void
ItemXML::moveDown()
{
QDomElement element = node_.toElement();
MIRO_ASSERT(!element.isNull());
QDomNode succ = node_.nextSibling();
while (!succ.isNull()) {
QDomElement e = succ.toElement();
if (!e.isNull() &&
e.tagName() == element.tagName()) {
break;
}
succ = succ.nextSibling();
}
if (!succ.isNull()) {
Super::moveDown();
node_.parentNode().insertAfter(node_, succ);
setModified();
}
}
void
ItemXML::deleteItem()
{
// schedule for deletion
// this will also remove the listviewitem
deleteLater();
// remove this node at the parent node
// as this is not taken care of in
// the dtor of this class
QDomNode n = node_.parentNode();
MIRO_ASSERT(!n.isNull());
n.removeChild(node_);
// tell the parent, that he is modified
// as he will not be able to ask us about it anymore
ItemXML * p =
dynamic_cast<ItemXML *>(parent());
if (p != NULL) {
p->setModified();
}
}
ParameterList::ParameterList(Miro::CFG::Parameter const& _param,
QDomNode const& _node,
QListView * _list,
QListViewItem * _pre,
QObject * _parent, const char * _name) :
Super(_node, _list, _pre, _parent, _name),
param_(_param),
type_(typeFromName(_param.type_))
{
MIRO_ASSERT(type_ != NONE);
if (listViewItem()->listView()->columns() == 2)
listViewItem()->setText(2, param_.type_);
// get the nested parameter type
int len = param_.type_.length();
int vlen = (type_ == VECTOR)?
QString("std::vector<").length() :
QString("std::set<").length();
len --; // tailing >
len -= vlen;
nestedTypeName_ = param_.type_.mid(vlen, len);
}
void
EventView::insertEvent(QString const& _stamp,
QString const& _domain, QString const& _type, QString const& _event)
{
internalSetSelection_ = true;
if (list_->selectedItem() == NULL &&
list_->firstChild() != NULL) {
list_->setSelected(list_->firstChild(), true);
}
// insert at the beginning
if (list_->firstChild() == NULL ||
_stamp < list_->firstChild()->text(0)) {
new QListViewItem(list_,
_stamp, _domain, _type, _event);
list_->setSelected(list_->firstChild(), true);
list_->ensureItemVisible(list_->firstChild());
if (last_ == NULL)
last_ = list_->firstChild();
}
// insert at the end
else if (last_->text(0) < _stamp) {
last_ = new QListViewItem(list_, last_,
_stamp, _domain, _type, _event);
list_->setSelected(last_, true);
list_->ensureItemVisible(last_);
}
// insert somewher in between
else if (list_->selectedItem() != NULL &&
list_->selectedItem()->text(0) != _stamp) {
QListViewItem * item = list_->selectedItem();
MIRO_ASSERT(item != NULL);
// after current selection
if(_stamp > item->text(0)) {
QListViewItem * prev = item;
while (_stamp > item->text(0)) {
prev = item;
item = item->nextSibling();
}
// insert
if (_stamp != item->text(0)) {
item = new QListViewItem(list_, prev,
_stamp, _domain, _type, _event);
}
}
// before current selection
else {
while (_stamp < item->text(0)) {
QListViewItem * prev = list_->firstChild();
while (prev->nextSibling() != item) {
prev = prev->nextSibling();
MIRO_ASSERT(prev != NULL);
}
item = prev;
}
if (_stamp != item->text(0)) {
QListViewItem * prev = list_->firstChild();
while (prev->nextSibling() != item) {
prev = prev->nextSibling();
MIRO_ASSERT(prev != NULL);
}
item = new QListViewItem(list_, prev,
_stamp, _domain, _type, _event);
}
}
list_->setSelected(item, true);
}
pruneHistory();
internalSetSelection_ = false;
}
void
FaulCanConnection::sendAccVelTicks(short, short)
{
MIRO_ASSERT(false);
}
/**
* @param parameter, the parameter description of the type
* @param node, the qdom node in the document, containing the node
* @param parentItem, the parent item in the list view
* @param item, the item itself in the list view
* @param parent, the parent widget of the dialog
* @param name, the name of the dialog
*/
SingleParameterDialog::
SingleParameterDialog(Miro::CFG::Parameter const& _parameter,
QDomNode const& _node,
ItemXML * _parentItem,
ItemXML * _item,
QWidget * _parent, const char * _name) :
Super(_node.parentNode(), _node,
_parentItem, _item,
_parent, _name),
parameter_(_parameter)
{
MIRO_ASSERT(!_node.isNull());
QGridLayout * gridLayout =
new QGridLayout(frame_, 1, 3, 2, 5, "gridLayout");
// add parameter struct:
QLabel * name = new QLabel(frame_);
QString n = parameter_.name_;
n[0] = n[0].upper();
name->setText(n);
gridLayout->addWidget(name, 0, 0);
// search existing entry
QDomNode parameterNode;
if (!node_.isNull()) {
parameterNode = node_.firstChild();
while(!parameterNode.isNull()) {
QDomElement e = parameterNode.toElement();
if (!e.isNull() &&
e.attribute("name") == n)
break;
parameterNode = parameterNode.nextSibling();
}
}
SimpleParameter::Type editType =
SimpleParameter::typeFromName(parameter_.type_);
MIRO_ASSERT(editType != SimpleParameter::NONE);
edit_ = new SimpleParameterEdit(editType,
parameter_,
parentNode_,
node_,
parentItem_,
item_,
frame_,
n.latin1());
// add measure
QLabel * measure = new QLabel(frame_);
if (!parameter_.measure_.isEmpty()) {
measure->setText(parameter_.measure_);
QToolTip::add(measure, (parameter_.type_ != "angle")? parameter_.type_ : QString("double"));
}
else
measure->setText(parameter_.type_);
gridLayout->addWidget(measure, 0, 2);
gridLayout->addWidget(edit_->editWidget(), 0, 1);
frame_->sizeHint();
groupBox_->sizeHint(); // we need this to get the right size (hutz)
groupBox_->setTitle("Parameters");
}
void
ParameterDialog::initDialog()
{
editFelds_.clear();
QGridLayout * gridLayout =
new QGridLayout(frame_, params_.size(), 3, 2, 5, "gridLayout");
// add parameter structs:
unsigned long i = 0;
Miro::CFG::ParameterVector::const_iterator first, last = params_.end();
for (first = params_.begin(); first != last; ++first, ++i) {
// name
QLabel * name = new QLabel(frame_);
QString n = first->name_;
n[0] = n[0].upper();
name->setText(n);
gridLayout->addWidget(name, i, 0);
// search existing entry
QDomNode parameterNode;
if (!node_.isNull()) {
parameterNode = node_.firstChild();
while(!parameterNode.isNull()) {
QDomElement e = parameterNode.toElement();
if (!e.isNull() &&
e.attribute("name") == n)
break;
parameterNode = parameterNode.nextSibling();
}
}
// if there is an existing entry
// and we know our listview,
// get the corresponding listview item
ItemXML * childItem = NULL;
if (!parameterNode.isNull() &&
item_ != NULL) {
if (item_->children()) {
QObjectList childList = *item_->children();
QObject * c = childList.first();
while (c) {
childItem =
dynamic_cast<ItemXML *>(c);
MIRO_ASSERT(childItem != NULL);
if (childItem->node().toElement().attribute("name") == n) {
break;
}
childItem = NULL;
c = childList.next();
}
}
}
// create the dialog
ParameterEdit * value;
SimpleParameter::Type editType =
SimpleParameter::typeFromName(first->type_);
if (editType != SimpleParameter::NONE) {
value = new SimpleParameterEdit(editType,
*first,
node_,
parameterNode,
item_,
childItem,
frame_,
n.latin1());
// add measure
QLabel * measure = new QLabel(frame_);
if (!first->measure_.isEmpty()) {
measure->setText(first->measure_);
QToolTip::add(measure, (first->type_ != "angle")? first->type_ : QString("double"));
}
else
measure->setText(first->type_);
gridLayout->addWidget(measure, i, 2);
}
else {
DeferredParameterEdit::EditType deferredEditType =
DeferredParameterEdit::editType(first->type_);
value = new DeferredParameterEdit(deferredEditType,
*first,
node_,
parameterNode,
item_,
childItem,
frame_,
n.latin1());
}
gridLayout->addWidget(value->editWidget(), i, 1);
editFelds_.push_back(value);
}
}
void
EventView::insertEvent(QString const& _stamp,
QString const& _domain,
QString const& _type,
QString const& _event)
{
// A new item will be created, and it will become the selected item
internalSetSelection_ = true;
// Precondition
assert(list_ != NULL);
// The selected QTreeWidget item(s), if any
const QList<QTreeWidgetItem*> selectedItems = list_->selectedItems();
// The root QTreeWidget
QTreeWidgetItem * const pRoot = list_->invisibleRootItem();
assert(pRoot != NULL);
// The number of items at the top level
const int childCount = pRoot->childCount();
// The first item at the top level, if any
QTreeWidgetItem * const pFirstTreeWidgetItem =
(childCount > 0) ? pRoot->child(0) : NULL;
// If no item is selected and there is a top-level item, select it
if (selectedItems.isEmpty() && (pFirstTreeWidgetItem != NULL))
{
pFirstTreeWidgetItem->setSelected(true);
}
// Case 1 of 3: insert at the beginning
if (
// The QTreeWidget has no children
(pFirstTreeWidgetItem == NULL) ||
// The time stamp is less than that of the earliest child item
(_stamp < pRoot->child(0)->text(0)))
{
// Create the new item
QTreeWidget * const pParent = list_;
QStringList strings;
strings << _stamp << _domain << _type << _event;
QTreeWidgetItem * const pNewTreeWidgetItem =
new QTreeWidgetItem(pParent, strings);
// Insert the new item at the beginning of the list
list_->insertTopLevelItem(0, pNewTreeWidgetItem);
// Select it
pNewTreeWidgetItem->setSelected(true);
// Make it visible
list_->scrollToItem(pNewTreeWidgetItem);
if (last_ == NULL)
{
// The first one now shall later be last for the times they are a-changin
last_ = pNewTreeWidgetItem;
}
}
// Case 2 of 3: Insert at the end (which is distinct from the beginning)
// The time stamp is greater than that of the lateest item, which must exist
else if (last_->text(0) < _stamp)
{
// Create the new item
QTreeWidget * const pParent = list_;
QStringList strings;
strings << _stamp << _domain << _type << _event;
QTreeWidgetItem * const pNewTreeWidgetItem =
new QTreeWidgetItem(pParent, strings);
// Insert the new item at the end of the list
list_->addTopLevelItem(pNewTreeWidgetItem);
last_ = pNewTreeWidgetItem;
// Select it
pNewTreeWidgetItem->setSelected(true);
// Make it visible
list_->scrollToItem(pNewTreeWidgetItem);
}
// Case 3 of 3: Insert relative to the selected item
else if (
// An item is selected
!list_->selectedItems().isEmpty() &&
// The (first) selected item does not have the same time stamp
(list_->selectedItems()[0]->text(0) != _stamp))
{
// Fetch the (first) selected item
QTreeWidgetItem * const pSelectedItem = list_->selectedItems()[0];
MIRO_ASSERT(pSelectedItem != NULL);
if (_stamp > pSelectedItem->text(0))
{
// Case 3a: Insert the new item after the (first) selected item
// Find the first item after the selected one later than the time stamp
int index = list_->indexOfTopLevelItem(pSelectedItem);
while (_stamp > pRoot->child(index)->text(0))
{
index++;
}
QTreeWidgetItem * const pSuccessor = pRoot->child(index);
assert(pSuccessor != NULL);
assert(_stamp <= pSuccessor->text(0));
assert(index > 0);
if (_stamp != pSuccessor->text(0))
{
// Create the new item
QTreeWidget * const pParent = list_;
QStringList strings;
strings << _stamp << _domain << _type << _event;
QTreeWidgetItem * const pNewItem =
new QTreeWidgetItem(pParent, strings);
assert(pNewItem != NULL);
// Insert it
pRoot->insertChild(index - 1, pNewItem);
// Select it
pNewItem->setSelected(true);
}
}
else
{
// Case 3b: Insert the new item before the (first) selected item
// Find the first item before the selected one later than the time stamp
int index = 0;
while (_stamp < pRoot->child(index)->text(0))
{
index++;
}
QTreeWidgetItem * const pPredecessor = pRoot->child(index);
assert(pPredecessor != NULL);
assert(_stamp >= pPredecessor->text(0));
if (_stamp != pPredecessor->text(0))
{
// Create the new item
QTreeWidget * const pParent = list_;
QStringList strings;
strings << _stamp << _domain << _type << _event;
QTreeWidgetItem * const pNewItem =
new QTreeWidgetItem(pParent, strings);
assert(pNewItem != NULL);
// Insert it
pRoot->insertChild(index, pNewItem);
// Select it
pNewItem->setSelected(true);
}
}
}
pruneHistory();
internalSetSelection_ = false;
}
int
ConstraintArbiter::handle_timeout(const ACE_Time_Value &, const void*)
{
std::cout << "ConstraintArbiter-handle_timeout before Guard" << std::endl;
Miro::Guard guard(mutex_);
std::cout << "ConstraintArbiter-handle_timeout after Guard" << std::endl;
timing_.start();
ConstraintArbiterParameters * params =
const_cast<ConstraintArbiterParameters *>
( dynamic_cast<ConstraintArbiterParameters const *>(params_));
MIRO_ASSERT(params != NULL);
Vector2d velocity;
// std::FILE *logFile1;
typedef std::vector<Behaviour *> BehaviourVector;
// preinitialize the velocity space
params->velocitySpace.clearAllEvals();
params->velocitySpace.clearCurvatureConstraints();
// let each behaviour calculate its velocity space
MessageVector::const_iterator first, last = message_.end();
for(first = message_.begin(); first != last; ++first) {
if ((*first)->active){
std::cout << "ConstraintArbiter before addEval" << std::endl;
(*first)->id->addEvaluation(¶ms->velocitySpace);
std::cout << "ConstraintArbiter after addEval" << std::endl;
}
}
// calculate new velocity using the content of the velocity space
std::cout << "ConstraintArbiter before applyFunction" << std::endl;
velocity = params->velocitySpace.applyObjectiveFunctionToEval();
std::cout << "ConstraintArbiter after applyFunction" << std::endl;
// cout << "LEFT: " << velocity.real() << " ::: " << velocity.imag() << endl;
timing_.stop();
// set steering commands
pMotion_->setLRVelocity(velocity.real(), velocity.imag());
if (Miro::Log::level() >= Miro::Log::LL_PRATTLE) {
TimeStats stats;
timing_.eval(stats);
MIRO_DBG_OSTR(MIRO, LL_PRATTLE, "ConstraintArbiter eval time: " << std::endl << stats);
}
// logFile1 = std::fopen("velocityspace.log","a");
// for(int r_index = 0; r_index <= 2*(velocitySpace_.maxVelocity_/velocitySpace_.spaceResolution_)+1; r_index++) {
// for(int l_index = 0; l_index <= 2*(velocitySpace_.maxVelocity_/velocitySpace_.spaceResolution_)+1; l_index++) {
// fprintf(logFile1, "%d\n", velocitySpace_.velocitySpace_[l_index][r_index]);
// }
// }
// fclose(logFile1);
if (pSupplier_ &&
pSupplier_->subscribed(offerIndex_) &&
!skipDebug_) {
unsigned int const headerSize = 12;
unsigned int dataSize = params->velocitySpace.dynamicWindowSize();
unsigned char * buffer = new unsigned char[headerSize + dataSize];
short * h = reinterpret_cast<short *>(buffer);
h[0] = 0; // protocol id
h[1] = params->velocitySpace.size();
params->velocitySpace.windowBounds(h[2], h[3], h[4], h[5]);
unsigned char * p = buffer + headerSize;
params->velocitySpace.dumpDynamicWindow(p);
Miro::VelocitySpaceIDL * dynamicWindow =
new Miro::VelocitySpaceIDL(headerSize + dataSize,
headerSize + dataSize, buffer, 1);
notifyEvent_.remainder_of_body <<= dynamicWindow;
pSupplier_->sendEvent(notifyEvent_);
}
skipDebug_++;
skipDebug_ %= skipMax_;
return 0;
}
void
DeferredParameterEdit::setXML()
{
QDomNode tmpNode = tmpParentNode_.firstChild();
// no edit -> nothing to be done
if (!modified_)
return;
// delete entry if edit field is empty
if (tmpNode.isNull() ||
tmpNode.firstChild().isNull()) {
if (!node_.isNull()) {
parentNode_.removeChild(node_);
delete item_;
}
else {
modified_ = false;
}
return;
}
// crete a node if necessary
if (node_.isNull()) {
MIRO_ASSERT(!parentNode_.ownerDocument().isNull());
QDomElement e = parentNode_.ownerDocument().createElement(XML_TAG_PARAMETER);
e.setAttribute(XML_ATTRIBUTE_KEY, name());
node_ = parentNode_.appendChild(e);
MIRO_ASSERT(!node_.isNull());
}
//--------------------------------------
// replace node by new content
// remember the predecessor
QListViewItem * pre = NULL;
if (item_) {
QListViewItem * parent = item_->listViewItem()->parent();
if (parent != NULL) {
pre = parent->firstChild();
while (pre != NULL) {
if (pre->nextSibling() == item_->listViewItem())
break;
pre = pre->nextSibling();
}
}
// delete the current content
delete item_;
}
// replace the xml subtree
QDomNode node = tmpNode.cloneNode();
node_.parentNode().replaceChild(node, node_);
node_ = node;
// reconstruct the listview if available
if (parentItem_) {
item_ = NULL;
QString typeName = parameter_.type_;
if (type_ == NESTED_PARAMETER) {
Miro::CFG::Type const * const parameterType =
ConfigFile::instance()->description().getType(typeName);
if (parameterType == NULL) {
throw QString("Parameter description for " + typeName +
" not found.\nCheck whether the relevant description file is loaded.");
}
item_ = new CompoundParameter(*parameterType,
node,
parentItem_->listViewItem(), pre,
parentItem_, name());
}
else if (type_ == VECTOR ||
type_ == SET) {
item_ = new ParameterList(parameter_,
node,
parentItem_->listViewItem(), pre,
parentItem_, name());
}
if (item_ != NULL)
dynamic_cast<ParameterXML *>(item_)->init();
}
}