From e2f75a35e64344bd275a7a3cad7b82eafeefc9a4 Mon Sep 17 00:00:00 2001 From: dufourj Date: Sun, 5 Jun 2005 17:17:44 +0000 Subject: Correction de la segfault dans OVision (variable non initialisé). Correction des chemins de libz.a dans les Makefiles. Activation de la vision (à tester). Problèmes de test des seconds arguments des commandes dans test_ai --- 2005/i/robert/src/ai/Makefile.defs | 2 +- 2005/i/robert/src/ai/ai.cc | 14 +++++++------- 2005/i/robert/src/ai/ai.hh | 2 +- 2005/i/robert/src/ai/test_ai.cc | 1 + 4 files changed, 10 insertions(+), 9 deletions(-) (limited to '2005/i/robert') diff --git a/2005/i/robert/src/ai/Makefile.defs b/2005/i/robert/src/ai/Makefile.defs index e64ce6e..29e958a 100644 --- a/2005/i/robert/src/ai/Makefile.defs +++ b/2005/i/robert/src/ai/Makefile.defs @@ -9,4 +9,4 @@ $(ovision_OBJECTS) $(video4linux_OBJECTS) $(image_OBJECTS) test_ai: $(test_ai_OBJECTS) -test_ai: LDFLAGS += -static +#test_ai: LDFLAGS += -static diff --git a/2005/i/robert/src/ai/ai.cc b/2005/i/robert/src/ai/ai.cc index b3b4f09..958aa78 100644 --- a/2005/i/robert/src/ai/ai.cc +++ b/2005/i/robert/src/ai/ai.cc @@ -74,8 +74,8 @@ void Ai::init(void) // initialise la carte es es_.init(); // on init la vision -// oVision_.init(motor_.colorState() ? Group::redSkittle : -// Group::greenSkittle); + oVision_.init(motor_.colorState() ? Group::redSkittle : + Group::greenSkittle); while (!update()); } @@ -437,11 +437,11 @@ void Ai::scanVision (bool followLine) /// XXX mettre un argument for (int i = 0; i < (followLine ? 1 : 4) ; i++) { // On prend la photo -// oVision_.takeShoot(); -// // On analyse la photo -// oVision_.update(); + oVision_.takeShoot(); + // On analyse la photo + oVision_.update(); // On mets la liste brute dans le vector -// skittles.push_back(oVision_.getSkittles()); + skittles.push_back(oVision_.getSkittles()); // on tournicote motor_.rotation(angleDepart + ((i + 1) * M_PI/4)); } @@ -479,7 +479,7 @@ void Ai::remonteWithCam(void) { int x, y , angle, dist; Zone zeSkittles = goodSkittles_.back(); -// oVision_.getLoc(zeSkittles, x, y, angle, dist); + oVision_.getLoc(zeSkittles, x, y, angle, dist); dist -= 9; rotation(motor_.getA() + angle); setMaxSpeed(2,1); diff --git a/2005/i/robert/src/ai/ai.hh b/2005/i/robert/src/ai/ai.hh index 6867031..bf89910 100644 --- a/2005/i/robert/src/ai/ai.hh +++ b/2005/i/robert/src/ai/ai.hh @@ -40,7 +40,7 @@ class Ai // Modules de controle du robot Motor motor_; Es es_; -// OVision oVision_; + OVision oVision_; // Scheduler du robot scheduler::Scheduler scheduler_; scheduler::SchedulableReadFd schedulableMotor_; diff --git a/2005/i/robert/src/ai/test_ai.cc b/2005/i/robert/src/ai/test_ai.cc index 03a1642..129ed44 100644 --- a/2005/i/robert/src/ai/test_ai.cc +++ b/2005/i/robert/src/ai/test_ai.cc @@ -161,6 +161,7 @@ main (int argc, char **argv) if(++i > argc) throw std::runtime_error("syntax error"); ai_.temporisation (argv[i][0]); + break; case 'o': if(++i > argc) throw std::runtime_error("syntax error"); -- cgit v1.2.3