#include "DualCoding/DualCoding.h" #include "Behaviors/StateMachine.h" #include "Events/EventRouter.h" using namespace DualCoding; class ShellGame : public VisualRoutinesStateNode { public: enum Signal_t{ one, sad, happy }; ShellGame() : VisualRoutinesStateNode("ShellGame") {} class ShellGameNodeL : public VisualRoutinesStateNode { public: ShellGameNodeL() : VisualRoutinesStateNode("ShellGameNodeL") {} virtual void DoStart() { camSkS.clear(); NEW_SKETCH(camFrame, uchar, sketchFromSeg()); int totalW = camFrame.width; int onethird = totalW/3 ; int twothird = onethird + onethird; int totalH = camFrame.height; NEW_SKETCH(maskl, bool, camFrame); NEW_SKETCH(maskc, bool, camFrame); NEW_SKETCH(maskr, bool, camFrame); maskl = false; maskc = false; maskr = false; for (int i = 0; i < onethird; i++) { for (int j = 0; j < totalH; j++) { maskl(i,j) = true; } } for (int i = onethird; i < twothird; i++) { for (int j = 0; j < totalH; j++) { maskc(i,j) = true; } } for (int i = twothird; i < totalW; i++) { for (int j = 0; j < totalH; j++) { maskr(i,j) = true; } } // Get colors NEW_SKETCH(pink_stuff, bool, visops::colormask(camFrame,"pink")); NEW_SKETCH(orange_stuff, bool, visops::colormask(camFrame, "orange")); //Elimiate blocks that's less than 5 pixels NEW_SKETCH(pink_filt, bool, visops::minArea(pink_stuff, 5)); NEW_SKETCH(orange_filt, bool, visops::minArea(orange_stuff, 5)); NEW_SKETCH(pink_left, bool, visops::mask(pink_filt, maskl)); NEW_SKETCH(orange_left, bool, visops::mask(orange_filt, maskl)); // Create sketches of individual colors with labels NEW_SKETCH(p_cc, uint, visops::labelcc(pink_left)); NEW_SKETCH(o_cc, uint, visops::labelcc(orange_left)); int pinkblob = p_cc->max(); int orangeblob = o_cc->max(); if (pinkblob < 1 ) { if(orangeblob>0) { postStateSignal(happy); } else { postStateSignal(sad); } } else { postStateSignal(one); } return; } }; class ShellGameNodeC : public VisualRoutinesStateNode { public: ShellGameNodeC() : VisualRoutinesStateNode("ShellGameNodeC") {} virtual void DoStart() { camSkS.clear(); NEW_SKETCH(camFrame, uchar, sketchFromSeg()); int totalW = camFrame.width; int onethird = totalW/3 ; int twothird = onethird + onethird; int totalH = camFrame.height; NEW_SKETCH(maskl, bool, camFrame); NEW_SKETCH(maskc, bool, camFrame); NEW_SKETCH(maskr, bool, camFrame); maskl = false; maskc = false; maskr = false; for (int i = 0; i < onethird; i++) { for (int j = 0; j < totalH; j++) { maskl(i,j) = true; } } for (int i = onethird; i < twothird; i++) { for (int j = 0; j < totalH; j++) { maskc(i,j) = true; } } for (int i = twothird; i < totalW; i++) { for (int j = 0; j < totalH; j++) { maskr(i,j) = true; } } // Get colors NEW_SKETCH(pink_stuff, bool, visops::colormask(camFrame,"pink")); NEW_SKETCH(orange_stuff, bool, visops::colormask(camFrame, "orange")); //Elimiate blocks that's less than 5 pixels NEW_SKETCH(pink_filt, bool, visops::minArea(pink_stuff, 5)); NEW_SKETCH(orange_filt, bool, visops::minArea(orange_stuff, 5)); NEW_SKETCH(pink_left, bool, visops::mask(pink_filt, maskc)); NEW_SKETCH(orange_left, bool, visops::mask(orange_filt, maskc)); // Create sketches of individual colors with labels NEW_SKETCH(p_cc, uint, visops::labelcc(pink_left)); NEW_SKETCH(o_cc, uint, visops::labelcc(orange_left)); int pinkblob = p_cc->max(); int orangeblob = o_cc->max(); if (pinkblob < 1 ) { if(orangeblob>0) { postStateSignal(happy); } else { postStateSignal(sad); } } else { postStateSignal(one); } return; } }; class ShellGameNodeR : public VisualRoutinesStateNode { public: ShellGameNodeR() : VisualRoutinesStateNode("ShellGameNodeR") {} virtual void DoStart() { camSkS.clear(); NEW_SKETCH(camFrame, uchar, sketchFromSeg()); int totalW = camFrame.width; int onethird = totalW/3 ; int twothird = onethird + onethird; int totalH = camFrame.height; NEW_SKETCH(maskl, bool, camFrame); NEW_SKETCH(maskc, bool, camFrame); NEW_SKETCH(maskr, bool, camFrame); maskl = false; maskc = false; maskr = false; for (int i = 0; i < onethird; i++) { for (int j = 0; j < totalH; j++) { maskl(i,j) = true; } } for (int i = onethird; i < twothird; i++) { for (int j = 0; j < totalH; j++) { maskc(i,j) = true; } } for (int i = twothird; i < totalW; i++) { for (int j = 0; j < totalH; j++) { maskr(i,j) = true; } } // Get colors NEW_SKETCH(pink_stuff, bool, visops::colormask(camFrame,"pink")); NEW_SKETCH(orange_stuff, bool, visops::colormask(camFrame, "orange")); //Elimiate blocks that's less than 5 pixels NEW_SKETCH(pink_filt, bool, visops::minArea(pink_stuff, 5)); NEW_SKETCH(orange_filt, bool, visops::minArea(orange_stuff, 5)); NEW_SKETCH(pink_left, bool, visops::mask(pink_filt, maskr)); NEW_SKETCH(orange_left, bool, visops::mask(orange_filt, maskr)); // Create sketches of individual colors with labels NEW_SKETCH(p_cc, uint, visops::labelcc(pink_left)); NEW_SKETCH(o_cc, uint, visops::labelcc(orange_left)); int pinkblob = p_cc->max(); int orangeblob = o_cc->max(); if (pinkblob < 1 ) { if(orangeblob>0) { postStateSignal(happy); } else { postStateSignal(sad); } } else { postStateSignal(one); } return; } }; virtual void setup() { //use an ArmNode to set the shoulder, elbow and wrist joint angles directly #statemachine startnode: StateNode=RND=>{centernode, leftnode, rightnode} centernode: ArmNode [getMC()->setJoints(0,0,0);]=C=>decidenodec leftnode: ArmNode [getMC()->setJoints(0, 0.8, 0);]=C=>decidenodel rightnode: ArmNode [getMC()->setJoints(0,-0.8,0);]=C=>decidenoder decidenoder: ShellGameNodeR() decidenodec: ShellGameNodeC() decidenodel: ShellGameNodeL() dumbnoder: StateNode =N=>decidenoder dumbnodec: StateNode =N=>decidenodec dumbnodel: StateNode =N=>decidenodel decidenoder =S(one)=>dumbnoder decidenoder =S(sad)=>ping decidenoder =S(happy)=>bark decidenodec =S(one)=>dumbnodec decidenodec =S(sad)=>ping decidenodec =S(happy)=>bark decidenodel =S(one)=>dumbnodel decidenodel =S(sad)=>ping decidenodel =S(happy)=>bark bark: SoundNode($, "barkmed.wav") //bark =C=> startnode ping: SoundNode($, "ping.wav") //ping =C=> startnode howl: SoundNode($, "howl.wav") // howl =C=> startnode #endstatemachine } }; DATAEVENT_IMPLEMENTATION(ShellGame::Signal_t, unsigned int);