void JobHistoryView::setHistory( JobHistoryList history )
{
setupModel();
mJobs = JobList();
mModel->setRootList(history);
}
JobList
PythonJobModule::jobs() const
{
return JobList() << m_job;
}
/*! @brief The vision control loop
@relates NUbot
The thread is set up to run when signalled by signalVision(). It will grab the
new image, compute a response, and then send the commands to motion and lcs.
@param arg a pointer to the nubot
*/
void* runThreadVision(void* arg)
{
debug << "NUbot::runThreadVision: Starting." << endl;
NUbot* nubot = (NUbot*) arg; // the nubot
NUSensorsData* data = NULL;
NUActionatorsData* actions = NULL;
JobList joblist = JobList();
#ifdef THREAD_VISION_MONITOR_TIME
double entrytime;
double realstarttime, processstarttime, threadstarttime;
double realendtime, processendtime, threadendtime;
#endif
double lastupdatetime = nusystem->getTime();
int err;
do
{
#if defined THREAD_VISION_MONITOR_TIME && !defined TARGET_IS_NAOWEBOTS
entrytime = NUSystem::getRealTimeFast();
#endif
err = nubot->waitForNewVisionData();
nubot->signalVisionStart();
#ifdef THREAD_VISION_MONITOR_TIME
realstarttime = NUSystem::getRealTimeFast();
#ifndef TARGET_IS_NAOWEBOTS // there is not point monitoring wait times in webots
if (realstarttime - entrytime > 1000/15.0 + 5)
debug << "NUbot::runThreadVision. Waittime " << realstarttime - entrytime << " ms."<< endl;
#endif
processstarttime = NUSystem::getProcessTime();
threadstarttime = NUSystem::getThreadTime();
#endif
try
{
// -----------------------------------------------------------------------------------------------------------------------------------------------------------------
// image = nubot->platform->camera->getData()
data = nubot->platform->sensors->getData();
// odometry = nubot->motion->getData() // There is no deep copy here either
// gamectrl, teaminfo = nubot->network->getData()
// fieldobj = nubot->vision->process(image, data, gamectrl)
// wm = nubot->localisation->process(fieldobj, teaminfo, odometry, gamectrl, actions)
#ifdef USE_BEHAVIOUR
nubot->behaviour->process(joblist); //TODO: nubot->behaviour->process(wm, gamectrl, p_jobs)
#endif
#ifdef USE_MOTION
#ifdef USE_WALKOPTIMISER
nubot->walkoptimiser->process(joblist);
#endif
nubot->motion->process(joblist);
#endif
// cmds = nubot->lcs->process(lcsactions)
//nubot->platform->actionators->process(m_actions);
//joblist.clear(); // assume that all of the jobs have been completed
// -----------------------------------------------------------------------------------------------------------------------------------------------------------------
}
catch (exception& e)
{
unhandledExceptionHandler(e);
}
#ifdef THREAD_VISION_MONITOR_TIME
realendtime = NUSystem::getRealTimeFast();
processendtime = NUSystem::getProcessTime();
threadendtime = NUSystem::getThreadTime();
if (threadendtime - threadstarttime > 10)
debug << "NUbot::runThreadVision. Thread took a long time to complete. Time spent in this thread: " << (threadendtime - threadstarttime) << "ms, in this process: " << (processendtime - processstarttime) << "ms, in realtime: " << realendtime - realstarttime << "ms." << endl;
#endif
nubot->signalVisionCompletion();
}
while (err == 0 && errno != EINTR);
pthread_exit(NULL);
}
/************************************************
*
* ***********************************************/
void Project::addJob(Job job)
{
addJobs(JobList() << job);
}
