QString PWMatrixSearchPrompter::composeRichDoc() {
    Actor* modelProducer = qobject_cast<IntegralBusPort*>(target->getPort(MODEL_PORT))->getProducer(PWMatrixWorkerFactory::WMATRIX_SLOT.getId());
    Actor* seqProducer = qobject_cast<IntegralBusPort*>(target->getPort(BasePorts::IN_SEQ_PORT_ID()))->getProducer(BaseSlots::DNA_SEQUENCE_SLOT().getId());

    QString unsetStr = "<font color='red'>"+tr("unset")+"</font>";
    QString seqName = tr("For each sequence from <u>%1</u>,").arg(seqProducer ? seqProducer->getLabel() : unsetStr);
    QString modelName = tr("with all profiles provided by <u>%1</u>,").arg(modelProducer ? modelProducer->getLabel() : unsetStr);

    QString resultName = getRequiredParam(NAME_ATTR);
    resultName = getHyperlink(NAME_ATTR, resultName);

    QString strandName;
    switch (getStrand(getParameter(BaseAttributes::STRAND_ATTRIBUTE().getId()).value<QString>())) {
    case 0: strandName = PWMatrixSearchWorker::tr("both strands"); break;
    case 1: strandName = PWMatrixSearchWorker::tr("direct strand"); break;
    case -1: strandName = PWMatrixSearchWorker::tr("complement strand"); break;
    }
    strandName = getHyperlink(BaseAttributes::STRAND_ATTRIBUTE().getId(), strandName);

    QString doc = tr("%1 search transcription factor binding sites (TFBS) %2."
        "<br>Recognize sites with <u>similarity %3%</u>, process <u>%4</u>."
        "<br>Output the list of found regions annotated as <u>%5</u>.")
        .arg(seqName)
        .arg(modelName)
        .arg(getHyperlink(SCORE_ATTR, getParameter(SCORE_ATTR).toInt()))
        .arg(strandName)
        .arg(resultName);

    return doc;
}
Beispiel #2
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QString CollocationPrompter::composeRichDoc() {
    IntegralBusPort* input = qobject_cast<IntegralBusPort*>(target->getPort(BasePorts::IN_SEQ_PORT_ID()));
    Actor* seqProducer = input->getProducer(SEQ_SLOT);
    QString seqName = seqProducer ? tr(" sequence from <u>%1</u>").arg(seqProducer->getLabel()) : "";
    QString annName = getProducers(BasePorts::IN_SEQ_PORT_ID(), FEATURE_TABLE_SLOT);
    if (!annName.isEmpty()) {
        annName = tr(" set of annotations from <u>%1</u>").arg(annName);
    }

    QString data;
    if (seqName.isEmpty() && annName.isEmpty()) {
        //return "<font color='red'>"+tr("unset")+"</font>";
    } else if (!seqName.isEmpty() && !annName.isEmpty()) {
        data = tr("For each %1 and %2,").arg(seqName).arg(annName);
    } else {
        data = tr("For each %1%2,").arg(seqName).arg(annName);
    }

    QString annotations;
    QStringList names = annotations.split(QRegExp("\\W+"), QString::SkipEmptyParts).toSet().toList();
    annotations = names.join(", ");
    if (annotations.isEmpty()) {
        annotations = getRequiredParam(ANN_ATTR);
    }
    annotations = getHyperlink(ANN_ATTR, annotations);

    int distance = getParameter(LEN_ATTR).toInt();
    bool mode = getParameter(FIT_ATTR).toBool();

    QString extra;
    if (mode) {
        extra = tr(" Annotations themselves may not span beyond the region.");
    }

    QString resultName = getHyperlink(NAME_ATTR, getRequiredParam(NAME_ATTR));
    QString doc = tr("%1 look if <u>%2</u> annotations appear collocated within same region of length <u>%3</u>.%4"
        "<br>Output the list of found regions annotated as <u>%5</u>.")
        .arg(data) //sequence from Read Fasta 1
        .arg(annotations)
        .arg(getHyperlink(LEN_ATTR, distance))
        .arg(extra)
        .arg(resultName);

    return doc;
}
/*******************************
 * FilterSequencePrompter
 *******************************/
QString PassFilterPrompter::composeRichDoc() {
    IntegralBusPort* input = qobject_cast<IntegralBusPort*>(target->getPort("in-data"));
    Actor* producer = input->getProducer(BaseSlots::TEXT_SLOT().getId());
    QString unsetStr = "<font color='red'>"+tr("unset")+"</font>";
    QString producerName = tr("<u>%1</u>").arg(producer ? producer->getLabel() : unsetStr);
    QString passVals = getRequiredParam(BaseSlots::TEXT_SLOT().getId());
    passVals = getHyperlink(BaseSlots::TEXT_SLOT().getId(), passVals);

    QString res = tr("Filters input data from %1 by value(s) %2.").arg(producerName).arg(passVals);
    return res;
}
VescToOdom::VescToOdom(ros::NodeHandle nh, ros::NodeHandle private_nh) :
  odom_frame_("odom"), base_frame_("base_link"),
  use_servo_cmd_(true), publish_tf_(false), x_(0.0), y_(0.0), yaw_(0.0)
{
  // get ROS parameters
  private_nh.param("odom_frame", odom_frame_, odom_frame_);
  private_nh.param("base_frame", base_frame_, base_frame_);
  private_nh.param("use_servo_cmd_to_calc_angular_velocity", use_servo_cmd_, use_servo_cmd_);
  if (!getRequiredParam(nh, "speed_to_erpm_gain", speed_to_erpm_gain_))
    return;
  if (!getRequiredParam(nh, "speed_to_erpm_offset", speed_to_erpm_offset_))
    return;
  if (use_servo_cmd_) {
    if (!getRequiredParam(nh, "steering_angle_to_servo_gain", steering_to_servo_gain_))
      return;
    if (!getRequiredParam(nh, "steering_angle_to_servo_offset", steering_to_servo_offset_))
      return;
    if (!getRequiredParam(nh, "wheelbase", wheelbase_))
      return;
  }
  private_nh.param("publish_tf", publish_tf_, publish_tf_);

  // create odom publisher
  odom_pub_ = nh.advertise<nav_msgs::Odometry>("odom", 10);

  // create tf broadcaster
  if (publish_tf_) {
    tf_pub_.reset(new tf::TransformBroadcaster);
  }

  // subscribe to vesc state and. optionally, servo command
  vesc_state_sub_ = nh.subscribe("sensors/core", 10, &VescToOdom::vescStateCallback, this);
  if (use_servo_cmd_) {
    servo_sub_ = nh.subscribe("sensors/servo_position_command", 10,
                              &VescToOdom::servoCmdCallback, this);
  }
}
Beispiel #5
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/******************************
 * RepeatPrompter
 ******************************/
QString RepeatPrompter::composeRichDoc() {
    IntegralBusPort* input = qobject_cast<IntegralBusPort*>(target->getPort(BasePorts::IN_SEQ_PORT_ID()));
    Actor* producer = input->getProducer(BaseSlots::DNA_SEQUENCE_SLOT().getId());
    QString unsetStr = "<font color='red'>"+tr("unset")+"</font>";
    QString producerName = tr(" from <u>%1</u>").arg(producer ? producer->getLabel() : unsetStr);

    // TODO extend ?
    QString resultName = getRequiredParam(NAME_ATTR);
    QString inverted = getParameter(INVERT_ATTR).toBool() ? tr("inverted") : tr("direct");

    QString doc = tr("For each sequence%1, find <u>%2</u> repeats."
        "<br>Detect <u>%3% identical</u> repeats <u>not shorter than %4 bps</u>."
        "<br>Output the list of found regions annotated as <u>%5</u>.")
        .arg(producerName) //sequence from Read Fasta 1
        .arg(getHyperlink(INVERT_ATTR, inverted))
        .arg(getHyperlink(IDENTITY_ATTR, getParameter(IDENTITY_ATTR).toInt()))
        .arg(getHyperlink(LEN_ATTR, getParameter(LEN_ATTR).toInt()))
        .arg(getHyperlink(NAME_ATTR, resultName));

    return doc;
}
Beispiel #6
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/*****************************
 * ORFPrompter
 *****************************/
QString ORFPrompter::composeRichDoc() {
    IntegralBusPort* input = qobject_cast<IntegralBusPort*>(target->getPort(BasePorts::IN_SEQ_PORT_ID()));
    Actor* producer = input->getProducer(BaseSlots::DNA_SEQUENCE_SLOT().getId());
    QString unsetStr = "<font color='red'>"+tr("unset")+"</font>";
    QString producerName = tr(" from <u>%1</u>").arg(producer ? producer->getLabel() : unsetStr);

    ORFAlgorithmSettings cfg;
    cfg.strand = getStrand(getParameter(BaseAttributes::STRAND_ATTRIBUTE().getId()).value<QString>());
    cfg.minLen = getParameter(LEN_ATTR).toInt();
    cfg.mustFit = getParameter(FIT_ATTR).toBool();
    cfg.mustInit = getParameter(INIT_ATTR).toBool();
    cfg.allowAltStart = getParameter(ALT_ATTR).toBool();
    cfg.includeStopCodon = getParameter(ISC_ATTR).toBool();

    QString extra;
    if (!cfg.mustInit) {
        QString anyLink = getHyperlink(INIT_ATTR, tr("starting with any codon"));
        extra += tr(", allow ORFs %1 other than terminator").arg(anyLink);
    } else if (cfg.allowAltStart) {
        QString altLink = getHyperlink(ALT_ATTR, tr("alternative start codons"));
        extra += tr(", take into account %1").arg(altLink);
    }
    if (cfg.mustFit) {
        QString mustFitLink = getHyperlink(FIT_ATTR, tr("ignore non-terminated"));
        extra += tr(", %1 ORFs").arg(mustFitLink);
    }

    QString strandName;
    switch (cfg.strand) {
    case ORFAlgorithmStrand_Both:
        strandName = ORFWorker::tr("both strands");
        break;
    case ORFAlgorithmStrand_Direct:
        strandName = ORFWorker::tr("direct strand");
        break;
    case ORFAlgorithmStrand_Complement:
        strandName = ORFWorker::tr("complement strand");
        break;
    }
    strandName = getHyperlink(BaseAttributes::STRAND_ATTRIBUTE().getId(), strandName);

    QString resultName = getHyperlink(NAME_ATTR, getRequiredParam(NAME_ATTR));

    QString transId = getParameter(ID_ATTR).toString();
    QString ttName = AppContext::getDNATranslationRegistry()->
                     lookupTranslation(AppContext::getDNAAlphabetRegistry()->findById(BaseDNAAlphabetIds::NUCL_DNA_DEFAULT()), DNATranslationType_NUCL_2_AMINO, transId)->getTranslationName();
    ttName = getHyperlink(ID_ATTR, ttName);


    QString doc = tr("For each nucleotide sequence%1, find ORFs in <u>%2</u> using the <u>%3</u>."
                     "<br>Detect only ORFs <u>not shorter than %4 bps</u>%5."
                     "<br>Output the list of found regions annotated as <u>%6</u>.")
                  .arg(producerName) //sequence from Read Fasta 1
                  .arg(strandName) //both strands
                  .arg(ttName) //Standard Genetic Code
                  .arg(getHyperlink(LEN_ATTR, cfg.minLen)) //100
                  .arg(extra) //  take into account alternative start codons.
                  .arg(resultName);

    return doc;
}