void MessageWindow::initialiseComponents()
{
CEGUI::WindowManager& wm = CEGUI::WindowManager::getSingleton();
setText("");
{
_pMessageWindow = static_cast< CEGUI::DefaultWindow* >(wm.createWindow("TaharezLook/StaticText",""));
_pMessageWindow->setFont(::bootes::cegui::DynamicFont::GetAsciiFont(8));
_pMessageWindow->setProperty("FrameEnabled", "false");
addChildWindow(_pMessageWindow);
}
setMinSize(CEGUI::UVector2(CEGUI::UDim(0,MIN_WIDTH), CEGUI::UDim(0,MIN_HEIGHT)));
setUpdateMode(CEGUI::WUM_VISIBLE); //default
/*
{
CEGUI::Size s0 = this->getParentPixelSize();
CEGUI::Vector2 s = pChild->getMinSize().asAbsolute(s0);
CEGUI::UDim x(0,0), y(0,0);
x.d_offset = s.d_x + 30;
y.d_offset = s.d_y + 60;
this->setMinSize(CEGUI::UVector2(x,y));
x.d_offset = (s0.d_width - x.d_offset) / 2;
y.d_offset = (s0.d_height - y.d_offset) / 2;
this->setPosition(CEGUI::UVector2(x,y));
}
*/
}
Color_Selector::Color_Selector(QWidget *parent) :
Color_Preview(parent), p(new Private(this))
{
setUpdateMode(Continuous);
p->old_color = color();
connect(this,SIGNAL(clicked()),this,SLOT(showDialog()));
connect(this,SIGNAL(colorChanged(QColor)),this,SLOT(update_old_color(QColor)));
connect(p->dialog,SIGNAL(rejected()),this,SLOT(reject_dialog()));
connect(p->dialog,SIGNAL(colorSelected(QColor)), this, SLOT(accept_dialog()));
setAcceptDrops(true);
}
void CCommand::Initialize()
{
// Set Baud rate
setRadio(0);
setSquelch(255);
setSoundVolume(0);
setRadio(1);
setSoundVolume(0);
setSquelch(255);
/*
dbgWin->slotSendSerial("G2?");
dbgWin->slotSendSerial("G4?");
dbgWin->slotSendSerial("GE?");
dbgWin->slotSendSerial("GD?");
dbgWin->slotSendSerial("GA0?");
dbgWin->slotSendSerial("GA1?");
dbgWin->slotSendSerial("GA2?");
dbgWin->slotSendSerial("GF?");
*/
sleep(1);
setUpdateMode(CCommand::eUpdOn);
/* NOT NEEDED */
//dbgWin->slotSendSerial("J730000");
setRadio(0);
// Noise blanker is off
setNoiseBlanker(false);
setRadio(1);
setNoiseBlanker(false);
// Init radio 0 Frequency;
setRadio(0);
setModulation(CCommand::eWFM);
setFilter(CCommand::e230k);
setFrequency(106500000);
setSquelch(0);
setVoiceControl(CCommand::eVSCOff);
setIFShift(128);
// Init radio 1 Frequency
setRadio(1);
setModulation(CCommand::eFM);
setFilter(CCommand::e15k);
setFrequency(145425000);
setSquelch(0);
setSoundVolume(0);
setVoiceControl(CCommand::eVSCOff);
setIFShift(128);
/* NOT NEEDED */
/* Unknown
dbgWin->slotSendSerial("J4200");
dbgWin->slotSendSerial("J4700");
dbgWin->slotSendSerial("J6700");
dbgWin->slotSendSerial("JC400");
dbgWin->slotSendSerial("J7100");
dbgWin->slotSendSerial("J720000");
dbgWin->slotSendSerial("JC000");
*/
// Mute radio before restoring values
setRadio(0);
setSoundMute(true);
setSoundVolume(0);
/* Unknown
dbgWin->slotSendSerial("J8001");
dbgWin->slotSendSerial("J8100");
dbgWin->slotSendSerial("J8200");
dbgWin->slotSendSerial("J8300");
dbgWin->slotSendSerial("JC500");
*/
setRadio(0);
setSquelch(255);
setVoiceControl(CCommand::eVSCOff);
setRadio(1);
setSquelch(255);
setVoiceControl(CCommand::eVSCOff);
setRadio(0);
setSoundVolume(0);
setRadio(1);
setSoundVolume(0);
setSquelch(255);
setRadioMode(CCommand::eBoth);
//dbgWin->slotSendSerial("JB000");
setRadio(1);
setSquelch(255);
setVoiceControl(CCommand::eVSCOff);
setRadio(0);
setSquelch(1);
setVoiceControl(CCommand::eVSCOff);
setRadio(1);
setVoiceControl(CCommand::eVSCOff);
setSquelch(1);
setRadio(0);
setSoundVolume(60);
setSoundMute(false);
}
BACIMonitor::BACIMonitor(const ACE_CString& _name, int _callbackID,
MonitorImplementator* _monitorImplementator_p,
const ACS::TimeInterval& _triggerTime, const BACIValue& _triggerValue,
const ACS::TimeInterval& _minTriggerTime, const BACIValue& _minTriggerValue,
BACIProperty* _property, const ACS::TimeInterval& _transmitTime,
const UpdateMode& _updateMode,
const bool _archivingMonitor,
const bool _suspended,
const bool _deltaValueAndTimerInteraction,
const unsigned int _priority) :
name_m(_name), callbackID_m(_callbackID),
monitorImplementator_mp(_monitorImplementator_p), updateMode_m(mumLast),
triggerTime_m(0), minTriggerTime_m(_minTriggerTime),
transmitTime_m(0), userControlledTransmitTime_m(false), lastTime_m(0),
minTriggerValue_m(_minTriggerValue), triggerOnValue_m(false), triggerOnValuePercent_m(false),
property_mp(_property), archivingMonitor_m(_archivingMonitor),
suspended_m(_suspended),
deltaValueAndTimerInteraction_m(_deltaValueAndTimerInteraction),
priority_m(_priority),
inDestructionState_m(false),
destroyed_m(false)
{
ACS_TRACE("baci::BACIMonitor::BACIMonitor");
ACS_LOG(0, "baci::BACIMonitor::BACIMonitor",
(static_cast<ACE_Log_Priority>(LM_DELOUSE), "Creating monitor '%s' (archiving: %d, triggerTime: %d)",
name_m.c_str(), archivingMonitor_m, (unsigned)_triggerTime));
if (archivingMonitor_m==true)
{
ACS_LOG(0, "baci::BACIMonitor::BACIMonitor",
(LM_DEBUG, "Archiver monitor with priority %d", priority_m));
}
// VxWorks (should not be as initializer)
monitorImplementator_mp = 0;
// set update mode
setUpdateMode(_updateMode);
// set monitors
setTriggerTime(_triggerTime);
setTriggerValue(_triggerValue);
if (getTriggerValue().isNull()==0 && getTriggerValue().noDelta()==false)
{
setTriggerOnValue(true);
}
if (getTriggerValuePercent().isNull()==0 && getTriggerValuePercent().noDelta()==false)
{
setTriggerOnValuePercent(true);
}
// set transmit_time
if (_transmitTime!=0)
{
userControlledTransmitTime_m = true;
setTransmitTime(_transmitTime); // user now handles monitor sync.
}
if (archivingMonitor_m==false)
{
property_mp->getComponent()->getCallback(callbackID_m)->setRemoveOnFailure(false);
}
monitorImplementator_mp = _monitorImplementator_p;
// add monitor
property_mp->addMonitor(this);
}
void MyApplication::createScene()
{
setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
// Use feet for this simulation.
getSimulator()->setGravity(opal::Vec3r(0, -30, 0));
getSimulator()->setStepSize(gPhysicsStepSize);
// Make sure we get notified at the end of each step.
getSimulator()->addPostStepEventHandler(&gPostStepEventHandler);
Ogre::OverlayManager::getSingleton().getByName("Verve/Debug")->hide();
Ogre::OverlayManager::getSingleton().getByName("Core/DebugOverlay")->hide();
// Setup camera.
getCamera()->setPosition(opal::Point3r(0, 25, 25));
getCamera()->lookAt(opal::Point3r(0, (opal::real)0.1, 0));
setCameraMoveSpeed(1);
// Main static arena.
opal::Blueprint arenaBlueprint;
opal::loadFile(arenaBlueprint, "../data/blueprints/arena1.xml");
opal::BlueprintInstance arenaBPInstance;
getSimulator()->instantiateBlueprint(arenaBPInstance,
arenaBlueprint, opal::Matrix44r(), 1);
createPhysicalEntity("staticEnvironment", "Plastic/Gray",
arenaBPInstance.getSolid("staticEnvironment"));
createPhysicalEntity("toy1", "Plastic/Green",
arenaBPInstance.getSolid("toy1"));
createPhysicalEntity("toy2", "Plastic/Green",
arenaBPInstance.getSolid("toy2"));
createPhysicalEntity("toy3", "Plastic/Green",
arenaBPInstance.getSolid("toy3"));
// Seesaw.
opal::Blueprint seesawBP;
opal::loadFile(seesawBP, "../data/blueprints/seesaw.xml");
opal::BlueprintInstance seesawBPInstance;
opal::Matrix44r seesawTransform;
seesawTransform.translate(8, 0, 0);
getSimulator()->instantiateBlueprint(seesawBPInstance,
seesawBP, seesawTransform, 1);
createPhysicalEntity("seesawSupport", "Plastic/Black",
seesawBPInstance.getSolid("seesawSupport"));
createPhysicalEntity("seesawPanel", "Plastic/Orange",
seesawBPInstance.getSolid("seesawPanel"));
// Add an initial torque to bring one end of the seesaw to the
// ground.
seesawBPInstance.getJoint("seesawHinge")->addTorque(0, 100, 0, true);
// Merry-go-round.
createPhysicalEntity("merryGoRound", "Plastic/Yellow",
arenaBPInstance.getSolid("merryGoRound"));
// Curtains.
opal::Blueprint curtainsBP;
opal::loadFile(curtainsBP, "../data/blueprints/blockCurtain.xml");
opal::BlueprintInstance curtainsBPInstance;
opal::Matrix44r curtainsTransform;
curtainsTransform.rotate(45, 0, 1, 0);
curtainsTransform.translate(-10, 0, 0);
getSimulator()->instantiateBlueprint(curtainsBPInstance,
curtainsBP, curtainsTransform, 1);
createPhysicalEntity("curtainBase", "Plastic/Red",
curtainsBPInstance.getSolid("curtainBase"));
createPhysicalEntity("curtainPiece0", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece0"));
createPhysicalEntity("curtainPiece1", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece1"));
createPhysicalEntity("curtainPiece2", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece2"));
createPhysicalEntity("curtainPiece3", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece3"));
createPhysicalEntity("curtainPiece4", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece4"));
createPhysicalEntity("curtainPiece5", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece5"));
//// Ragdoll.
//opal::Blueprint ragdollBP;
//opal::loadFile(ragdollBP, "../data/blueprints/ragdoll.xml");
//opal::BlueprintInstance ragdollBPInstance;
//opal::Matrix44r ragdollTransform;
//ragdollTransform.translate(10, 5, 0);
//getSimulator()->instantiateBlueprint(ragdollBPInstance,
// ragdollBP, ragdollTransform, 2);
//for (unsigned int i = 0; i < ragdollBPInstance.getNumSolids(); ++i)
//{
// opal::Solid* s = ragdollBPInstance.getSolid(i);
// createPhysicalEntity(s->getName(), "Plastic/Red", s);
//}
//// TESTING: Simple goal box.
//opal::Solid* boxSolid = getSimulator()->createSolid();
//boxSolid->setStatic(false);
//boxSolid->setSleepiness(0);
//boxSolid->setPosition(15.5, 10, -7);
//opal::BoxShapeData data;
//data.dimensions.set(1.5, 1.5, 1.5);
//data.material.friction = 0.1;
//data.material.density = 0.5;
//boxSolid->addShape(data);
//createPhysicalEntity("goal box", "Plastic/Green", boxSolid);
//// TESTING: Make a volume sensor to detect the goal.
//opal::VolumeSensorData goalSensorData;
//goalSensorData.solid = gRobot->getChassis();
//goalSensorData.transform.makeTranslation(0, 0, -2);
//gGoalSensor = getSimulator()->createVolumeSensor();
//gGoalSensor->init(goalSensorData);
//gGoalSensorVolume = getSimulator()->createSolid();
//gGoalSensorVolume->setStatic(true);
////opal::Matrix44r m = gRobot->getChassis()->getTransform();
////m.translate(0, 0, -2);
//opal::Matrix44r m;
//m.translate(0, 100, 0);
//gGoalSensorVolume->setTransform(m);
//opal::BoxShapeData sensorVolumeShape;
//sensorVolumeShape.dimensions.set(2, 1, 2);
////getSimulator()->setupContactGroup(5, false);
////sensorVolumeShape.contactGroup = 5;
//sensorVolumeShape.material.density = 0.01;
//gGoalSensorVolume->addShape(sensorVolumeShape);
////createPhysicalEntityBox("goal sensor", "Translucent/Blue", boxDim,
//// gGoalSensorVolume);
//opal::JointData fixedJointData;
//fixedJointData.setType(opal::FIXED_JOINT);
//fixedJointData.solid0 = gRobot->getChassis();
//fixedJointData.solid1 = gGoalSensorVolume;
//opal::Joint* fixedJoint = getSimulator()->createJoint();
//fixedJoint->init(fixedJointData);
}
