mex RoboRealm.cpp RR_API.cpp

RoboRealm('open', 'C:\Program Files\RoboRealm\RoboRealm.exe', 6060);
RoboRealm('set_camera', 'Quickcam');
RoboRealm('load_program', 'C:\Program Files\RoboRealm\Examples\MotionOurs.robo');

roomList = [ 3068 3106];% 3196 3198 3234 3209 3209 3187];

on = 1;
nulltest = [];
roomNumber = 8; %make this the actual number of rooms
rooms = zeros(1, roomNumber); 
roomCounter = 0;
%comPortNum = 1; %set to value of comPort
%serCommand = initializeComMod(comPortNum);
pause(10); %wait for robot to begin moving before initializing motion-check condition

while roomCounter<=roomNumber %run loop 8 times (there are 8 rooms on 3rd Chambers)
    
    %pause(5);
    update =  RoboRealm('get_variable', 'MOVEMENT_PIXELS'); %this while-loop checks and updates the motion detections script 
    update = str2num(update);
    while update > 15 %this is the threshold for moving pixels, under which the loop breaks
        update =  RoboRealm('get_variable', 'MOVEMENT_PIXELS');
        update = str2num(update);
    end    
    tic
    RoboRealm('load_program', 'C:\Program Files\RoboRealm\Examples\NightFilterReflect2robo.robo'); %once the loop breaks, the scanning script is loaded
    roomCounter = roomCounter +1 ; %keeps track of which room its on
    check = 0; %resets check variable every loop
    %ping=1;%change for actual running
    %while ping==0
    %    ping = ReadCommand(serCommand); %test ping; put a serial port scanner here
    %end
    %disp('received a signal');
    
        % pan  left
        for i = 1:50
            RoboRealm('set_variable', 'CAMERA_CONTROL', 4); %turn left
            pause(.1);
            
            if mod(i,25)==0
            pause(2);    
            check = RoboRealm('get_variable', 'COG_X'); %sets check to the cog value
               
                if isempty(check) ~= 1 %if a tape is detected
                    rooms(roomCounter) = 1; %puts a one at the index of the room its in
                end
            end
        end
        
        pause(2);
     
        %pan right
        for j = 1:125
            RoboRealm('set_variable', 'CAMERA_CONTROL', 8); %turn right
            pause(.1);
            if mod(j,25)==0
                pause(2);    
                check = RoboRealm('get_variable', 'COG_X'); %sets check to the cog value
               
                if isempty(check) ~= 1 %if a tape is detected
                    rooms(roomCounter) = 1; %puts a one at the index of the room its in
                end
            end
        end
        pause(2);
        RoboRealm('set_variable', 'CAMERA_CONTROL', 16); %return home
        pause(2);
        RoboRealm('set_variable', 'CAMERA_CONTROL', 0);
        
        RoboRealm('load_program', 'C:\Program Files\RoboRealm\Examples\MotionOurs.robo'); %reload motion detection
        toc
        pause(10); %wait until starts moving again to loop through [this time needs to be coordinated with robot] 
        
end
    
%send email with open windowed rooms
message = 'The following rooms have open windows: ';
for i=1:length(rooms)
    if(rooms(i)==1)
        message = strcat(message,num2str(roomList(i)),', ');
    end
end


setpref('Internet','SMTP_Server','smtp.gmail.com');
setpref('Internet','SMTP_Username','davidsonirobot');
setpref('Internet','SMTP_Password','teamCommando');
%setpref('Internet','E_mail','stmeador@davidson.edu');
props = java.lang.System.getProperties;
props.setProperty('mail.smtp.auth','true');
props.setProperty('mail.smtp.socketFactory.class','javax.net.ssl.SSLSocketFactory');
props.setProperty('mail.smtp.socketFactory.port','465');
sendmail('laheyer@davidson.edu', 'Open Windows in Chambers', message);