USAR GGier

//
//  USAR-ggier.cpp
//
//
//  Created by Graham Gier on 11/11/12.
//
//


#include <Myro.h>
#include <iostream>
#include <string>
#include <limits.h>
#include <sstream>
using namespace std;
static int size= 100;

int main();
void takePicture(PicturePtr pictures[], int &numpics);
void analyzePicture(PicturePtr pictures[], PicturePtr found[], int &numpics, int &numfound);
void SlideshowPics(PicturePtr pictures[], int numpics);
void slideshowFound(PicturePtr found[], int numfound);

void SlideshowPics(PicturePtr pictures[], int numpics)
{
    for (int i=0; i<numpics; i++)
        show(pictures[i]);
}

void SlideshowFound(PicturePtr found[], int numfound)
{
    for (int i=0; i<numfound; i++)
        show(found[i]);
}

void takePicture(PicturePtr pictures[], int &numpics)
{
    pictures[numpics] = robot.takePicture("color");
    numpics++;
}

void analyzePicture(PicturePtr pictures[], PicturePtr found[], int &numpics, int &numfound)
{
    PicturePtr questionablepic = pictures[numpics-1];
    Pixel pixelpic[1200][800];
    for (int i=0; i<1200; i++)
    {
        for (int j; j<800; j++)
        {
            pixelpic[i][j] = questionablepic->getPixel(i, j);
        }
    }
    int leftbound = 1200;
    int rightbound= 0;
    int topbound=800;
    int bottombound=0;
    bool scribbler = false;
    for(int i = 0; i<1200; i++)
        for (int j = 0; j< 800; j++)
        {
            Pixel current = pixelpic[i][j];
            if(current.R >=200 && current.G <= 70 && current.B <=70)
            {
                if (i< leftbound)
                    leftbound=i;
                if (i>rightbound)
                    rightbound=i;
                if (j<topbound)
                    topbound=j;
                if (j>bottombound)
                    bottombound = j;
                scribbler=true;
            }
        }

    if (scribbler)
    {
        for(int i= leftbound; i<rightbound; i++)
        {
            setPixelColor(questionablepic, i, topbound, 0, 255, 0);
            setPixelColor(questionablepic, i, topbound+1, 0, 255, 0);
            setPixelColor(questionablepic, i, topbound+2, 0, 255, 0);
            setPixelColor(questionablepic, i, topbound+3, 0, 255, 0);
            setPixelColor(questionablepic, i, topbound+4, 0, 255, 0);
        }
        for(int j= topbound; j<bottombound; j++)
        {
            setPixelColor(questionablepic, j, leftbound, 0, 255, 0);
            setPixelColor(questionablepic, j, leftbound+1, 0, 255, 0);
            setPixelColor(questionablepic, j, leftbound+2, 0, 255, 0);
            setPixelColor(questionablepic, j, leftbound+3, 0, 255, 0);
            setPixelColor(questionablepic, j, leftbound+4, 0, 255, 0);
        }
    found[numfound] = questionablepic;
    numfound++;
    }
}

int main()
{
    connect("/dev/tty.Fluke2-0221-Fluke2");
    PicturePtr pictures[size];
    PicturePtr found[size];
    cout << "WASD to move, Q to quit and display slideshow."<<endl;
    int numpics =0;
    int numfound=0;
    bool disc = false;
    char input;
    while (!disc)
    {

        cout << "T to take picture"<< endl;
        cout <<"E to analyze last picture taken"<<endl;
        cin>>input;
        switch(input)
        {
    case 'q': disc=true;
        break;
    case 'w': robot.forward(1,1);
        break;
    case 's': robot.backward(1,1);
        break;
    case 'a': robot.turnLeft(1, .5);
        break;
    case 'd': robot.turnRight(1, .5);
        break;
    case 't': takePicture(pictures, numpics);
        break;
    case 'e':analyzePicture(pictures, found, numpics, numfound);
        break;
        }
    }

    SlideshowPics(pictures, numpics);
    SlideshowFound(found, numfound);
    disconnect();
}