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#include "video4linux/video4linux.h"
#include "map.h"
#include "oconfig.h"
#include "group.h"
#include "space.h"

#include <unistd.h>
#include <fcntl.h>
#include <signal.h>
#include <stdlib.h>
  
#include <iostream>

int fifo;
long pid;

void
endSleep(int numSignal)
{
    // Reassignement du signal handler
    signal(SIGUSR1, endSleep);
}


void
init ()
{
    signal(SIGUSR1, endSleep);

    // Suppression de l'ancien fifo
    system("rm -f uicmds");

    // Creation du fifo
    if (mknod("uicmds", S_IFIFO | 0666, 0) != 0 && errno != EEXIST) 
      {
	std::cerr << " : Error during fifo creation";
	return;
      }

    // Ouverture du fifo
    fifo =  open("uicmds", O_RDWR);
    if (fifo < 0) 
      {
	std::cerr << " : Error during fifo opening";
	return;
      }

    // On choppe le pid du prog adjust situ� dans le fichier adjust.PID
    FILE *file;
    file = fopen("adjust.PID", "r");
    if (!file)
      {
	std::cerr << "UI:UI : PID file not found" << std::endl;
	exit(1);
      }
    char buf[10];
    fgets(buf, 10, file);
    pid = atol(buf);
    fclose(file);

    // Ecriture du PID dans un fichier
    long uiPid = getpid();
    file = fopen("ui.PID", "w+");
    if (!file)
      {
	std::cerr << "Error during file opening" << std::endl;
	return;
      }
    fprintf(file, "%li\n", uiPid);
    fclose(file);

    // Ouverture du fifo
    kill(pid, SIGUSR2);
}

void
SendSignal(char *cmd)
{
    // Ecrit dans le fifo
    write(fifo, cmd, 50);

    // Envoie un signal USR1 au prog adjust
    kill(pid, SIGUSR1);
}



void
end ()
{
    close(fifo);

    system("rm -f adjust.PID ui.PID");
}

int 
main ()
{
    /////////////////////////////////////////////////////////////////////////////////////////
    /// Initialisation des classes
    OConfig oconfig("rc/vision.conf");

    Img img;
    Video4Linux::ColorSpace cs;
    cs = Video4Linux::rgb;
    Video4Linux v4l("/dev/video", cs, 60000);
    v4l.calibrate ();

    // Prendre une image pour que la taille de l'image soit configur�
    img.load (v4l);

    Space space(img.width, img.height);
    space.LoadFromFile ();
    space.Setup (0.00603759, 0.593767, 291.474);


    std::cout << "ok" << std::endl;
    
    SegmNN segmNN(&img);
    segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);

    Group group(&img, &segmNN);

    Map map(&space);
    /////////////////////////////////////////////////////////////////////////////////////////
    init ();

    

    /////////////////////////////////////////////////////////////////////////////////////////
    /// Prends une image a partir de la camera  et l'analyse
    char filename[30];
    char buf[40];
    int i = 0;
    while (1)
      {
	std::cout << "-----------------------------------------------------------------" << std::endl;
	std::cout << "image n�" << i << std::endl;
	img.load(v4l);
	img.load(v4l);
	sprintf(filename, "test%i.rgb", i);
	img.WriteRGB(filename);
	sprintf(buf, "n %s\n", filename);
	SendSignal(buf);
    
	group.JumpPoints(oconfig.groupColor, oconfig.goalColor);
	group.ShowZones();
	std::cout << "-------------\n" << std::endl;
	
/*	ZONE *pCur = group.zoneListBall;
	int j=0;
	while (pCur)
	  {
	    int x,y;
	    x = pCur->centerx;
	    y = img.height -  pCur->centery;
	    space.GetLoc(x, y, x, y);
	    std::cout << j << ":" << x << "    " << y << std::endl;
	    pCur = pCur->next;
	    j++;
	  }
*/

	std::cout << "-------------\n" << std::endl;
	std::cout << "Map:\n" << std::endl;
	map.AddBallsToMap (&group);
	map.ShowBalls ();

	double balX, balY;
	if (map.GetCurBallPos (balX, balY))
	    std::cout << "Balle Courante: " << balX << "   " << balY << std::endl;

	
	if (map.IsTree ())
	  {
	    double treeX, treeY;
	    map.GetTreePos (treeX, treeY);
	    std::cout << "Tree: " << treeX << "   " << treeY << std::endl; 
	  }

	
//	sleep(1);
	getchar();
	i++;
      }
    /////////////////////////////////////////////////////////////////////////////////////////
    end ();
}