void GaleShapleyAlgorithm::pairWomanAndMen()
{
while(currentMan_ != -1) {
currentWoman_ = nextPreferredWoman(currentMan_);
men_[currentMan_].nextWoman++;
//PRINT_INFO("Man %d.", currentMan_);
if(womanIsEngaged(currentWoman_)) {
int rival = women_[currentWoman_].engagedTo;
//PRINT_INFO("-- Woman is engaged.");
//PRINT_INFO("-- Man dist=%.2f; Rival dist = %.2f.", men_[currentMan_].distances[currentWoman_], men_[rival].distances[currentWoman_]);
if(men_[currentMan_].distances[currentWoman_] < men_[rival].distances[currentWoman_]) {
// current man is more attractive
//PRINT_INFO("-- Current is more attractive.");
men_[rival].next = men_[currentMan_].next;
men_[currentMan_].next = rival;
men_[rival].engagedTo = -1;
engage(currentMan_, currentWoman_);
} else {
// next try
//PRINT_INFO("-- Next try");
continue;
}
} else {
// woman is not engaged
//PRINT_INFO("-- Woman is not engaged.");
engage(currentMan_, currentWoman_);
}
currentMan_ = men_[currentMan_].next;
}
}
// Set the OpenGL mode to use for texture addressing in
// the S and T dimensions respectively.
void gTexture::setWrap(GLint wrapS, GLint wrapT)
{
engage();
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, wrapS);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, wrapT);
disengage();
}
// Set the OpenGL texture-filtering mode to use for texture
// magnification and minification respectively.
void gTexture::setFilter(GLint magFilter, GLint minFilter)
{
engage();
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, magFilter);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, minFilter);
disengage();
}
void gTexture::loadData(GLint internalFormat, GLint format, GLint type, int width, int height, const void *data, bool mipmaps)
{
engage();
mWidth = width;
mHeight = height;
size_t lineSize = width * gTexture::getPixelSize(format, type);
GLint alignment;
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
while ((lineSize & (alignment / 2)) != 0) {
glPixelStorei(GL_UNPACK_ALIGNMENT, alignment / 2);
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
}
if (data && mipmaps) {
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, data);
glGenerateMipmap(GL_TEXTURE_2D);
} else {
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, data);
}
disengage();
}
int main ( void ) {
int8_t cmd[ 256 ];
uint8_t ret, evt = 0;
while( 1 ) {
ret = recv( cmd );
if( ret ) {
cmd[ ret ] = 0x0A;
send( cmd, ret + 1 );
}
ret = inp();
if( ret != evt ) {
evt = ret;
if( evt & 0x10 ) engage( evt & 0x0F );
/*strcpy( cmd, "event: 0x00\n" );
cmd[ 9 ] = p_hex[ evt >> 4 ];
cmd[ 10 ] = p_hex[ evt & 0x0F ];
send( cmd, 12 );
*/
}
ret = uart_read(0,cmd,16);
if (ret > 0)
{
send(cmd,ret);
}
}
//print( "Hello World!\n" );
return( 0 );
}
int main(int argc, char* argv[]) { // main almost exclusively does parameter processing
if (argc < 1) {
show_usage(argv[0]);
return 1;
}
std::string commandsFile = "";
bool runningAsChild = false;
for (int i = 1; i < argc; ++i) { // iterate over argument vector
std::string arg = argv[i];
if ((arg == "-h") || (arg == "--help")) {
show_usage(argv[0]);
return 0;
} else if ((arg == "-c") || (arg == "--child")) {
runningAsChild = true;
} else if ((arg == "-C") || (arg == "--commands")) {
if (i + 1 < argc) { // make sure we aren't at the end of argv
commandsFile = argv[++i]; // oncrement 'i' so we don't get the argument as the next argv[i].
} else {
std::cerr << "--commands option requires one argument." << std::endl;
return 1;
}
}
}
engage(commandsFile, runningAsChild);
return 0;
}
void gTexture::allocateSpace(GLint internalFormat, GLint format, GLint type, int width, int height)
{
engage();
mWidth = width;
mHeight = height;
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, NULL);
disengage();
}
void QuadrotorPropulsion::addPWMToQueue(const hector_uav_msgs::MotorPWMConstPtr& pwm)
{
boost::mutex::scoped_lock lock(command_queue_mutex_);
if (!motor_status_.on) {
ROS_WARN_NAMED("quadrotor_propulsion", "Received new motor command. Enabled motors.");
engage();
}
ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Received motor command valid at " << pwm->header.stamp);
command_queue_.push(pwm);
command_condition_.notify_all();
}
int main(void)
{
printstr("OK\n");
if (init_video())
{
return(1);
}
printstr(" Resetting disk...");
if (print_error(disk_reset(loader_setup.boot_drive), disk_errors, N_DISK_ERRORS, TRUE))
{
return(1);
}
printstr(" Getting disk info...");
if (print_error(disk_info_standard(loader_setup.boot_drive,
&disk_geometry.cylinder,
&disk_geometry.head,
&disk_geometry.sector),
disk_errors, N_DISK_ERRORS, TRUE))
{
return(1);
}
printstr("...OK\n");
printstr("Loading HIKernel (");
putl(loader_setup.kernel_sectors, 10);
printstr(" sectors)...\n");
if (print_error(read_kernel(), disk_errors, N_DISK_ERRORS, TRUE))
{
return(1);
}
printstr("Killing floppy motor...\n");
stop_floppy();
printstr("Starting the BOSS...");
engage();
update_cursor();
printstr("\nBack in the aMOS loader\n");
printstr("Can't play that funky music, giving it up\n");
printstr("Let down and hanging around\n");
for (;;) {}
return(0);
}
// Battle Lord
void battleLordThink(ent_t *self)
{
//ent_t *temp;
// navigation
if(self->onPath == false)
{
if( (abs((self->locx - self->destx)) > 5) || (abs((self->locy - self->desty)) > 5) )
{
move(self, self->destx, self->desty);
//fprintf(stderr, "moving to destination\n");
}
// scan for targets and deal with them
if(self->ROE != 0)
{
if( (self->target != NULL) && (self->target->isDead == false) )
{
engage(self);
// fprintf(stderr,"My target's health is %i\n",self->target->health);}fprintf(stderr, "firing\n");
}
else
{
self->target = NULL;
scanForTarget(self);
}
}
}
else
{
if( (abs((self->locx - self->rallyx)) > 5) || (abs((self->locy - self->rallyy)) > 5) )
{
move(self, self->rallyx, self->rallyy);
//fprintf(stderr, "moving to rally point (%i,%i)\n",self->rallyx,self->rallyy);
}
else
self->onPath = false;
// temp = collision(self->rallyx,self->rallyy,self->sprite->w,self->sprite->h);
// if(temp != NULL)
// ;
}
}
void *gTexture::getData(GLint format, GLint type)
{
size_t lineSize = mWidth * gTexture::getPixelSize(format, type);
GLint alignment;
glGetIntegerv(GL_PACK_ALIGNMENT, &alignment);
while ((lineSize & (alignment / 2)) != 0) {
glPixelStorei(GL_PACK_ALIGNMENT, alignment / 2);
glGetIntegerv(GL_PACK_ALIGNMENT, &alignment);
}
void *data = malloc(lineSize * mHeight);
engage();
glGetTexImage(GL_TEXTURE_2D, 0, format, type, data);
disengage();
return data;
}
FileButton::FileButton(QTableWidget* parent)
: QPushButton("Choose file...", parent) {
connect(this, SIGNAL(clicked()), this, SLOT(engage()));
}
void
CameraTrigger::poll(void *arg)
{
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
bool updated;
orb_check(trig->_vcommand_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_command), trig->_vcommand_sub, &trig->_command);
if(trig->_command.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL)
{
if(trig->_command.param1 < 1)
{
if(trig->_trigger_enabled)
{
trig->_trigger_enabled = false ;
}
}
else if(trig->_command.param1 >= 1)
{
if(!trig->_trigger_enabled)
{
trig->_trigger_enabled = true ;
}
}
// Set trigger rate from command
if(trig->_command.param2 > 0)
{
trig->_integration_time = trig->_command.param2;
param_set(trig->integration_time, &(trig->_integration_time));
}
}
}
if(!trig->_trigger_enabled) {
hrt_call_after(&trig->_pollcall, 1e6, (hrt_callout)&CameraTrigger::poll, trig);
return;
}
else
{
engage(trig);
hrt_call_after(&trig->_firecall, trig->_activation_time*1000, (hrt_callout)&CameraTrigger::disengage, trig);
orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor);
trig->_trigger.timestamp = trig->_sensor.timestamp; // get IMU timestamp
trig->_trigger.seq = trig->_trigger_seq++;
if (trig->_trigger_pub != nullptr) {
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trig->_trigger);
} else {
trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
}
hrt_call_after(&trig->_pollcall, (trig->_transfer_time + trig->_integration_time)*1000, (hrt_callout)&CameraTrigger::poll, trig);
}
}
