int main(int argc, char const *argv[])
{
struct commit *first = new_commit(0, 0, "First !");
struct commit *tmp, *victim, *last;
/*first->display = display_commit_major;*/
list_add(&first->lhead, &list_complete);
list_add(&first->major_list, &list_major);
display_commit_major(first);
printf("\n");
display_history(first);
tmp = add_minor_commit(first, "Work 1");
tmp = add_minor_commit(tmp, "Work 2");
victim = add_minor_commit(tmp, "Work 3");
last = add_minor_commit(victim, "Work 4");
display_history(first);
del_commit(victim);
display_history(first);
tmp = add_major_commit(last, "Release 1");
tmp = add_minor_commit(tmp, "Work 1");
tmp = add_minor_commit(tmp, "Work 2");
tmp = add_major_commit(tmp, "Release 2");
tmp = add_minor_commit(tmp, "Work 1");
display_history(first);
add_minor_commit(last, "Oversight !!!");
display_history(first);
infos(first, 1, 2);
infos(first, 1, 7);
infos(first, 4, 2);
#ifdef DEBUG
printf("\n== TEST SUPP MAJEUR ==\n");
del_commit(first);
display_history(NULL);
#endif
freeHistory();
return 0;
}
void XRandRScreens::update()
{
auto fallback = [this]() {
m_geometries << QRect();
setCount(1);
};
m_geometries.clear();
T resources(rootWindow());
if (resources.isNull()) {
fallback();
return;
}
xcb_randr_crtc_t *crtcs = resources.crtcs();
QVector<Xcb::RandR::CrtcInfo> infos(resources->num_crtcs);
for (int i = 0; i < resources->num_crtcs; ++i) {
infos[i] = Xcb::RandR::CrtcInfo(crtcs[i], resources->config_timestamp);
}
for (int i = 0; i < resources->num_crtcs; ++i) {
Xcb::RandR::CrtcInfo info(infos.at(i));
const QRect geo = info.rect();
if (geo.isValid()) {
m_geometries << geo;
}
}
if (m_geometries.isEmpty()) {
fallback();
return;
}
setCount(m_geometries.count());
}
void ProcessUnitList::pushUnit(boost::shared_ptr<org::esb::hive::job::ProcessUnit> unit)
{
//_unit_list.insert(unit);
std::string uuid=org::esb::util::PUUID();
_unit_map[unit->_sequence]=uuid;
org::esb::io::File file(_user_data_path+"/"+uuid);
org::esb::io::FileOutputStream fos(&file);
org::esb::io::ObjectOutputStream ous(&fos);
ous.writeObject(unit);
ous.close();
while(_unit_map.size()&&(*_unit_map.begin()).first==lastSequence){
std::cerr<<"lastSequence found:"<<lastSequence<<std::endl;
std::string nuuid=(*_unit_map.begin()).second;
org::esb::io::File infile(_user_data_path+"/"+nuuid);
org::esb::io::FileInputStream infos(&infile);
org::esb::io::ObjectInputStream inous(&infos);
inous.readObject(unit);
inous.close();
infos.close();
infile.deleteFile();
if(_func)
_func(unit);
/*foreach(boost::shared_ptr<Packet> p,(*_unit_list.begin())->_output_packets){
Task::pushBuffer(Ptr<Packet>(p));
}*/
_unit_map.erase(_unit_map.begin());
lastSequence++;
}
}
::DDS::ReturnCode_t read (::DDS::DataReader_ptr reader,
ACE_Array<bool>& pub_finished)
{
R_ptr pt_dr
= R::_narrow(reader);
Rimpl* dr_servant =
::TAO::DCPS::reference_to_servant< Rimpl, R_ptr>
(pt_dr);
const ::CORBA::Long max_read_samples = 100;
Tseq samples(max_read_samples);
::DDS::SampleInfoSeq infos(max_read_samples);
int samples_recvd = 0;
DDS::ReturnCode_t status;
// initialize to zero.
status = dr_servant->read (
samples,
infos,
max_read_samples,
::DDS::NOT_READ_SAMPLE_STATE,
::DDS::ANY_VIEW_STATE,
::DDS::ANY_INSTANCE_STATE);
if (status == ::DDS::RETCODE_OK)
{
if ((samples[samples.length () - 1].sequence_num == -1)
|| (samples[0].sequence_num == -1))
{
for (unsigned i = 0; i < samples.length (); i ++)
{
if (samples[i].sequence_num != -1)
{
samples_recvd ++;
}
else
{
pub_finished[samples[i].data_source] = true;
}
}
}
else
{
samples_recvd = samples.length ();
}
}
else if (status == ::DDS::RETCODE_NO_DATA)
{
ACE_ERROR((LM_ERROR, " Empty read!\n"));
}
else
{
ACE_OS::printf (" read data: Error: %d\n", status) ;
}
return samples_recvd;
}
NoteDialog::NoteDialog(Note *note) : QWidget()
{
setWindowTitle(note == 0 ? "Nouvelle note" : note->title());
// Récupération des options
m_settings = new QSettings("yellownote.ini", QSettings::IniFormat);
// Création des champs title et content
m_noteEdit = new NoteEdit(m_settings, this);
m_note = note;
// Assignation du dialog à la note
attachToNote();
// Si on est en modification, on remplit les champs
if (note != 0)
{
m_noteEdit->update(note->title(), note->content());
}
QAction *actionInfos = new QAction("&Infos", this);
actionInfos->setIcon(QIcon(":/note/infos"));
actionInfos->setIconText("Infos");
connect(actionInfos, SIGNAL(triggered()), this, SLOT(infos()));
m_actionDelete = new QAction("&Supprimer", this);
m_actionDelete->setIcon(QIcon(":/note/delete"));
m_actionDelete->setIconText("Supprimer");
connect(m_actionDelete, SIGNAL(triggered()), this, SLOT(deleteMe()));
QWidget *spacerWidget = new QWidget(this);
spacerWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
spacerWidget->setVisible(true);
QToolBar *toolBar = new QToolBar;
toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
toolBar->addWidget(spacerWidget);
toolBar->addAction(actionInfos);
toolBar->addAction(m_actionDelete);
QVBoxLayout *mainLayout = new QVBoxLayout;
mainLayout->setMargin(0);
mainLayout->setSpacing(0);
mainLayout->addWidget(toolBar);
mainLayout->addWidget(m_noteEdit);
setLayout(mainLayout);
// Réassignation de la taille de la fenêtre
if (m_settings->contains("note/size"))
{
resize(m_settings->value("note/size").toSize());
}
// Donne le focus à la fenêtre (quand elle est créée
// depuis un raccouri clavier global)
setFocus();
}
bool MkSShell::install()
{
mDock = new MkSShellDock( MonkeyCore::mainWindow() );
// add dock to dock toolbar entry
MonkeyCore::mainWindow()->dockToolBar( Qt::TopToolBarArea )->addDock( mDock, infos().Caption, QIcon( infos().Pixmap ) );
// create menu action for the dock
pActionsManager::setDefaultShortcut( mDock->toggleViewAction(), QKeySequence( "F6" ) );
return true;
}
detail::exception_info< T >* get_info( )
{
for ( auto& info : infos( ) )
{
auto ei = detail::exception_info< T >::cast( *info );
if ( ei )
return ei;
}
return nullptr;
}
std::tuple<Tensor,Tensor> _gesv_helper_cpu(const Tensor& self, const Tensor& A) {
std::vector<int64_t> infos(batchCount(A), 0);
auto A_working_copy = cloneBatchedColumnMajor(A);
auto b_working_copy = cloneBatchedColumnMajor(self);
AT_DISPATCH_FLOATING_TYPES(self.type(), "gesv", [&]{
applyGesv<scalar_t>(b_working_copy, A_working_copy, infos);
});
checkErrors(infos);
return std::tuple<Tensor,Tensor>(b_working_copy, A_working_copy);
}
const detail::exception_info< T >* get_info( ) const
{
auto& _infos = infos( );
for ( const auto& info : _infos )
{
auto ei = detail::exception_info< T >::cast( *info );
if ( ei )
return ei;
}
return nullptr;
}
void NetworkRenderer::renderer_thread() {
while(1) {
int id = network.get_first_nonempty_client();
while (id==-1) {
network.get_recv_cond().wait();
id = network.get_first_nonempty_client();
}
Client *cl = network.get_client(id);
string recv = cl->unstack_message();
if(recv=="CALCULATING") {
rendering_clients[id].status=CLIENT_RENDERING;
} else if(recv.find("RESULT")==0) {
stringstream recv_ss(stringstream::in | stringstream::out);
recv_ss<<recv.substr(6);
parse_network_result_output(recv_ss);
rendering_clients[id].status=CLIENT_WAITING;
int sent_task = send_task_to_client(id);
stringstream newstring(stringstream::in);
newstring<<rendering_clients[id].hostname;
if(sent_task!=-1) {
newstring<<" // "<<sent_task;
}
ncursesui.get_clients_win()->modify_string(
rendering_clients[id].curses_id,
newstring.str());
result_number++;
if(result_number==rendering_task_number) {
rstatus=RENDERER_WAITING;
display.refresh_display();
Logger::log()<<"Network rendering finished in "
<<(SDL_GetTicks()-initial_tick)/(float)1000
<<" seconds"<<std::endl;
}
} else if(recv.find("LOGIN")==0) {
Rendering_Client newcl;
newcl.status=CLIENT_WAITING;
newcl.hostname=recv.substr(6);
newcl.curses_id=ncursesui.get_clients_win()->add_string(newcl.hostname);
rendering_clients.insert(rendering_clients.begin()+id,newcl);
stringstream infos(stringstream::out);
infos<<"INFO "<<Settings::getAsInt("window_width")<<" "<<Settings::getAsInt("window_height");
cl->send_message(infos.str());
}
}
}
/*!
Install plugin to the system
\return Status code of action
\retval true Successfull
\retval false Some error ocurred
*/
bool FileBrowser::install()
{
// create dock
mDock = new pDockFileBrowser();
// add dock to dock toolbar entry
MonkeyCore::mainWindow()->dockToolBar( Qt::LeftToolBarArea )->addDock( mDock, infos().Caption, QIcon( infos().Pixmap ) );
// create menu action for the dock
pActionsManager::setDefaultShortcut( mDock->toggleViewAction(), QKeySequence( "F7" ) );
// restore settings
restoreSettings();
return true;
}
int main(int argc, char const* argv[])
{
struct commit *first = new_commit(0, 0, "First !");
struct commit *tmp, *victim, *last;
display_commit(first);
printf("\n");
display_history(first);
tmp = add_minor_commit(first, "Work 1");
tmp = add_minor_commit(tmp, "Work 2");
victim = add_minor_commit(tmp, "Work 3");
last = add_minor_commit(victim, "Work 4");
display_history(first);
del_commit(victim);
display_history(first);
tmp = add_major_commit(last, "Realse 1");
tmp = add_minor_commit(tmp, "Work 1");
tmp = add_minor_commit(tmp, "Work 2");
tmp = add_major_commit(tmp, "Realse 2");
tmp = add_minor_commit(tmp, "Work 1");
display_history(first);
add_minor_commit(last, "Oversight !!!");
display_history(first);
infos(first, 1, 2);
infos(first, 1, 7);
infos(first, 4, 2);
return 0;
}
bool ServerConfig::isValid() const
{
bool rightFile;
bool err;
bool res;
QFileInfo infos(m_filePath);
res = false;
if (m_settings != NULL)
{
rightFile = QFile::exists(m_filePath) && m_settings->fileName().compare(infos.baseName());
err = !(m_settings->status() == QSettings::NoError);
res = (!err && rightFile);
}
return res;
}
void MetadataHubMngr::slotApplyPending()
{
QMutexLocker lock(&d->mutex);
if (d->pendingItems.isEmpty())
return;
ImageInfoList infos(d->pendingItems);
d->pendingItems.clear();
emit signalPendingMetadata(0);
MetadataSynchronizer* const tool = new MetadataSynchronizer(infos,
MetadataSynchronizer::WriteFromDatabaseToFile);
tool->start();
}
ACE_CDR::ULong
read (::DDS::DataReader_ptr reader)
{
// TWF: There is an optimization to the test by
// using a pointer to the known servant and
// static_casting it to the servant
typename R::_var_type var_dr = R::_narrow (reader);
Rimpl* dr_servant =
::TAO::DCPS::reference_to_servant<Rimpl, typename R::_ptr_type> (
var_dr.in ());
const ::CORBA::Long max_read_samples = 100;
Tseq samples (max_read_samples);
::DDS::SampleInfoSeq infos (max_read_samples);
DDS::ReturnCode_t status =
dr_servant->take (samples,
infos,
max_read_samples,
::DDS::NOT_READ_SAMPLE_STATE,
::DDS::ANY_VIEW_STATE,
::DDS::ANY_INSTANCE_STATE);
if (::DDS::RETCODE_OK == status)
{
if (samples.length () > 1)
{
ACE_DEBUG ((LM_DEBUG, "multiple samples read\n"));
}
}
else if (::DDS::RETCODE_NO_DATA == status)
{
ACE_ERROR ((LM_ERROR, "Empty read!\n"));
}
else
{
ACE_ERROR ((LM_ERROR, "read data: Error: %d\n", status));
}
return samples[0].timestamp;
}
QDomElement ModelPlus::toXmlData(QDomDocument &doc)
{
QDomElement root = doc.createElement(ModelPlus::className());
// Project info
QDomElement cBasic = doc.createElement( "Basic" );
cBasic.setAttribute( "name", name() );
cBasic.setAttribute( "modelName", modelName());
cBasic.setAttribute( "modelType", modelType());
root.appendChild(cBasic);
// Infos
QDomElement cInfos = doc.createElement( "Infos" );
cInfos.setAttribute("text",infos());
root.appendChild(cInfos);
// Variables
QDomElement cVariables = variables()->toXmlData(doc,"Variables");
root.appendChild(cVariables);
return root;
}
bool csBulletRigidBody::AddBulletObject ()
{
// TODO: don't recompute everything if the internal scale hasn't changed
if (insideWorld)
RemoveBulletObject ();
btVector3 localInertia (0.0f, 0.0f, 0.0f);
float mass = GetMass ();
btCollisionShape* shape;
btTransform principalAxis;
principalAxis.setIdentity ();
btVector3 principalInertia(0,0,0);
//Create btRigidBody
if (compoundShape)
{
int shapeCount = compoundShape->getNumChildShapes ();
CS_ALLOC_STACK_ARRAY(btScalar, masses, shapeCount);
for (int i = 0; i < shapeCount; i++)
masses[i] = density * colliders[i]->GetVolume ();
if (shapeChanged)
{
compoundShape->calculatePrincipalAxisTransform
(masses, principalAxis, principalInertia);
// apply principal axis
// creation is faster using a new compound to store the shifted children
btCompoundShape* newCompoundShape = new btCompoundShape();
for (int i = 0; i < shapeCount; i++)
{
btTransform newChildTransform =
principalAxis.inverse() * compoundShape->getChildTransform (i);
newCompoundShape->addChildShape(newChildTransform,
compoundShape->getChildShape (i));
shapeChanged = false;
}
delete compoundShape;
compoundShape = newCompoundShape;
}
shape = compoundShape;
}
else
{
shape = colliders[0]->shape;
principalAxis = CSToBullet (relaTransforms[0], system->getInternalScale ());
}
// create new motion state
btTransform trans;
motionState->getWorldTransform (trans);
trans = trans * motionState->inversePrincipalAxis;
delete motionState;
motionState = new csBulletMotionState (this, trans * principalAxis,
principalAxis);
//shape->calculateLocalInertia (mass, localInertia);
btRigidBody::btRigidBodyConstructionInfo infos (mass, motionState,
shape, localInertia);
infos.m_friction = friction;
infos.m_restitution = elasticity;
infos.m_linearDamping = linearDampening;
infos.m_angularDamping = angularDampening;
// create new rigid body
btBody = new btRigidBody (infos);
btObject = btBody;
if (haveStaticColliders > 0)
physicalState = CS::Physics::STATE_STATIC;
SetState (physicalState);
sector->bulletWorld->addRigidBody (btBody, collGroup.value, collGroup.mask);
btBody->setUserPointer (dynamic_cast<CS::Collisions::iCollisionObject*> (
dynamic_cast<csBulletCollisionObject*>(this)));
insideWorld = true;
return true;
}
bool UpdateChecker::install()
{
// create action
QAction* a = MonkeyCore::menuBar()->action( "mHelp/aUpdateChecker", tr( "Check for update..." ), QIcon( ":/icons/UpdateChecker.png" ), QString::null, infos().Description );
connect( a, SIGNAL( triggered() ), this, SLOT( checkForUpdate_triggered() ) );
QTimer::singleShot( 15000, this, SLOT( checkForUpdate() ) );
return true;
}
// Update breakpoint information
bool BreakPoint::update(string& info_output,
std::ostream& undo_commands,
bool& need_total_undo)
{
string file = file_name();
BreakPoint new_bp(info_output, arg(), number(), file);
bool changed = false;
myenabled_changed = false;
myposition_changed = false;
myfile_changed = false;
myaddress_changed = false;
need_total_undo = false;
const string num = "@" + itostring(number()) + "@";
if (new_bp.number() != number())
{
mynumber = new_bp.number();
need_total_undo = changed = true;
}
if (new_bp.type() != type())
{
mytype = new_bp.type();
need_total_undo = changed = myenabled_changed = true;
}
if (new_bp.dispo() != dispo())
{
need_total_undo = changed = myenabled_changed = true;
mydispo = new_bp.dispo();
}
if (new_bp.watch_mode() != watch_mode())
{
need_total_undo = changed = myenabled_changed = true;
mywatch_mode = new_bp.watch_mode();
}
if (new_bp.myenabled != myenabled)
{
changed = myenabled_changed = true;
myenabled = new_bp.myenabled;
if (myenabled)
{
if (gdb->has_disable_command())
undo_commands << gdb->disable_command(num) << "\n";
else
need_total_undo = true;
}
else
{
if (gdb->has_enable_command())
undo_commands << gdb->enable_command(num) << "\n";
else
need_total_undo = true;
}
}
if (type() == BREAKPOINT)
{
if (new_bp.address() != address())
{
changed = myaddress_changed = true;
myaddress = new_bp.address();
}
if (new_bp.func() != func())
{
changed = myposition_changed = true;
myfunc = new_bp.func();
}
if (new_bp.file_name() != file_name())
{
changed = myposition_changed = myfile_changed = true;
myfile_name = new_bp.file_name();
}
if (new_bp.line_nr() != line_nr())
{
changed = myposition_changed = true;
myline_nr = new_bp.line_nr();
}
}
else if (type() == WATCHPOINT)
{
if (new_bp.expr() != expr())
{
changed = true;
myexpr = new_bp.expr();
}
}
if (new_bp.infos() != infos())
{
changed = true;
myinfos = new_bp.infos();
}
if (new_bp.ignore_count() != ignore_count())
{
if (gdb->has_ignore_command())
undo_commands << gdb->ignore_command(num, myignore_count) << "\n";
else
need_total_undo = true;
changed = myenabled_changed = true;
myignore_count = new_bp.ignore_count();
}
if (new_bp.mycondition != mycondition)
{
if (gdb->has_condition_command())
undo_commands << gdb->condition_command(num, condition()) << "\n";
else
need_total_undo = true;
changed = myenabled_changed = true;
mycondition = new_bp.mycondition;
}
if (!equal(new_bp.commands(), commands()))
{
if (gdb->type() == GDB || gdb->type() == PYDB || gdb->type() == BASH)
{
undo_commands << "commands " << num << '\n';
for (int i = 0; i < commands().size(); i++)
undo_commands << commands()[i] << '\n';
undo_commands << "end\n";
}
changed = myenabled_changed = true;
mycommands = new_bp.commands();
}
return changed;
}
bool Irc::install()
{
// create docks
mIrcDock = IrcDock::instance();
// add docks to main window
MonkeyCore::mainWindow()->dockToolBar( Qt::BottomToolBarArea )->addDock( mIrcDock, infos().Caption, QIcon( infos().Pixmap ) );
return true;
}
int read (::DDS::DataReader_ptr reader, bool use_zero_copy_reads)
{
// TWF: There is an optimization to the test by
// using a pointer to the known servant and
// static_casting it to the servant
R_var var_dr
= R::_narrow(reader);
R_ptr pt_dr = var_dr.ptr();
Rimpl* dr_servant =
::TAO::DCPS::reference_to_servant< Rimpl, R_ptr>
(pt_dr);
if (subscriber_delay_msec)
{
ACE_Time_Value delay ( subscriber_delay_msec / 1000,
(subscriber_delay_msec % 1000) * 1000);
ACE_OS::sleep (delay);
}
const ::CORBA::Long max_read_samples = 100;
#ifdef WITH_ZERO_COPY_ONLY
Tseq samples(use_zero_copy_reads ? 0 : max_read_samples, max_read_samples);
Iseq infos( use_zero_copy_reads ? 0 : max_read_samples, max_read_samples);
#else
Tseq samples(0); //max_read_samples);
Iseq infos(0); //max_read_samples);
#endif
int samples_recvd = 0;
DDS::ReturnCode_t status;
// initialize to zero.
status = dr_servant->read (
samples,
infos,
max_read_samples,
::DDS::NOT_READ_SAMPLE_STATE,
::DDS::ANY_VIEW_STATE,
::DDS::ANY_INSTANCE_STATE);
if (status == ::DDS::RETCODE_OK)
{
samples_recvd = samples.length ();
}
else if (status == ::DDS::RETCODE_NO_DATA)
{
ACE_ERROR((LM_ERROR, " Empty read!\n"));
}
else
{
ACE_OS::printf (" read data: Error: %d\n", status) ;
}
status = dr_servant->return_loan(samples, infos);
if (status != ::DDS::RETCODE_OK)
{
// TBD - why is printf used for errors?
ACE_OS::printf (" return_loan: Error: %d\n", status) ;
ACE_ERROR((LM_ERROR, " return_loan gave error status %d\n", status));
}
return samples_recvd;
}
int robot_command (uint16_t *cmd, uint16_t *resp, uint8_t *resplen)
{
unsigned long start = 0;
uint8_t infolen = 0;
int checkdir;
int motor_state_save;
int error = -1;
int ret = SUCCESS;
lcd.clear(); // clear LCD
reset_leds(); // turn off all leds
digitalWrite(Led_Blue, HIGH); // turn on led blue
switch (cmd[0]) {
case CMD_STOP:
Serial.println("CMD_STOP");
lcd.print("STOP");
stop();
motor_state = STATE_STOP;
*resplen = 0;
break;
case CMD_START:
if (cmd[1] == 0)
{
Serial.println("CMD_START");
lcd.print("START");
start_forward();
}
else
{
Serial.print("CMD_START_TEST motor: "); Serial.println((int)cmd[1]);
lcd.print("START motor: "); lcd.print((int)cmd[1]);
start_forward_test(cmd[1]);
}
motor_state = STATE_GO;
*resplen = 0;
break;
case CMD_CHECK_AROUND:
Serial.println("CMD_CHECK_AROUND");
lcd.print("CHECK AROUND");
checkdir = check_around();
lcd.setCursor(0,1);
if (checkdir == DIRECTION_LEFT) lcd.print("LEFT");
else if (checkdir == DIRECTION_RIGHT) lcd.print("RIGHT");
else if (checkdir == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (checkdir == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (checkdir == OBSTACLE) lcd.print("OBSTACLE");
else lcd.print("?");
resp[0] = checkdir;
*resplen = 0+1;
break;
case CMD_MOVE_TILT_PAN:
Serial.print("CMD_MOVE_TILT_PAN: "); Serial.print((int)cmd[1]);Serial.print((int)cmd[2]);Serial.print((int)cmd[3]);Serial.println((int)cmd[4]);
if (cmd[2] == 0) HPos = (int)cmd[1] + 90; else HPos = 90 - (int)cmd[1];
if (cmd[4] == 0) VPos = (int)cmd[3] + 90; else VPos = 90 - (int)cmd[3];
Serial.print("CMD_MOVE_TILT_PAN, HPos VPos: "); Serial.print(HPos);Serial.println(VPos);
lcd.print("MOVE TILT&PAN");
lcd.setCursor(0,1);
lcd.print("X: ");
lcd.print(HPos);
lcd.print(" Y: ");
lcd.print(VPos);
TiltPan_move(HPos, VPos);
*resplen = 0;
break;
case CMD_TURN:
if (cmd[1] == 180)
{
Serial.print("CMD_TURN_BACK");
lcd.print("TURN BACK ");
ret = turnback (10); // 10s max
if (ret != SUCCESS){
Serial.print("turnback error"); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("turnback error: "); lcd.print(ret);
error = 1;
}
}
else if (motor_state == STATE_GO)
{
Serial.print("CMD_TURN, alpha: "); Serial.print((cmd[2] != 1) ? ('+'):('-')); Serial.println((int)cmd[1]);
lcd.print("TURN"); lcd.print((cmd[2] != 1) ? ('+'):('-')); lcd.print((int)cmd[1]);lcd.print((char)223); //degree
ret = turn ((double)((cmd[2] != 1) ? (cmd[1]):(-cmd[1])), 5); // 5s max
if (ret != SUCCESS){
Serial.print("turn error"); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print(" turn error: "); lcd.print(ret);
error = 1;
}
}
*resplen = 0;
break;
case CMD_INFOS:
Serial.println("CMD_INFOS");
ret = infos (resp, &infolen);
if (resp[MOTOR_STATE] == STATE_GO) {
lcd.print("RUNING");
}
else
{
lcd.print("STOPPED");
}
lcd.setCursor(0,1);
lcd.print((int)resp[TEMPERATURE]); lcd.print((byte)lcd_celcius);lcd.write(lcd_pipe);
lcd.print((int)resp[DISTANCE]); lcd.print("cm");lcd.write(lcd_pipe);
lcd.print((int)resp[DIRECTION]); lcd.print((char)223); //degree
*resplen = infolen;
break;
case CMD_PICTURE:
Serial.print("CMD_PICTURE, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
motor_state_save = motor_state;
if (motor_state == STATE_GO) {
Serial.println("Stop");
stop();
motor_state = STATE_STOP;
}
ret = JPEGCamera.makePicture (no_picture);
if (ret == SUCCESS)
{
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (motor_state_save == STATE_GO) {
Serial.println("Start");
start_forward();
motor_state = STATE_GO;
}
// byte 0: picture number
resp[0] = no_picture;
*resplen = 0+1;
break;
case CMD_ALERT:
Serial.println("CMD_ALERT");
lcd.print("Alert");
blink(Led_Blue);
buzz(5);
// If motor_state == STATE_GO => Stop
if (motor_state == STATE_GO) {
Serial.println("Stop");
stop();
motor_state = STATE_STOP;
}
// Make 3 pictures left, front and right
if ((HPos != 90) || (VPos !=90))
{
HPos = 90;
VPos = 90;
TiltPan_move(HPos, VPos);
}
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
if (ret == SUCCESS)
{
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (ret == SUCCESS)
{
HPos = 0;
VPos = 90;
TiltPan_move(HPos, VPos);
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (ret == SUCCESS)
{
HPos = 180;
VPos = 90;
TiltPan_move(HPos, VPos);
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
// byte 0: last picture number
resp[0] = no_picture;
*resplen = 0+1;
HPos = 90;
VPos = 90;
TiltPan_move(HPos, VPos);
break;
case CMD_CHECK:
Serial.println("CMD_CHECK");
lcd.print("Check");
alert_status = check();
if (alert_status != SUCCESS) {
Serial.print("Alert detected: ");Serial.println(alert_status);
lcd.setCursor(0,1);
lcd.print("Alert: "); lcd.print(alert_status);
}
else
{
Serial.print("No alert detected: ");
lcd.setCursor(0,1);
lcd.print(" No Alert");
}
// byte 0: alert
resp[0] = alert_status;
*resplen = 0+1;
break;
case CMD_GO:
Serial.print("CMD_GO, nb seconds: "); Serial.print((int)cmd[1]);
lcd.print("GO ");lcd.print((int)cmd[1]);lcd.print("secs");
if (motor_state != STATE_GO)
{
Serial.println("start_forward");
start_forward();
motor_state = STATE_GO;
}
error = -1;
GOtimeout = (unsigned long)cmd[1];
start = millis();
while((millis() - start < GOtimeout*1000) && (error == -1)) {
ret = go(GOtimeout);
if ((ret != SUCCESS) && (ret != OBSTACLE) && (ret != OBSTACLE_LEFT) && (ret != OBSTACLE_RIGHT))
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("CMD_GO error: "); Serial.println(ret);
Serial.println("Stop");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else if ((ret == OBSTACLE) || (ret == OBSTACLE_LEFT) || (ret == OBSTACLE_RIGHT))
{
stop();
motor_state = STATE_STOP;
buzz(3);
blink(Led_Red);
Serial.print("CMD_GO Obstacle: ");Serial.println(ret);
Serial.println("Stop");
lcd.setCursor(0,1);
if (ret == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (ret == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (ret == OBSTACLE) lcd.print("OBSTACLE");
else
ret = SUCCESS;
checkdir = check_around();
Serial.print("check_around, direction: "); Serial.println(checkdir);
lcd.clear();
lcd.print("check around");
lcd.setCursor(0,1);
if (checkdir == DIRECTION_LEFT) lcd.print("LEFT");
else if (checkdir == DIRECTION_RIGHT) lcd.print("RIGHT");
else if (checkdir == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (checkdir == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (checkdir == OBSTACLE) lcd.print("OBSTACLE");
else lcd.print("?");;
if (checkdir == DIRECTION_LEFT) {
start_forward();
motor_state = STATE_GO;
ret = turn (-45, 5); // turn -45 degrees during 5s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turn error: "); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turn left");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turn left OK");
}
}
else if (checkdir == DIRECTION_RIGHT) {
start_forward();
motor_state = STATE_GO;
ret = turn (+45, 5); // turn +45 degrees during 5s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turn error: "); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turn right");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turn right OK");
}
}
else
{
buzz(3);
blink(Led_Red);
motor_state = STATE_GO;
ret = turnback (10); // turn back during 10s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turnback error"); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turnback");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turnback OK");
}
}
}
else
{
Serial.println("GO OK");
lcd.clear();
lcd.print("GO OK");
error = 0;
}
} // end while
ret = infos (resp, &infolen);
if (error == 0) {
if (resp[MOTOR_STATE] == STATE_GO) {
lcd.print("RUNNING");
}
else
{
lcd.print("STOPPED");
}
lcd.setCursor(0,1);
lcd.print((int)resp[TEMPERATURE]); lcd.print((byte)lcd_celcius);lcd.write(lcd_pipe);
lcd.print((int)resp[DISTANCE]); lcd.print("cm");lcd.write(lcd_pipe);
lcd.print((int)resp[DIRECTION]); lcd.print((char)223); //degree
}
*resplen = infolen;
break;
case CMD_PI:
Serial.print("CMD_PI activated, type: "); Serial.print((int)cmd[1]); Serial.print(" - freq: ");Serial.println((int)cmd[2]);
lcd.print("PI activated ");lcd.print((int)cmd[1]);
PI_activated = (int)cmd[1];
if (PI_activated <> PI_NO_COMM) PI_freqInfos = (int)cmd[2]* 1000;
Serial.print("PI_activated: "); Serial.println(PI_activated);
Serial.print("PI_freqInfos: ");Serial.println(PI_freqInfos);
*resplen = 0;
break;
default:
Serial.println("invalid command");
lcd.print("invalid command");
*resplen = 0;
break;
} //end switch
if (error == 1) {
blink(Led_Red);
blink(Led_Red);
buzz(7);
*resplen = 0;
}
reset_leds(); // turn off all leds
return ret;
}
SegmentInfosPtr SegmentInfos::range(int32_t first, int32_t last)
{
SegmentInfosPtr infos(newLucene<SegmentInfos>());
infos->segmentInfos.addAll(segmentInfos.begin() + first, segmentInfos.begin() + last);
return infos;
}
