Added the ability to stop videosensors, updated configs to use videomodules, updated line sensor to return crossroad probability

Author: yurii-litvinov

trikControl/config.xml

@@ -191,13 +191,13 @@ Use it if JCx ports are configured to work as PWM signal generators.
 	<i2c path="/dev/i2c-2" deviceId="0x48" />
 
 	<!-- Settings for virtual camera line sensor. -->
-	<lineSensor script="/etc/init.d/line-sensor.sh" inputFile="/run/line-sensor.in.fifo" outputFile="/run/line-sensor.out.fifo" toleranceFactor="1.0" disabled="false" />
+	<lineSensor script="/etc/init.d/line-sensor-ov7670.sh" inputFile="/run/line-sensor.in.fifo" outputFile="/run/line-sensor.out.fifo" toleranceFactor="1.0" disabled="false" />
 
 	<!-- Settings for virtual camera object detector sensor. -->
-	<objectSensor script="/etc/init.d/object-sensor.sh" inputFile="/run/object-sensor.in.fifo" outputFile="/run/object-sensor.out.fifo" toleranceFactor="1.0" disabled="false" />
+	<objectSensor script="/etc/init.d/object-sensor-7670.sh" inputFile="/run/object-sensor.in.fifo" outputFile="/run/object-sensor.out.fifo" toleranceFactor="1.0" disabled="false" />
 
 	<!-- Settings for virtual camera MxN color sensor. It splits field of view of a camera into MxN grid and reports dominant color in each cell of a grid. -->
-	<colorSensor script="/etc/init.d/mxn-sensor.sh" inputFile="/run/mxn-sensor.in.fifo" outputFile="/run/mxn-sensor.out.fifo" m="3" n="3" disabled="false" />
+	<colorSensor script="/etc/init.d/mxn-sensor-7670.sh" inputFile="/run/mxn-sensor.in.fifo" outputFile="/run/mxn-sensor.out.fifo" m="3" n="3" disabled="false" />
 
 	<!-- Settings for gamepad TCP server to communicate with Android "TRIK Gamepad" application -->
 	<gamepad port="4444" disabled="false" />

trikControl/include/trikControl/colorSensor.h

@@ -50,6 +50,9 @@ public slots:
 	/// Returns dominant color in given cell of a grid as a vector [R; G; B] in RGB color scale.
 	QVector<int> read(int m, int n);
 
+	/// Stops detection until init() will be called again.
+	void stop();
+
 private:
 	/// Worker object that handles sensor in separate thread.
 	QScopedPointer<ColorSensorWorker> mColorSensorWorker;

trikControl/include/trikControl/lineSensor.h

@@ -18,6 +18,7 @@
 #include <QtCore/QString>
 #include <QtCore/QThread>
 #include <QtCore/QScopedPointer>
+#include <QtCore/QVector>
 
 #include "declSpec.h"
 #include "sensor.h"
@@ -28,7 +29,7 @@ class LineSensorWorker;
 
 /// Uses virtual line sensor to detect x coordinate of a center of an object that was in camera's field of view
 /// when "detect" method was called. Used mainly to follow the line.
-class TRIKCONTROL_EXPORT LineSensor : public Sensor
+class TRIKCONTROL_EXPORT LineSensor : public QObject
 {
 	Q_OBJECT
 
@@ -52,7 +53,10 @@ public slots:
 	void detect();
 
 	/// Returns current raw x coordinate of detected object. Sensor returns 0 if detect() was not called.
-	int read();  // override.
+	QVector<int> read();
+
+	/// Stops detection until init() will be called again.
+	void stop();
 
 private:
 	/// Worker object that handles sensor in separate thread.

trikControl/include/trikControl/objectSensor.h

@@ -56,6 +56,9 @@ public slots:
 	/// Returns 0 in every field if detect() was not called.
 	QVector<int> read();
 
+	/// Stops detection until init() will be called again.
+	void stop();
+
 private:
 	/// Worker object that handles sensor in separate thread.
 	QScopedPointer<ObjectSensorWorker> mObjectSensorWorker;

trikControl/src/abstractVirtualSensorWorker.h

@@ -42,6 +42,10 @@ class AbstractVirtualSensorWorker : public QObject
 
 	~AbstractVirtualSensorWorker() override;
 
+public slots:
+	/// Stops detection until init() will be called again.
+	virtual void stop();
+
 protected:
 	/// Launch sensor.
 	void init();

trikControl/src/brick.cpp

@@ -236,6 +236,18 @@ void Brick::stop()
 
 	mLed->red();
 	mDisplay.hide();
+
+	if (mLineSensor) {
+		mLineSensor->stop();
+	}
+
+	if (mColorSensor) {
+		mColorSensor->stop();
+	}
+
+	if (mObjectSensor) {
+		mObjectSensor->stop();
+	}
 }
 
 Motor *Brick::motor(QString const &port)

trikControl/src/colorSensor.cpp

@@ -43,3 +43,8 @@ QVector<int> ColorSensor::read(int m, int n)
 	// Read is called synchronously and only takes prepared value from sensor.
 	return mColorSensorWorker->read(m, n);
 }
+
+void ColorSensor::stop()
+{
+	QMetaObject::invokeMethod(mColorSensorWorker.data(), "stop");
+}

trikControl/src/colorSensorWorker.cpp

@@ -64,8 +64,6 @@ void ColorSensorWorker::onNewData(QString const &dataLine)
 {
 	QStringList const parsedLine = dataLine.split(" ", QString::SkipEmptyParts);
 
-	qDebug() << "parsed: " << parsedLine;
-
 	if (parsedLine[0] == "color:") {
 		mLock.lockForWrite();
 		for (int i = 0; i < mReading.size(); ++i) {

trikControl/src/lineSensor.cpp

@@ -44,8 +44,13 @@ void LineSensor::detect()
 	QMetaObject::invokeMethod(mLineSensorWorker.data(), "detect");
 }
 
-int LineSensor::read()
+QVector<int> LineSensor::read()
 {
 	// Read is called synchronously and only takes prepared value from sensor.
 	return mLineSensorWorker->read();
 }
+
+void LineSensor::stop()
+{
+	QMetaObject::invokeMethod(mLineSensorWorker.data(), "stop");
+}

trikControl/src/lineSensorWorker.cpp

@@ -40,9 +40,12 @@ void LineSensorWorker::detect()
 	sendCommand("detect");
 }
 
-int LineSensorWorker::read()
+QVector<int> LineSensorWorker::read()
 {
-	return mReading;
+	mLock.lockForRead();
+	QVector<int> result = mReading;
+	mLock.unlock();
+	return result;
 }
 
 QString LineSensorWorker::sensorName() const
@@ -54,18 +57,16 @@ void LineSensorWorker::onNewData(QString const &dataLine)
 {
 	QStringList const parsedLine = dataLine.split(" ", QString::SkipEmptyParts);
 
-	qDebug() << "parsed: " << parsedLine;
-
 	if (parsedLine[0] == "loc:") {
 		int const x = parsedLine[1].toInt();
-		int const angle = parsedLine[2].toInt();
+		int const crossroadsProbability = parsedLine[2].toInt();
 		int const mass = parsedLine[3].toInt();
 
-		mReading = x;
-
-		// These values are not needed in current implementation, but are left here for reference.
-		Q_UNUSED(angle)
-		Q_UNUSED(mass)
+		mLock.lockForWrite();
+		mReading[0] = x;
+		mReading[1] = crossroadsProbability;
+		mReading[2] = mass;
+		mLock.unlock();
 	}
 
 	if (parsedLine[0] == "hsv:") {