From b05c2a83196b71d2b187456bb3fa2960a6541965 Mon Sep 17 00:00:00 2001
From: david <moeckelda95243@th-nuernberg.de>
Date: Fri, 13 Dec 2024 16:30:28 +0100
Subject: [PATCH] =?UTF-8?q?Version=2013.12=20Fehler:=20getP1=20und=20getP2?=
 =?UTF-8?q?=20geben=200,0=20zur=C3=BCck=20obwohl=20bis=20dahin=20noch=20ri?=
 =?UTF-8?q?chtige=20Koordinaten=20in=20currentPositionP1=20-P2=20gespeiche?=
 =?UTF-8?q?rt=20sind?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/workspace.xml                | 30 ++++-----
 src/main/java/GameLogic.java       | 46 +++++++++-----
 src/main/java/GameLoop.java        | 37 ++++++++---
 src/main/java/GraphicsProgram.java | 43 ++++++++++---
 src/main/java/Player.java          |  6 +-
 src/main/java/Tracker.java         | 99 +++++++++++++++++-------------
 6 files changed, 164 insertions(+), 97 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 1ce6142..46e68d8 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,11 +4,12 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 27.11 (&quot;fertiger&quot; Tracker)">
+    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 04.12 &quot;vollständiges Programm mit Fehlern&quot;">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/GameLogic.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GameLogic.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/GameLoop.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GameLoop.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/GraphicsProgram.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GraphicsProgram.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/Player.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Player.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Tracker.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
@@ -25,7 +26,6 @@
   </component>
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
-    <option name="UPDATE_TYPE" value="REBASE" />
   </component>
   <component name="ProjectColorInfo">{
   &quot;associatedIndex&quot;: 8
@@ -39,7 +39,6 @@
   <component name="PropertiesComponent"><![CDATA[{
   "keyToString": {
     "Application.GTCar.executor": "Run",
-    "Application.GameLogic.executor": "Run",
     "Application.GraphicsProgram.executor": "Run",
     "Application.Main.executor": "Run",
     "Application.Tracker.executor": "Run",
@@ -52,7 +51,7 @@
     "com.codeium.enabled": "true",
     "git-widget-placeholder": "master",
     "kotlin-language-version-configured": "true",
-    "last_opened_file_path": "C:/Users/david/Documents/Uni/GTCar/processing-4.3/core/library/core.jar",
+    "last_opened_file_path": "C:/Users/david/Documents/Uni/GTCar/opencv/build/java/opencv-4100.jar",
     "node.js.detected.package.eslint": "true",
     "node.js.detected.package.tslint": "true",
     "node.js.selected.package.eslint": "(autodetect)",
@@ -73,8 +72,8 @@
         <option name="Make" enabled="true" />
       </method>
     </configuration>
-    <configuration name="GameLogic" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
-      <option name="MAIN_CLASS_NAME" value="GameLogic" />
+    <configuration name="GraphicsProgram" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
+      <option name="MAIN_CLASS_NAME" value="GraphicsProgram" />
       <module name="GTCar_V2_maven" />
       <method v="2">
         <option name="Make" enabled="true" />
@@ -83,14 +82,20 @@
     <configuration name="Main" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
       <option name="MAIN_CLASS_NAME" value="Main" />
       <module name="GTCar_V2_maven" />
+      <option name="VM_PARAMETERS" value="-Djava.library.path=C:\Users\david\Documents\Uni\GTCar\opencv\build\java\x64" />
       <method v="2">
         <option name="Make" enabled="true" />
       </method>
     </configuration>
+    <list>
+      <item itemvalue="Application.GTCar" />
+      <item itemvalue="Application.GraphicsProgram" />
+      <item itemvalue="Application.Main" />
+    </list>
     <recent_temporary>
       <list>
         <item itemvalue="Application.Main" />
-        <item itemvalue="Application.GameLogic" />
+        <item itemvalue="Application.GraphicsProgram" />
       </list>
     </recent_temporary>
   </component>
@@ -105,6 +110,7 @@
       <workItem from="1732108906083" duration="758000" />
       <workItem from="1732113837570" duration="20534000" />
       <workItem from="1733327375447" duration="951000" />
+      <workItem from="1734091457440" duration="10746000" />
     </task>
     <task id="LOCAL-00001" summary="First Commit Test">
       <option name="closed" value="true" />
@@ -171,14 +177,4 @@
     <MESSAGE value="Version 27.11 (&quot;fertiger&quot; Tracker)" />
     <option name="LAST_COMMIT_MESSAGE" value="Version 27.11 (&quot;fertiger&quot; Tracker)" />
   </component>
-  <component name="XDebuggerManager">
-    <breakpoint-manager>
-      <breakpoints>
-        <breakpoint enabled="true" type="java-exception">
-          <properties class="java.lang.NullPointerException" package="java.lang" />
-          <option name="timeStamp" value="1" />
-        </breakpoint>
-      </breakpoints>
-    </breakpoint-manager>
-  </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/GameLogic.java b/src/main/java/GameLogic.java
index de978d3..37562e1 100644
--- a/src/main/java/GameLogic.java
+++ b/src/main/java/GameLogic.java
@@ -1,5 +1,4 @@
 import processing.core.PApplet;
-
 import java.awt.*;
 import java.util.LinkedList;
 import java.util.Queue;
@@ -10,30 +9,45 @@ public class GameLogic extends PApplet {
         PApplet.main("GameLogic");
     }
 
+    private Queue<int[]> trail = new LinkedList<>();
+    private Point testPoint = new Point(200, 200);
+
     public void settings() {
         size(800, 600);
-        noLoop();
     }
 
-    public boolean doCheck(Queue<int[]> trail, Point point){
+    public void setup() {
+        noLoop(); // Zeichnen nur bei Bedarf
+        fillTrail(); // Beispielpfad erstellen
+        //boolean collision = doCheck(trail, testPoint);
+        System.out.println("Collision detected: ");
+    }
 
-        int particleSize = trail.size()+5;
+    private void fillTrail() {
+        // Beispielhafte Füllung der Spur
+        for (int i = 0; i < 100; i++) {
+            trail.add(new int[]{50 + i * 5, 300}); // Punkte entlang der x-Achse
+        }
+    }
 
-        background(255, 255, 255);
+    public boolean doCheckExtern(Queue<int[]> trail, Point point){
+        return doCheck(trail, point);
+    }
 
-        for (int[] koordinates : new LinkedList<>(trail)) {
-            int x = koordinates[0];
-            int y = koordinates[1];
-            fill(0,0,0);
+    public boolean doCheck(Queue<int[]> trail, Point point) {
+        int particleSize = 10;
+
+        // Zeichne den Pfad auf das Canvas
+        background(255); // Weißer Hintergrund
+        for (int[] coordinates : new LinkedList<>(trail)) {
+            int x = coordinates[0];
+            int y = coordinates[1];
+            fill(0); // Schwarz
             rect(x, y, particleSize, particleSize);
         }
 
-        int c = get(point.x, point.y);
-        if (c==0){
-            return true; //Kollision erkannt
-        } else {
-            return false;
-        }
+        // Überprüfe die Pixelwerte am Testpunkt
+        int c = get(point.x, point.y); // Farbwert abrufen
+        return (c == color(0)); // Schwarz bedeutet Kollision
     }
-
 }
diff --git a/src/main/java/GameLoop.java b/src/main/java/GameLoop.java
index a99b4aa..26355dd 100644
--- a/src/main/java/GameLoop.java
+++ b/src/main/java/GameLoop.java
@@ -18,30 +18,47 @@ public class GameLoop {
     public GameLoop(){
         player1 = new Player(0, "192.168.1.1", 9000);
         player2 = new Player(1, "192.168.1.2", 9000);
-        tracker = new Tracker();
 
-        graphics = new GraphicsProgram();
+        tracker = new Tracker();
+        // Starte Tracker in einem separaten Thread
+        Thread trackerThread = new Thread(tracker::run);
+        trackerThread.start();
+
+        graphics = new GraphicsProgram(player1, player2);
         String[] args = {"GraphicsProgram"};
         PApplet.runSketch(args, graphics);
 
+
         gl = new GameLogic();
         String[] args_ = {"GameLogic"};
         PApplet.runSketch(args_, gl);
+        try {
+            Thread.sleep(5000);
+        }catch (Exception e){
+
+        }
+
         run();
     }
 
     private void run(){
         while(true){
-            communicate();
+            //communicate();
 
-            List<Point> positions = track();
+            Point p1 = tracker.getP1();
+            //System.out.println("Player 1 is at " + p1.x + " and " + p1.y);
+            Point p2 = tracker.getP2();
+            //System.out.println("Player 2 is at " + p2.x + " and " + p2.y);
 
-            if(gl.doCheck(player2.getTrail(), positions.get(0))){ //Check Position von P1 mit Spur von P2
+            player1.setKoords(p1.x, p1.y);
+            player2.setKoords(p2.x, p2.y);
+
+            if(gl.doCheckExtern(player2.getTrail(), p1)){ //Check Position von P1 mit Spur von P2
                 System.out.println("Spieler 1 hat verloren");
                 break;
             }
 
-            if(gl.doCheck(player1.getTrail(), positions.get(1))){ //Check Position von P2 mit Spur von P1
+            if(gl.doCheckExtern(player1.getTrail(), p2)){ //Check Position von P2 mit Spur von P1
                 System.out.println("Spieler 2 hat verloren");
                 break;
             }
@@ -54,9 +71,10 @@ public class GameLoop {
         //offen für Auto Kommunikation
     }
 
-    private List<Point> track(){
+    /*private List<Point> track(){
         Point p1 = tracker.getP1();
         Point p2 = tracker.getP2();
+        System.out.println(p1.x);
 
         player1.setKoords(p1.x, p1.y);
         player2.setKoords(p2.x, p2.y);
@@ -65,10 +83,9 @@ public class GameLoop {
         output.add(0, p1);
         output.add(1, p2);
         return output;
-    }
+    }*/
 
     private void draw(){
-        graphics.drawTrail(player1.getTrail(), 0);
-        graphics.drawTrail(player2.getTrail(), 1);
+
     }
 }
diff --git a/src/main/java/GraphicsProgram.java b/src/main/java/GraphicsProgram.java
index cf67537..9813197 100644
--- a/src/main/java/GraphicsProgram.java
+++ b/src/main/java/GraphicsProgram.java
@@ -9,27 +9,52 @@ public class GraphicsProgram extends PApplet {
     PImage imgBlue;
     PImage imgRed;
 
+    Player player1;
+    Player player2;
+
+    private final int TRAIL_LENGTH = 30;
+
+    public GraphicsProgram(Player player1, Player player2) {
+        this.player1 = player1; // Beispiel: Initialgröße setzen
+        this.player2 = player2;
+    }
+
     public static void main(String[] args) {
-        PApplet.main("GraficsProgram");
+        PApplet.main("GraphicsProgram");
     }
 
     public void settings() {
-        size(800, 600);
-        imgBlue = loadImage("TrailBlue");
-        imgRed = loadImage("TrailRed");
+        fullScreen();
     }
 
+    public void setup(){
+        imgBlue = loadImage("TrailBlue.png");
+        imgRed = loadImage("TrailRed.png");
+        background(0);
+    }
 
-    public void drawTrail(Queue<int[]> trail, int playerID){
+    public void draw(){
+        drawPlayer(0);
+        drawPlayer(1);
+    }
+    public void drawPlayer(int playerID){
 
         int particleSize = 5;
 
+        Queue<int[]> trail;
 
-        background(255);
+        if(playerID == 0){
+            trail = player1.getTrail();
+        } else{
+            trail = player2.getTrail();
+        }
 
-        for (int[] koordinates : new LinkedList<>(trail)) {
-            int x = koordinates[0];
-            int y = koordinates[1];
+        while(!trail.isEmpty()) {
+            int[] koordinaten = trail.poll();
+            int x = koordinaten[0];
+            int y = koordinaten[1];
+
+            System.out.println();
 
             if(playerID == 0){
                 image(imgBlue, x, y, particleSize, particleSize);
diff --git a/src/main/java/Player.java b/src/main/java/Player.java
index 609cf0e..3edef2d 100644
--- a/src/main/java/Player.java
+++ b/src/main/java/Player.java
@@ -6,6 +6,8 @@ public class Player {
     private final int ID;
     private int x;
     private int y;
+
+    private String name = "Thunfisch";
     Queue<int[]> trail = new LinkedList<>();
 
     ArduinoCommunication arduinoCommunicator;
@@ -37,11 +39,11 @@ public class Player {
     }
 
     private void addToTrail(int x, int y) {
-        this.trail.add(new int[]{x, y});
-
+        trail.add(new int[]{x, y});
         if(trail.size() > TRAIL_LENGTH){
             trail.poll();
         }
+
     }
 
     public Queue<int[]> getTrail(){
diff --git a/src/main/java/Tracker.java b/src/main/java/Tracker.java
index 6cc5dbe..e182282 100644
--- a/src/main/java/Tracker.java
+++ b/src/main/java/Tracker.java
@@ -5,32 +5,48 @@ import org.opencv.imgproc.Imgproc;
 import org.opencv.imgproc.Moments;
 import org.opencv.videoio.Videoio;
 
-
 import java.util.ArrayList;
-import java.util.LinkedList;
 import java.util.List;
-import java.util.Queue;
-import java.util.Comparator;
+import java.awt.Point;
 
-
-public class Tracker {
+public class Tracker implements Runnable {
 
     private final int CAM = 1;                  // Kamera-ID (0 für Webcam, 1 für andere Cams)
     private final int EXP = 0;                  // Belichtungszeit (idealerweise: 0)
-    private final int FPS = 60;                // FPS
-    private final int THV = 250;
+    private final int FPS = 60;                 // FPS
+    private final int THV = 250;                // Threshold
 
-    private Point currentPositionP1 = new Point(0, 0);
-    private Point currentPositionP2 = new Point(0, 0);
+    private volatile boolean running = true;   // Steuerung des Tracker-Threads
 
-    public Tracker() {}
+    private volatile Point currentPositionP1 = new Point(0, 0);
+    private volatile Point currentPositionP2 = new Point(0, 0);
+
+    public Tracker() {
+    }
 
     public static void main(String[] args) {
         Tracker tracker = new Tracker();
-        tracker.run();
+        Thread trackerThread = new Thread(tracker);
+        trackerThread.start();
+
+        // Beispiel: Positionen regelmäßig abfragen
+        /*
+        while (true) {
+            Point p1 = tracker.getP1();
+            Point p2 = tracker.getP2();
+            //System.out.println("P2 - X: " + p2.x + " Y: " + p2.y);
+
+            try {
+                Thread.sleep(1000); // Warte 1 Sekunde
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }
+         */
     }
 
-    private void run() {
+    @Override
+    public void run() {
         VideoCapture capture = setUp();
 
         if (!capture.isOpened()) {
@@ -42,35 +58,39 @@ public class Tracker {
         Mat grayFrame = new Mat();
         Mat thresholdFrame = new Mat();
 
-        while (true) {
+        while (running) {
             if (capture.read(frame)) {
 
-
                 // Konvertiere in Graustufen und wende Threshold an
                 Imgproc.cvtColor(frame, grayFrame, Imgproc.COLOR_BGR2GRAY);
                 Imgproc.threshold(grayFrame, thresholdFrame, THV, 255, Imgproc.THRESH_BINARY);
 
                 // Tracke die Positionen der beiden größten Objekte
                 List<Point> positions = trackPositions(thresholdFrame);
+                //Check
 
                 if (positions.size() >= 2) {
-                    currentPositionP1 = positions.get(0);
-                    currentPositionP2 = positions.get(1);
-
-                    System.out.println("P1 - X: " + currentPositionP1.x + " Y: " + currentPositionP1.y + " P2 - X: " + currentPositionP2.x + " Y: " + currentPositionP2.y);
+                    setCurrentPositionP1(positions.get(0));
+                    //System.out.println(currentPositionP1);
+                    //Check. currentPosition wird aktualisiert
+                    setCurrentPositionP2(positions.get(1));
+                    //Check
 
+                    //System.out.println("P1 - X: " + currentPositionP1.x + " Y: " + currentPositionP1.y +
+                    //        " P2 - X: " + currentPositionP2.x + " Y: " + currentPositionP2.y);
                 }
-                drawMarkers(frame);
+
                 HighGui.imshow("GTCar", frame);
 
-                if (HighGui.waitKey(1) == 27) {
-                    break;
+                if (HighGui.waitKey(1) == 27) { // ESC-Taste zum Beenden
+                    stop();
                 }
             } else {
                 System.out.println("Fehler: Das Kamerabild konnte nicht gelesen werden.");
                 break;
             }
         }
+        capture.release();
     }
 
     private List<Point> trackPositions(Mat thresholdFrame) {
@@ -83,7 +103,6 @@ public class Tracker {
         // Sortiere Konturen nach Fläche (absteigend)
         contours.sort((c1, c2) -> Double.compare(Imgproc.contourArea(c2), Imgproc.contourArea(c1)));
 
-
         // Speichere die Positionen der zwei größten Konturen
         List<Point> positions = new ArrayList<>();
 
@@ -95,37 +114,27 @@ public class Tracker {
                 positions.add(new Point(cx, cy));
             }
         }
-
+        //Check
         return positions;
     }
 
-    public Point getP1(){
+    public synchronized Point getP1() {
+        //ab hier ist Punkt[0,0]
         return currentPositionP1;
     }
 
-    public Point getP2(){
+    public synchronized Point getP2() {
         return currentPositionP2;
     }
 
-    private void drawMarkers(Mat frame) {
-        // Größe der Quadrate
-        int size = 10;
-
-        // Blaues Quadrat an currentPositionP1
-        if (currentPositionP1 != null) {
-            Point topLeftP1 = new Point(currentPositionP1.x - size, currentPositionP1.y - size);
-            Point bottomRightP1 = new Point(currentPositionP1.x + size, currentPositionP1.y + size);
-            Imgproc.rectangle(frame, topLeftP1, bottomRightP1, new Scalar(255, 0, 0), -1); // Blau, gefüllt
-        }
-
-        // Rotes Quadrat an currentPositionP2
-        if (currentPositionP2 != null) {
-            Point topLeftP2 = new Point(currentPositionP2.x - size, currentPositionP2.y - size);
-            Point bottomRightP2 = new Point(currentPositionP2.x + size, currentPositionP2.y + size);
-            Imgproc.rectangle(frame, topLeftP2, bottomRightP2, new Scalar(0, 0, 255), -1); // Rot, gefüllt
-        }
+    private synchronized void setCurrentPositionP1(Point p1) {
+        //p1 ist richtig
+        currentPositionP1 = p1;
     }
 
+    private synchronized void setCurrentPositionP2(Point p2) {
+        currentPositionP2 = p2;
+    }
 
     private VideoCapture setUp() {
         System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
@@ -140,4 +149,8 @@ public class Tracker {
 
         return capture;
     }
+
+    public void stop() {
+        running = false;
+    }
 }