virtual sp<IBinder> getService(const String16& name) const
{
unsigned n;
for (n = 0; n < 5; n++){
sp<IBinder> svc = checkService(name);
if (svc != NULL) return svc;
ALOGI("Waiting for service %s...\n", String8(name).string());
sleep(1);
}
return NULL;
}
///@brief Movement of the robot.
double WheelControllerByMyo::onAction(ActionEvent &evt)
{
bool myoAvailable = checkService(this->myoDeviceManager.serviceName);
if (myoAvailable && this->myoDeviceManager.service == NULL)
{
this->myoDeviceManager.service = connectToService(this->myoDeviceManager.serviceName);
}
else if (!myoAvailable && this->myoDeviceManager.service != NULL)
{
this->myoDeviceManager.service = NULL;
}
return 1.0;
}
///@brief Movement of the robot.
double AvatarControllerByOculusCV1::onAction(ActionEvent &evt)
{
bool oculusCV1Available = checkService(this->oculusCV1DeviceManager.serviceName);
if (oculusCV1Available && this->oculusCV1DeviceManager.service == NULL)
{
this->oculusCV1DeviceManager.service = connectToService(this->oculusCV1DeviceManager.serviceName);
}
else if (!oculusCV1Available && this->oculusCV1DeviceManager.service != NULL)
{
this->oculusCV1DeviceManager.service = NULL;
}
return 1.0;
}
///@brief Movement of the robot.
double AvatarControllerByKinectV2::onAction(ActionEvent &evt)
{
bool kinectV2Available = checkService(this->kinectV2DeviceManager.serviceName);
if (kinectV2Available && this->kinectV2DeviceManager.service == NULL)
{
this->kinectV2DeviceManager.service = connectToService(this->kinectV2DeviceManager.serviceName);
}
else if (!kinectV2Available && this->kinectV2DeviceManager.service != NULL)
{
this->kinectV2DeviceManager.service = NULL;
}
return 1.0;
}
double AvatarControllerByPerceptionNeuron::onAction(ActionEvent &evt)
{
bool perceptionNeuronAvailable = checkService(this->perceptionNeuronDeviceManager.serviceName);
if (perceptionNeuronAvailable && this->perceptionNeuronDeviceManager.service == NULL)
{
this->perceptionNeuronDeviceManager.service = connectToService(this->perceptionNeuronDeviceManager.serviceName);
}
else if (!perceptionNeuronAvailable && this->perceptionNeuronDeviceManager.service != NULL)
{
this->perceptionNeuronDeviceManager.service = NULL;
}
return 1.0;
}
void Mpris::checkServices(const QStringList &services)
{
DBusInterface iface(dbusService, QStringLiteral("/"), dbusService);
foreach (QString service, services) {
QDBusPendingCall call = iface.asyncCall(QStringLiteral("GetConnectionUnixProcessID"), service);
QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(call);
watcher->connect(watcher, &QDBusPendingCallWatcher::finished, [this, service](QDBusPendingCallWatcher *watcher) {
watcher->deleteLater();
QDBusPendingReply<quint32> reply = *watcher;
if (reply.isError()) {
qDebug("Unable to get the pid of service %s.", qPrintable(service));
} else {
quint32 p = reply.value();
if (p == m_pid) {
checkService(service);
}
}
});
}
void IconApplet::setUrl(const KUrl& url, bool fromConfigDialog)
{
if (!fromConfigDialog) {
delete m_dialog.data();
}
m_url = url;
if (!m_url.protocol().isEmpty()) {
m_url = KIO::NetAccess::mostLocalUrl(url, 0);
}
m_service = 0;
disconnect(KSycoca::self(), SIGNAL(databaseChanged(QStringList)),
this, SLOT(checkService(QStringList)));
m_hasDesktopFile = false;
delete m_watcher;
m_watcher = 0;
// if local
// if not a directory and executable
// make desktop file
// desktop file
if (m_url.isLocalFile()) {
m_watcher = new KDirWatch;
m_watcher->addFile(m_url.toLocalFile());
connect(m_watcher, SIGNAL(deleted(QString)), this, SLOT(delayedDestroy()));
QFileInfo fi(m_url.toLocalFile());
if (KDesktopFile::isDesktopFile(m_url.toLocalFile())) {
m_hasDesktopFile = true;
} else if (!fi.isDir() && fi.isExecutable()) {
const QString suggestedName = fi.baseName();
const QString file = KService::newServicePath(false, suggestedName);
KDesktopFile df(file);
KConfigGroup desktopGroup = df.desktopGroup();
desktopGroup.writeEntry("Name", suggestedName);
QString entryType;
desktopGroup.writeEntry("Exec", m_url.toLocalFile());
desktopGroup.writeEntry("Icon", KMimeType::iconNameForUrl(url));
desktopGroup.writeEntry("Type", "Application");
df.sync();
m_url.setPath(file);
m_hasDesktopFile = true;
}
}
if (m_hasDesktopFile) {
KDesktopFile f(m_url.toLocalFile());
m_text = f.readName();
//corrupted desktop file?
if (m_text.isNull()) {
m_text = m_url.fileName();
}
m_icon->setIcon(f.readIcon());
m_genericName = f.readGenericName();
connect(m_watcher, SIGNAL(dirty(QString)), this, SLOT(updateDesktopFile()));
} else {
m_text = m_url.fileName();
m_service = KService::serviceByStorageId(m_text);
connect(KSycoca::self(), SIGNAL(databaseChanged(QStringList)),
this, SLOT(checkService(QStringList)));
if (m_service) {
m_text = m_service->name();
m_icon->setIcon(m_service->icon());
} else {
if (m_text.isEmpty() && m_url.isLocalFile()) {
//handle special case like the / folder
m_text = m_url.directory();
} else if (m_url.protocol().contains("http")) {
m_text = m_url.prettyUrl();
m_text.remove(QRegExp("http://(www.)*"));
} else if (m_text.isEmpty()) {
m_text = m_url.prettyUrl();
if (m_text.endsWith(QLatin1String(":/"))) {
m_text = m_url.protocol();
}
}
m_icon->setIcon(KMimeType::iconNameForUrl(url));
}
}
if (m_icon->icon().isNull()) {
m_icon->setIcon("unknown");
}
//Update the icon text (if the icon is not on a panel)
if (formFactor() == Plasma::Planar || formFactor() == Plasma::MediaCenter) {
m_icon->setText(m_text);
} else {
//Update the tooltip (if the icon is on a panel)
Plasma::ToolTipContent data(m_text, m_genericName, m_icon->icon());
Plasma::ToolTipManager::self()->setContent(m_icon, data);
}
//kDebug() << "url was" << url << "and is" << m_url;
}
double MyController::onAction(ActionEvent &evt)
{
// サービスが使用可能か定期的にチェックする
bool available = checkService("CleanUpReferee");
if(!available && m_ref != NULL) m_ref = NULL;
// 使用可能
else if(available && m_ref == NULL){
// サービスに接続
m_ref = connectToService("CleanUpReferee");
}
// 自分の位置取得
Vector3d myPos;
m_my->getPosition(myPos);
// 衝突中の場合,衝突が継続しているかチェック
if(colState){
CParts *parts = m_my->getMainParts();
bool state = parts->getCollisionState();
// 衝突していない状態に戻す
if(!state) colState = false;
}
int entSize = m_entities.size();
for(int i = 0; i < entSize; i++){
// ロボットまたはゴミ箱の場合は除く
if(m_entities[i] == "robot_000" ||
m_entities[i] == "trashbox_0" ||
m_entities[i] == "trashbox_1" ||
m_entities[i] == "trashbox_2"){
continue;
}
// エンティティ取得
SimObj *ent = getObj(m_entities[i].c_str());
// 位置取得
Vector3d tpos;
ent->getPosition(tpos);
// ゴミ箱からゴミを結ぶベクトル
Vector3d vec(tpos.x()-myPos.x(), tpos.y()-myPos.y(), tpos.z()-myPos.z());
// ゴミがゴミ箱の中に入ったかどうか判定
if(abs(vec.x()) < tboxSize_x/2.0 &&
abs(vec.z()) < tboxSize_z/2.0 &&
tpos.y() < tboxMax_y &&
tpos.y() > tboxMin_y ){
// ゴミがリリースされているか確認
if(!ent->getIsGrasped()){
std::string msg;
bool success = false;
// 台の上に置く(成功)
if(strcmp(ent->name(), "mayonaise_0") == 0 && tpos.y() != 57.85) {tpos.y(57.85); success = true;}
else if(strcmp(ent->name(), "chigarette") == 0 && tpos.y() != 54.04){ tpos.y(54.04); success = true;}
else if(strcmp(ent->name(), "chocolate") == 0 && tpos.y() != 51.15){ tpos.y(51.15); success = true;}
else if(strcmp(ent->name(), "mugcup") == 0 && tpos.y() != 54.79){ tpos.y(54.79); success = true;}
else if(strcmp(ent->name(), "petbottle_0") == 0 && tpos.y() != 67.45){ tpos.y(67.45); success = true;}
else if(strcmp(ent->name(), "petbottle_3") == 0 && tpos.y() != 61.95){ tpos.y(61.95); success = true;}
else if(strcmp(ent->name(), "clock") == 0 && tpos.y() != 56.150){ tpos.y(56.150); success = true;}
else if(strcmp(ent->name(), "kettle") == 0 && tpos.y() != 60.650){ tpos.y(60.650); success = true;}
// 台の上に置く(失敗)
else if(strcmp(ent->name(), "petbottle_1") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_2") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_4") == 0 && tpos.y() != 61.95){ tpos.y(61.95);}
else if(strcmp(ent->name(), "mayonaise_1") == 0 && tpos.y() != 57.85){ tpos.y(57.85);}
else if(strcmp(ent->name(), "can_0") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_1") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_2") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "can_3") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "banana") == 0 && tpos.y() != 51.69){ tpos.y(51.69);}
else if(strcmp(ent->name(), "apple") == 0 && tpos.y() != 54.675){ tpos.y(54.675);}
else{continue;}
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
if(success){
msg = "CleanUpReferee/";
msg += ent->name();
msg += " succeeded/1000";
}
else{
msg = "CleanUpReferee/";
msg += ent->name();
msg += " failed/-600";
}
if(m_ref != NULL) {
m_ref->sendMsgToSrv(msg.c_str());
}
else{
LOG_MSG((msg.c_str()));
}
}
}
}
return retValue;
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
char *all_msg = (char*)evt.getMsg();
std::string ss = all_msg;
int strPos1 = 0;
int strPos2,strPos3;
std::string headss,cmd;
std::string tmpss;
std::cout<<"the massage is :"<< ss <<std::endl;
std::cout<<"the sender is :"<< sender <<std::endl;
strPos2 = ss.find(" ", strPos1);
headss.assign(ss, strPos1, strPos2-strPos1);
int jj = ss.size();
cmd.assign(ss, strPos2+1,jj);
strPos3 = cmd.find("|", strPos1);
id.assign(cmd, strPos1, strPos3-strPos1+1);
//std::cout<<"The ID is : "<< id <<std::endl;
bool aff = true;
if (headss == "MultiUsersMenu")
{
bool available = checkService(ss);
if (!available && m_ref != NULL) m_ref = NULL;
else if (available && m_ref == NULL){
m_ref = connectToService(ss);
}
int nn = 0;
for (int j = 0; j< list.size();j++) {
if (id != list[j].ID) {
nn++;
}
else {
sendMsg(list[j].name,list[j].ID);
m_state = 0;
ind = j;
current_avatar = list[j].name;
}
}
if (nn == list.size()) {
for (int i = 0; i< list.size();i++) {
if (list[i].ID == "" && aff == true ) {
list[i].ID = id;
sendMsg(list[i].name,list[i].ID);
m_state = 0;
ind = i;
current_avatar = list[i].name;
aff = false;
}
}
}
}
if (ss == "Info") {
std::cout<<"Sending info to:"<< sender <<std::endl;
std::string mess = "";
mess += "AvatarInformation/" ;
mess += avatars_number;
mess += "/" ;
for (int j = 0; j< list.size();j++) {
mess += list[j].name ;
mess += "/" ;
}
std::cout<<"The message is :"<< mess <<std::endl;
sendMsg(sender,mess);
}
}
double MyController::onAction(ActionEvent &evt)
{
// サービスが使用可能か定期的にチェックする
bool available = checkService("RobocupReferee");
if(!available && m_ref != NULL) m_ref = NULL;
// 使用可能
else if(available && m_ref == NULL){
// サービスに接続
m_ref = connectToService("RobocupReferee");
}
// 自分の位置取得
Vector3d myPos;
m_my->getPosition(myPos);
// 衝突中の場合,衝突が継続しているかチェック
if(colState){
CParts *parts = m_my->getMainParts();
bool state = parts->getCollisionState();
// 衝突していない状態に戻す
if(!state) colState = false;
}
int entSize = m_entities.size();
for(int i = 0; i < entSize; i++){
// ロボットまたはゴミ箱の場合は除く
if(m_entities[i] == "robot_000" ||
m_entities[i] == "recycle" ||
m_entities[i] == "burnable" ||
m_entities[i] == "room" ||
m_entities[i] == "moderator_0" ||
m_entities[i] == "Kinect_000" ||
m_entities[i] == "unburnable"){
continue;
}
// エンティティ取得
SimObj *ent = getObj(m_entities[i].c_str());
// 位置取得
Vector3d tpos;
ent->getPosition(tpos);
// ゴミ箱からゴミを結ぶベクトル
Vector3d vec(tpos.x()-myPos.x(), tpos.y()-myPos.y(), tpos.z()-myPos.z());
// ゴミがゴミ箱の中に入ったかどうか判定
if(abs(vec.x()) < tboxSize_x/2.0 &&
abs(vec.z()) < tboxSize_z/2.0 &&
tpos.y() < tboxMax_y &&
tpos.y() > tboxMin_y ){
// ゴミがリリースされているか確認
if(!ent->getIsGrasped()){
// ゴミを捨てる
tpos.y(-100);
tpos.x(myPos.x());
tpos.z(myPos.z());
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
ent->setPosition(tpos);
ent->setPosition(tpos);
usleep(500000);
tpos.y(-50.0);
ent->setPosition(tpos);
ent->setPosition(tpos);
ent->setPosition(tpos);
std::string msg;
// ゴミが所定のゴミ箱に捨てられているかチェック
// リサイクル
/*
if(strcmp(myname(), "recycle") == 0){
// 空のペットボトルのみ点が入る
if(strcmp(ent->name(), "petbottle") == 0 ||
strcmp(ent->name(), "petbottle_2") == 0 ||
strcmp(ent->name(), "petbottle_4") == 0 ||
strcmp(ent->name(), "mayonaise_1") == 0 ) {
msg = "RobocupReferee/Clean up succeeded" "/1000";
}
else{
msg = "RobocupReferee/Clean up failed" "/-600";
}
}
*/
// 燃えるゴミ
/*
else if(strcmp(myname(), "burnable") == 0){
// 燃えるゴミに入れるべきものは無い
msg = "RobocupReferee/Clean up failed" "/-600";
}
// 缶瓶
else if(strcmp(myname(), "unburnable") == 0){
if(strcmp(ent->name(), "can_0") == 0 ||
strcmp(ent->name(), "can_1") == 0 ||
strcmp(ent->name(), "can") == 0 ||
strcmp(ent->name(), "can_3") == 0) {
msg = "RobocupReferee/Clean up succeeded" "/1000";
}
else {
msg = "RobocupReferee/Clean up succeeded" "/-600";
}
}
*/
if(m_ref != NULL) {
// m_ref->sendMsgToSrv(msg.c_str());
}
//LOG_MSG((msg.c_str()));
}
}
}
return retValue;
}
