root / trunk / code / projects / colonet / server / PositionMonitor.cpp @ 764
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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 | 627 | emarinel | #include <assert.h> |
10 | 550 | emarinel | #include <map> |
11 | 443 | emarinel | #include <PositionMonitor.h> |
12 | 550 | emarinel | #include <stdio.h> |
13 | 436 | jknichel | #include <stdlib.h> |
14 | #include <vision.h> |
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15 | |||
16 | 449 | jknichel | using namespace std; |
17 | |||
18 | 550 | emarinel | #define MAX_POSITIONS 20 |
19 | 710 | gtress | #define SAME_ROBOT_DISTANCE_THRESHOLD 15 |
20 | 550 | emarinel | #define ROBOT_DELETE_BUFFER 10 |
21 | #define CAM_UPDATE_PERIOD 100000 |
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22 | |||
23 | 655 | jknichel | /**
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24 | * @brief Constructor for the PositionMonitor class
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25 | */
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26 | 436 | jknichel | PositionMonitor::PositionMonitor() { |
27 | //TODO: don't hardcode this file name
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28 | //TODO: check for error returned from init
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29 | vision_init("/var/www/colonet.jpg");
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30 | 466 | emarinel | newIdToAssign = -1;
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31 | 710 | gtress | |
32 | 508 | emarinel | pthread_mutex_init(&position_map_lock, NULL);
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33 | 436 | jknichel | } |
34 | |||
35 | 655 | jknichel | /**
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36 | * @brief Destructor for the PositionMonitor class
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37 | */
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38 | 436 | jknichel | PositionMonitor::~PositionMonitor() { |
39 | } |
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40 | |||
41 | 655 | jknichel | /**
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42 | * @brief This function updates the positions of things in the image
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43 | *
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44 | * @return Void
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45 | */
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46 | 508 | emarinel | void PositionMonitor::run() {
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47 | while (1) { |
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48 | 627 | emarinel | if (updatePositions() == -1) { |
49 | fprintf(stderr, "updatePositions failed.\n");
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50 | } |
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51 | |||
52 | 550 | emarinel | usleep(CAM_UPDATE_PERIOD); |
53 | 508 | emarinel | } |
54 | 436 | jknichel | } |
55 | |||
56 | 655 | jknichel | /**
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57 | * @brief This function asks the vision code for the position of things it identifies
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58 | */
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59 | 447 | emarinel | int PositionMonitor::updatePositions() {
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60 | 627 | emarinel | VisionPosition* positions = NULL;
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61 | int numPositions = vision_get_robot_positions(&positions);
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62 | 436 | jknichel | |
63 | 655 | jknichel | //debug output code
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64 | 710 | gtress | /*
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65 | printf("\nnumPositions is %d\n", numPositions);
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66 | 467 | emarinel | for (int i = 0; i < numPositions; i++) {
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67 | printf("{%d,%d} ", positions[i].x, positions[i].y);
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68 | }
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69 | printf("\n");
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70 | 581 | jknichel | */
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71 | 436 | jknichel | |
72 | 627 | emarinel | if (numPositions == -1) { |
73 | fprintf(stderr, "%s: vision_get_robot_positions failed.\n", __FUNCTION__);
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74 | return -1; |
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75 | } else {
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76 | map<int, VisionPosition> newPositionMap;
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77 | 467 | emarinel | |
78 | 627 | emarinel | pthread_mutex_lock(&position_map_lock); |
79 | 509 | emarinel | |
80 | 655 | jknichel | //go through each of the positions the vision system identified
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81 | 627 | emarinel | for (int i = 0; i < numPositions; i++) { |
82 | VisionPosition newPos = positions[i]; |
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83 | map<int, VisionPosition>::iterator iter;
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84 | 710 | gtress | |
85 | 655 | jknichel | //go through all the positions we currently have in the position map
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86 | 627 | emarinel | for (iter = positionMap.begin(); iter != positionMap.end(); iter++) {
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87 | VisionPosition oldPos = iter->second; |
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88 | 449 | jknichel | |
89 | 655 | jknichel | //figure out if the new point is probably the same robot as one of the old positions
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90 | 627 | emarinel | if (isProbablySameRobot(newPos, oldPos)) {
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91 | 710 | gtress | //DEBUG
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92 | //printf("probably same robot: new = (%d, %d), old = (%d, %d)\n", newPos.x, newPos.y, oldPos.x, oldPos.y);
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93 | |||
94 | 655 | jknichel | //if the new positions is the same robot as an old one, insert this new position into the new map
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95 | 627 | emarinel | newPositionMap.insert(make_pair(iter->first, newPos)); |
96 | 655 | jknichel | |
97 | //erase this robot from the map that is used to smooth over several frames in case of problems identifying robots
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98 | 627 | emarinel | deleteBufferMap.erase(iter->first); |
99 | 655 | jknichel | //insert this robot back into the map in order to refresh its delete buffer
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100 | 627 | emarinel | deleteBufferMap.insert(make_pair(iter->first, ROBOT_DELETE_BUFFER)); |
101 | break;
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102 | } |
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103 | 458 | jknichel | } |
104 | 466 | emarinel | |
105 | 627 | emarinel | if (iter == positionMap.end()) {
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106 | 710 | gtress | //a position was found that probably isn't a known
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107 | 627 | emarinel | // robot so add it in case a new robot entered the field
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108 | printf("Inserting new robot: %d (%d,%d)\n", newIdToAssign, newPos.x, newPos.y);
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109 | 710 | gtress | |
110 | 627 | emarinel | //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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111 | newPositionMap.insert(make_pair(newIdToAssign, newPos)); |
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112 | deleteBufferMap.insert(make_pair(newIdToAssign, ROBOT_DELETE_BUFFER)); |
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113 | newIdToAssign--; |
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114 | } |
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115 | 458 | jknichel | } |
116 | |||
117 | 710 | gtress | |
118 | 627 | emarinel | map<int, VisionPosition>::iterator iter2;
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119 | for (iter2 = positionMap.begin(); iter2 != positionMap.end(); iter2++) {
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120 | int currId = iter2->first;
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121 | map<int, VisionPosition>::iterator checkContains = newPositionMap.find(currId);
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122 | if (checkContains == newPositionMap.end()) {
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123 | int bufferValue = deleteBufferMap[iter2->first];
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124 | bufferValue--; |
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125 | if (bufferValue > 0) { |
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126 | newPositionMap.insert(make_pair(currId, iter2->second)); |
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127 | deleteBufferMap.erase(currId); |
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128 | deleteBufferMap.insert(make_pair(currId, bufferValue)); |
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129 | } else {
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130 | deleteBufferMap.erase(currId); |
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131 | } |
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132 | 534 | jknichel | } |
133 | } |
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134 | |||
135 | 627 | emarinel | positionMap = newPositionMap; |
136 | 468 | jknichel | |
137 | 627 | emarinel | /*
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138 | 710 | gtress | //DEBUG PRINT STATEMENTS
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139 | printf("positionMap size is %d and deleteBufferMap size is %d\n", positionMap.size(), deleteBufferMap.size());
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140 | 627 | emarinel | map<int, VisionPosition>::iterator iter;
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141 | for (iter = positionMap.begin(); iter != positionMap.end(); iter++) {
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142 | 710 | gtress | printf("%d has position (%d, %d) with delete buffer %d\n", iter->first, iter->second.x, iter->second.y, deleteBufferMap[iter->first]);
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143 | 627 | emarinel | }
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144 | */
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145 | 509 | emarinel | |
146 | 581 | jknichel | |
147 | 627 | emarinel | pthread_mutex_unlock(&position_map_lock); |
148 | 509 | emarinel | |
149 | 627 | emarinel | assert(positions != NULL);
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150 | 449 | jknichel | free(positions); |
151 | 627 | emarinel | |
152 | return 0; |
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153 | 509 | emarinel | } |
154 | 436 | jknichel | } |
155 | 443 | emarinel | |
156 | 455 | emarinel | int PositionMonitor::assignRealId(int old_id, int real_id) { |
157 | printf("assigning real_id %d to old_id %d\n", real_id, old_id);
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158 | |||
159 | 509 | emarinel | pthread_mutex_lock(&position_map_lock); |
160 | |||
161 | 455 | emarinel | map<int,VisionPosition>::iterator iter = positionMap.find(old_id);
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162 | |||
163 | if (iter == positionMap.end()) {
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164 | fprintf(stderr, "assignRealId: old_id not found\n");
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165 | 520 | emarinel | pthread_mutex_unlock(&position_map_lock); |
166 | 455 | emarinel | return -1; |
167 | } |
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168 | |||
169 | positionMap.insert(make_pair(real_id, iter->second)); |
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170 | positionMap.erase(old_id); |
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171 | 534 | jknichel | int oldDeleteBuffer = deleteBufferMap[old_id];
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172 | deleteBufferMap.insert(make_pair(real_id, oldDeleteBuffer)); |
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173 | deleteBufferMap.erase(old_id); |
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174 | 455 | emarinel | |
175 | 509 | emarinel | pthread_mutex_unlock(&position_map_lock); |
176 | |||
177 | 455 | emarinel | return 0; |
178 | } |
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179 | |||
180 | 447 | emarinel | map<int, VisionPosition> PositionMonitor::getAllRobotPositions() {
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181 | 509 | emarinel | // TODO return a copy instead of the actual map for synch purposes
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182 | 447 | emarinel | return positionMap;
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183 | } |
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184 | |||
185 | 518 | emarinel | int PositionMonitor::getNumVisibleRobots() {
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186 | return positionMap.size();
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187 | } |
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188 | |||
189 | VisionPosition PositionMonitor::getFirstPosition(void) {
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190 | return positionMap.begin()->second;
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191 | } |
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192 | |||
193 | 443 | emarinel | int PositionMonitor::getRobotPosition(int robot_id, int* xbuf, int* ybuf) { |
194 | 449 | jknichel | //TODO: figure out what a map returns if the element doesn't exist
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195 | 513 | emarinel | |
196 | 509 | emarinel | pthread_mutex_lock(&position_map_lock); |
197 | |||
198 | 451 | jknichel | if (positionMap.find(robot_id) == positionMap.end()){
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199 | 710 | gtress | pthread_mutex_unlock(&position_map_lock); |
200 | 449 | jknichel | return -1; |
201 | 518 | emarinel | } else {
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202 | VisionPosition pos = positionMap[robot_id]; |
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203 | 449 | jknichel | |
204 | 518 | emarinel | pthread_mutex_unlock(&position_map_lock); |
205 | 455 | emarinel | |
206 | 518 | emarinel | *xbuf = pos.x; |
207 | *ybuf = pos.y; |
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208 | 509 | emarinel | |
209 | 518 | emarinel | return 0; |
210 | } |
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211 | 443 | emarinel | } |
212 | 458 | jknichel | |
213 | bool PositionMonitor::isProbablySameRobot(VisionPosition p1, VisionPosition p2) {
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214 | int xDiff = p1.x - p2.x;
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215 | int yDiff = p1.y - p2.y;
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216 | 513 | emarinel | return (xDiff*xDiff + yDiff*yDiff < SAME_ROBOT_DISTANCE_THRESHOLD*SAME_ROBOT_DISTANCE_THRESHOLD);
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217 | 458 | jknichel | } |