void t4p::FinderActionClass::BackgroundWork() {
if (!Finder.Prepare()) {
return;
}
Code = t4p::CharToIcu(Utf8Buf);
int32_t nextIndex(0);
bool found = Finder.FindNext(Code, nextIndex);
int32_t matchStart(0);
int32_t matchLength(0);
while (found) {
if (Finder.GetLastMatch(matchStart, matchLength)) {
// convert match back to UTF-8 ugh
int utf8Start = t4p::CharToUtf8Pos(Utf8Buf, BufferLength, matchStart);
int utf8End = t4p::CharToUtf8Pos(Utf8Buf, BufferLength, matchStart + matchLength);
t4p::FinderHitEventClass hit(GetEventId(), utf8Start, utf8End - utf8Start);
PostEvent(hit);
nextIndex = matchStart + matchLength + 1; // prevent infinite find next's
} else {
break;
}
found = Finder.FindNext(Code, nextIndex);
}
delete[] Utf8Buf;
}
void
RegexScan::matchInfo(
ssize_t & start,
ssize_t & len,
unsigned short regNum ) const
{
start = matchStart( regNum );
len = matchLength( regNum );
}
void FieldViewerPainter::paintObservations(QPaintEvent* event,
messages::VisionField obsv,
messages::RobotLocation loc)
{
QPainter painter(this);
//Move origin to bottem left and scale to flip the y axis
painter.translate(0,FIELD_GREEN_HEIGHT*scaleFactor);
painter.scale(scaleFactor, -scaleFactor);
painter.setPen(Qt::black);
// ToDo: paint orientation/shape
// Corners
for (int i=0; i<obsv.visual_corner_size(); i++) {
if(obsv.visual_corner(i).visual_detection().distance() > 0.f){
painter.setBrush(Qt::black);
QPoint relLoc= getRelLoc(loc, obsv.visual_corner(i).visual_detection().distance(),
obsv.visual_corner(i).visual_detection().bearing());
painter.drawEllipse(relLoc, 10, 10);
// Paint the possible locations in purple and tiny
for (int j=0; j<obsv.visual_corner(i).visual_detection().concrete_coords_size(); j++)
{
float concX = obsv.visual_corner(i).visual_detection().concrete_coords(j).x();
float concY = obsv.visual_corner(i).visual_detection().concrete_coords(j).y();
QPoint relCoord(concX, concY);
painter.setBrush(Qt::magenta);
painter.drawEllipse(relCoord,5,5);
painter.setBrush(Qt::black);
}
}
}
for (int i=0; i<obsv.visual_line_size(); i++) {
if((obsv.visual_line(i).start_dist() < 300.f) || (obsv.visual_line(i).end_dist() < 300.f)) {
man::localization::Line postProcessLine = man::localization::VisionSystem::prepareVisualLine(loc,
obsv.visual_line(i));
if(postProcessLine.length() > 70.f) {
QPoint obsvSt (postProcessLine.start.x, postProcessLine.start.y);
QPoint obsvEnd(postProcessLine.end.x, postProcessLine.end.y);
painter.setBrush(Qt::black);
painter.drawLine(obsvSt, obsvEnd);
// Get and paint the line it matches to
man::localization::LineErrorMatch match = lineSystem->scoreAndMatchObservation(postProcessLine, false);
QPoint matchStart(match.startMatch.x, match.startMatch.y);
QPoint matchEnd (match.endMatch.x, match.endMatch.y);
painter.setBrush(Qt::magenta);
painter.drawLine(matchStart, matchEnd);
}
}
}
// std::cout << "Est line error:\t"
// << visionSystem->getAvgLineError(loc,
// obsv)
// << std::endl;
if (obsv.has_goal_post_l()) {
if (obsv.goal_post_l().visual_detection().on()
&& (obsv.goal_post_l().visual_detection().distance() > 0.f)){
painter.setBrush(Qt::yellow);
QPoint relLoc= getRelLoc(loc, obsv.goal_post_l().visual_detection().distance(),
obsv.goal_post_l().visual_detection().bearing());
painter.drawEllipse(relLoc, 10, 10);
for (int j=0; j<obsv.goal_post_l().visual_detection().concrete_coords_size(); j++)
{
float concX = obsv.goal_post_l().visual_detection().concrete_coords(j).x();
float concY = obsv.goal_post_l().visual_detection().concrete_coords(j).y();
QPoint relCoord(concX, concY);
painter.setBrush(Qt::magenta);
painter.drawEllipse(relCoord,5,5);
}
}
}
if (obsv.has_goal_post_r()) {
if (obsv.goal_post_r().visual_detection().on()
&& (obsv.goal_post_r().visual_detection().distance() > 0.f)){
painter.setBrush(Qt::red);
QPoint relLoc= getRelLoc(loc, obsv.goal_post_r().visual_detection().distance(),
obsv.goal_post_r().visual_detection().bearing());
painter.drawEllipse(relLoc, 10, 10);
for (int j=0; j<obsv.goal_post_r().visual_detection().concrete_coords_size(); j++)
{
float concX = obsv.goal_post_r().visual_detection().concrete_coords(j).x();
float concY = obsv.goal_post_r().visual_detection().concrete_coords(j).y();
QPoint relCoord(concX, concY);
painter.setBrush(Qt::magenta);
painter.drawEllipse(relCoord,5,5);
}
}
}
if (obsv.has_visual_cross()) {
if (obsv.visual_cross().distance() > 0.f){
painter.setBrush(Qt::black);
QPoint relLoc= getRelLoc(loc, obsv.visual_cross().distance(),
obsv.visual_cross().bearing());
painter.drawEllipse(relLoc, 10, 10);
for (int j=0; j<obsv.visual_cross().concrete_coords_size(); j++)
{
float concX = obsv.visual_cross().concrete_coords(j).x();
float concY = obsv.visual_cross().concrete_coords(j).y();
QPoint relCoord(concX, concY);
painter.setBrush(Qt::magenta);
painter.drawEllipse(relCoord,5,5);
}
}
}
// Paint the line segment in global
}
