达尔文OP2代码解读（二）视觉处理模式

/*
 * VisionMode.cpp
 *
 *  Created on: 2017. 11. 20.
 *      Author: kay
 *      Add some comments 
 */
#include 
#include 
#include "VisionMode.h"
#include "Action.h"
#include "ColorFinder.h"
#include "LinuxActionScript.h"

namespace Robot
{

    /*主函数main.cpp中的用法
	int detected_color = 0;
    detected_color |= (red_pos.X == -1)? 0 : VisionMode::RED;//1
    detected_color |= (yellow_pos.X == -1)? 0 : VisionMode::YELLOW;//2
    detected_color |= (blue_pos.X == -1)? 0 : VisionMode::BLUE;//4

    if(Action::GetInstance()->IsRunning() == 0)
        VisionMode::Play(detected_color);
	*/
void VisionMode::Play(int color)//color为参数，通过数字调用相应的执行函数
{
    static int old_color = 0, color_count = 0;

    if(old_color != color || color == 0)
    {
        old_color = color;
        color_count = 0;
    }
    else
        color_count++;

    if(color_count < 15) return;//超时检测 15次都是同样的颜色(有颜色|没颜色)，则退出函数。
//RED=1  YELLOW=2   BLUE=4
    switch(color)
    {
    case (RED)://1
        Action::GetInstance()->Start(4);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Thank you.mp3");
        break;
    case (YELLOW)://2
        Action::GetInstance()->Start(41);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Introduction.mp3");
        break;
    case (BLUE)://4
        Action::GetInstance()->Start(24);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Wow.mp3");
        break;
    case (RED|YELLOW)://3
        Action::GetInstance()->Start(38);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Bye bye.mp3");
        break;
    case (RED|BLUE)://5
        Action::GetInstance()->Start(54);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Clap please.mp3");
        break;
    case (BLUE|YELLOW)://6
        Action::GetInstance()->Start(15);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Sit down.mp3");
        while(Action::GetInstance()->IsRunning()) usleep(8*1000);

        Action::GetInstance()->Start(1);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Stand up.mp3");
        break;
    case (RED|YELLOW|BLUE)://7
        Action::GetInstance()->Start(27);
        LinuxActionScript::PlayMP3("../../../Data/mp3/Oops.mp3");
        break;
    }

    color_count = 0;
}

}

1.函数用途：颜色检测。通过检测到不同的函数，可以做相应的动作，和调用相应的语音。

2..颜色组成：红、蓝、黄。（三种颜色的组合）。7种组合（什么都没有检测到不算）

3.超时检测：超过15次检测到是相同的颜色（没有检测到也算），退出检测。

4.动作说明：可通过代码英文进行判断。