Distinguisher.h

[詳解]

#ifndef __DISTINGUISHER_H__
#define __DISTINGUISHER_H__

#include "Controller.h"
#include <algorithm>
#include <array>
#include <cstdint>
#include <map>

enum struct Color { NONE, BLACK, WHITE, RED, BLUE, YELLOW, GREEN };

struct Hsv {
  explicit Hsv(Color color_, double h_, double s_, double v_, double threshold_distance_,
               double start_h_, double end_h_)
    : color(color_),
      h(h_),
      s(s_),
      v(v_),
      threshold_distance(threshold_distance_),
      start_h(start_h_),
      end_h(end_h_)
  {
  }
  Color color;
  double h;
  double s;
  double v;
  double threshold_distance;
  double start_h;
  double end_h;
};

struct Rgb {
  std::uint16_t r = 0;
  std::uint16_t g = 0;
  std::uint16_t b = 0;
};

namespace etrobocon2018_test {
  class DistinguisherTest;
}

class Distinguisher {
  friend class etrobocon2018_test::DistinguisherTest;

 public:
  explicit Distinguisher(Controller& controller_) : controller(controller_) {}

  Color getColor();

  double last_distance = 0.0;

  double threshold_distance = 400;

  Hsv hsv{ Color::NONE, 0, 0, 0, 400, 0, 0 };

 private:
  void setRawColor2Rgb();
  void convertRgbToHsv(Rgb rgb_);
  void distingishColor();
  void judgement(const Hsv& hsv_, double& min);
  double distanceColor(Hsv target_color);

  Controller controller;
  Color color = Color::NONE;
  Rgb rgb;
  const Hsv RED{ Color::RED, 0, 92, 35, 400, 0, 60 };
  const Hsv AltRED{ Color::RED, 0, 92, 35, 400, 290, 360 };
  const Hsv BLUE{ Color::BLUE, 190, 75, 19, 400, 160, 240 };
  const Hsv GREEN{ Color::GREEN, 111, 70, 26, 400, 90, 150 };
  const Hsv YELLOW{ Color::YELLOW, 63, 88, 46, 400, 50, 80 };
  const Hsv WHITE{ Color::WHITE, 86, 41, 53, 400, 40, 80 };
  const Hsv BLACK{ Color::BLACK, 80, 42, 6, 400, 0, 20 };
  const Hsv GREY{ Color::BLACK, 83, 15, 20, 400, 10, 30 };
};

#endif