void ExcavaROBOdometry::update()
{
if (!isInputValid()) {
if (verbose_)
debug_publisher_->msg_.input_valid = false;
ROS_DEBUG("Odometry: Input velocities are invalid");
return;
}
else {
if (verbose_)
debug_publisher_->msg_.input_valid = true;
}
current_time_ = base_kin_.robot_state_->getTime();
ros::Time update_start = ros::Time::now();
updateOdometry();
// double update_time = (ros::Time::now()-update_start).toSec();
ros::Time publish_start = ros::Time::now();
if (publish_odom_)
publishOdometry();
if (publish_odometer_)
publishOdometer();
if (publish_state_odometry_)
publishStateOdometry();
if (publish_tf_)
publishTransform();
last_r_wheel_rotation_ = current_r_wheel_rotation_;
last_l_wheel_rotation_ = current_l_wheel_rotation_;
last_time_ = current_time_;
sequence_ ++;
}
char* HashStrategy::genHash(const char* str)
{
if (!isInputValid(str))
return NULL;
return hash(str);
}
void MarkovRunManager::runWithoutDebug(QString input_word)
{
_stop_on_next_step = false;
_terminate_on_next_step = false;
_steps_made = 0;
_steps_history.clear();
_input_word = input_word;
_word_after_last_step = input_word;
_is_debug_mode = false;
emit runWithoutDebugStarted(input_word);
QCoreApplication::processEvents();
if(isInputValid(input_word))
{
QTime time;
time.start();
while(findAndApplyNextRule())
{
int difference = time.elapsed();
if(difference > 100)
{
emit runStepsMade(_steps_made);
QCoreApplication::processEvents();
time.start();
}
}
}
}
/* Main program */
int main(int argc, char *argv[]) {
// Check for correct usage
if (!isInputValid(argc, argv))
return -1;
// Open compressed file for reading
ifstream ifs;
ifs.open(argv[1], ios::binary);
BitInputStream* istream = new BitInputStream(ifs);
// Read the file header & get frequencies
getFrequencies(istream);
// Build a tree from the frequencies
huffman = new HCTree();
huffman->build(freqs);
// Open output file
ofstream ofs;
ofs.open(argv[2], ios::binary);
// Write symbols to out file
decode(istream, ofs);
// Close & delete all allocated objects
ifs.close();
ofs.close();
delete(huffman);
delete(istream);
return 0;
}
BYTE Receiver::getValue( BYTE channel )
{
if( isInputValid( channel ) )
{
if( channel < RECEIVER_CHANNELS )
{
return ch[channel].bValue;
}
}
return 0;
}
void IngredientInput::signalIngredient()
{
//validate input; if successful, emit signal
if ( isHeader() ) {
if ( header().isEmpty() )
return;
}
else {
if ( !isInputValid() )
return;
}
emit addIngredient();
}
/*
function to handle files string operation
*/
int strops_files(void *arg){
int rc = 0;
struct strops_args *ptr = (struct strops_args *)arg;
struct strops_args *kptr = NULL;
/*check validation of input */
rc = isInputValid(ptr);
if(rc < 0)
goto out;
/*copy_from_user into kernel */
kptr = (struct strops_args *)kmalloc(sizeof(struct strops_args), GFP_KERNEL);
if(IS_ERR(kptr)){
rc = -ENOMEM;
goto out;
}
if(copy_from_user(kptr, ptr, sizeof(struct strops_args))){
rc = -EFAULT;
goto free_kptr;
}
/* begin file strings operation mode*/
rc = search_pat(kptr);
if(rc < 0)
goto free_kptr;
if(kptr->flag == 1 || kptr->flag == 2){
if(kptr->res_len == 0){
printk("No found pattern; Operation quit.\n");
goto free_kptr;
}
rc = write_pat(kptr, 0);
if(rc < 0)
goto free_kptr;
}
if(copy_to_user(ptr, kptr, sizeof(struct strops_args))){
rc = -EFAULT;
goto free_kptr;
}
free_kptr:
kfree(kptr);
out:
return rc;
}
void Receiver::setChannelMode( BYTE inChannel, BYTE mode )
{
if( !isInputValid( inChannel ))
{
mode= 2;
}
BYTE mask;
mode &= 3;
inChannel &= 3;
inChannel <<= 1;
mode = (BYTE)(((BYTE)mode) << (BYTE)inChannel);
mask = (BYTE)(((BYTE)3) << (BYTE)inChannel);
channelReverse &= ~mask;
channelReverse |= mode;
}
void MarkovRunManager::doStartDebug(QString input_word, bool stop_at_first_step)
{
_stop_on_next_step = stop_at_first_step;
_terminate_on_next_step = false;
_steps_made = 0;
_steps_history.clear();
_input_word = input_word;
_word_after_last_step = input_word;
_is_debug_mode = true;
emit debugStarted(input_word);
QCoreApplication::processEvents();
if(isInputValid(input_word))
{
while(findAndApplyNextRule())
{
}
}
}
void VncViewerConfigDialog::onOkButtonClick()
{
if (!isInputValid()) {
return ;
}
VncViewerConfig *config = VncViewerConfig::getInstance();
StringStorage text;
int intVal;
m_listenPort.getText(&text);
StringParser::parseInt(text.getString(), &intVal);
config->setListenPort(intVal);
m_logLevel.getText(&text);
StringParser::parseInt(text.getString(), &intVal);
config->setLogLevel(intVal);
int oldLimit = config->getHistoryLimit();
m_historyLimit.getText(&text);
StringParser::parseInt(text.getString(), &intVal);
config->setHistoryLimit(intVal);
if (config->getHistoryLimit() < oldLimit) {
config->getConnectionHistory()->truncate();
}
config->showToolbar(m_showToolbar.isChecked());
config->promptOnFullscreen(m_promptOnFullscreen.isChecked());
SettingsManager *sm = VncViewerSettingsManager::getInstance();
config->saveToStorage(sm);
kill(IDOK);
}
int LEVELSELECT::Select()
{
const char noDirectoryName[] = "[kein Verzeichnis]";
BUTTON prevDirButton ({{10, windY - 100}, {90, windY - 50}}, 0, 3, 10, CYAN, "<", 20, YELLOW);
BUTTON nextDirButton ({{windX - 100, windY - 100}, {windX - 10, windY - 50}}, 0, 3, 10, CYAN, ">", 20, YELLOW);
BUTTON dirCaption ({{100, windY - 100}, {windX - 110, windY - 50}}, 3, 3, 10, CYAN, "(Directory)", 20, YELLOW);
BUTTON prevButton ({{10, windY - 180}, {90, windY - 130}}, 0, 3, 10, CYAN, "<", 20, YELLOW);
BUTTON nextButton ({{windX - 100, windY - 180}, {windX - 10, windY - 130}}, 0, 3, 10, CYAN, ">", 20, YELLOW);
BUTTON selectButton ({{windX - 200, 10}, {windX - 10, 60}}, 0, 3, 10, CYAN, "Spiel starten", 20, YELLOW);
BUTTON cancelButton ({{10, 10}, {190, 60}}, 0, 3, 10, CYAN, "Zurück", 20, YELLOW);
BUTTON levelCaption ({{100, windY - 180}, {windX - 110, windY - 130}}, 3, 3, 10, CYAN, "(Levelname)", 20, YELLOW);
AREA highscoreOutput {{100, 140}, {windX / 2 - 100, windY - 240}};
prevDirButton.assignKeyboardButton(0,'Q');
nextDirButton.assignKeyboardButton(0,'E');
prevButton .assignKeyboardButton(0,GLFW_KEY_LEFT ,'A');
nextButton .assignKeyboardButton(0,GLFW_KEY_RIGHT,'D');
levelCaption .assignKeyboardButton(0,'S');
cancelButton .assignKeyboardButton(0,GLFW_KEY_ESC);
selectButton .assignKeyboardButton(0,GLFW_KEY_ENTER,GLFW_KEY_SPACE);
ReloadHighscore();
prepare_GameLoop();
do
{
prepare_graphics();
char levelText[MAX_PATH];
if (GetLevel() != NULL)
sprintf(levelText, "%s (%d/%d)", GetLevel()->name, GetLevel()->index + 1, GetLevelCount());
else
strcpy(levelText, "[Kein Level vorhanden]");
levelCaption.setText(levelText);
const char* directoryName;
if (strlen(GetDirectory()->name) > 0)
directoryName = GetDirectory()->name;
else
directoryName = noDirectoryName;
char directoryText[strlen(directoryName) + 9];
sprintf(directoryText, "%s (%d/%d)", directoryName, GetDirectory()->index + 1, GetDirectoryCount());
dirCaption.setText(directoryText);
//handle clicks
if (cancelButton.clicked())
break;
else if (selectButton.clicked() && isInputValid())
{
currentLevel->score.setTimesPlayed(currentLevel->score.getTimesPlayed() + 1);
return true;
}
else if (prevButton.clicked() || levelCaption.clicked() == 2)
SwitchLevel(-1);
else if (nextButton.clicked() || levelCaption.clicked() == 1)
SwitchLevel(1);
else if (prevDirButton.clicked() || dirCaption.clicked() == 2)
SwitchDirectory(-1);
else if (nextDirButton.clicked() || dirCaption.clicked() == 1)
SwitchDirectory(1);
//output
prevDirButton.print();
nextDirButton.print();
dirCaption.print();
prevButton.print();
nextButton.print();
selectButton.print();
cancelButton.print();
levelCaption.print();
if (currentLevel != NULL)
{
drawBox({{windX/2 + 80, 140}, {windX - 110, windY - 240}}, 10, 3, WHITE);
currentLevel->level->printPreview();
TIME time = currentLevel->score.getTime();
drawBox(highscoreOutput,10,3,WHITE);
normalFont.printf({highscoreOutput.a.x + 20, highscoreOutput.b.y - 40}, taLEFT, "Highscore");
normalFont.printf({highscoreOutput.a.x + 20, highscoreOutput.b.y - 80}, taLEFT, "Züge: %d", currentLevel->score.getMoves());
normalFont.printf({highscoreOutput.a.x + 20, highscoreOutput.b.y - 120}, taLEFT, "Zeit: %02d:%02d:%05.2f", time.Hours, time.Minutes, time.Seconds);
normalFont.printf({highscoreOutput.a.x + 20, highscoreOutput.b.y - 160}, taLEFT, "%d mal gespielt", currentLevel->score.getTimesPlayed());
}
} while (complete_graphics());
logger(true, "LEVELSELECT: Cancelled, Returning false.");
return false;
}
/**
* Start fitting process.
*/
void MuonSequentialFitDialog::startFit()
{
if ( m_state != Stopped )
throw std::runtime_error("Couln't start: already running");
setState(Preparing);
// Explicitly run the file search. This might be needed when Start is clicked straigh after
// editing the run box. In that case, lost focus event might not be processed yet and search
// might not have been started yet. Otherwise, search is not done as the widget sees that it
// has not been changed. Taken from LoadDialog.cpp:124.
m_ui.runs->findFiles();
// Wait for file search to finish.
while ( m_ui.runs->isSearching() )
{
QApplication::processEvents();
}
// To process events from the finished thread
QApplication::processEvents();
// Validate input fields
if ( ! isInputValid() )
{
QMessageBox::critical(this, "Input is not valid",
"One or more input fields are invalid.\n\nInvalid fields are marked with a '*'.");
setState(Stopped);
return;
}
QStringList runFilenames = m_ui.runs->getFilenames();
const std::string label = m_ui.labelInput->text().toStdString();
const std::string labelGroupName = SEQUENTIAL_PREFIX + label;
AnalysisDataServiceImpl& ads = AnalysisDataService::Instance();
if ( ads.doesExist(labelGroupName) )
{
QMessageBox::StandardButton answer = QMessageBox::question(this, "Label already exists",
"Label you specified was used for one of the previous fits. Do you want to overwrite it?",
QMessageBox::Yes | QMessageBox::Cancel);
if ( answer != QMessageBox::Yes )
{
setState(Stopped);
return;
}
ads.deepRemoveGroup(labelGroupName);
}
// Create a group for label
ads.add(labelGroupName, boost::make_shared<WorkspaceGroup>());
// Tell progress bar how many iterations we will need to make and reset it
m_ui.progress->setRange( 0, runFilenames.size() );
m_ui.progress->setFormat("%p%");
m_ui.progress->setValue(0);
// Clear diagnosis table for new fit
m_ui.diagnosisTable->setRowCount(0);
// Get fit function as specified by user in the fit browser
IFunction_sptr fitFunction = FunctionFactory::Instance().createInitialized(
m_fitPropBrowser->getFittingFunction()->asString() );
// Whether we should use initial function for every fit
bool useInitFitFunction = (m_ui.paramTypeGroup->checkedButton() == m_ui.paramTypeInitial);
setState(Running);
m_stopRequested = false;
for ( auto fileIt = runFilenames.constBegin(); fileIt != runFilenames.constEnd(); ++fileIt )
{
// Process events (so that Stop button press is processed)
QApplication::processEvents();
// Stop if requested by user
if ( m_stopRequested )
break;
MatrixWorkspace_sptr ws;
try {
auto load = AlgorithmManager::Instance().create("MuonLoad");
load->initialize();
load->setChild(true);
load->setRethrows(true);
load->updatePropertyValues(*m_loadAlg);
load->setPropertyValue("Filename", fileIt->toStdString());
load->setPropertyValue("OutputWorkspace", "__YouDontSeeMeIAmNinja");
if (m_fitPropBrowser->rawData()) // TODO: or vice verca?
load->setPropertyValue("RebinParams", "");
load->execute();
ws = load->getProperty("OutputWorkspace");
} catch (...) {
QMessageBox::critical(
this, "Loading failed",
"Unable to load one of the files.\n\nCheck log for details");
break;
}
const std::string runTitle = getRunTitle(ws);
const std::string wsBaseName = labelGroupName + "_" + runTitle;
IFunction_sptr functionToFit;
if ( useInitFitFunction )
// Create a copy so that the original function is not changed
functionToFit = FunctionFactory::Instance().createInitialized( fitFunction->asString() );
else
// Use the same function over and over, so that previous fitted params are used for the next fit
functionToFit = fitFunction;
IAlgorithm_sptr fit = AlgorithmManager::Instance().create("Fit");
fit->setRethrows(true);
try
{
// Set function. Gets updated when fit is done.
fit->setProperty("Function", functionToFit);
fit->setProperty("InputWorkspace", ws);
fit->setProperty("Output", wsBaseName);
// We should have one spectra only in the workspace, so use the first one.
fit->setProperty("WorkspaceIndex", 0);
// Various properties from the fit prop. browser
fit->setProperty("StartX", m_fitPropBrowser->startX());
fit->setProperty("EndX", m_fitPropBrowser->endX());
fit->setProperty("Minimizer", m_fitPropBrowser->minimizer());
fit->setProperty("CostFunction", m_fitPropBrowser->costFunction());
fit->execute();
}
catch(...)
{
QMessageBox::critical(this, "Fitting failed",
"Unable to fit one of the files.\n\nCheck log for details");
break;
}
// Make sure created fit workspaces end-up in the group
// TODO: this really should use loop
ads.addToGroup(labelGroupName, wsBaseName + "_NormalisedCovarianceMatrix");
ads.addToGroup(labelGroupName, wsBaseName + "_Parameters");
ads.addToGroup(labelGroupName, wsBaseName + "_Workspace");
// Copy log values
auto fitWs = ads.retrieveWS<MatrixWorkspace>(wsBaseName + "_Workspace");
fitWs->copyExperimentInfoFrom(ws.get());
// Add information about the fit to the diagnosis table
addDiagnosisEntry(runTitle, fit->getProperty("OutputChi2OverDof"), functionToFit);
// Update progress
m_ui.progress->setFormat("%p% - " + QString::fromStdString(runTitle) );
m_ui.progress->setValue( m_ui.progress->value() + 1 );
}
setState(Stopped);
}
