TestAlg.cpp

#include "TestAlg.h"
#include "tcastypes.h"
#include <iostream>
#include <math.h>

TestAlg::TestAlg()
{
        algName = "Invert Algorithm";
        srand( time(NULL) );
}

TestAlg::~TestAlg()
{
}

void TestAlg::processFrame(QImage *frame)
{
        // We'll do some real simple things here.
        // 1)Invert the pixmap colors (our sample "image processing" technique)
        // 2)Generate an obstacle 5% of the time
        // 3)Randomly select obstacle location,type,and direction
        // 3)Signal that we found an obstacle to whoever is listening (perhaps the TCAS widget is connected to us?)
        // 4)Send a message string out to whoever is listening 
        
        QImage newImage = frame->copy();
        newImage.invertPixels();
        emit imageReady(&newImage);
        
        // Let's randomly find an obstacle and report it.
        // Say a 5% chance of seeing an obstacle this frame.
        // In reality, an algorithm must not only detect obstacles, 
        // but also keep track of them!  Here we are just simulating
        // finding new obstacles, but we're not keeping track of them. If
        // you run this algorithm long enough, you'll end up with a screen
        // full of obstacles. :-)

        
        int j = 1 + (int) (100.0 * (rand() / (RAND_MAX + 1.0)));
        if (j <= 5)
        {
                // Found an obstacle, now decide what type and direction, relative alitutude
                int t = 1 + (int) (100.0 * (rand() / (RAND_MAX + 1.0)));
                int d = 1 + (int) (100.0 * (rand() / (RAND_MAX + 1.0)));
                int a = 1 + (int) (200.0 * (rand() / (RAND_MAX + 1.0)));
                a = a - 100;
                threatType typ;
                trendDir dir;
                if (t <25 ) {typ = threatOther; emit foundOther();}
                else if ( t >= 25 && t < 50) {typ = threatProximate; emit foundProximate();}
                else if ( t >= 50 && t < 75) {typ = threatIntruding; emit foundIntruding();}
                else {typ = threatReal; emit foundReal();}
                
                if (d <= 50) dir = ascending;
                else dir = descending;
                
                // Now get random x and y positions, between 0 and 500 (width), 0 and 400 (height)
                int w = 1 + (int) (500.0 * (rand() / (RAND_MAX + 1.0)));
                int h = 1 + (int) (400.0 * (rand() / (RAND_MAX + 1.0)));
                
                // Now, generate a position-independent obstacle 
                // for the pie-display.  Get a random orientation and location
                // for the pie display. Notify anyone who is listening that an obstacle was "found"
                 
                unsigned long key;
                
                if ( h <= 200)
                {
                        int ang = 1 + (int) (180.0 * (rand() / (RAND_MAX + 1.0))) - 90;// ang=atan( (250-w)/(200-h));
                        //ang = -(ang * 180 / 3.14159);         
                        int orient= 1 + (int) (360.0 * (rand() / (RAND_MAX + 1.0)));
                        trendDir n = none; // Set it to 'none' so that the pie widget will display this, and not the TCAS widget. 
                        emit foundObstacle(typ,n,a,ang,orient,key);
                }
                
                // The returned key would normally be kept so that the obstacle
                // can be tracked later on by this algorithm or other user-defined classes.
                // The key is needed to remove the obstacle from the widget displays
                // Now we will notify anyone listening to a position-dependant 
                // signal of an obstacle (TCAS)
        
                
                emit foundObstacle(typ,dir,a,w,h,key);
                QString str = "Found obstacle at ";
                str.append(QString::number(w));
                str.append(",");
                str.append(QString::number(h));
                str.append(" with relative altitude of ");
                str.append(QString::number(a));
                emit displayMessage(&str);
        }       
}

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