Some fixes

[matches/MCTX3420.git] / server / sensors / dilatometer.c

diff --git a/server/sensors/dilatometer.c b/server/sensors/dilatometer.c
index 4358acc..b9fb833 100644 (file)
--- a/server/sensors/dilatometer.c
+++ b/server/sensors/dilatometer.c
@@ -6,6 +6,7 @@
 #include "cv.h"
 #include "highgui_c.h"
 #include "dilatometer.h"
+#include "../image.h"
 #include <math.h>
 
 // test positions
@@ -121,9 +122,20 @@ bool Dilatometer_Cleanup(int id)
 
 void CannyThreshold()
 {
+
+       // Create greyscale array
+       if (g_srcGray == NULL)
+       {
+               Log(LOGDEBUG, "%d %d %d", g_srcRGB->rows, g_srcRGB->cols, CV_8UC1);
+               g_srcGray = cvCreateMat(g_srcRGB->rows,g_srcRGB->cols,CV_8UC1);
+       }
+
        // Convert the RGB source file to grayscale
+       Log(LOGDEBUG, "About to cvCvtColor(%p, %p, %d)", g_srcRGB, g_srcGray, CV_RGB2GRAY);
        cvCvtColor(g_srcRGB,g_srcGray,CV_RGB2GRAY);
 
+
+       Log(LOGDEBUG, "About to cvCreateMat");
        if ( g_edges == NULL)
        {
                g_edges = cvCreateMat(g_srcGray->rows,g_srcGray->cols,CV_8UC1);
@@ -159,20 +171,40 @@ void CannyThreshold()
  * @param samples - Number of rows to scan (increasing will slow down performance!)
  * @returns true on successful read
  */
-bool Dilatometer_GetExpansion( double * value, int samples)
+bool Dilatometer_GetExpansion( int id, double * value, int samples)
 {
        bool result = false; 
        double average = 0;
        // Get the image from the camera
-       result = Camera_GetImage( 0, 1600, 1200 ,&g_srcRGB); // Get a 1600x1200 image and place it into src
+       Log(LOGDEBUG, "GET IMAGE?");
+
+       IplImage * frame = NULL;
+       result = Camera_GetImage( 0, 800, 600,&frame); // Get a 1600x1200 image and place it into src
+       Log(LOGDEBUG, "Got image...");
 
        // If an error occured when capturing image then return
+
+
+       if (result)
+       {
+               CvMat stub;
+               g_srcRGB = cvGetMat(frame,&stub,0,0);
+               result = (g_srcRGB != NULL);
+               Log(LOGDEBUG, "Converted image %d %p", result, g_srcRGB);
+       }
+       cvReleaseImageHeader(&frame);
+
        if (!result)
                return result;
 
+
+       Log(LOGDEBUG, "GOT IMAGE (without error)!");
+
        // Apply the Canny Edge theorem to the image
        CannyThreshold();
 
+       Log(LOGDEBUG, "Got past CannyThreshold()");
+
        int width = g_edges->cols;
        int height = g_edges->rows;
        
@@ -221,12 +253,21 @@ bool Dilatometer_GetExpansion( double * value, int samples)
        {       
                result = true; // Successfully found an edge
                // If the experiment has already been initialised
-               if( lastPosition > 0)
-               {       
-                       // Find the rate of expansion and convert to mm. Will give a negative result for compression.
-                       *value = (average - lastPosition) * SCALE;
-                       lastPosition = average; // Current position now becomes the last position
-               }
+               switch (id)
+               {
+                       case DIL_POS:
+                               *value = average*SCALE;
+                               return result;
+                       case DIL_DIFF:
+                               if( lastPosition > 0)
+                               {       
+                                       // Find the rate of expansion and convert to mm. Will give a negative result for compression.
+                                       *value = (average - lastPosition) * SCALE *2;
+                               }
+                               lastPosition = average; // Current position now becomes the last position
+                               return result;
+                       default:
+                               return false;           }
        }
        return result;
 }
@@ -238,7 +279,7 @@ bool Dilatometer_GetExpansion( double * value, int samples)
  */
 bool Dilatometer_Read(int id, double * value)
 {
-       bool result = Dilatometer_GetExpansion(value, SAMPLES);
+       bool result = Dilatometer_GetExpansion(id, value, SAMPLES);
        return result;
 }
 
@@ -250,8 +291,8 @@ bool Dilatometer_Init(const char * name, int id)
        // Make an initial reading (will allocate memory the first time only).
        double val;
        lastPosition = 0;  // Reset the last position
-       bool result = Dilatometer_GetExpansion(&val, 1); 
-       return result;
+       Dilatometer_GetExpansion(DIL_POS, &val, 1); 
+       return true;
 }
 
 // Overlays a line over the given edge position