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visionworker.cpp
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visionworker.cpp
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#include "visionworker.h"
#include "robocup_ssl_client.h"
#include "timer.h"
#include <QDebug>
#include "messages_robocup_ssl_detection.pb.h"
#include "messages_robocup_ssl_geometry.pb.h"
#include "messages_robocup_ssl_wrapper.pb.h"
#include "pose.h"
#include "vision-velocity.hpp"
#include <assert.h>
#include <QtCore/QFile>
#include <iostream>
#include <stdio.h>
#include "opencv2/video/tracking.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <fstream>
#include <QFile>
#include <QTextStream>
using namespace cv;
using namespace std;
void printRobotInfo(const SSL_DetectionRobot & robot) {
printf("CONF=%4.2f ", robot.confidence());
if (robot.has_robot_id()) {
printf("ID=%3d ",robot.robot_id());
} else {
printf("ID=N/A ");
}
printf(" HEIGHT=%6.2f POS=<%9.2f,%9.2f> ",robot.height(),robot.x(),robot.y());
if (robot.has_orientation()) {
printf("ANGLE=%6.3f ",robot.orientation());
} else {
printf("ANGLE=N/A ");
}
printf("RAW=<%8.2f,%8.2f>\n",robot.pixel_x(),robot.pixel_y());
}
inline void linearTransform(double &x, double &y, double &newangle)
{
double tempx, tempy;
tempx = (y*(-HALF_FIELD_MAXX))/(2050.0);
tempy = ((x + 3025.0/2)*(HALF_FIELD_MAXY))/(3025.0/2.0);
x = tempx;
y = tempy;
newangle = normalizeAngle(newangle+PI/2);
//y=tempy-800;
}
VisionWorker::VisionWorker(QObject *parent) :
QObject(parent)
{
detectionCount = 0;
isTeamYellow = false;
}
void VisionWorker::setup(QThread *cThread, BeliefState *bs_, QMutex *bsMutex_, bool isTeamYellow_)
{
myThread = cThread;
bs = bs_;
bsMutex = bsMutex_;
isTeamYellow = isTeamYellow_;
connect(cThread, SIGNAL(started()), this, SLOT(onEntry()));
connect(cThread, SIGNAL(destroyed()), this, SLOT(onExit()));
for (int i = 0; i < MAX_BS_Q; i++) {
bsQ.push(make_pair(BeliefState(), 0));
}
}
void VisionWorker::onEntry()
{
RoboCupSSLClient client;
client.open(true);
SSL_WrapperPacket packet;
qDebug() << "here" << endl;
while(true) {
if (client.receive(packet)) {
if (packet.has_detection()) {
double nowTime = packet.detection().t_capture();
double timeMs = (nowTime - bsQ.front().second)*1000.0;
if (timeMs <= 0) {
timeMs = 0.001; // this can happen at the beginning. who cares.
qDebug() << "timeMs is negative!";
}
detectionCount++;
if(detectionCount == maxDetectionCount) {
detectionCount = 0;
bsMutex->lock();
bs->ballIsPresent = false;
for(int i = 0; i < 5; i++) {
bs->homeIsPresent[i] = false;
bs->awayIsPresent[i] = false;
}
bsMutex->unlock();
}
SSL_DetectionFrame detection = packet.detection();
//Display the contents of the robot detection results:
// double t_now = GetTimeSec();
int balls_n = detection.balls_size();
int robots_blue_n = detection.robots_blue_size();
int robots_yellow_n = detection.robots_yellow_size();
float rhoKFx, DrhoKFx, thetaKFx, xCoordinateOfObject,newx,lastPosx = 0;
//Ball info:
if(balls_n) {
// only take 1st ball into account;
SSL_DetectionBall ball = detection.balls(0);
double ballX, ballY, dummy = 0;
float ballVx, ballVy;
ballX = ball.x();
ballY = ball.y();
linearTransform(ballX, ballY, dummy);
VisionVelocity::calcBallVelocity(ballX - bsQ.front().first.ballX, ballY - bsQ.front().first.ballY, timeMs, ballVx, ballVy);
bsMutex->lock();
bs->ballX = ballX;
bs->ballY = ballY;
bs->ballIsPresent = true;
bs->ballVx = ballVx;
bs->ballVy = ballVy;
bsMutex->unlock();
QString outputFilename = "/home/robocup/qt_test.txt";
QFile outputFile(outputFilename);
QTextStream outStream(&outputFile);
outputFile.open(QIODevice::WriteOnly | QIODevice::Append);
outStream << ballX <<" "<< bsQ.front().first.ballX <<" "<< ballVx <<" "<< timeMs*0.001<<"\n" ;
float avgvx=0,avgvy=0;
velxq.push_back(ballVx);
velyq.push_back(ballVy);
for(int i=1;i<4;i++)
{
if(i>velxq.size()) break;
avgvx+=velxq[i-1];
avgvy+=velyq[i-1];
}
bs->ballVx = avgvx/velxq.size();
bs->ballVy = avgvy/velyq.size();
while(velxq.size() > 3)
velxq.pop_front();
while(velyq.size() > 3)
velyq.pop_front();
}
//Blue robot info:
// currently only handling blue robot info as home
for (int i = 0; i < robots_blue_n; i++) {
double botX, botY, botTheta;
float botVl, botVr;
SSL_DetectionRobot robot = detection.robots_blue(i);
int botId = robot.robot_id();
botX = robot.x();
botY = robot.y();
if(robot.has_orientation())
botTheta = robot.orientation();
else
botTheta = 0;
linearTransform(botX, botY, botTheta);
if (isTeamYellow) {
VisionVelocity::BotPose p1(bsQ.front().first.awayX[botId], bsQ.front().first.awayY[botId], bsQ.front().first.awayTheta[botId]);
VisionVelocity::BotPose p2(botX, botY, botTheta);
VisionVelocity::calcBotVelocity(p1, p2, timeMs, botVl, botVr);
bsMutex->lock();
bs->awayX[botId] = botX;
bs->awayY[botId] = botY;
bs->awayTheta[botId] = botTheta;
bs->awayVl[botId] = botVl;
bs->awayVr[botId] = botVr;
bs->awayIsPresent[botId] = true;
bsMutex->unlock();
} else {
VisionVelocity::BotPose p1(bsQ.front().first.homeX[botId], bsQ.front().first.homeY[botId], bsQ.front().first.homeTheta[botId]);
VisionVelocity::BotPose p2(botX, botY, botTheta);
VisionVelocity::calcBotVelocity(p1, p2, timeMs, botVl, botVr);
bsMutex->lock();
bs->homeX[botId] = botX;
bs->homeY[botId] = botY;
bs->homeTheta[botId] = botTheta;
bs->homeVl[botId] = botVl;
bs->homeVr[botId] = botVr;
bs->homeIsPresent[botId] = true;
bsMutex->unlock();
}
}
//Yellow robot info:
// currently yellow is away
for (int i = 0; i < robots_yellow_n; i++) {
double botX, botY, botTheta;
float botVl, botVr;
SSL_DetectionRobot robot = detection.robots_yellow(i);
int botId = robot.robot_id();
botX = robot.x();
botY = robot.y();
if(robot.has_orientation())
botTheta = robot.orientation();
else
botTheta = 0;
linearTransform(botX, botY, botTheta);
if (isTeamYellow) {
VisionVelocity::BotPose p1(bsQ.front().first.homeX[botId], bsQ.front().first.homeY[botId], bsQ.front().first.homeTheta[botId]);
VisionVelocity::BotPose p2(botX, botY, botTheta);
VisionVelocity::calcBotVelocity(p1, p2, timeMs, botVl, botVr);
bsMutex->lock();
bs->homeVx[botId]= (botX - bs->homeX[botId])/(timeMs*0.001);
bs->homeVy[botId]= (botY - bs->homeY[botId])/(timeMs*0.001);
bs->homeX[botId] = botX;
bs->homeY[botId] = botY;
bs->homeTheta[botId] = botTheta;
bs->homeVl[botId] = botVl;
bs->homeVr[botId] = botVr;
bs->homeIsPresent[botId] = true;
bsMutex->unlock();
} else {
VisionVelocity::BotPose p1(bsQ.front().first.awayX[botId], bsQ.front().first.awayY[botId], bsQ.front().first.awayTheta[botId]);
VisionVelocity::BotPose p2(botX, botY, botTheta);
VisionVelocity::calcBotVelocity(p1, p2, timeMs, botVl, botVr);
bsMutex->lock();
bs->awayX[botId] = botX;
bs->awayY[botId] = botY;
bs->awayTheta[botId] = botTheta;
bs->awayVl[botId] = botVl;
bs->awayVr[botId] = botVr;
bs->awayIsPresent[botId] = true;
bsMutex->unlock();
}
}
bsQ.pop();
bsMutex->lock();
bsQ.push(make_pair(*bs, nowTime));
bsMutex->unlock();
emit newData();
}
}
}
}
void VisionWorker::onExit()
{
}