void AttributeParser::parseMatrixAttribute(MFnDependencyNode & node, MObject & attribute)
{
MStatus status;
MFnMatrixAttribute fnMatrixAttribute(attribute, &status);
if (!status) return;
MPlug plug = node.findPlug(attribute, &status);
if (!status) return;
MPlugArray plugArray;
bool hasConnection = plug.connectedTo(plugArray, true, false, &status);
if (!status) return;
if (hasConnection)
{
MPlug externalPlug = plugArray[0];
bool externalPlugNull = externalPlug.isNull(&status);
if (!status) return;
if (!externalPlugNull)
{
MFnAttribute fnAttribute(attribute, &status);
if (!status) return;
MString name = fnAttribute.name(&status);
if (!status) return;
//MObject pluggedObject = externalPlug.node(&status);
//if (!status) return;
// TODO pass matrix to callback? onMatrix(...) instead of onConnection(...)?
onConnection(plug, name, externalPlug);
}
}
}
pServer::pServer(QObject *parent):
QObject(parent)
{
connect(&_server, SIGNAL(newConnection()), this, SLOT(onConnection()));
_server.listen(Settings::host(), Settings::port());
qDebug() << "\n\nServer started. Time:" << QDateTime::currentDateTime().toString() << '\n';
#ifdef FUNC_DEBUG
qWarning() << "FuncDebug activated";
#endif
_timeLeft = 0;
startTimer(60000);
}
void SocketExternalCommunicator::startListening()
{
if ( memory_->create(sizeof(qint32))) {
#ifdef Q_OS_UNIX
// Handle any further termination signals to ensure the
// QSharedMemory block is deleted even if the process crashes
setCrashHandler(memory_);
#endif
*reinterpret_cast<qint32*>(memory_->data()) = version();
QLocalServer::removeServer(GLOG_SERVICE_NAME);
connect(server_, SIGNAL(newConnection()), SLOT(onConnection()));
server_->listen(GLOG_SERVICE_NAME);
}
}
int WebServerBaseClass::run_connection(WS_conInst *con)
{
int s=con->m_serv.run();
if (s < 0)
{
// m_serv.geterrorstr()
return 1;
}
if (s < 2)
{
// return 1 if we timed out
return time(NULL)-con->m_connect_time > m_timeout_s;
}
if (s < 3)
{
con->m_pagegen=onConnection(&con->m_serv,con->m_port);
return 0;
}
if (s < 4)
{
if (!con->m_pagegen)
{
if (con->m_serv.canKeepAlive()) return -1;
return !con->m_serv.bytes_inqueue();
}
char buf[16384];
int l=con->m_serv.bytes_cansend();
if (l > 0)
{
if (l > sizeof(buf))l=sizeof(buf);
l=con->m_pagegen->GetData(buf,l);
if (l < (con->m_pagegen->IsNonBlocking() ? 0 : 1)) // if nonblocking, this is l < 0, otherwise it's l<1
{
if (con->m_serv.canKeepAlive()) return -1;
return !con->m_serv.bytes_inqueue();
}
if (l>0)
con->m_serv.write_bytes(buf,l);
}
return 0;
}
if (con->m_serv.canKeepAlive()) return -1;
return 1; // we're done by this point
}
MainWindow::MainWindow(QWidget* _parent)
:QMainWindow(_parent),
m_settings(new Settings()),
m_ui(new Ui::MainWindow()),
m_copterCtrl(),
m_tcpServer(),
m_tcpConnection(),
m_accelerometerInputFd(-1),
m_accelerometerInputNotifier(0),
m_lastTiltX(0),
m_lastTiltY(0)
{
m_ui->setupUi(this);
const auto s_ctrl_path = m_settings->getControlPath();
QSharedPointer<CopterMotor> mx1(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.0/pwm/ehrpwm.0:0/duty_percent", m_ui->motor_x1));
QSharedPointer<CopterMotor> mx2(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.0/pwm/ehrpwm.0:1/duty_percent", m_ui->motor_x2));
QSharedPointer<CopterMotor> my1(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.1/pwm/ehrpwm.1:0/duty_percent", m_ui->motor_y1));
QSharedPointer<CopterMotor> my2(new CopterMotor(m_settings, s_ctrl_path+"ehrpwm.1/pwm/ehrpwm.1:1/duty_percent", m_ui->motor_y2));
QSharedPointer<CopterAxis> m_axisX(new CopterAxis(mx1, mx2));
QSharedPointer<CopterAxis> m_axisY(new CopterAxis(my1, my2));
m_copterCtrl = new CopterCtrl(m_settings, m_axisX, m_axisY, m_ui->motor_all);
m_tcpServer.listen(QHostAddress::Any, m_settings->getTcpPort());
connect(&m_tcpServer, SIGNAL(newConnection()), this, SLOT(onConnection()));
auto const s_accel_input_path = m_settings->getAccelInputPath();
m_accelerometerInputFd = ::open(s_accel_input_path.toLatin1().data(), O_SYNC, O_RDONLY);
if (m_accelerometerInputFd == -1)
qDebug() << "Cannot open accelerometer input file " << s_accel_input_path << ", reason: " << errno;
m_accelerometerInputNotifier = new QSocketNotifier(m_accelerometerInputFd, QSocketNotifier::Read, this);
connect(m_accelerometerInputNotifier, SIGNAL(activated(int)), this, SLOT(onAccelerometerRead()));
m_accelerometerInputNotifier->setEnabled(true);
m_copterCtrl->adjustPower(0);
showFullScreen();
showMaximized();
}
GraspitProtobufServer::GraspitProtobufServer(unsigned int port_num, QObject * parent ):
QTcpServer(parent)
{
connect(this, SIGNAL(newConnection()), this, SLOT(onConnection()));
this->listen(QHostAddress::Any,port_num);
}
