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/*
* Copyright (c) 2017-2018 Wei Shuai <cpuwolf@gmail.com>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "wii_camera.h"
#include "wii_frame.hpp"
#include "compat/sleep.hpp"
#include "compat/camera-names.hpp"
#include "compat/math-imports.hpp"
#include <opencv2/imgproc.hpp>
#include "cv/video-property-page.hpp"
using namespace pt_module;
WIICamera::WIICamera(const QString& module_name) : s { module_name }
{
cam_info.fps = 70;
cam_info.res_x = 1024;
cam_info.res_y = 768;
cam_info.fov = 42.0f;
}
QString WIICamera::get_desired_name() const
{
return desired_name;
}
QString WIICamera::get_active_name() const
{
return active_name;
}
void WIICamera::show_camera_settings()
{
}
WIICamera::result WIICamera::get_info() const
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
return result(false, pt_camera_info());
return result(true, cam_info);
}
WIICamera::result WIICamera::get_frame(pt_frame& frame_)
{
cv::Mat& frame = frame_.as<WIIFrame>()->mat;
struct wii_info& wii = frame_.as<WIIFrame>()->wii;
const wii_camera_status new_frame = _get_frame(frame);
//create a fake blank frame
frame = cv::Mat(cam_info.res_x, cam_info.res_y, CV_8UC3, cv::Scalar(0, 0, 0));
wii.status = new_frame;
switch (new_frame)
{
case wii_cam_data_change:
_get_status(wii);
_get_points(wii);
break;
case wii_cam_data_no_change:
return result(false, cam_info);
}
return result(true, cam_info);
}
pt_camera_open_status WIICamera::start(int idx, int fps, int res_x, int res_y)
{
m_pDev = std::make_unique<wiimote>();
if (!m_pDev)
{
stop();
return cam_open_error;
}
m_pDev->ChangedCallback = on_state_change;
m_pDev->CallbackTriggerFlags = (state_change_flags)(CONNECTED |
EXTENSION_CHANGED |
MOTIONPLUS_CHANGED);
return cam_open_ok_no_change;
}
void WIICamera::stop()
{
onExit = true;
m_pDev->ChangedCallback = NULL;
m_pDev->Disconnect();
Beep(1000, 200);
if (m_pDev) {
m_pDev=nullptr;
m_pDev = NULL;
}
desired_name = QString();
active_name = QString();
cam_info = pt_camera_info();
cam_desired = pt_camera_info();
}
wii_camera_status WIICamera::_get_frame(cv::Mat& frame)
{
wii_camera_status ret = wii_cam_wait_for_connect;
if (!m_pDev->IsConnected()) {
qDebug() << "wii wait";
if (!m_pDev->Connect(wiimote::FIRST_AVAILABLE)) {
Beep(500, 30); Sleep(1000);
goto goodbye;
}
}
if (m_pDev->RefreshState() == NO_CHANGE) {
Sleep(1); // don't hog the CPU if nothing changed
ret = wii_cam_data_no_change;
goto goodbye;
}
// did we loose the connection?
if (m_pDev->ConnectionLost())
{
goto goodbye;
}
ret = wii_cam_data_change;
goodbye:
return ret;
}
bool WIICamera::_get_points(struct wii_info& wii)
{
bool dot_sizes = (m_pDev->IR.Mode == wiimote_state::ir::EXTENDED);
bool ret = false;
int point_count = 0;
for (unsigned index = 0; index < 4; index++)
{
wiimote_state::ir::dot &dot = m_pDev->IR.Dot[index];
if (dot.bVisible) {
wii.Points[index].ux = dot.RawX;
wii.Points[index].uy = dot.RawY;
if (dot_sizes) {
wii.Points[index].isize = dot.Size;
} else {
wii.Points[index].isize = 1;
}
wii.Points[index].bvis = dot.bVisible;
point_count++;
ret = true;
} else {
wii.Points[index].ux = 0;
wii.Points[index].uy = 0;
wii.Points[index].isize = 0;
wii.Points[index].bvis = dot.bVisible;
}
}
m_pDev->SetLEDs(3 - point_count);
return ret;
}
void WIICamera::_get_status(struct wii_info& wii)
{
//draw battery status
wii.BatteryPercent = m_pDev->BatteryPercent;
wii.bBatteryDrained = m_pDev->bBatteryDrained;
//draw horizon
static int p = 0;
static int r = 0;
if (m_pDev->Nunchuk.Acceleration.Orientation.UpdateAge < 10)
{
p = m_pDev->Acceleration.Orientation.Pitch;
r = m_pDev->Acceleration.Orientation.Roll;
}
wii.Pitch = p;
wii.Roll = r;
}
void WIICamera::on_state_change(wiimote &remote,
state_change_flags changed,
const wiimote_state &new_state)
{
// the wiimote just connected
if (changed & CONNECTED)
{
/* wiimote connected */
remote.SetLEDs(0x0f);
Beep(1000, 300); Sleep(500);
qDebug() << "wii connected";
if (new_state.ExtensionType != wiimote::BALANCE_BOARD)
{
if (new_state.bExtension)
remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR_EXT); // no IR dots
else
remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR); // IR dots
}
}
// another extension was just connected:
else if (changed & EXTENSION_CONNECTED)
{
Beep(1000, 200);
// switch to a report mode that includes the extension data (we will
// loose the IR dot sizes)
// note: there is no need to set report types for a Balance Board.
if (!remote.IsBalanceBoard())
remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR_EXT);
}
else if (changed & EXTENSION_DISCONNECTED)
{
Beep(200, 300);
// use a non-extension report mode (this gives us back the IR dot sizes)
remote.SetReportType(wiimote::IN_BUTTONS_ACCEL_IR);
}
}
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