void Keeper()
{
static int g_loop = 0;
getMaxball();
PID();
if (g_diff > 40 || g_diff < -40) turn(g_pid);
else
{
g_integral == 0;
if(g_no == 0 && g_ball[0] > 300)
{
moveAngle( 80, 0 , 0);
kick();
}
else if(g_no == 1 && g_ball[1] > 300) moveAngle( 80 , 0 , 270 );
else if(g_no == 2 && g_ball[2] > 300) moveAngle( 80 , 0 , 270 );
else if(g_no == 3 && g_ball[3] > 300) moveAngle( 50 , 0 , 315 );
else if(g_no == 4 && g_ball[4] > 300) moveAngle( 0 , 0 , 180 );
else if(g_no == 5 && g_ball[5] > 300) moveAngle( 50 , 0 , 45 );
else if(g_no == 6 && g_ball[6] > 300) moveAngle( 80 , 0 , 80 );
else if(g_no == 7 && g_ball[7] > 300) moveAngle( 80 , 0 , 80 );
else goHome();
}
g_loop++;
}
void FileBrowserDialog::createToolBar()
{
toolbar_ = new QToolBar;
toolbar_->setObjectName("topBar");
toolbar_->setIconSize(QSize(kToolBarIconSize, kToolBarIconSize));
backward_button_ = new QToolButton(this);
backward_button_->setText(tr("Back"));
backward_button_->setObjectName("backwardButton");
backward_button_->setIcon(QIcon(":/images/filebrowser/backward.png"));
backward_button_->setEnabled(false);
backward_button_->setShortcut(QKeySequence::Back);
toolbar_->addWidget(backward_button_);
connect(backward_button_, SIGNAL(clicked()), this, SLOT(goBackward()));
forward_button_ = new QToolButton(this);
forward_button_->setText(tr("Forward"));
forward_button_->setObjectName("forwardButton");
forward_button_->setIcon(QIcon(":/images/filebrowser/forward.png"));
forward_button_->setEnabled(false);
forward_button_->setShortcut(QKeySequence::Forward);
toolbar_->addWidget(forward_button_);
connect(forward_button_, SIGNAL(clicked()), this, SLOT(goForward()));
gohome_action_ = new QAction(tr("Home"), this);
gohome_action_->setIcon(QIcon(":images/filebrowser/home.png"));
connect(gohome_action_, SIGNAL(triggered()), this, SLOT(goHome()));
toolbar_->addAction(gohome_action_);
path_navigator_ = new QButtonGroup(this);
connect(path_navigator_, SIGNAL(buttonClicked(int)),
this, SLOT(onNavigatorClick(int)));
}
void HelpBrowser::createActions()
{
QAction * action;
OverridingAction *ovrAction;
mActions[GoHome] = action = new QAction(tr("Home"), this);
connect( action, SIGNAL(triggered()), this, SLOT(goHome()) );
mActions[ZoomIn] = ovrAction = new OverridingAction(tr("Zoom In"), this);
connect(ovrAction, SIGNAL(triggered()), this, SLOT(zoomIn()));
ovrAction->addToWidget(mWebView);
mActions[ZoomOut] = ovrAction = new OverridingAction(tr("Zoom Out"), this);
connect(ovrAction, SIGNAL(triggered()), this, SLOT(zoomOut()));
ovrAction->addToWidget(mWebView);
mActions[ResetZoom] = ovrAction = new OverridingAction(tr("Reset Zoom"), this);
connect(ovrAction, SIGNAL(triggered()), this, SLOT(resetZoom()));
ovrAction->addToWidget(mWebView);
mActions[Evaluate] = ovrAction = new OverridingAction(tr("Evaluate as Code"), this);
connect(ovrAction, SIGNAL(triggered()), this, SLOT(evaluateSelection()));
ovrAction->addToWidget(mWebView);
// For the sake of display:
mWebView->pageAction(QWebPage::Copy)->setShortcut( QKeySequence::Copy );
mWebView->pageAction(QWebPage::Paste)->setShortcut( QKeySequence::Paste );
}
CustomFileDialog::CustomFileDialog( QWidget* parent )
: QFileDialog( parent, 0, false )
{
QToolButton *p = new QToolButton( this );
p->setPixmap( QPixmap( globalbookmark_xpm ) );
QToolTip::add( p, tr( "Bookmarks" ) );
bookmarkMenu = new QPopupMenu( this );
connect( bookmarkMenu, SIGNAL( activated( int ) ), this, SLOT( bookmarkChosen( int ) ) );
addId = bookmarkMenu->insertItem( "Add bookmark" );
clearId = bookmarkMenu->insertItem( QPixmap(folder_trash), "Clear bookmarks" );
bookmarkMenu->insertSeparator();
p->setPopup( bookmarkMenu );
p->setPopupDelay(0);
addToolButton( p, true );
QToolButton *b = new QToolButton( this );
QToolTip::add( b, tr( "Go Home!" ) );
b->setPixmap( QPixmap( homepage_xpm ) );
connect( b, SIGNAL( clicked() ), this, SLOT( goHome() ) );
addToolButton( b );
}
int main(int argc, char **argv) {
ros::init(argc, argv, "testing_scroll");
ros::NodeHandle node("~");
ros::AsyncSpinner spinner(1);
spinner.start();
clopema_robot::ClopemaRobotCommander ext("ext");
ext.setNamedTarget("ext_minus_90");
ext.move();
ros::Duration(0.1).sleep();
clopema_robot::ClopemaRobotCommander crc("arms");
std::vector<std::string> elinks1;
std::vector<std::string> elinks2;
getListOfCollisions(elinks1, elinks2, "t3_desk");
goHome(true);
std::vector<geometry_msgs::Pose> wp1, wp2;
moveit_msgs::RobotTrajectory trajectory;
getListOfPoints1(wp1, wp2);
planPoses(trajectory, elinks1, elinks2, wp1, wp2, false, crc);
wp1.erase(wp1.end());
wp2.erase(wp2.end());
if(planPoses(trajectory, elinks1, elinks2, wp1, wp2, true, crc)){
crc.execute_traj(trajectory.joint_trajectory);
}
goHome(GO_HOME);
getListOfPoints2(wp1, wp2);
planPoses(trajectory, elinks1, elinks2, wp1, wp2, false, crc);
wp1.erase(wp1.end());
wp2.erase(wp2.end());
if(planPoses(trajectory, elinks1, elinks2, wp1, wp2, true, crc)){
crc.execute_traj(trajectory.joint_trajectory);
}
std::cout << "\033[1;33mEnd\033[0m" << std::endl; //]]
ros::spinOnce();
return 0;
}
/// <summary>
/// Show menu: specify a menu name: d -> default, e -> empty
/// </summary>
void SerialMenu::show(char name)
{
// First three lines are always printed
printLine(MENU_HORIZONTAL_LINE);
printLine(MENU_TITLE);
printLine(MENU_HORIZONTAL_LINE);
if(name == 'd') // print default menu
{
printLine(MENU_OPTION1);
printLine(MENU_OPTION2);
printLine(MENU_OPTION3);
printLine(MENU_OPTION4);
}
if(name == 'e') //print empty menu
{
printLine(MENU_EMPTY);
printLine(MENU_EMPTY);
printLine(MENU_EMPTY);
printLine(MENU_EMPTY);
}
if(name == 's') // print text based on selection
{
switch (_incomingByte)
{
case ASCII_0:
printLine(MENU_SELECT_0);
break;
case ASCII_1:
printLine(MENU_SELECT_1);
break;
case ASCII_2:
printLine(MENU_SELECT_2);
break;
case ASCII_3:
printLine(MENU_SELECT_3);
break;
default:
printLine(MENU_EMPTY);
}
printLine(MENU_EMPTY);
printLine(MENU_EMPTY);
printLine(MENU_EMPTY);
}
if(name == 'l') // print text based on readline
{
printLine(MENU_MSG_1);
printLine();
printLine(MENU_EMPTY);
}
printLine(MENU_HORIZONTAL_LINE); // ending line at the end of the menu
goHome();
}
void DirNavBar::onGoHome()
{
if (this->homePath.isEmpty()) {
emit goHome();
} else {
this->uiw->comboBox->setEditText(this->homePath);
emit dirInputConfirmed(this->homePath);
}
}
LookupPanel::LookupPanel() : QDockWidget(tr("Search"))
{
_wordEdit = new QLineEdit(this);
connect(_wordEdit, SIGNAL(returnPressed()), this, SLOT(editingFinished()));
_toolBar = new QToolBar(this);
_toolBar->setFloatable(false);
_toolBar->setAllowedAreas(Qt::NoToolBarArea);
_toolBar->setMovable(false);
// remove excessive space around small buttons
_toolBar->setStyleSheet("QToolButton{margin:0}");
// Go Home button.
_homeAct = new QAction(QIcon(":/images/go-home.svg"), tr("Title page"), this);
_toolBar->addAction(_homeAct);
connect(_homeAct, SIGNAL(triggered()), this, SLOT(goHome()));
// Previous Entry button. Backspace added as an important
// shortcut.
_previousAct = new QAction(QIcon(":/images/go-previous.svg"), tr("Previous"), this);
QList<QKeySequence> previousActShortcuts;
previousActShortcuts.append(QKeySequence::Back);
previousActShortcuts.append(Qt::Key_Backspace);
_previousAct->setShortcuts(previousActShortcuts);
connect(_previousAct, SIGNAL(triggered()), this, SLOT(goPrevious()));
_toolBar->addAction(_previousAct);
// Next Entry button.
_nextAct = new QAction(QIcon(":/images/go-next.svg"), tr("Next"), this);
_nextAct->setShortcut(QKeySequence::Forward);
connect(_nextAct, SIGNAL(triggered()), this, SLOT(goNext()));
_toolBar->addAction(_nextAct);
// Update displayed entry history and register a slot catching its changes.
historyChanged();
connect(&_history, SIGNAL(changed()), this, SLOT(historyChanged()));
// Vertical fixed layout without margins.
QWidget *layoutWidget = new QWidget(this);
QVBoxLayout *layout = new QVBoxLayout(layoutWidget);
layout->setContentsMargins(0, 0, 0, 0);
layout->setSpacing(0);
layout->setSizeConstraint(QLayout::SetMaximumSize);
layout->addWidget(_wordEdit);
layout->addWidget(_toolBar);
layoutWidget->setMaximumHeight(_wordEdit->height() + _toolBar->height());
layoutWidget->setLayout(layout);
setWidget(layoutWidget);
// Not movable, no title bar.
setAllowedAreas(Qt::LeftDockWidgetArea);
setFeatures(QDockWidget::NoDockWidgetFeatures);
setContentsMargins(0, 4, 2, 4);
setTitleBarWidget(new QWidget(this)); // no title bar
}
void imuIdentifierThread::threadRelease()
{
printMessage(0,"Putting head in home position..\n");
goHome();
printMessage(0,"Closing controllers..\n");
ddH.close();
printMessage(0,"Closing ports...\n");
closePort(inIMUPort);
closePort(outPort);
}
void FileBrowserDialog::createToolBar()
{
toolbar_ = new QToolBar;
const int w = ::getDPIScaledSize(kToolBarIconSize);
toolbar_->setIconSize(QSize(w, w));
toolbar_->setObjectName("topBar");
toolbar_->setIconSize(QSize(w, w));
backward_action_ = new QAction(tr("Back"), this);
backward_action_->setIcon(getIconSet(":/images/filebrowser/backward.png", kToolBarIconSize, kToolBarIconSize));
backward_action_->setEnabled(false);
toolbar_->addAction(backward_action_);
connect(backward_action_, SIGNAL(triggered()), this, SLOT(goBackward()));
forward_action_ = new QAction(tr("Forward"), this);
forward_action_->setIcon(getIconSet(":/images/filebrowser/forward.png", kToolBarIconSize, kToolBarIconSize));
forward_action_->setEnabled(false);
connect(forward_action_, SIGNAL(triggered()), this, SLOT(goForward()));
toolbar_->addAction(forward_action_);
gohome_action_ = new QAction(tr("Home"), this);
gohome_action_->setIcon(getIconSet(":images/filebrowser/home.png", kToolBarIconSize, kToolBarIconSize));
connect(gohome_action_, SIGNAL(triggered()), this, SLOT(goHome()));
toolbar_->addAction(gohome_action_);
path_navigator_ = new QButtonGroup(this);
connect(path_navigator_, SIGNAL(buttonClicked(int)),
this, SLOT(onNavigatorClick(int)));
// root is special
QPushButton *path_navigator_root_ = new QPushButton(repo_.name);
path_navigator_root_->setFlat(true);
path_navigator_root_->setCursor(Qt::PointingHandCursor);
connect(path_navigator_root_, SIGNAL(clicked()),
this, SLOT(goHome()));
toolbar_->addWidget(path_navigator_root_);
}
// This function execute builtin functions
void do_it(int bi) {
switch(comtab[bi].builtin) {
case BYE: goodbye = 1; // Set global goodbye variable to true
break;
case CDHOME:
goHome();
break;
case CD: // Go to specified path
gotoDir(bi);
break;
case SETALIAS: // Adding alias to the alias table
printf("adding alias to table\n");
createAlias(comtab[curr_cmd].atptr->args[0], comtab[curr_cmd].atptr->args[1]);
printf("Done adding alias to table\n");
break;
case UNALIAS:
removeAlias(comtab[curr_cmd].atptr->args[0]);
break;
case PRINTALIAS: // Print either a specific alias or all aliases
if( comtab[curr_cmd].nargs == 0) {
printf("calling\n");
listAliases(); // Print all aliases
}
else {
printAnAlias(comtab[curr_cmd].atptr->args[0]); // Print specific alias
}
break;
case SETENV: // Set environment
if( putenv( strcat(strcat(comtab[curr_cmd].atptr->args[0],"="),comtab[curr_cmd].atptr->args[1]) ) != 0) {
printf("%s\n", strerror(errno));
}
break;
case UNSETENV: // Removing environment variables
if( unsetenv(comtab[bi].atptr->args[0]) == -1) {
printf("%s\n", strerror(errno));
}
break;
case PRINTENV: // Print environment variables
printallEnv();
break;
}
}
void fillScreen(uint16_t color)
{
goHome();
uint32_t i;
i = 320;
i *= 240;
while (i--)
{
uDelay(0);
writeData(color);
}
}
QcHelpBrowser::QcHelpBrowser()
{
// content display
helpFileView = new HelpFileView;
// top controls
QToolBar *toolbar = new QToolBar;
QAction *actHome = toolbar->addAction( style()->standardIcon( QStyle::SP_DirHomeIcon ),
"Go To Start Page" );
toolbar->addAction( helpFileView->pageAction( QWebPage::Back ) );
toolbar->addAction( helpFileView->pageAction( QWebPage::Forward ) );
findTool = new SimpleFindTool;
findTool->setMaximumWidth( 200 );
QHBoxLayout *topLayout = new QHBoxLayout;
topLayout->addWidget( toolbar );
topLayout->addStretch();
topLayout->addWidget( new QLabel( "Find:" ) );
topLayout->addWidget( findTool );
topLayout->setContentsMargins(0,0,0,0);
// bottom controls
// QToolBar *bottomToolbar = new QToolBar;
// main layout
QVBoxLayout *l = new QVBoxLayout;
// l->setContentsMargins(10,10,10,0);
l->addLayout( topLayout );
l->addWidget( helpFileView );
// l->addWidget( bottomToolbar );
setLayout( l );
setWindowTitle( "SuperCollider Help" );
QShortcut *copyScut = new QShortcut( QKeySequence::Copy, helpFileView );
copyScut->setContext( Qt::WidgetWithChildrenShortcut );
connect( helpFileView, SIGNAL(loadFinished(bool)), this, SLOT(onLoadFinished(bool)) );
connect( copyScut, SIGNAL(activated()),
helpFileView->pageAction( QWebPage::Copy ), SLOT(trigger()) );
connect( findTool, SIGNAL(activated(const QString&,bool)),
helpFileView, SLOT(findText(const QString&,bool)) );
connect( actHome, SIGNAL(activated()), this, SLOT(goHome()) );
}
void Ghost::move()
{
if(isInsideGhostHouse())
{
if(isFree())
{
if(!isCaught())
{
release();
}
}
}
else if(isOnTheMove()) localMove();
else if(isCaught()) goHome();
else if(areGhostsScared()) escape();
else if(isScattering()) scatter();
else chase();
}
void HtmlTabPage::setCurUrl(const char* page)
{
if (!page)
{
goHome();
return;
}
if (!m_pWebControl)
{
gcString home = m_szHomePage;
m_szHomePage = page;
constuctBrowser();
m_szHomePage = home;
}
else
{
m_pWebControl->loadUrl(page);
}
}
BlueprintWindow::BlueprintWindow(Game* game, QWidget* parent):
QWidget(parent),
mBlueprint(new GameBlueprint(game))
{
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
//TODO: make these icons instead of ugly text buttons!
mToolbar = new QToolBar(tr("Blueprint actions"), this);
mToolbar->addAction(tr("Home"), mBlueprint, SLOT(goHome()));
mToolbar->addSeparator();
mToolbar->addAction(tr("Zoom In"), this, SLOT(zoomIn()));
mToolbar->addAction(tr("Zoom Out"), this, SLOT(zoomOut()));
mToolCombo = new QComboBox(this);
mToolCombo->insertItem(GameBlueprint::dormantPortal, QIcon(), "Dormant Portal");
mToolCombo->insertItem(GameBlueprint::portal, QIcon(), "Active Portal");
mToolCombo->insertItem(GameBlueprint::trap, QIcon(), "Ghost Trap");
mToolCombo->insertItem(GameBlueprint::nav, QIcon(), "Navigate!");
mToolCombo->setCurrentIndex(-1);
mToolbar->addSeparator();
mToolbar->addWidget(mToolCombo);
QCheckBox* showNavmesh = new QCheckBox("&Navmesh", this);
mToolbar->addWidget(showNavmesh);
mStatusBar = new QStatusBar;
mZoomLbl = new QLabel();
mStatusBar->addPermanentWidget(mZoomLbl);
zoomChanged(mBlueprint->zoom());
QVBoxLayout* layout = new QVBoxLayout;
layout->addWidget(mToolbar);
layout->addWidget(mBlueprint);
layout->addWidget(mStatusBar);
setLayout(layout);
connect(mBlueprint, SIGNAL(zoomChanged(float)), this, SLOT(zoomChanged(float)));
connect(mToolCombo, SIGNAL(activated(int)), mBlueprint, SLOT(setTool(int)));
connect(showNavmesh, SIGNAL(stateChanged(int)), mBlueprint, SLOT(setShowNavmesh(int)));
}
void Help::setupGoActions()
{
QPopupMenu* menu = new QPopupMenu( this );
menuBar()->insertItem( tr( "&Go" ), menu );
QAction *a;
a = new QAction( tr( "Home" ), createIconSet( "home.xpm" ), ( "&Home" ), ALT + Key_Home, this );
a->addTo( menu );
a->addTo( toolbar );
connect( a, SIGNAL( activated() ), this, SLOT( goHome() ) );
a = new QAction( tr( "Qt Reference Documentation" ), createIconSet( "customwidget.xpm" ),
( "&Qt Reference Documentation" ), ALT + SHIFT + Key_Home, this );
a->addTo( menu );
a->addTo( toolbar );
connect( a, SIGNAL( activated() ), this, SLOT( goQt() ) );
menu->insertSeparator();
a = new QAction( tr( "Backward" ), createIconSet( "left.xpm" ), ( "&Backward" ), ALT + Key_Left, this );
a->addTo( menu );
a->addTo( toolbar );
connect( a, SIGNAL( activated() ), browser, SLOT( backward() ) );
connect( browser, SIGNAL( backwardAvailable( bool ) ), a, SLOT( setEnabled( bool ) ) );
a = new QAction( tr( "Forward" ), createIconSet( "right.xpm" ), tr( "&Forward" ), ALT + Key_Right, this );
a->addTo( menu );
a->addTo( toolbar );
connect( a, SIGNAL( activated() ), browser, SLOT( forward() ) );
connect( browser, SIGNAL( forwardAvailable( bool ) ), a, SLOT( setEnabled( bool ) ) );
menu->insertSeparator();
a = new QAction( tr( "Topics/Index" ), createIconSet( "help.xpm" ), tr( "&Topics/Index..." ), CTRL + Key_T, this );
a->addTo( menu );
a->addTo( toolbar );
connect( a, SIGNAL( activated() ), this, SLOT( goTopics() ) );
}
akuDragSourceWidget::akuDragSourceWidget(QWidget *parent) : QWidget(parent)
{
QVBoxLayout *layout = new QVBoxLayout(this);
KVBox *vbox = new KVBox(this);
vbox -> setSpacing(10);
layout -> addWidget(vbox);
setLayout(layout);
KHBox *hbox1 = new KHBox(vbox);
hbox1 -> setSpacing(10);
icon = new QLabel(hbox1);
icon -> setMaximumSize(16,16);
currentDirectory = new QLabel(hbox1);
KHBox *hbox2 = new KHBox(vbox);
hbox2 -> setSpacing(3);
upDirButton = new QToolButton(hbox2);
upDirButton -> setIcon(KIcon("go-up"));
upDirButton -> setAttribute(Qt::WA_AlwaysShowToolTips);
upDirButton -> setToolTip(i18n("Parent Folder"));
upDirButton -> setAutoRaise(true);
homeButton = new QToolButton(hbox2);
homeButton -> setIcon(KIcon("go-home"));
homeButton -> setAttribute(Qt::WA_AlwaysShowToolTips);
homeButton -> setToolTip(i18n("Home Folder"));
homeButton -> setAutoRaise(true);
hiddenFiles = new QCheckBox(i18n("Show hidden files"), hbox2);
sourceView = new dragSource(vbox);
connect(hiddenFiles, SIGNAL(toggled(bool)), sourceView, SLOT(showHiddenFiles(bool)));
connect(upDirButton, SIGNAL(clicked()), sourceView, SLOT(dirUp()));
connect(homeButton, SIGNAL(clicked()), sourceView, SLOT(goHome()));
connect(sourceView, SIGNAL(currentUrlChanged(KUrl)), this, SLOT(updateCurrentDirInfo(KUrl)));
KUrl current = sourceView -> rootUrl();
currentDirectory -> setText(current.fileName());
QPixmap pixmap = KIcon(KMimeType::iconNameForUrl(current)).pixmap(16,16);
icon -> setPixmap(pixmap);
}
void HtmlTabPage::onButtonClicked(int32& id)
{
switch (id)
{
case BUTTON_HOME:
goHome();
break;
case BUTTON_STOP:
m_pWebControl->stop();
break;
case BUTTON_REFRESH:
m_pWebControl->refresh();
break;
case BUTTON_BACK:
m_pWebControl->back();
break;
case BUTTON_FOWARD:
m_pWebControl->forward();
break;
case BUTTON_LAUNCH:
gcLaunchDefaultBrowser(m_szCurUrl.c_str());
break;
};
if (m_pControlBar)
{
const wchar_t* url = m_pControlBar->getCrumbUrl(id);
if (url)
m_pWebControl->loadUrl(url);
}
}
void TFTLCD::fillScreen(uint16_t color) {
goHome();
uint32_t i;
i = 320;
i *= 240;
*portOutputRegister(csport) &= ~cspin;
//digitalWrite(_cs, LOW);
*portOutputRegister(cdport) |= cdpin;
//digitalWrite(_cd, HIGH);
*portOutputRegister(rdport) |= rdpin;
//digitalWrite(_rd, HIGH);
*portOutputRegister(wrport) |= wrpin;
//digitalWrite(_wr, HIGH);
setWriteDir();
while (i--) {
writeData_unsafe(color);
}
*portOutputRegister(csport) |= cspin;
//digitalWrite(_cs, HIGH);
}
NavigationBar::NavigationBar(QupZilla* mainClass)
: QWidget(mainClass)
, p_QupZilla(mainClass)
{
setObjectName("navigationbar");
m_layout = new QHBoxLayout(this);
m_layout->setMargin(3);
m_layout->setSpacing(3);
setLayout(m_layout);
m_buttonBack = new ToolButton(this);
m_buttonBack->setObjectName("navigation-button-back");
m_buttonBack->setToolTip(tr("Back"));
m_buttonBack->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonBack->setAutoRaise(true);
m_buttonBack->setEnabled(false);
m_buttonBack->setFocusPolicy(Qt::NoFocus);
m_buttonNext = new ToolButton(this);
m_buttonNext->setObjectName("navigation-button-next");
m_buttonNext->setToolTip(tr("Forward"));
m_buttonNext->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonNext->setAutoRaise(true);
m_buttonNext->setEnabled(false);
m_buttonNext->setFocusPolicy(Qt::NoFocus);
QHBoxLayout* backNextLayout = new QHBoxLayout();
backNextLayout->setContentsMargins(0, 0, 0, 0);
backNextLayout->setSpacing(0);
backNextLayout->addWidget(m_buttonBack);
backNextLayout->addWidget(m_buttonNext);
m_reloadStop = new ReloadStopButton(this);
m_buttonHome = new ToolButton(this);
m_buttonHome->setObjectName("navigation-button-home");
m_buttonHome->setToolTip(tr("Home"));
m_buttonHome->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonHome->setAutoRaise(true);
m_buttonHome->setFocusPolicy(Qt::NoFocus);
m_buttonAddTab = new ToolButton(this);
m_buttonAddTab->setObjectName("navigation-button-addtab");
m_buttonAddTab->setToolTip(tr("New Tab"));
m_buttonAddTab->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonAddTab->setAutoRaise(true);
m_buttonAddTab->setFocusPolicy(Qt::NoFocus);
m_menuBack = new Menu(this);
m_buttonBack->setMenu(m_menuBack);
m_menuForward = new Menu(this);
m_buttonNext->setMenu(m_menuForward);
#ifndef Q_OS_MAC
m_supMenu = new ToolButton(this);
m_supMenu->setObjectName("navigation-button-supermenu");
m_supMenu->setPopupMode(QToolButton::InstantPopup);
m_supMenu->setToolTip(tr("Main Menu"));
m_supMenu->setAutoRaise(true);
m_supMenu->setFocusPolicy(Qt::NoFocus);
m_supMenu->setMenu(p_QupZilla->superMenu());
m_supMenu->setShowMenuInside(true);
#endif
m_searchLine = new WebSearchBar(p_QupZilla);
m_navigationSplitter = new QSplitter(this);
m_navigationSplitter->addWidget(p_QupZilla->tabWidget()->locationBars());
m_navigationSplitter->addWidget(m_searchLine);
m_navigationSplitter->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
m_navigationSplitter->setCollapsible(0, false);
m_exitFullscreen = new ToolButton();
m_exitFullscreen->setText(tr("Exit Fullscreen"));
m_exitFullscreen->setToolTip(tr("Exit Fullscreen"));
m_exitFullscreen->setAutoRaise(true);
m_exitFullscreen->setVisible(false);
m_layout->addLayout(backNextLayout);
m_layout->addWidget(m_reloadStop);
m_layout->addWidget(m_buttonHome);
m_layout->addWidget(m_buttonAddTab);
m_layout->addWidget(m_navigationSplitter);
#ifndef Q_OS_MAC
m_layout->addWidget(m_supMenu);
#endif
m_layout->addWidget(m_exitFullscreen);
setContextMenuPolicy(Qt::CustomContextMenu);
connect(this, SIGNAL(customContextMenuRequested(QPoint)), this, SLOT(contextMenuRequested(QPoint)));
connect(m_menuBack, SIGNAL(aboutToShow()), this, SLOT(aboutToShowHistoryBackMenu()));
connect(m_menuForward, SIGNAL(aboutToShow()), this, SLOT(aboutToShowHistoryNextMenu()));
connect(m_buttonBack, SIGNAL(clicked()), this, SLOT(goBack()));
connect(m_buttonBack, SIGNAL(middleMouseClicked()), this, SLOT(goBackInNewTab()));
connect(m_buttonBack, SIGNAL(controlClicked()), this, SLOT(goBackInNewTab()));
connect(m_buttonNext, SIGNAL(clicked()), this, SLOT(goForward()));
connect(m_buttonNext, SIGNAL(middleMouseClicked()), this, SLOT(goForwardInNewTab()));
connect(m_buttonNext, SIGNAL(controlClicked()), this, SLOT(goForwardInNewTab()));
connect(m_reloadStop->buttonStop(), SIGNAL(clicked()), p_QupZilla, SLOT(stop()));
connect(m_reloadStop->buttonReload(), SIGNAL(clicked()), p_QupZilla, SLOT(reload()));
connect(m_buttonHome, SIGNAL(clicked()), p_QupZilla, SLOT(goHome()));
connect(m_buttonHome, SIGNAL(middleMouseClicked()), p_QupZilla, SLOT(goHomeInNewTab()));
connect(m_buttonHome, SIGNAL(controlClicked()), p_QupZilla, SLOT(goHomeInNewTab()));
connect(m_buttonAddTab, SIGNAL(clicked()), p_QupZilla, SLOT(addTab()));
connect(m_exitFullscreen, SIGNAL(clicked(bool)), p_QupZilla, SLOT(toggleFullScreen(bool)));
}
NavigationBar::NavigationBar(BrowserWindow* window)
: QWidget(window)
, m_window(window)
{
setObjectName(QSL("navigationbar"));
m_layout = new QHBoxLayout(this);
m_layout->setMargin(style()->pixelMetric(QStyle::PM_ToolBarItemMargin, 0, this));
m_layout->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing, 0, this));
setLayout(m_layout);
m_buttonBack = new ToolButton(this);
m_buttonBack->setObjectName("navigation-button-back");
m_buttonBack->setToolTip(tr("Back"));
m_buttonBack->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonBack->setToolbarButtonLook(true);
m_buttonBack->setAutoRaise(true);
m_buttonBack->setEnabled(false);
m_buttonBack->setFocusPolicy(Qt::NoFocus);
m_buttonForward = new ToolButton(this);
m_buttonForward->setObjectName("navigation-button-next");
m_buttonForward->setToolTip(tr("Forward"));
m_buttonForward->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonForward->setToolbarButtonLook(true);
m_buttonForward->setAutoRaise(true);
m_buttonForward->setEnabled(false);
m_buttonForward->setFocusPolicy(Qt::NoFocus);
QHBoxLayout* backNextLayout = new QHBoxLayout();
backNextLayout->setContentsMargins(0, 0, 0, 0);
backNextLayout->setSpacing(0);
backNextLayout->addWidget(m_buttonBack);
backNextLayout->addWidget(m_buttonForward);
m_reloadStop = new ReloadStopButton(this);
m_buttonHome = new ToolButton(this);
m_buttonHome->setObjectName("navigation-button-home");
m_buttonHome->setToolTip(tr("Home"));
m_buttonHome->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonHome->setToolbarButtonLook(true);
m_buttonHome->setAutoRaise(true);
m_buttonHome->setFocusPolicy(Qt::NoFocus);
m_buttonAddTab = new ToolButton(this);
m_buttonAddTab->setObjectName("navigation-button-addtab");
m_buttonAddTab->setToolTip(tr("New Tab"));
m_buttonAddTab->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_buttonAddTab->setToolbarButtonLook(true);
m_buttonAddTab->setAutoRaise(true);
m_buttonAddTab->setFocusPolicy(Qt::NoFocus);
m_menuBack = new Menu(this);
m_menuBack->setCloseOnMiddleClick(true);
m_buttonBack->setMenu(m_menuBack);
connect(m_buttonBack, SIGNAL(aboutToShowMenu()), this, SLOT(aboutToShowHistoryBackMenu()));
m_menuForward = new Menu(this);
m_menuForward->setCloseOnMiddleClick(true);
m_buttonForward->setMenu(m_menuForward);
connect(m_buttonForward, SIGNAL(aboutToShowMenu()), this, SLOT(aboutToShowHistoryNextMenu()));
m_supMenu = new ToolButton(this);
m_supMenu->setObjectName("navigation-button-supermenu");
m_supMenu->setPopupMode(QToolButton::InstantPopup);
m_supMenu->setToolbarButtonLook(true);
m_supMenu->setToolTip(tr("Main Menu"));
m_supMenu->setAutoRaise(true);
m_supMenu->setFocusPolicy(Qt::NoFocus);
m_supMenu->setMenu(m_window->superMenu());
m_supMenu->setShowMenuInside(true);
m_searchLine = new WebSearchBar(m_window);
m_navigationSplitter = new QSplitter(this);
m_navigationSplitter->addWidget(m_window->tabWidget()->locationBars());
m_navigationSplitter->addWidget(m_searchLine);
m_navigationSplitter->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Maximum);
m_navigationSplitter->setCollapsible(0, false);
m_exitFullscreen = new ToolButton(this);
m_exitFullscreen->setObjectName("navigation-button-exitfullscreen");
m_exitFullscreen->setToolTip(tr("Exit Fullscreen"));
m_exitFullscreen->setToolButtonStyle(Qt::ToolButtonIconOnly);
m_exitFullscreen->setToolbarButtonLook(true);
m_exitFullscreen->setFocusPolicy(Qt::NoFocus);
m_exitFullscreen->setAutoRaise(true);
m_exitFullscreen->setVisible(false);
m_layout->addLayout(backNextLayout);
m_layout->addWidget(m_reloadStop);
m_layout->addWidget(m_buttonHome);
m_layout->addWidget(m_buttonAddTab);
m_layout->addWidget(m_navigationSplitter);
m_layout->addWidget(m_supMenu);
m_layout->addWidget(m_exitFullscreen);
setContextMenuPolicy(Qt::CustomContextMenu);
connect(this, SIGNAL(customContextMenuRequested(QPoint)), this, SLOT(contextMenuRequested(QPoint)));
connect(m_buttonBack, SIGNAL(clicked()), this, SLOT(goBack()));
connect(m_buttonBack, SIGNAL(middleMouseClicked()), this, SLOT(goBackInNewTab()));
connect(m_buttonBack, SIGNAL(controlClicked()), this, SLOT(goBackInNewTab()));
connect(m_buttonForward, SIGNAL(clicked()), this, SLOT(goForward()));
connect(m_buttonForward, SIGNAL(middleMouseClicked()), this, SLOT(goForwardInNewTab()));
connect(m_buttonForward, SIGNAL(controlClicked()), this, SLOT(goForwardInNewTab()));
connect(m_reloadStop, SIGNAL(stopClicked()), this, SLOT(stop()));
connect(m_reloadStop, SIGNAL(reloadClicked()), this, SLOT(reload()));
connect(m_buttonHome, SIGNAL(clicked()), m_window, SLOT(goHome()));
connect(m_buttonHome, SIGNAL(middleMouseClicked()), m_window, SLOT(goHomeInNewTab()));
connect(m_buttonHome, SIGNAL(controlClicked()), m_window, SLOT(goHomeInNewTab()));
connect(m_buttonAddTab, SIGNAL(clicked()), m_window, SLOT(addTab()));
connect(m_buttonAddTab, SIGNAL(middleMouseClicked()), m_window->tabWidget(), SLOT(addTabFromClipboard()));
connect(m_exitFullscreen, SIGNAL(clicked(bool)), m_window, SLOT(toggleFullScreen()));
}
}
p->setPopup( bookmarkMenu );
addToolButton( p, TRUE );
connect( dirView, SIGNAL( folderSelected( const QString & ) ),
this, SLOT( setDir2( const QString & ) ) );
connect( this, SIGNAL( dirEntered( const QString & ) ),
dirView, SLOT( setDir( const QString & ) ) );
QToolButton *b = new QToolButton( this );
QToolTip::add( b, tr( "Go Home!" ) );
b->setPixmap( QPixmap( home ) );
connect( b, SIGNAL( clicked() ),
this, SLOT( goHome() ) );
addToolButton( b );
resize( width() + width() / 3, height() );
}
CustomFileDialog::~CustomFileDialog()
{
if ( !bookmarkList.isEmpty() ) {
QFile f( ".bookmarks" );
if ( f.open( IO_WriteOnly ) ) {
QDataStream ds( &f );
ds << bookmarkList;
f.close();
}
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------
void arduinoThread::update(){
ard.update();
switch (curState) {
case JOG:
sleepDoneMotors();
if (allDone()) curState = IDLE;
break;
// arm has raised and is ready to take a photo
case SHOOT_FACE:
sleepDoneMotors();
if (allDone()) curState = IDLE;
break;
// photo taken, arm is going to the limit switches: home
case FACE_PHOTO:
goHome();
break;
case HOMING:
break;
// X, Z, and Y have hit limits
case HOME:
// start X, Y, and I
ard.sendDigital(X_SLEEP_PIN, ARD_HIGH);
ard.sendDigital(Y_SLEEP_PIN, ARD_HIGH);
ard.sendDigital(INK_SLEEP_PIN, ARD_HIGH);
// sleep Z
ard.sendDigital(Z_SLEEP_PIN, ARD_LOW);
ofSleepMillis(10);
journeyOn(true);
curState = PREPRINT;
point_count = 1;
break;
// this is when arm moves from home to first point
case PREPRINT:
if (journeysDone()) {
curState = PRINTING;
}
break;
// print has started from first point
case PRINTING:
if (journeysDone()) {
journeyOn(false);
}
break;
// print is finished and arm is raising up
case DONE:
break;
case ERROR:
x_steps = y_steps = z_steps = i_steps = x_inc = y_inc = z_inc = i_inc = 0;
ard.sendDigital(X_SLEEP_PIN, ARD_LOW);
ard.sendDigital(Y_SLEEP_PIN, ARD_LOW);
ard.sendDigital(Z_SLEEP_PIN, ARD_LOW);
ard.sendDigital(INK_SLEEP_PIN, ARD_LOW);
break;
case RESET:
if (journeysDone()){
curState = IDLE;
ard.sendDigital(X_SLEEP_PIN, ARD_LOW);
ard.sendDigital(Y_SLEEP_PIN, ARD_LOW);
ard.sendDigital(Z_SLEEP_PIN, ARD_LOW);
x_inc = y_inc = z_inc = x_steps = y_steps = z_steps = 0;
}
default:
break;
}
}
int main (int argc, char *argv[])
{
int key; /*access key to shared memory and semaphore set */
char *tinp; /* numerical parameters test flag */
unsigned int k; /* flight number */
unsigned int p; /* passenger identification */
unsigned int stat; /* status of operation */
/* validation of command line parameters */
if (argc != 5)
{ freopen ("error_GPA", "a", stderr);
fprintf (stderr, "Number of parameters is incorrect!\n");
return EXIT_FAILURE;
}
else freopen (argv[4], "w", stderr);
p = (unsigned int) strtol (argv[1], &tinp, 0);
if ((*tinp != '\0') || (p >= N))
{ fprintf (stderr, "Passenger process identification is wrong!\n");
return EXIT_FAILURE;
}
strcpy (nFic, argv[2]);
key = (unsigned int) strtol (argv[3], &tinp, 0);
if (*tinp != '\0')
{ fprintf (stderr, "Error on the access key communication!\n");
return EXIT_FAILURE;
}
/* connection to the semaphore set and the shared memory region and mapping the shared region onto the
process address space */
if ((semgid = semConnect (key)) == -1)
{ perror ("error on connecting to the semaphore set");
return EXIT_FAILURE;
}
if ((shmid = shmemConnect (key)) == -1)
{ perror ("error on connecting to the shared memory region");
return EXIT_FAILURE;
}
if (shmemAttach (shmid, (void **) &sh) == -1)
{ perror ("error on mapping the shared region on the process address space");
return EXIT_FAILURE;
}
/* simulation of the life cycle of the passenger */
for (k = 0; k < K; k++)
switch (whatShouldIDo (k, p)) /* the passenger decides on her next move */
{ case FDBTC: /* she has arrived to her final destination and has bags to collect */
/* the passenger goes to the luggage collection point to pick up her bags one by one */
while ((stat = goCollectABag (k, p)) == NO);
if (stat == MB) /* the passenger checks for missing bags */
reportMissingBags (k, p); /* the passenger go to the baggage reclaim office to fill the form for
missing bags */
goHome (k, p); /* the passenger leaves the airport */
break;
case FDNBTC: /* she has arrived to her final destination and has no bags to collect */
goHome (k, p); /* the passenger leaves the airport */
break;
case INTRAN: /* she is in transit */
takeABus (k, p); /* the passenger goes to the arrival transfer terminal to queue
for taking a bus to the departure terminal */
enterTheBus (k, p); /* the passenger goes on board of the bus as it starts its journey */
leaveTheBus (k, p); /* the passenger comes out of the bus as it reaches the departure transfer terminal */
prepareNextLeg (k, p); /* the passenger enters the departure and does the check in for the next
leg of the journey */
break;
}
/* unmapping the shared region off the process address space */
if (shmemDettach (sh) == -1)
{ perror ("error on unmapping the shared region off the process address space");
return EXIT_FAILURE;;
}
return EXIT_SUCCESS;
}
HelpBrowser::HelpBrowser( QWidget * parent ):
QWidget(parent)
{
QRect availableScreenRect = qApp->desktop()->availableGeometry(this);
mSizeHint = QSize( availableScreenRect.width() * 0.4, availableScreenRect.height() * 0.7 );
QtCollider::WebPage *webPage = new QtCollider::WebPage(this);
webPage->setDelegateReload(true);
webPage->setLinkDelegationPolicy( QWebPage::DelegateAllLinks );
mWebView = new QWebView;
mWebView->setPage( webPage );
mWebView->settings()->setAttribute( QWebSettings::LocalStorageEnabled, true );
// NOTE: we assume all web page shortcuts have Qt::WidgetShortcut context
mWebView->setContextMenuPolicy( Qt::ActionsContextMenu );
mWebView->addAction( webPage->action( QWebPage::Copy ) );
mWebView->addAction( webPage->action( QWebPage::Paste ) );
// Set the style's standard palette to avoid system's palette incoherencies
// get in the way of rendering web pages
mWebView->setPalette( style()->standardPalette() );
mWebView->installEventFilter(this);
mLoadProgressIndicator = new LoadProgressIndicator;
mLoadProgressIndicator->setIndent(10);
QToolBar *toolBar = new QToolBar;
toolBar->setIconSize( QSize(16,16) );
QAction *action = toolBar->addAction("Home");
connect( action, SIGNAL(triggered()), this, SLOT(goHome()) );
toolBar->addAction( mWebView->pageAction(QWebPage::Back) );
toolBar->addAction( mWebView->pageAction(QWebPage::Forward) );
toolBar->addAction( mWebView->pageAction(QWebPage::Reload) );
toolBar->addWidget(mLoadProgressIndicator);
QVBoxLayout *layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
layout->addWidget(toolBar);
layout->addWidget(mWebView);
setLayout(layout);
connect( mWebView, SIGNAL(linkClicked(QUrl)), this, SLOT(onLinkClicked(QUrl)) );
connect( mWebView, SIGNAL(loadStarted()), mLoadProgressIndicator, SLOT(start()) );
connect( mWebView, SIGNAL(loadFinished(bool)), mLoadProgressIndicator, SLOT(stop()) );
connect( webPage->action(QWebPage::Reload), SIGNAL(triggered(bool)), this, SLOT(onReload()) );
connect( webPage, SIGNAL(jsConsoleMsg(QString,int,QString)),
this, SLOT(onJsConsoleMsg(QString,int,QString)) );
ScProcess * scProcess = Main::scProcess();
connect( scProcess, SIGNAL(response(QString,QString)),
this, SLOT(onScResponse(QString,QString)) );
connect( scProcess, SIGNAL(finished(int)), mLoadProgressIndicator, SLOT(stop()) );
// FIXME: should actually respond to class library shutdown, but we don't have that signal
connect( scProcess, SIGNAL(classLibraryRecompiled()), mLoadProgressIndicator, SLOT(stop()) );
mEvaluateShortcut = new QShortcut(this);
mEvaluateShortcut->setContext( Qt::WidgetWithChildrenShortcut );
connect( mEvaluateShortcut, SIGNAL(activated()), this, SLOT(evaluateSelection()) );
applySettings( Main::settings() );
}
DensityViewerWindow::DensityViewerWindow(QWidget *parent) :
QMainWindow(parent)
{
//ui->setupUi(this);
QHBoxLayout *mainLayout = new QHBoxLayout;
densityViewer = new DensityViewer;
mainLayout->addWidget(densityViewer);
auto controllerBar = new QVBoxLayout;
auto plusButton = new QPushButton("zoom in");
connect(plusButton,&QPushButton::clicked,[=](bool){densityViewer->changeZoom(1.2);});
auto minusButton = new QPushButton("zoom out");
connect(minusButton,&QPushButton::clicked,[=](bool){densityViewer->changeZoom(1./1.2);});
auto plusMinus = new QHBoxLayout;
plusMinus->addWidget(minusButton);
plusMinus->addWidget(plusButton);
controllerBar->addLayout(plusMinus);
colorSaturation = new QDoubleSpinBox;
colorSaturation->setMaximum(INFINITY);
colorSaturation->setSingleStep(1);
colorSaturation->setValue(100);
colorSaturation->setEnabled(false);
controllerBar->addWidget(new QLabel("Color saturation"));
connect(colorSaturation,
SIGNAL(valueChanged(double)),
densityViewer,
SLOT(setColorSaturation(double)));
controllerBar->addWidget(colorSaturation);
//http://forum.qt.io/topic/17409/solved-qt-4-7-qcombobox-custom-item-delegate-doesn-t-affect-the-current-item-displayed/3
colormapComboBox = new QComboBox;
colormapComboBox->setEnabled(false);
for (const auto& cmap : Colormap::AvailableColormaps )
colormapComboBox->addItem(QString::fromStdString(cmap.first));
connect(colormapComboBox,SIGNAL(activated(QString)),densityViewer,SLOT(setColormap(QString)));
controllerBar->addWidget(colormapComboBox);
controllerBar->addWidget(new QLabel("Select section:"));
sectionComboBox = new QComboBox;
sectionComboBox->setEnabled(false);
connect(sectionComboBox,
static_cast<void (QComboBox::*)(const QString &)>(&QComboBox::activated),
[=](QString sec){densityViewer->setSectionDirection( sec );});
controllerBar->addWidget(sectionComboBox);
auto xStretch = new QHBoxLayout;
xStretch->addWidget(new QLabel("x="));
sectionIndex = new QDoubleSpinBox;
sectionIndex->setValue(0);
sectionIndex->setEnabled(false);
connect(sectionIndex, SIGNAL(valueChanged(double)),densityViewer, SLOT(setSectionIndex(double)));
connect(densityViewer, SIGNAL(changedSectionDirection()),this,SLOT(setXLimits()));
xStretch->addWidget(sectionIndex);
controllerBar->addLayout(xStretch);
auto gridOn = new QCheckBox("grid");
gridOn->setChecked(false);
connect(gridOn,SIGNAL(clicked(bool)),densityViewer,SLOT(setGrid(bool)));
controllerBar->addWidget(gridOn);
auto infoButton = new QPushButton("info");
connect(infoButton,
&QPushButton::clicked,
[=](){densityViewer->setInteractionMode(DensityViewerInteractionMode::info);});
controllerBar->addWidget(infoButton);
auto panButton = new QPushButton("pan");
connect(panButton,
&QPushButton::clicked,
[=](){densityViewer->setInteractionMode(DensityViewerInteractionMode::pan);});
controllerBar->addWidget(panButton);
auto zoomButton = new QPushButton("zoom");
connect(zoomButton,
&QPushButton::clicked,
[=](){densityViewer->setInteractionMode(DensityViewerInteractionMode::zoom);});
controllerBar->addWidget(zoomButton);
auto homeButton = new QPushButton("home");
connect(homeButton,
SIGNAL(pressed()),
densityViewer,
SLOT(goHome()));
controllerBar->addWidget(homeButton);
auto updateButton = new QPushButton("update");
connect(updateButton,
SIGNAL(pressed()),
this,
SLOT(updateDataset()));
controllerBar->addWidget(updateButton);
controllerBar->addStretch();
coordinateCursor = new QLabel;
coordinateCursor->setMinimumWidth(150);
connect(densityViewer,
&DensityViewer::dataCursorMoved,
[=](int, int, vector<double>,string text){coordinateCursor->setText(QString::fromStdString(text));});
controllerBar->addWidget(coordinateCursor);
mainLayout->addLayout(controllerBar);
connect(densityViewer,
SIGNAL(loadedDensityData(DensityData&)),
this,
SLOT(updateControls()));
//Context menu
auto openDataset = new QAction("&Open dataset", this);
openDataset->setShortcuts(QKeySequence::Open);
connect(openDataset, SIGNAL(triggered()), this, SLOT(openFile()));
QMenu* fileMenu = menuBar()->addMenu("&File");
fileMenu->addAction(openDataset);
// Set layout in QWidget
QWidget *inners = new QWidget();
inners->setLayout(mainLayout);
// Set QWidget as the central layout of the main window
setCentralWidget(inners);
//mainLayout->setContentsMargins(0, 0, 0, 0);
mainLayout->setSpacing(0);
//For debug purposes
//densityViewer->loadDensityData("/Users/arkadiy/ag/yell/yell playground/delta-pdf.h5");
}
Direction _313178576_A::step(Direction prevStep)
{
// update robot's position according to the last move that the simulator actually made with the robot
// as the exercise specifies, the simulator may not work always according to the algorithm's suggested move
house.updateRobot(prevStep);
// check if the simulator took the algorithm's advice with the last steps
if (prevStep != lastMove) {
// reset all! algorithm will recalculate destination
returning = false;
recharging = false;
goingX = false;
end = false;
wayHome.clear();
xPath.clear();
}
// update
if (prevStep != Direction::Stay)
lastMove = prevStep;
// first, if started the move from the docking station -> charge battery
if (house.getRobot() == house.getDocking())
curBattery += batteryRechargeRate;
curBattery = MIN(curBattery, batteryCapacity);
// update area
SensorInformation si = sensor->sense();
house.updateRobotArea(si);
Direction step;
// cleaned the whole house -> go to the docking station and stay there
if (end) {
if (wayHome.empty())
step = Direction::Stay;
else {
step = wayHome.front();
wayHome.pop_front();
}
}
// on the way home -> get the first move in the 'wayHome' list
else if (returning) {
step = wayHome.front();
wayHome.pop_front();
if (wayHome.empty()) {
returning = false;
recharging = true;
}
}
// in docking station but needs to recharge more battery before leaving -> stay
else if (recharging && !goClean()) {
step = Direction::Stay;
}
// didn't have to return to the docking station in the last step and is not recharging atm, but now has to return to the docking station
else if (!returning && !recharging && goHome()) {
goingX = false;
step = wayHome.front();
wayHome.pop_front();
if (wayHome.empty())
recharging = true;
else
returning = true;
}
// on the way to a new cell with 'X'
else if (goingX) {
step = xPath.front();
xPath.pop_front();
if (xPath.empty())
goingX = false;
}
// - recharged enough and should clean OR
// - is not recharging atm, should not go back to the docking station, and should pick a new step
else {
recharging = false;
// (recharging == false, returning == false)
// clean all dirt, then move to a new cell
if (si.dirtLevel >= 1)
step = Direction::Stay;
else {
// get the closest cell with 'X' and move to it
Cell cell = house.getRobot();
Cell east = { cell.row, cell.col + 1 };
Cell west = { cell.row, cell.col - 1 };
Cell south = { cell.row + 1, cell.col };
Cell north = { cell.row - 1, cell.col };
// first clean immediate dirt around you
if (house.hasCell(east) && (house.getCell(east) > '0') && (house.getCell(east) <= '9'))
step = Direction::East;
else if (house.hasCell(west) && (house.getCell(west) > '0') && (house.getCell(west) <= '9'))
step = Direction::West;
else if (house.hasCell(south) && (house.getCell(south) > '0') && (house.getCell(south) <= '9'))
step = Direction::South;
else if (house.hasCell(north) && (house.getCell(north) > '0') && (house.getCell(north) <= '9'))
step = Direction::North;
// then go to immediate X around you
else if (house.hasCell(east) && (house.getCell(east) == 'X'))
step = Direction::East;
else if (house.hasCell(west) && (house.getCell(west) == 'X'))
step = Direction::West;
else if (house.hasCell(south) && (house.getCell(south) == 'X'))
step = Direction::South;
else if (house.hasCell(north) && (house.getCell(north) == 'X'))
step = Direction::North;
// then search for the closest X / dirt
else {
// no immediate 'X' cells around robot
// run BFS to get 'path' updated to hold shortest path to the closest 'X' or '1'-'9' in the house
// note that we may find '1'-'9' cells (actually 9 is not possible) in case we had to go back
// to the docking station while cleaning a cell
Cell xCell;
xPath = std::move(house.BFS(house.getRobot(), xCell, 'X'));
if (xPath.empty()) {
end = true;
// no 'X' was found -> cleaned the whole house! go Home!
// BFS (shortest path to the docking station)
Cell homeCell;
wayHome = std::move(house.BFS(house.getRobot(), homeCell, 'D'));
step = wayHome.front();
wayHome.pop_front();
}
else {
// check if has enough battery to get to the 'X', if not -> go to the Docking station
Cell homeCell;
wayHome = std::move(house.BFS(xCell, homeCell, 'D'));
int distance = xPath.size() + wayHome.size();
wayHome.clear();
int movesToMake = curBattery / batteryConsumptionRate;
if (moreSteps != -1)
movesToMake = MIN(movesToMake, moreSteps);
// not enough to 'X' + home => just go home
if (distance >= movesToMake - 2) {
xPath.clear();
wayHome = std::move(house.BFS(house.getRobot(), homeCell, 'D'));
// in case already in D and the X is impossible to reach -> stay
if (wayHome.empty()) {
end = true;
step = Direction::Stay;
}
else {
step = wayHome.front();
wayHome.pop_front();
returning = true;
if (wayHome.empty()) {
returning = false;
recharging = true;
}
}
}
else {
step = xPath.front();
xPath.pop_front();
if (!xPath.empty())
goingX = true;
}
}
}
}
}
// consume battery only if did not start the move from the docking station
if (house.getRobot() != house.getDocking())
curBattery -= batteryConsumptionRate;
// do not update spot according to 'step' chosen because simulator may not choose the algorithm's suggested step!
// updated only at start of this method (sense) -> the simulator passes the actual step that has been made
lastMove = step;
if (moreSteps != -1)
moreSteps--;
return step;
}
void Forward()
{
static int g_loop = 0;
int power = 60; // power
int power2 = 60; // turn power
getMaxball();
PID();
if (g_diff > 45 || g_diff < -45) turn(g_pid);
else
{
g_integral = 0;
if(g_no == 0)
{
if(g_ball[0] > 300)
{
g_dist[0] = getPing(0);
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if(g_dist[1] >= 35 && g_dist[2] >= 35)
{
kick();
moveAngle(power , 0 , 0);
}
else if (g_dist[0] < 12)
{
if(g_dist[1] < 40)
{
turn(power2);
delay(125);
}
else if (g_dist[3] < 40)
{
turn(-power2);
delay(125);
}
}
}
else moveAngle(power , 0 , 0 );
}
else if(g_no == 1)
{
g_dist[1] = getPing(1);
if (g_dist[1] < 10) moveAngle (power , 0 , 0);
else if(g_ball[1] > 300) moveAngle(power , 0 , 270 );
else moveAngle(power , 0 , 315);
}
else if(g_no == 2)
{
if(g_ball[2] > 300) moveAngle(power , 0 , 180);
else moveAngle(power , 0 , 270);
}
else if(g_no == 3 )
{
moveAngle(power , 0 , 135 );
}
else if(g_no == 4 )
{
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if (g_dist[1] > g_dist[3]) moveAngle(power , 0 , 270 );
else moveAngle(60 , 0 , 90 );
}
else if (g_no == 5)
{
if (g_ball[5] > 300) moveAngle(power , 0 , 225 );
else moveAngle( 78 , 0 , 135);
}
else if (g_no == 6)
{
moveAngle(power , 0 , 180 );
}
else if(g_no == 7)
{
g_dist[3] = getPing(3);
if (g_dist[3] < 10) moveAngle (power , 0 , 0);
else if (g_ball[7] > 300) moveAngle(power , 0 , 90 );
else moveAngle(power , 0 , 45);
}
else goHome();
}
g_loop++;
}
bool imuIdentifierThread::processWayPoint()
{
processIMU();
if (wayPoints[currentWaypoint].name == "START " ||
wayPoints[currentWaypoint].name == "END " ||
wayPoints[currentWaypoint].name == "MIDDLE " )
{
if (posCtrlFlag)
{
printMessage(1,"Putting head in home position..\n");
goHome();
posCtrlFlag = false;
}
if (yarp::os::Time::now() - timeNow > CTRL_PERIOD)
{
posCtrlFlag = true;
return false;
}
}
else
{
Vector jls = wayPoints[currentWaypoint].jntlims;
Vector vls = wayPoints[currentWaypoint].vels;
bool flag = false;
iencsH->getEncoders(encsH->data());
yarp::sig::Vector head = *encsH;
// ivelH -> velocityMove(vls.data());
VectorOf<int> jointsToSet;
jointsToSet.push_back(0);
jointsToSet.push_back(1);
jointsToSet.push_back(2);
ivelH -> velocityMove(jointsToSet.size(),
jointsToSet.getFirst(),
vls.data());
for (int i = 0; i < 3; i++)
{
if (vls(i) > 0.0)
{
if (jls(i) - head(i) > 0.0)
{
flag = true;
}
}
else if (vls(i) < 0.0)
{
if (jls(i) - head(i) < 0.0)
{
flag = true;
}
}
}
return flag;
}
return true;
}
