task autonomous() {
//start flywheel
initializeTasks();
setFlywheelRange(2);
wait1Msec(1000);
startTask(fire);
//wait until first set of preloads are fired
waitUntilNotFiring(15000);
while (firing) { EndTimeSlice(); }
stopTask(fire);
turn(120); //turn toward stack
motor[feedMe] = 127;
driveStraight(150, 1, 1, 60); //move to second stack
turn(-30);
driveStraight(3200, 1, 1, 60); //drive across field
autonProgress = 1;
turn(-83); // turn toward net
autonProgress = 2;
//fire remaining balls
startTask(fire);
while (true) { EndTimeSlice(); }
}
task autonomous() {
initializeTasks();
stopTask(seymoreControl);
//startTask(skillPointAuto);
//startTask(stationaryAuto);
//startTask(hoardingAuto);
//startTask(classicAuto);
//startTask(skillz);
if (SensorValue[ternaryPot] < 1187) {
if (SensorValue[binaryPot] < 1217) {
startTask(stationaryAuto);
}
else {
startTask(skillPointAuto);
}
}
else if (SensorValue[ternaryPot] < 2577) {
if (SensorValue[binaryPot] < 1217) {
startTask(classicAuto);
}
else {
startTask(hoardingAuto);
}
}
else {
startTask(skillz);
}
while(true) { EndTimeSlice(); }
}
void emergencyStop() {
stopTask(flywheel);
stopTask(flywheelStabilization);
stopTask(seymoreControl);
stopTask(liftSwitcher);
initializeTasks();
}
task usercontrol() {
initializeTasks();
setFlywheelRange(0);
while (true)
{
while (vexRT[emergencyStopBtn] == 0)
{
setDrivePower(sgn(vexRT[Ch2]) * vexRT[Ch2] * vexRT[Ch2] / 127, sgn(vexRT[Ch3]) * vexRT[Ch3] * vexRT[Ch3] / 127); //drive
motor[feedMe] = 127*vexRT[feedInBtn] - 127*vexRT[feedOutBtn];
feedMePower = motor[feedMe];
EndTimeSlice();
}
emergencyStop(); //reassign emstop button
}
}
task usercontrol() {
initializeTasks();
setFlywheelRange(0);
while (true)
{
while (vexRT[emergencyStopBtn] == 0)
{
setDrivePower(sgn(vexRT[Ch2]) * vexRT[Ch2] * vexRT[Ch2] / 127, sgn(vexRT[Ch3]) * vexRT[Ch3] * vexRT[Ch3] / 127); //drive
motor[seymore] = abs(targetVelocity - flywheelVelocity) < firingErrorMargin * targetVelocity ? 127*vexRT[fireBtn] - 127*vexRT[seymoreOutBtn] : 0;
motor[feedMe] = 127*vexRT[feedInBtn] - 127*vexRT[feedOutBtn];
EndTimeSlice();
}
emergencyStop(); //reassign emstop button
}
}
task autonomous() {
//start flywheel
initializeTasks();
setFlywheelRange(0);
wait1Msec(1000);
motor[seymore] = 127; //start feed
//wait until first set of preloads are fired
waitUntilNotFiring(2000);
while (firing) { EndTimeSlice(); }
motor[seymore] = 0;
turn(93); //turn toward other starting tile
driveStraight(8000, 1, 1, 60); //drive across field
autonProgress = 1;
turn(-95); // turn toward net
autonProgress = 2;
//fire remaining balls
motor[seymore] = 127;
while (true) { EndTimeSlice(); }
}
void emergencyStop() {
stopTask(flywheel);
stopTask(flywheelStabilization);
initializeTasks();
}
void FileAnalyzer::run()
{
m_bSuccess = false;
m_tasksCounterNext = 0;
m_tasksCounterDone = 0;
m_completedCounter = 0;
m_completedFiles.clear();
m_completedTaskIds.clear();
m_runningTaskIds.clear();
m_filesAccepted = 0;
m_filesRejected = 0;
m_filesDenied = 0;
m_filesDummyCDDA = 0;
m_filesCueSheet = 0;
m_timer->invalidate();
//Create MediaInfo template file
if(!m_templateFile)
{
if(!createTemplate())
{
qWarning("Failed to create template file!");
return;
}
}
//Sort files
MUtils::natural_string_sort(m_inputFiles, true);
//Handle playlist files first!
handlePlaylistFiles();
const unsigned int nFiles = m_inputFiles.count();
if(nFiles < 1)
{
qWarning("File list is empty, nothing to do!");
return;
}
//Update progress
emit progressMaxChanged(nFiles);
emit progressValChanged(0);
//Create thread pool
if(!m_pool) m_pool = new QThreadPool();
const int idealThreadCount = QThread::idealThreadCount();
if(idealThreadCount > 0)
{
m_pool->setMaxThreadCount(qBound(2, ((idealThreadCount * 3) / 2), 12));
}
//Start first N threads
QTimer::singleShot(0, this, SLOT(initializeTasks()));
//Start event processing
this->exec();
//Wait for pending tasks to complete
m_pool->waitForDone();
//Was opertaion aborted?
if(m_bAborted)
{
qWarning("Operation cancelled by user!");
return;
}
//Update progress
emit progressValChanged(nFiles);
//Emit pending files (this should not be required though!)
if(!m_completedFiles.isEmpty())
{
qWarning("FileAnalyzer: Pending file information found after last thread terminated!");
QList<unsigned int> keys = m_completedFiles.keys(); qSort(keys);
while(!keys.isEmpty())
{
emit fileAnalyzed(m_completedFiles.take(keys.takeFirst()));
}
}
qDebug("All files added.\n");
m_bSuccess = true;
QThread::msleep(333);
}
Organisateur::Organisateur(QWidget *parent = 0) : QDialog(parent)
{
setWindowTitle("Multiuso - Organisteur");
setWindowIcon(QIcon(":/icones/actions/actionOrganisteur.png"));
resize(Multiuso::screenWidth() / 2, (Multiuso::screenHeight() / 2) + 20);
m_sortBy = new QComboBox;
m_sortBy->addItems(QStringList() << "Tout" << "Priorité très élevée" << "Priorité élevée"
<< "Priorité normale" << "Priorité faible" << "Priorité très faible");
connect(m_sortBy, SIGNAL(currentIndexChanged(QString)), this, SLOT(initializeTasks(QString)));
QPushButton *addTask = new QPushButton("Ajouter une tâche");
connect(addTask, SIGNAL(clicked()), this, SLOT(slotAddTask()));
QStringList headerLabels;
headerLabels << "#" << "-" << "Titre" << "Contenu" << "Priorité";
mainTable = new QTableWidget(0, headerLabels.size());
mainTable->setShowGrid(false);
mainTable->setHorizontalHeaderLabels(headerLabels);
mainTable->verticalHeader()->hide();
mainTable->setSelectionBehavior(QAbstractItemView::SelectRows);
mainTable->setSelectionMode(QAbstractItemView::SingleSelection);
mainTable->resizeColumnsToContents();
mainTable->horizontalHeader()->setStretchLastSection(true);
connect(mainTable, SIGNAL(itemDoubleClicked(QTableWidgetItem *)), this, SLOT(slotShowTask(QTableWidgetItem *)));
QGridLayout *mainLayout = new QGridLayout;
mainLayout->addWidget(new QLabel("Double-cliquez sur une tâche pour l'afficher"), 0, 0, 1, 2);
mainLayout->addWidget(m_sortBy, 0, 2, 1, 1);
mainLayout->addWidget(addTask, 0, 3, 1, 1);
mainLayout->addWidget(mainTable, 1, 0, 1, 4);
mainLayout->addWidget(Multiuso::closeButton(this), 2, 3, 1, 1);
QWidget *centralWidget = new QWidget;
centralWidget->setLayout(mainLayout);
QMainWindow *mainWindow = new QMainWindow;
mainWindow->setCentralWidget(centralWidget);
QVBoxLayout *centralLayout = new QVBoxLayout(this);
centralLayout->addWidget(mainWindow);
centralLayout->setContentsMargins(0, 0, 0, 0);
QToolBar *toolBar = mainWindow->addToolBar("Options");
toolBar->setMovable(false);
toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
QAction *actionPut = new QAction("Sauvegarder", this);
actionPut->setIcon(QIcon(":/icones/organisateur/put.png"));
connect(actionPut, SIGNAL(triggered()), this, SLOT(putSafeguard()));
toolBar->addAction(actionPut);
QAction *actionGet = new QAction("Rétablir à la dernière sauvegarde", this);
actionGet->setIcon(QIcon(":/icones/organisateur/get.png"));
connect(actionGet, SIGNAL(triggered()), this, SLOT(getSafeguard()));
toolBar->addAction(actionGet);
m_sortBy->setCurrentIndex(m_sortBy->findText("Tout"));
initializeTasks();
}
