int _tmain(int argc, char** argv)
{
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------//
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
ActionTurns turn(400, 55);
robot.addAction(&turn, 49);
ActionTurns turn2(400, 55);
robot.addAction(&turn2, 49);
turn.deactivate();
turn2.deactivate();
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("Presionar ESC para salir\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("limitador velocidad cerca", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("limitador velocidad lejos", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int goalNum = 0;
int color = 3;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
printf("El contador esta en: --> %d <---\n",goalNum);
if (goalNum > 20)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
{
gotoPoseAction.setGoal(ArPose(1150, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 2)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn.myActivate = 1;
turn.myDirection = 1;
turn.activate();
ArUtil::sleep(1000);
turn.deactivate();
turn.myActivate = 0;
turn.myDirection = 0;
robot.lock();
}
else if (goalNum == 3)
{
gotoPoseAction.setGoal(ArPose(1150, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
// Imprimo algunos datos del robot como posicion velocidad y bateria
robot.lock();
ArLog::log(ArLog::Normal, "Posicion=(%.2f,%.2f,%.2f), Trans. Vel=%.2f, Bateria=%.2fV",
robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), robot.getBatteryVoltage());
robot.unlock();
}
else if (goalNum == 4)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 5)
{
gotoPoseAction.setGoal(ArPose(650, 2670));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 6)
{
printf("Gira 90 grados izquierda\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 1;
turn2.activate();
ArUtil::sleep(1000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 7)
{
gotoPoseAction.setGoal(ArPose(650, 0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 8)
{
gotoPoseAction.setGoal(ArPose(1800,1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 9)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 10)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 850));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
gotoPoseAction.setGoal(ArPose(3500, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1550));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 11)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 613));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 2)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
goalNum = 19;
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1785));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 12)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 13)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3500, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3500, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 14)
{
//secuencia de drop de la figura
}
else if (goalNum == 15)
{
printf("Gira 180 grados derecha\n");
robot.unlock();
turn2.myActivate = 1;
turn2.myDirection = 2;
turn2.activate();
ArUtil::sleep(2000);
turn2.deactivate();
turn2.myActivate = 0;
turn2.myDirection = 0;
robot.lock();
}
else if (goalNum == 16)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(3300, 413));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(3300, 1985));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 17)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 603));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1795));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 18)
{
if (color == 1)
{
gotoPoseAction.setGoal(ArPose(2800, 860));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if (color == 3)
{
gotoPoseAction.setGoal(ArPose(2800, 1540));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
else if (goalNum == 19)
{
gotoPoseAction.setGoal(ArPose(2600, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
else if (goalNum == 20)
{
gotoPoseAction.setGoal(ArPose(1800, 1199));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "No puede llegar al punto, y la aplicacion saldra en %d", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(10);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
//----------------------------------------------------------------------------------//
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArAnalogGyro gyro(&robot);
ArSonarDevice sonar;
ArRobotConnector robotConnector(&parser, &robot);
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
if(!robotConnector.connectRobot())
{
ArLog::log(ArLog::Terse, "gotoActionExample: Could not connect to the robot.");
if(parser.checkHelpAndWarnUnparsed())
{
// -help not given
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
ArLog::log(ArLog::Normal, "gotoActionExample: Connected to robot.");
robot.addRangeDevice(&sonar);
robot.runAsync(true);
// Make a key handler, so that escape will shut down the program
// cleanly
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// Collision avoidance actions at higher priority
ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Goto action at lower priority
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Stop action at lower priority, so the robot stops if it has no goal
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// turn on the motors, turn off amigobot sounds
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 30000; //msec
ArLog::log(ArLog::Normal, "Going to four goals in turn for %d seconds, then cancelling goal and exiting.", duration/1000);
bool first = true;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// Choose a new goal if this is the first loop iteration, or if we
// achieved the previous goal.
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++;
if (goalNum > 4)
goalNum = 1; // start again at goal #1
// set our positions for the different goals
if (goalNum == 1)
gotoPoseAction.setGoal(ArPose(2500, 0));
else if (goalNum == 2)
gotoPoseAction.setGoal(ArPose(2500, 2500));
else if (goalNum == 3)
gotoPoseAction.setGoal(ArPose(0, 2500));
else if (goalNum == 4)
gotoPoseAction.setGoal(ArPose(0, 0));
ArLog::log(ArLog::Normal, "Going to next goal at %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
// Robot disconnected or time elapsed, shut down
Aria::exit(0);
return 0;
}
void Soldier::handleCollisionWith(GameObject* gameObject)
{
// if (this->hp<=0) {
// this->isScheduledForRemove = true;
// }
//
// bloodBar->setScaleX(0.3f*hp/maxHp);
if (gameObject != NULL)
{
if (gameObject->getTag() >= 200)
{
// if (ccpDistance(this->getPosition(), gameObject->getPosition())<=this->radius()) {
if (stopAction())
{
return;
}
if (checkIsCollision(gameObject))
{
isCollision = true;
stop();
if (normalSkillTrigger())
{
normalSkillHandler(gameObject);
}
if (haloSkillTrigger())
{
haloSkillHandler(gameObject);
}
if (normalAtkTrigger())
{
normalAtkHandler(gameObject);
}
curActionCount++;
}
//this->setPositionX(this->getPositionX()-10);
// if (hp>0) {
//bloodBar->setVisible(true);
// {
// gameObject->setHp(gameObject->getHp()-this->getAtk());
//if (isS9) {
/*
if (strcmp(animationManager->getRunningSequenceName(), "attack2")!=false) {
animationManager->runAnimationsForSequenceNamed("attack2");
}
*/
//} else {
//}
// }
//}
// }
// } else {
// if (isS6) {
// if (!gameObject->isMaxHp()) {
// CCBAnimationManager* animationManager = dynamic_cast<CCBAnimationManager*>(this->getUserObject());
// if (animationManager->getRunningSequenceName()==NULL or strcmp(animationManager->getRunningSequenceName(), "attack1")!=false) {
// animationManager->runAnimationsForSequenceNamed("attack1");
// }
// }
// } else if (!this->isMaxHp()) {
// CCBAnimationManager* animationManager = dynamic_cast<CCBAnimationManager*>(gameObject->getUserObject());
// if (animationManager->getRunningSequenceName()==NULL or strcmp(animationManager->getRunningSequenceName(), "attack1")!=false) {
// float newHp = this->getMaxHp()>(this->getHp()+gameObject->getAtk()) ? this->getHp()+gameObject->getAtk() : this->getMaxHp();
// this->setHp(newHp);
// }
// }
}
}
}
bool Akuerdate::onTouchBegan(cocos2d::Touch *touch, cocos2d::Event *event)
{
if(Configuracion::desarrollo)
log("BEGAN %f %f",touch->getLocation().x,touch->getLocation().y);
if(juegoTerminado)
irAtras(NULL);
if(isPlayNarracion){
if(Configuracion::comprobarToque(touch, capaTextoCuadroInicial)){
saltarAnimacion();
}
}
//SI LE DIO AL PROFESOR
bool tocaProfesor = false;
auto target = profesor;
Point locationInNode = target->convertToNodeSpace(touch->getLocation());
Size s = profesor->getContentSize();
Rect rect = Rect(0, 0, s.width, s.height);
if (rect.containsPoint(locationInNode))
{
tocaProfesor = true;
if(isPlayNarracion || textosProfesor->count()>0 || cuadroDialogo->getString()!=""){
cambiarTextoDialogo(LanguageManager::getInstance()->getString("PROFESOR_MENJ_01"));
if(isPlayNarracion){
mostrarDialogoComenzar();
stopAction(narracion);
isPlayNarracion = false;
CocosDenshion::SimpleAudioEngine::getInstance()->stopAllEffects();
}
}else{
cambiarTextoDialogo(LanguageManager::getInstance()->getString("PROFESOR_MENJ_02"));
}
}
if(!escuchadores){
return false;
}
if(!escuchadorElementos){
if(Configuracion::comprobarToque(touch, cuadroJuego)){
cambiarTextoDialogo(LanguageManager::getInstance()->getString("Aun_no"));
return false;
}else
return false;
}
if(comprobarToqueElemento(touch)){
comprobarExitoElemento(touch);
CCLOG("IMPLEMENTAR SECUENCIA TOCADA DE MOSTRO");
CCLOG("PARTE TOCADA DE MOSTRO");
}else{
CCLOG("NO TOCO PARTE MOSTRO");
}
return true;
}
void Drop::stopWave()
{
if (waveAction)
stopAction(waveAction);
setScale(1);
}
int main(int argc, char **argv)
{
Aria::init();
argc = 3;
argv[0] = "";
argv[1] = "-rp";
argv[2] = "/dev/ttyUSB0";
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArRobot robot;
ArAnalogGyro gyro(&robot);
ArSonarDevice sonar;
ArRobotConnector robotConnector(&parser, &robot);
if(!robotConnector.connectRobot())
{
if(parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
}
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
Aria::exit(1);
}
imgdb.setRobot(&robot);
int Rc;
pthread_t slam_thread;
Rc = pthread_create(&slam_thread, NULL, slam_event, NULL);
if (Rc) { printf("Create slam thread failed!\n"); exit(-1); }
ImageList* current = NULL;
while (!current) current = imgdb.getEdge();
// current->person_point
robot.addRangeDevice(&sonar);
robot.runAsync(true);
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
robot.setAbsoluteMaxRotVel(30);
ArActionStallRecover recover;
ArActionBumpers bumpers;
double minDistance=10000;
// ArPose endPoint(point.x, point.z);
// current->collect_x
// current->collect_y
// robot.getX()
// robot.getY()
// current = imgdb.getEdge();
// for (int i = 0; i < current->edge.size(); i++) {
// for (int j = 0; j < current->edge[i].size() - 1; j++) {
// double dis = sqrt(pow(current->edge[i][j].z,2)+(pow(current->edge[i][j].x,2)));
// if(dis<minDistance){
// minDistance=dis;
// }
// }
// }
// 引入避障action,前方安全距离为500mm,侧边安全距离为340mm
Avoid avoidSide("Avoid side", ArPose(0, 0), 800, 100, 1000*minDistance);
robot.addAction(&recover, 100);
robot.addAction(&bumpers, 95);
robot.addAction(&avoidSide, 80);
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 50);
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 500000;
bool first = true;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
current = imgdb.getEdge();
for (int i = 0; i < current->edge.size(); i++) {
for (int j = 0; j < current->edge[i].size() - 1; j++) {
// printf("i=%d\n",i);
double dis = sqrt(pow(current->edge[i][j].z,2)+(pow(current->edge[i][j].x,2)));
// printf("dis=%f,mindis=%f\n",dis,minDistance);
if(dis<minDistance){
minDistance=dis;
printf("min=%f\n",minDistance);
}
}
}
//引入避障action,前方安全距离为500mm,侧边安全距离为340mm
// Avoid avoidSide("Avoid side", ArPose(0, 0), 800, 200, minDistance);
// robot.addAction(&avoidSide,80);
robot.lock();
if (first || avoidSide.haveAchievedGoal())
{
first = false;
goalNum++;
printf("count goalNum = %d\n", goalNum);
if (goalNum > 2){
goalNum = 1; // start again at goal #1
}
// avoidSide.setGoal(ArPose(10000,0));
if(goalNum==1){
printf("zuobiaox=%f,zuobiaoy=%f\n",-current->person_point.z,current->person_point.x);
avoidSide.setGoal(ArPose(1000*current->person_point.z, -1000*current->person_point.x));
printf("goalNum == 1\n\n");
}
else if(goalNum==2){
printf("zuobiaox=%f,zuobiaoy=%f\n",-current->person_point.z,current->person_point.x);
avoidSide.setGoal(ArPose(1000*current->person_point.z, -1000*current->person_point.x));
printf("goalNum == 2\n\n");
}
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
avoidSide.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
Aria::exit(0);
return 0;
}
VSCVWidget::VSCVWidget(s32 nId, QWidget *parent, Qt::WindowFlags flags)
: QWidget(parent, flags)
{
m_pStarted = FALSE;
m_nId = nId;
m_nPlayId = 0;
m_pRenderBuffer = NULL;
m_bDeviceDeleted = FALSE;
m_bFocus = FALSE;
m_lastMoveTime = 0;
m_InstantPbMode = FALSE;
m_pbThread = NULL;
m_autoUpdate = TRUE;
m_Render = RENDER_QT;
m_DragStart = FALSE;
m_PtzStart = FALSE;
m_PtzEnable = FALSE;
gettimeofday(&m_lastPtz, NULL);
this->setAcceptDrops(true);
m_pStop = new QAction(QIcon(tr(":/action/resources/stop.png")), tr("Stop"), this);
connect(m_pStop, SIGNAL(triggered()), this, SLOT(stopAction()));
m_pStop->setEnabled(false);
m_pFloating = new QAction(QIcon(tr(":/action/resources/float.png")), tr("Float"), this);
connect(m_pFloating, SIGNAL(triggered()), this, SIGNAL(ShowFloatingClicked()));
m_pPTZ = new QAction(QIcon(tr(":/device/resources/dome.png")), tr("PTZ"), this);
connect(m_pPTZ, SIGNAL(triggered()), this, SLOT(PTZEnable()));
m_pRecord = new QAction(QIcon(tr("images/open.ico")), tr("RECORD"), this);
//connect(m_pFloating, SIGNAL(triggered()), this, SIGNAL(ShowFloatingClicked()));
m_pTabbed = new QAction(QIcon(tr(":/action/resources/tabbed.png")), tr("Tabbed"), this);
connect(m_pTabbed, SIGNAL(triggered()), this, SIGNAL(ShowTabbedClicked()));
m_pControlEnable = new QAction(QIcon(tr(":/action/resources/control_panel.png")), tr("Control Panel"), this);
connect(m_pControlEnable, SIGNAL(triggered()), this, SIGNAL(ShowControlPanelClicked()));
m_pDisplay1 = new QAction(QIcon(tr(":/action/resources/display.png")), tr("DISPLAY 1"), this);
connect(m_pDisplay1, SIGNAL(triggered()), this, SLOT(showDisplay1()));
m_pDisplay2 = new QAction(QIcon(tr(":/action/resources/display.png")), tr("DISPLAY 2"), this);
connect(m_pDisplay2, SIGNAL(triggered()), this, SLOT(showDisplay2()));
m_pDisplay3 = new QAction(QIcon(tr(":/action/resources/display.png")), tr("DISPLAY 3"), this);
connect(m_pDisplay3, SIGNAL(triggered()), this, SLOT(showDisplay3()));
m_pDisplay4 = new QAction(QIcon(tr(":/action/resources/display.png")), tr("DISPLAY 4"), this);
connect(m_pDisplay4, SIGNAL(triggered()), this, SLOT(showDisplay4()));
createContentMenu();
ui.setupUi(this);
ui.videoControl->setVisible(false);
//ui.widgetTimeline->hide();
/* Hide all the control button */
StopPlayUI();
//ui.videoControl->setMaximumHeight(20);
m_videoWindow = (HWND)ui.video->winId();
setMouseTracking(true);
connect(ui.video, SIGNAL(videoMouseMove(QMouseEvent *)), this, SLOT(videoMouseMove(QMouseEvent *)));
connect(ui.video, SIGNAL(videoResize()), this, SLOT(videoResizeEvent()));
connect(ui.pbInstantpb, SIGNAL( clicked() ), this, SLOT(instantPbClick()));
connect(ui.widgetTimeline, SIGNAL( TimeLineChange(int) ), this, SLOT(TimeLineChanged(int)));
ui.widgetTimeline->SetEnabled(FALSE);
connect(ui.pbPause, SIGNAL( clicked() ), this, SLOT(InstantPbPause()));
connect(ui.pbPlay, SIGNAL( clicked() ), this, SLOT(InstantPbPlay()));
connect(ui.timelineZoom, SIGNAL( currentIndexChanged (int) ),
this, SLOT(TimeLineLengthChanged(int)));
ui.timelineZoom->setCurrentIndex (TIMELINE_LEN_5_MIN);
m_Timer = new QTimer(this);
connect(m_Timer,SIGNAL(timeout()),this,SLOT(UpdateVideoControl()));
m_Timer->start(500);
m_lastWidth = ui.video->width();
m_lastHeight = ui.video->height();
}
// on "init" you need to initialize your instance
bool HelloWorld::init()
{
//////////////////////////////
// 1. super init first
if (!Layer::init())
{
return false;
}
Size visibleSize = Director::getInstance()->getVisibleSize();
Vec2 origin = Director::getInstance()->getVisibleOrigin();
/*
* Task : Create a menu with single button.
* Button should listen to the mouse, and close the application on click
*/
auto addDragObject = [this](const std::string& name, const int& shift, const Color3B& color)
{
auto label1 = Label::createWithTTF("BAUHS93.TTF", name);
label1->setColor(color);
auto labelMenuItem1 = MenuItemLabel::create(label1);
labelMenuItem1->setPosition(Lazy::Common::VisibleRect::center() - Vec2(shift, shift));
labelMenuItem1->setRotation(45.0f);
labelMenuItem1->setScale(1.5f);
auto label2 = Label::createWithTTF("BAUHS93.TTF", name);
label2->setColor(color);
auto labelMenuItem2 = MenuItemLabel::create(label2);
labelMenuItem2->setPosition(Lazy::Common::VisibleRect::center() - Vec2(shift + 30, shift + 30));
auto label3 = Label::createWithTTF("BAUHS93.TTF", name);
label3->setColor(color);
auto labelMenuItem3 = MenuItemLabel::create(label3);
labelMenuItem3->setPosition(Lazy::Common::VisibleRect::center() - Vec2(shift + 50, shift + 50));
labelMenuItem3->setRotation(-45.0f);
labelMenuItem3->setScale(0.5f);
auto dragObject = Lazy::Common::DragObject::create({ labelMenuItem1, labelMenuItem2, labelMenuItem3 });
dragObject->onActivated = [this, label1, labelMenuItem1, label2, labelMenuItem2, label3, labelMenuItem3, dragObject]()
{
labelMenuItem1->stopAllActions();
labelMenuItem2->stopAllActions();
labelMenuItem3->stopAllActions();
auto rotateTo = RepeatForever::create(RotateBy::create(1.0, 360.0f));
auto rotateTo2 = RepeatForever::create(RotateBy::create(0.5, 360.0f));
auto rotateTo3 = RepeatForever::create(RotateBy::create(0.25, 360.0f));
labelMenuItem1->runAction(rotateTo);
labelMenuItem2->runAction(rotateTo2);
labelMenuItem3->runAction(rotateTo3);
dragObject->onDeactivated = [this, label1, labelMenuItem1, rotateTo, label2, labelMenuItem2, rotateTo2, label3, labelMenuItem3, rotateTo3]()
{
labelMenuItem1->stopAction(rotateTo);
labelMenuItem2->stopAction(rotateTo2);
labelMenuItem3->stopAction(rotateTo3);
auto rotateBack = RepeatForever::create(RotateTo::create(1.0, 0.0f));
auto rotateBack2 = RepeatForever::create(RotateTo::create(1.0, 0.0f));
auto rotateBack3 = RepeatForever::create(RotateTo::create(1.0, 0.0f));
labelMenuItem1->runAction(rotateBack);
labelMenuItem2->runAction(rotateBack2);
labelMenuItem3->runAction(rotateBack3);
};
};
dragObject->setDrawBB(false);
this->addChild(dragObject);
};
addDragObject("Vlad", 0, Color3B::BLUE);
addDragObject("Irina", 50, Color3B::RED);
addDragObject("Eugene_Goncharuk", -100, Color3B::GREEN);
return true;
}
int APIENTRY _tWinMain(HINSTANCE hInstance,
HINSTANCE hPrevInstance,
LPTSTR lpCmdLine,
int nCmdShow)
{
UNREFERENCED_PARAMETER(hPrevInstance);
UNREFERENCED_PARAMETER(lpCmdLine);
//-------------- M A I N D E L P R O G R A M A D E L R O B O T------------//
//----------------------------------------------------------------------------------------------------------
//inicializaion de variables
Aria::init();
ArArgumentParser parser(&argc, argv);
parser.loadDefaultArguments();
ArSimpleConnector simpleConnector(&parser);
ArRobot robot;
ArSonarDevice sonar;
ArAnalogGyro gyro(&robot);
robot.addRangeDevice(&sonar);
// presionar tecla escape para salir del programa
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// uso de sonares para evitar colisiones con las paredes u
// obstaculos grandes, mayores a 8cm de alto
ArActionLimiterForwards limiterAction("speed limiter near", 300, 600, 250);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
robot.addAction(&tableLimiterAction, 100);
robot.addAction(&limiterAction, 95);
robot.addAction(&limiterFarAction, 90);
// Inicializon la funcion de goto
ArActionGoto gotoPoseAction("goto");
robot.addAction(&gotoPoseAction, 50);
// Finaliza el goto si es que no hace nada
ArActionStop stopAction("stop");
robot.addAction(&stopAction, 40);
// Parser del CLI
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Conexion del robot
if (!simpleConnector.connectRobot(&robot))
{
printf("Could not connect to robot... exiting\n");
Aria::exit(1);
}
robot.runAsync(true);
// enciende motores, apaga sonidos
robot.enableMotors();
robot.comInt(ArCommands::SOUNDTOG, 0);
const int duration = 100000; //msec
ArLog::log(ArLog::Normal, "Completados los puntos en %d segundos", duration/1000);
bool first = true;
int horiz = 1800;
int vert = 380;
int goalNum = 0;
ArTime start;
start.setToNow();
while (Aria::getRunning())
{
robot.lock();
// inicia el primer punto
if (first || gotoPoseAction.haveAchievedGoal())
{
first = false;
goalNum++; //cambia de 0 a 1 el contador
if (goalNum > 7)
goalNum = 1;
//comienza la secuencia de puntos
if (goalNum == 1)
gotoPoseAction.setGoal(ArPose(horiz, vert*0));
else if (goalNum == 2)
gotoPoseAction.setGoal(ArPose(0, vert*1));
else if (goalNum == 3)
gotoPoseAction.setGoa l(ArPose(horiz, vert*2)+5);
else if (goalNum == 4)
gotoPoseAction.setGoal(ArPose(0, vert*3));
else if (goalNum == 5)
gotoPoseAction.setGoal(ArPose(horiz, vert*4+5));
else if (goalNum == 6)
gotoPoseAction.setGoal(ArPose(0, vert*5));
else if (goalNum == 7)
gotoPoseAction.setGoal(ArPose(0, vert*0));
ArLog::log(ArLog::Normal, "Siguiente punto en %.0f %.0f",
gotoPoseAction.getGoal().getX(), gotoPoseAction.getGoal().getY());
}
if(start.mSecSince() >= duration) {
ArLog::log(ArLog::Normal, "%d seconds have elapsed. Cancelling current goal, waiting 3 seconds, and exiting.", duration/1000);
gotoPoseAction.cancelGoal();
robot.unlock();
ArUtil::sleep(3000);
break;
}
robot.unlock();
ArUtil::sleep(100);
}
// Robot desconectado al terminal el sleep
Aria::shutdown();
return 0;
//----------------------------------------------------------------------------------------------------------
// TODO: Place code here.
MSG msg;
HACCEL hAccelTable;
// Initialize global strings
LoadString(hInstance, IDS_APP_TITLE, szTitle, MAX_LOADSTRING);
LoadString(hInstance, IDC_VENTANAROBOT, szWindowClass, MAX_LOADSTRING);
MyRegisterClass(hInstance);
// Perform application initialization:
if (!InitInstance (hInstance, nCmdShow))
{
return FALSE;
}
hAccelTable = LoadAccelerators(hInstance, MAKEINTRESOURCE(IDC_VENTANAROBOT));
// Main message loop:
while (GetMessage(&msg, NULL, 0, 0))
{
if (!TranslateAccelerator(msg.hwnd, hAccelTable, &msg))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
return (int) msg.wParam;
}
