int main()
{
pthread_t hOutput;
int msqid;
if (InitializeConnections(&hOutput, &msqid)) {
perror("Error in initialization");
return 1;
}
if (master) {
pthread_mutex_lock(&count_mutex);
pthread_cond_wait(&count_threshold_cv, &count_mutex);
pthread_mutex_unlock(&count_mutex);
HandleMasterInput(hOutput, msqid);
} else {
HandleSlaveInput(msqid);
}
// cleaning up
if (master) {
pthread_join(hOutput, NULL);
msgctl(msqid, IPC_RMID, NULL);
pthread_mutex_destroy(&count_mutex);
pthread_cond_destroy(&count_threshold_cv);
}
return 0;
}
void TerrainWeightEditor::Initialize()
{
if (fw_->IsHeadless())
return;
QUiLoader loader;
loader.setLanguageChangeEnabled(true);
QString str("./data/ui/terrainwtex_editor.ui");
QFile file(str);
if(!file.exists())
{
EnvironmentModule::LogError("Cannot find " +str.toStdString()+ " file");
return;
}
editor_widget_ = loader.load(&file, this);
if (editor_widget_ == 0)
return;
// UiProxyWidget *editor_proxy = fw_->Ui()->AddWidgetToScene(this);
// if (editor_proxy == 0)
// return;
// ui->AddWidgetToMenu(this, tr("Terrain Texture Weightmap Editor"));
// ui->RegisterUniversalWidget("Weights", editor_proxy);
QSpinBox *box = editor_widget_->findChild<QSpinBox*>("brush_size");
if(box)
{
brush_size_max_ = box->maximum();
brush_size_ = box->value();
}
box = editor_widget_->findChild<QSpinBox*>("brush_modifier");
if(box)
brush_modifier_ = box->maximum();
QDoubleSpinBox *dbox = editor_widget_->findChild<QDoubleSpinBox*>("brush_falloff");
if(dbox)
falloff_percentage_ = dbox->value();
InitializeCanvases();
InitializeConnections();
emit BrushValueChanged();
}
/// Controller initialization in non-realtime
bool PR2JointController::init(pr2_mechanism_model::RobotState *robot,
ros::NodeHandle &nh)
{
m_node = nh;
//Initialize connections to other nodes through topics/services
if (!InitializeConnections())
{
ROS_ERROR("PR2JointController could not connect to topics");
return false;
}
if (!ConnectArmJoints(robot))
{
ROS_ERROR("PR2JointController could not initialize joint states");
return false;
}
m_dblRUpperArmRollJointEffort = 0;
m_dblRShoulderPanJointEffort = 0;
m_dblRShoulderLiftJointEffort = 0;
m_dblRForearmRollJointEffort = 0;
m_dblRElbowFlexJointEffort = 0;
m_dblRWristFlexJointEffort = 0;
m_dblRWristRollJointEffort = 0;
m_dblLUpperArmRollJointEffort = 0;
m_dblLShoulderPanJointEffort = 0;
m_dblLShoulderLiftJointEffort = 0;
m_dblLForearmRollJointEffort = 0;
m_dblLElbowFlexJointEffort = 0;
m_dblLWristFlexJointEffort = 0;
m_dblLWristRollJointEffort = 0;
m_dblHeadPanJointEffort = 0;
m_dblHeadTiltJointEffort = 0;
return true;
}
