modified: include/task.h

modified: include/utils.h modified: src/graphics.c modified: src/sensors.c
ckevar · Jan 8, 2019 · 1d8fef2 · 1d8fef2
1 parent fca016f
commit 1d8fef2
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Showing 4 changed files with 10 additions and 8 deletions.
diff --git a/include/task.h b/include/task.h
@@ -3,10 +3,6 @@
 #ifndef TASK_H
 #define TASK_H
 
-/** THREAD ENDERS **/
-int ShouldISuicide;
-
-
 /*Structure that defines the parameters of a real time task*/
 typedef struct {
 	pthread_t tid;				/* task id*/

diff --git a/include/utils.h b/include/utils.h
@@ -59,6 +59,7 @@
 #define INFO_COL	makecol(247,196,12)
 #define INFO_GREEN	makecol(147, 255, 196)
 #define INFO_RED	makecol(255, 147, 165)
+#define INFO_YEL	makecol(255, 241, 168)
 
 /* copy int elements from source to destination */
 void cpyPnts(int *source, int *destination, const int N);

diff --git a/src/graphics.c b/src/graphics.c
@@ -80,7 +80,7 @@ void drawNCars(int x){
 	if(x <= (MAX_CARS/3))
 		color = INFO_GREEN;
 	else if(x <= (2*MAX_CARS/3))
-		color = WHITE;
+		color = INFO_YEL;
 	else
 		color = INFO_RED;
 
@@ -169,7 +169,7 @@ void drawNDmiss(){
 	if(deadline_misses <= 10)
 		color = INFO_GREEN;
 	else if(deadline_misses <= 20)
-		color = WHITE;
+		color = INFO_YEL;
 	else
 		color = INFO_RED;
 

diff --git a/src/sensors.c b/src/sensors.c
@@ -132,7 +132,10 @@ void getRangefinder(dstsens_t *dst, const int beam) {
 char isStreetColor(const int tmp) {
 	return 	(tmp == TL_COL) || (tmp == TL_GREEN) ||
 			(tmp == TL_YELLOW) 	|| (tmp == TL_RED) 	||
-			(tmp == BLOCK_COL) || (tmp == BLACK);  
+			(tmp == BLOCK_COL) || (tmp == BLACK) || 
+			(tmp == STAT_BG) || (tmp == INFO_COL) ||
+			(tmp == INFO_GREEN) || (tmp == INFO_RED) ||
+			(tmp == INFO_YEL); 
 }
 
 void  analyzeCameraFrame(vehicle_t *c, imfeatures_t *imft) {
@@ -163,10 +166,12 @@ void  analyzeCameraFrame(vehicle_t *c, imfeatures_t *imft) {
 		}
 	}
 
-	display(c->cam.image, W - HRES - 10, H - VRES - 100);
+	// display(c->cam.image, W - HRES - 10, H - VRES - 100);
 	RosenfeldPfaltz(bwTL, &imft->TLcenter, 0);
+	// display(bwTL, W - HRES - 10, H - VRES - 100);
 	fastHarrisRobertCornerDetection(&bwStreet);
 	imft->stCorner = bwStreet.ft;
+	// display(bwStreet.im, W - HRES - 10, H - VRES - 100);
 
 	/** TO BE WRAPPED UP **/
 	/** Read traffic light status **/