void Cycle::setPeriod(unsigned long time, int period){
unsigned long current_time = adjustTime(time);
float expand = ((float)period)/_period;
_period_offset = ((unsigned long)(current_time * expand)) - (time % period);
_period = period;
}
void Menu::setTime() {
_currentIndex = _index;
_currentTime = getSaveLoad()->getTime(_currentIndex);
if (_time == _currentTime)
adjustTime();
}
int Heartbeat::value(unsigned long time)
{
fadeAmplitude(time);
float portion = adjustTime(time)/((float) _period) * N_ECG; // normalize the proportion to 2PI
return (int)(ECG[(int)portion] * (_amplitude/255.0));
}
int SineWave::value(unsigned long time)
{
fadeAmplitude(time);
float portion = adjustTime(time)/((float) _period) * 2 * M_PI; // normalize the proportion to 2PI
return (int) ((sin(portion) + 1) * _amplitude) / 2;
}
bool FrameManager::transformHasProblems(const std::string& frame, ros::Time time, std::string& error)
{
if ( !adjustTime(frame, time) )
{
return false;
}
std::string tf_error;
bool transform_succeeded = tf_->canTransform(fixed_frame_, frame, time, &tf_error);
if (transform_succeeded)
{
return false;
}
bool ok = true;
ok = ok && !frameHasProblems(fixed_frame_, time, error);
ok = ok && !frameHasProblems(frame, time, error);
if (ok)
{
std::stringstream ss;
ss << "No transform to fixed frame [" << fixed_frame_ << "]. TF error: [" << tf_error << "]";
error = ss.str();
ok = false;
}
{
std::stringstream ss;
ss << "For frame [" << frame << "]: " << error;
error = ss.str();
}
return !ok;
}
void Menu::eventTick(const Common::Event&) {
if (hasTimeDelta())
adjustTime();
else if (_handleTimeDelta)
_handleTimeDelta = false;
// Check hotspots
if (!--_checkHotspotsTicks) {
checkHotspots();
_checkHotspotsTicks = 15;
}
}
inline void page_modifyTime() {
static int timeScaleIndex = 0;
if (pre_page != MODIFY_TIME)
{
PTLS("Page Mod Time");
pre_page = MODIFY_TIME;
lcd.cursor();
}
lcd.setCursor(0,1);
String str_time = getTimeString();
lcd.print(str_time);
if (timeScaleIndex == 0) lcd.setCursor(0,1);
else if (timeScaleIndex == 1) lcd.setCursor(0,4);
else if (timeScaleIndex == 2) lcd.setCursor(0,7);
if (button_input == PLUS_UP || button_input == PLUS_HOLD)
{
long adjust = timeScale[timeScaleIndex];
adjustTime(adjust);
setSyncInterval(SCALE_HOUR);
}
else if (button_input == MINUS_UP || button_input == MINUS_HOLD)
{
long adjust = -timeScale[timeScaleIndex];
adjustTime(adjust);
setSyncInterval(SCALE_HOUR);
}
else if (button_input == SET_UP)
{
setSyncInterval( 3600 );
switchPage(HOME);
}
else if (button_input == MODE_UP)
{
timeScaleIndex++;
timeScaleIndex = timeScaleIndex % 3;
PTS("Changed focus: "); PTL(timeScaleIndex);
}
}
// ensure that stored time is less than 24 hrs and adjust date accordingly
void DateTime::normalize()
{
// total number of whole days in the time
int wholeDays = m_time.days();
// if time is longer than a day (either positive or negative) normalize it to remainder less than 24 hrs
if (wholeDays != 0){
Time adjustTime(wholeDays,0,0,0);
m_date += adjustTime;
m_time -= adjustTime;
}
// total number of fractional days in the time
double fracDays = m_time.totalDays();
// if time is negative add a day to make it positive
if (fracDays < 0){
Time adjustTime(1,0,0,0);
m_date -= adjustTime;
m_time += adjustTime;
}
}
void godob::handle_time_keys(btnval_e lcd_key)
{
switch (lcd_key)
{
case btnRIGHT:
if(t_set==true){
t_idx++;
t_idx %= 7;
}
t_set = true;
t_adjust=show_adjust(t_idx);
break;
case btnLEFT:
if(t_set==true){
t_idx+=6;
t_idx %= 7;
}
t_set = true;
t_adjust=show_adjust(t_idx);
break;
case btnUP:
if(t_set == true){
//adjustTime(t_adjust); /* doesn't work when t_adjust>0. weird! */
setTime(now() + t_adjust);
}
else{
handle_main_keys(lcd_key);
}
break;
case btnDOWN:
if(t_set == true){
adjustTime(-t_adjust);
}
else{
handle_main_keys(lcd_key);
}
break;
case btnSELECT:
if(t_set==false){
handle_main_keys(lcd_key);
}
else{
setRTC();
LCD->noCursor();
}
t_set=false;
break;
case btnNONE:
break;
}
}
void TimeState::incomingMessageCallback(const struct ble_msg_attributes_value_evt_t *msg) {
isWaitingForResponse = false;
if(msg -> value.data[0] == 0x02)//Time return
{
byte b[4] = {
msg -> value.data[4], msg -> value.data[3], msg -> value.data[2], msg -> value.data[1] };
long timeStamp = bytesToInteger(b);
Serial.print(F("TimeStamp: "));
Serial.println(timeStamp);
setTime(timeStamp);
long timeZoneOffset = 60*60*TIME_ZONE_OFFSET;
adjustTime(timeZoneOffset);//Adjusting time zone . . .
renderClockType1();
}
}
bool DateVariable::loadOdf(const KXmlElement & element, KShapeLoadingContext & context)
{
const QString localName(element.localName());
QString dateFormat = "";
QString dataStyle = element.attributeNS(KOdfXmlNS::style, "data-style-name");
if (!dataStyle.isEmpty()) {
if (context.odfLoadingContext().stylesReader().dataFormats().contains(dataStyle)) {
KOdf::NumericStyleFormat dataFormat = context.odfLoadingContext().stylesReader().dataFormats().value(dataStyle).first;
dateFormat = dataFormat.prefix + dataFormat.formatStr + dataFormat.suffix;
}
}
//dateProperties.setProperty("fixed", QVariant(element.attributeNS(KOdfXmlNS::text, "fixed") == "true"));
if (element.attributeNS(KOdfXmlNS::text, "fixed", "false") == "true") {
m_type = Fixed;
} else {
m_type = AutoUpdate;
}
//dateProperties.setProperty("time", element.attributeNS(KOdfXmlNS::text, localName + "-value"));
const QString value(element.attributeNS(KOdfXmlNS::text, localName + "-value", ""));
if (!value.isEmpty()) {
m_time = QDateTime::fromString(value, Qt::ISODate);
} else {
//TODO see 6.2.1 Date Fields
}
//dateProperties.setProperty("definition", dateFormat);
m_definition = dateFormat;
if (dateFormat.isEmpty())
if (localName == "time") {
m_displayType = Time;
} else {
m_displayType = Date;
}
else {
m_displayType = Custom;
}
//dateProperties.setProperty("adjust", element.attributeNS(KOdfXmlNS::text, localName + "-adjust"));
const QString adjust(element.attributeNS(KOdfXmlNS::text, localName + "-adjust", ""));
adjustTime(adjust);
update();
return true;
}
bool update()
{
tick();
adjustTime();
FramePtr newFrame = fetchFrame();
if(newFrame != 0){
// Don't free currentFrame if it is currentFrame itself that's being converted
if(currentFrame == 0 || currentFrame->GetAvFrame() != newFrame->GetAvFrame()){
currentFrame = newFrame; // Save the current frame for snapshots etc.
}
lastFrameQueuePts = timeFromTs(newFrame->GetPts());
return true;
}
return false;
}
void DateVariable::readProperties(const KProperties *props)
{
m_definition = props->stringProperty("definition");
if (!props->stringProperty("time").isEmpty())
m_time = QDateTime::fromString(props->stringProperty("time"), Qt::ISODate);
if (props->intProperty("id") == Fixed)
m_type = Fixed;
else
m_type = AutoUpdate;
QString displayTypeProp = props->stringProperty("displayType", "custom");
if (displayTypeProp == "custom")
m_displayType = Custom;
else if (displayTypeProp == "date")
m_displayType = Date;
else if (displayTypeProp == "time")
m_displayType = Time;
adjustTime(props->stringProperty("adjust"));
update();
}
bool FrameManager::transform(const std::string& frame, ros::Time time, const geometry_msgs::Pose& pose_msg, Ogre::Vector3& position, Ogre::Quaternion& orientation)
{
if ( !adjustTime(frame, time) )
{
return false;
}
position = Ogre::Vector3::ZERO;
orientation = Ogre::Quaternion::IDENTITY;
// put all pose data into a tf stamped pose
tf::Quaternion bt_orientation(pose_msg.orientation.x, pose_msg.orientation.y, pose_msg.orientation.z, pose_msg.orientation.w);
tf::Vector3 bt_position(pose_msg.position.x, pose_msg.position.y, pose_msg.position.z);
if (bt_orientation.x() == 0.0 && bt_orientation.y() == 0.0 && bt_orientation.z() == 0.0 && bt_orientation.w() == 0.0)
{
bt_orientation.setW(1.0);
}
tf::Stamped<tf::Pose> pose_in(tf::Transform(bt_orientation,bt_position), time, frame);
tf::Stamped<tf::Pose> pose_out;
// convert pose into new frame
try
{
tf_->transformPose( fixed_frame_, pose_in, pose_out );
}
catch(std::runtime_error& e)
{
ROS_DEBUG("Error transforming from frame '%s' to frame '%s': %s", frame.c_str(), fixed_frame_.c_str(), e.what());
return false;
}
bt_position = pose_out.getOrigin();
position = Ogre::Vector3(bt_position.x(), bt_position.y(), bt_position.z());
bt_orientation = pose_out.getRotation();
orientation = Ogre::Quaternion( bt_orientation.w(), bt_orientation.x(), bt_orientation.y(), bt_orientation.z() );
return true;
}
bool FrameManager::getTransform(const std::string& frame, ros::Time time, Ogre::Vector3& position, Ogre::Quaternion& orientation)
{
if ( !adjustTime(frame, time) )
{
return false;
}
boost::mutex::scoped_lock lock(cache_mutex_);
position = Ogre::Vector3(9999999, 9999999, 9999999);
orientation = Ogre::Quaternion::IDENTITY;
if (fixed_frame_.empty())
{
return false;
}
M_Cache::iterator it = cache_.find(CacheKey(frame, time));
if (it != cache_.end())
{
position = it->second.position;
orientation = it->second.orientation;
return true;
}
geometry_msgs::Pose pose;
pose.orientation.w = 1.0f;
if (!transform(frame, time, pose, position, orientation))
{
return false;
}
cache_.insert(std::make_pair(CacheKey(frame, time), CacheEntry(position, orientation)));
return true;
}
void MainWindow::fastForward()
{
adjustTime(getAdjustInterval());
}
bool DateVariable::loadOdf(const KoXmlElement & element, KoShapeLoadingContext & context)
{
const QString localName(element.localName());
QString dateFormat = "";
QString dataStyle = element.attributeNS(KoXmlNS::style, "data-style-name");
if (!dataStyle.isEmpty()) {
if (context.odfLoadingContext().stylesReader().dataFormats().contains(dataStyle)) {
KoOdfNumberStyles::NumericStyleFormat dataFormat = context.odfLoadingContext().stylesReader().dataFormats().value(dataStyle).first;
dateFormat = dataFormat.prefix + dataFormat.formatStr + dataFormat.suffix;
}
}
//dateProperties.setProperty("fixed", QVariant(element.attributeNS(KoXmlNS::text, "fixed") == "true"));
if (element.attributeNS(KoXmlNS::text, "fixed", "false") == "true") {
m_type = Fixed;
} else {
m_type = AutoUpdate;
}
if (localName == "time") {
m_displayType = Time;
} else {
m_displayType = Date;
}
//dateProperties.setProperty("time", element.attributeNS(KoXmlNS::text, localName + "-value"));
QString value(element.attributeNS(KoXmlNS::text, localName + "-value", ""));
if (!value.isEmpty()) {
#ifndef NWORKAROUND_ODF_BUGS
KoOdfWorkaround::fixBadDateForTextTime(value);
#endif
// hopefully this simple detection works in all cases
const bool isDateTime = (value.indexOf(QLatin1Char('T')) != -1);
if (isDateTime) {
m_datetime = QDateTime::fromString(value, Qt::ISODate);
m_valueType = DateTime;
} else {
if (m_displayType == Time) {
const QTime time = QTime::fromString(value, Qt::ISODate);
m_datetime = QDateTime(QDate::currentDate(), time);
} else {
const QDate date = QDate::fromString(value, Qt::ISODate);
m_datetime = QDateTime(date);
}
m_valueType = DateOrTime;
}
} else {
// if value is not set current time is assumed ODF 19.881 text:time-value
m_type = AutoUpdate;
}
//dateProperties.setProperty("definition", dateFormat);
m_definition = dateFormat;
//dateProperties.setProperty("adjust", element.attributeNS(KoXmlNS::text, localName + "-adjust"));
const QString adjust(element.attributeNS(KoXmlNS::text, localName + "-adjust", ""));
adjustTime(adjust);
update();
return true;
}
void MainWindow::fastBackward()
{
adjustTime(-getAdjustInterval());
}
