PBXTextBookmark */ = {
437
		isa = PBXTextBookmark;
438
		fRef = 00E68291FEC88ED911DB9C8B /* index.html */;
439
		name = "index.html: 25";
440
		rLen = 0;
441
		rLoc = 774;
442
		rType = 0;
443
		vrLen = 1103;
444
		vrLoc = 434;
445
	};
446
	A3B0CF320CCFE191001E32E1 /* PBXTextBookmark */ = {
447
		isa = PBXTextBookmark;
448
		fRef = 00E68291FEC88ED911DB9C8B /* index.html */;
449
		name = "index.html: 25";
450
		rLen = 0;
451
		rLoc = 774;
452
		rType = 0;
453
		vrLen = 1103;
454
		vrLoc = 434;
455
	};
456
	A3B0CF330CCFE191001E32E1 /* PBXTextBookmark */ = {
457
		isa = PBXTextBookmark;
458
		fRef = A34161900C989CB30007BEF2 /* ColonetServerInterface.java */;
459
		name = append;
460
		rLen = 6;
461
		rLoc = 9342;
462
		rType = 0;
463
		vrLen = 959;
464
		vrLoc = 9009;
465
	};
466
	A3B0CF340CCFE191001E32E1 /* PBXTextBookmark */ = {
467
		isa = PBXTextBookmark;
468
		fRef = 00E68291FEC88ED911DB9C8B /* index.html */;
469
		name = "index.html: 25";
470
		rLen = 0;
471
		rLoc = 774;
472
		rType = 0;
473
		vrLen = 1103;
474
		vrLoc = 434;
475
	};
476
	A3B0CF350CCFE191001E32E1 /* PBXTextBookmark */ = {
477
		isa = PBXTextBookmark;
478
		fRef = A34161900C989CB30007BEF2 /* ColonetServerInterface.java */;
479
		name = append;
480
		rLen = 6;
481
		rLoc = 9342;
482
		rType = 0;
483
		vrLen = 959;
484
		vrLoc = 9009;
485
	};
486
	A3B0CF360CCFE191001E32E1 /* PBXTextBookmark */ = {
487
		isa = PBXTextBookmark;
488
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
489
		name = "Colonet.java: 1027";
490
		rLen = 0;
491
		rLoc = 30083;
492
		rType = 0;
493
		vrLen = 1019;
494
		vrLoc = 28359;
495
	};
496
	A3B0CF370CCFE198001E32E1 /* PBXTextBookmark */ = {
497
		isa = PBXTextBookmark;
498
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
499
		name = "Colonet.java: 1027";
500
		rLen = 0;
501
		rLoc = 30083;
502
		rType = 0;
503
		vrLen = 1019;
504
		vrLoc = 28359;
505
	};
506
	A3B0CF380CCFE198001E32E1 /* PBXTextBookmark */ = {
507
		isa = PBXTextBookmark;
508
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
509
		name = "Colonet.java: 1027";
510
		rLen = 0;
511
		rLoc = 30083;
512
		rType = 0;
513
		vrLen = 573;
514
		vrLoc = 28577;
515
	};
516
	A3B0CF410CCFE1F7001E32E1 /* PBXTextBookmark */ = {
517
		isa = PBXTextBookmark;
518
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
519
		name = "Colonet.java: 1027";
520
		rLen = 0;
521
		rLoc = 30083;
522
		rType = 0;
523
		vrLen = 989;
524
		vrLoc = 28359;
525
	};
526
	A3B0CF420CCFE1F7001E32E1 /* PBXTextBookmark */ = {
527
		isa = PBXTextBookmark;
528
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
529
		name = "Colonet.java: 1033";
530
		rLen = 0;
531
		rLoc = 32189;
532
		rType = 0;
533
		vrLen = 519;
534
		vrLoc = 28577;
535
	};
536
	A3B0CF430CCFE260001E32E1 /* PBXTextBookmark */ = {
537
		isa = PBXTextBookmark;
538
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
539
		name = "Colonet.java: 1033";
540
		rLen = 0;
541
		rLoc = 32189;
542
		rType = 0;
543
		vrLen = 483;
544
		vrLoc = 27211;
545
	};
546
	A3B0CF470CCFE362001E32E1 /* PBXTextBookmark */ = {
547
		isa = PBXTextBookmark;
548
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
549
		name = "Colonet.java: 977";
550
		rLen = 0;
551
		rLoc = 28603;
552
		rType = 0;
553
		vrLen = 989;
554
		vrLoc = 27175;
555
	};
556
	A3B0CF480CCFE365001E32E1 /* PBXTextBookmark */ = {
557
		isa = PBXTextBookmark;
558
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
559
		name = "Colonet.java: 977";
560
		rLen = 0;
561
		rLoc = 28603;
562
		rType = 0;
563
		vrLen = 993;
564
		vrLoc = 27167;
565
	};
566
	A3B0CF490CCFE365001E32E1 /* PBXTextBookmark */ = {
567
		isa = PBXTextBookmark;
568
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
569
		name = "Colonet.java: 977";
570
		rLen = 0;
571
		rLoc = 28603;
572
		rType = 0;
573
		vrLen = 545;
574
		vrLoc = 27201;
575
	};
576
	A3B0CF4C0CCFE487001E32E1 /* PBXTextBookmark */ = {
577
		isa = PBXTextBookmark;
578
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
579
		name = "Colonet.java: 979";
580
		rLen = 0;
581
		rLoc = 28734;
582
		rType = 0;
583
		vrLen = 606;
584
		vrLoc = 27332;
585
	};
586
	A3B0CF500CCFE4BB001E32E1 /* PBXTextBookmark */ = {
587
		isa = PBXTextBookmark;
588
		fRef = 00E68290FEC88D7311DB9C8B /* Colonet.java */;
589
		name = "Colonet.java: 634";
590
		rLen = 0;
... This diff was truncated because it exceeds the maximum size that can be displayed.

Also available in: Unified diff