/*
* Search for address 'a'. Use *vp for context, *r as the starting point
* for searches. May create a new window, but doesn't otherwise affect
* the screen. If it finds something, update *vp and *r and return
* true, otherwise return false and leave vp and r alone.
*
* 's' may be of the form path:addr, or path, or :addr.
*/
static Bool
view_gotofile(View**vp, Range *r, char *a) {
Path s;
View *v = *vp;
View *v2;
char *colon; /* preserve the colon */
Path label;
if (strlen(a) > sizeof(Path)-1) {
errno=0;
diag(0, "couldn't goto \"%s\": path too long", a);
return false;
}
strcpy(s,a);
colon = strchr(s, ':');
if (colon) {
*colon=0;
}
/* look for 's' as a file or directory */
if(strlen(s)) {
/* 'path' or 'path:addr' */
data_addcontext(view_data(v), label, s);
if( (v2=openlabel(label, false))){
if(colon) {
Range oldr = v2->sel;
if(!text_search(v2->t, r, colon+1, v2->sel)) {
*r = oldr;
}
} else {
*r = v2->sel;
}
*vp = v2;
return true;
} else
return false; /* bad path */
}
assert(!strlen(s));
/* :addr by itself then */
if(!ISBODY(v)){
if( ! ((v = view_body(v)) || (v = view_body(last_selection))) )
return false;
}
*r = v->sel;
if (text_search(v->t, r, colon+1, v->sel)) {
*vp = v;
return true;
}
return false;
}
/* We've clicked the 'goto' button, selecting 'r' in 'v'
* If this window is under external control, just send the event,
* otherwise expand the selection, and 'goto' it, in the context of 'v'.
*/
void
b3(View *v, Range r) {
char *s;
View *oldv;
Range expanded;
Data *d;
View*found;
/* Try to send simply expanded version to remote process */
expanded = view_expand(v, r, notaddress);
if (!RLEN(expanded))
return; /* empty click nowhere -- ignore */
s = text_duputf(v->t, expanded);
d = view_data(v);
oldv = v;
/* Send to remote process? */
if(data_sendgoto(d,expanded, s))
goto cleanup;
if (view_gotofile(&v, &expanded, s)) { /* Simple file? */
r = expanded;
} else if ( (found = openinclude(v,r)) ) {
v = found;
r = found->sel;
} else if (view_literal(&v, &expanded, s)) { /* Literal? */
r = expanded;
} else { /* found nothing */
goto cleanup;
}
view_show(v,r);
view_select(v,r);
view_setlastselection(v);
/* warp unless b3 in the tag jumps to the body. */
if (oldv != tile_tag(view_win(v)))
view_warp(v,r);
cleanup:
free(s);
}
VOID CALLBACK TimerProc(HWND hwnd,UINT uMsg,UINT_PTR idEvent,DWORD dwTime)
{
/// Do your job.
static DWORD prevTime = 0;
//printf("dwTime : %d\n",dwTime-prevTime);
retrieve_VICON();
if(isLiveChecked == true)
{
printf("[REC] errRoll=%2.2f,errPitch=%2.2f,Vx=%2.2f,Vy=%2.2f,Alt=%2.2f,dt=%f\n",state_error.rollErr,state_error.pitchErr,state_error.vxErr,state_error.vyErr,optical_flow.ground_distance,optical_flow.time/1000000.0);
fprintf(fp,"%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n",state_error.rollErr,state_error.pitchErr,state_error.vxErr,state_error.vyErr,optical_flow.ground_distance,xA_dot,yA_dot,zA_dot,xA,yA,zA,optical_flow.quality,optical_flow.time/1000000.0);
}
else
{
//printf("errRoll=%2.2f,errPitch=%2.2f,Vx=%2.2f,Vy=%2.2f,Alt=%2.2f,dt=%f\n",state_error.rollErr,state_error.pitchErr,state_error.vxErr,state_error.vyErr,optical_flow.ground_distance,optical_flow.time/1000000.0);
view_data();
}
prevTime = dwTime;
}
/* Execute 'cmd', which was selected in 'v'.
* PRE: the first character of cmd is not 0 or whitespace.
* Return 0 for success.
*/
static int
ex_run(View*v, char *cmd) {
View *vout, *vin; /* Views for output/input */
int pout[2]; /* pipe for stdout */
int perr[2]; /* pipe for stderr */
Path label;
int pid;
if(pipe_views(&cmd, &vout, &vin))
return -1;
if(openpipes(pout, perr, vout!=0))
return -1;
data_getlabel(view_data(v), label);
switch(pid=fork()) {
case -1: /* fork failed */
close(perr[0]); close(perr[1]);
close(pout[0]); close(pout[1]);
return -1;
default: /* parent */
close(perr[1]);
close(pout[1]);
return ex_parent(perr[0], pout[0], label, cmd, vout, pid);
case 0: /* child */
close(perr[0]);
close(pout[0]);
ex_child(perr[1], pout[1], label, cmd, vin);
/* ex_child doesn't return */
assert(false);
exit(1);
return -1;
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
// setCentralWidget(ui->tabWidget);
//设置编码，可用于国际化
QTextCodec::setCodecForCStrings(QTextCodec::codecForName("utf-8"));
//此定时器为轮询串口缓存数据
serial_read_fresh_t=new QTimer(this);
//设置定时器刷新周期
serial_read_fresh_t->setInterval(400);
//对串口进行初始化
if(ser_serial_port_init()==Utils::SUCCESS)
{
ui->infoPad->append("Ser : Found Serial Device");
th.start();
}
else
{
ui->infoPad->append(("Ser : No Serial Device Found"));
}
//初始化tcp服务器端
tcpServer =new QTcpServer(this);
//初始化udp发送套接字对象
udpSendSocket = new QUdpSocket(this);
//初始化udp接收套接字对象
udpReceiveSocket = new QUdpSocket(this);
//绑定本地udp套接字监听//8904
udpReceiveSocket->bind(Utils::SER_UDP_RCV_PORT, QUdpSocket::ShareAddress);
//绑定本地udp套接字的readyRead信号到processPendingDatagrams槽函数
connect(udpReceiveSocket, SIGNAL(readyRead()),this, SLOT(processPendingDatagrams()));
//初始化客户端默认地址对象
addr = new QHostAddress("192.168.1.1");
//设置按钮的初始化状态
ui->startBtn->setEnabled(true);
ui->stopBtn->setEnabled(false);
//绑定tcpServer的newConnection信号到newConnectionComing槽函数
connect(tcpServer,SIGNAL(newConnection()),this,SLOT(newConnectionComing()));
//绑定startBtn的clicked信号到listenBtnClicked槽函数
connect(ui->startBtn,SIGNAL(clicked()),this,SLOT(listenBtnClicked()));
//绑定stopBtn的clicked信号到listenBtnClicked槽函数
connect(ui->stopBtn,SIGNAL(clicked()),this,SLOT(stopBtnClicked()));
//子节点将会发送的命令
//在下一个迭代版本中将分离出去
//
// 将公用数据移入Utils工具类
// 2014，03，15 已完成
//温度传感器子节点发送的命令头
// TEMP ="temp_data_is:";
//湿度传感器子节点发送的命令头
// HUMI ="humi_data_is:";
table_fresh_t=new QTimer(this);
table_fresh_t->setInterval(1000);
connect(table_fresh_t,SIGNAL(timeout()),this,SLOT(view_data()));
table_fresh_t->start();
//将信号send_cmd_to_node与槽函数sendSerCom绑定
connect(this,SIGNAL(send_cmd_to_node(QString)),this,SLOT(sendSerCom(QString)));
//将信号send_data_to_thread与槽函数setData绑定
connect(this,SIGNAL(send_data_to_thread(QString)),&th,SLOT(setData(QString)));
}
