void MainWindow::RunAdamsSim()
{
ButtonAdamsSim->setStyleSheet("QPushButton {border-radius: 2px;padding: 0.2em 0.2em 0.3em 0.2em;border: 1px solid rgb(100, 100,100);background: QLinearGradient( x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #34f32d, stop: 1 #000000);color: white;}");
std::ostringstream ossStringLHip, ossStringRHip, ossStringLKnee, ossStringRKnee, ossStringTimeLeft, ossStringTimeRight,
ossPeriod, ossCycles, ossDelay;
vector <double> vTimeLeftLeg, vTimeRightLeg;
vector <double> vHipR, vHipL, vKneeR, vKneeL;
ossPeriod <<"period="<<lineEditPeriod->text().toStdString();
ossCycles <<"cycles="<<lineEditCycles->text().toStdString();
ossDelay <<"delay="<<lineEditDelay->text().toStdString();
// Getting Time Values
//GetTimeValues(vTimeValues);
pHipRight->GetSamples(vTimeRightLeg);
pHipLeft->GetSamples(vTimeLeftLeg);
GetRobotObjectSampledValues(pHipLeft, vHipL);
GetRobotObjectSampledValues(pHipRight, vHipR);
GetRobotObjectSampledValues(pKneeLeft, vKneeL);
GetRobotObjectSampledValues(pKneeRight, vKneeR);
//pHipLeft->ExportMarkers(vTimeValues, vHipL);
pHipLeft->GetValues(vTimeLeftLeg, vHipL);
pHipRight->GetValues(vTimeRightLeg, vHipR);
pKneeLeft->GetValues(vTimeLeftLeg, vKneeL);
pKneeRight->GetValues(vTimeRightLeg, vKneeR);
// Making string for left hip
ossStringLHip << "vHipL=[";
std::copy(vHipL.begin(), vHipL.end()-1, std::ostream_iterator <double>(ossStringLHip, " "));
ossStringLHip << vHipL.back();
ossStringLHip << "];";
std::cout<<ossStringLHip.str()<<std::endl;
// Making string for left hip
ossStringRHip << "vHipR=[";
std::copy(vHipR.begin(), vHipR.end()-1, std::ostream_iterator <double>(ossStringRHip, " "));
ossStringRHip << vHipR.back();
ossStringRHip << "];";
// Making string for left knee
ossStringLKnee << "vKneeL=[";
std::copy(vKneeL.begin(), vKneeL.end()-1, std::ostream_iterator <double>(ossStringLKnee, " "));
ossStringLKnee << vKneeL.back();
ossStringLKnee << "];";
// Making string for right knee
ossStringRKnee << "vKneeR=[";
std::copy(vKneeR.begin(), vKneeR.end()-1, std::ostream_iterator <double>(ossStringRKnee, " "));
ossStringRKnee << vKneeR.back();
ossStringRKnee << "];";
// Making string for time values for Left Leg
ossStringTimeLeft << "vTimeL=[";
std::copy(vTimeLeftLeg.begin(), vTimeLeftLeg.end()-1, std::ostream_iterator <double>(ossStringTimeLeft, " "));
ossStringTimeLeft << vTimeLeftLeg.back();
ossStringTimeLeft << "];";
std::cout<<ossStringTimeLeft.str()<<std::endl;
// Making string for time values for Right Leg
ossStringTimeRight << "vTimeR=[";
std::copy(vTimeRightLeg.begin(), vTimeRightLeg.end()-1, std::ostream_iterator <double>(ossStringTimeRight, " "));
ossStringTimeRight << vTimeRightLeg.back();
ossStringTimeRight << "];";
std::cout<<ossStringTimeRight.str()<<std::endl;
Engine* m_matlabEngine;
// Opening Matlab Engine
m_matlabEngine=engOpen("\0");
// Clearing
engEvalString(m_matlabEngine, "clear;");
engEvalString(m_matlabEngine, ossStringLHip.str().c_str());
engEvalString(m_matlabEngine, ossStringTimeLeft.str().c_str());
engEvalString(m_matlabEngine, ossStringTimeRight.str().c_str());
engEvalString(m_matlabEngine, ossStringRHip.str().c_str());
engEvalString(m_matlabEngine, ossStringRKnee.str().c_str());
engEvalString(m_matlabEngine, ossStringLKnee.str().c_str());
engEvalString(m_matlabEngine, ossPeriod.str().c_str());
engEvalString(m_matlabEngine, ossCycles.str().c_str());
engEvalString(m_matlabEngine, ossDelay.str().c_str());
QString runEval(QString("run('%1');").arg("C:/Users/Zahid/GUI/RobotSim2/test_final_m2.m"));
engEvalString(m_matlabEngine, "cd('C:/Users/Zahid/GUI/RobotSim2');");
//engEvalString(m_matlabEngine, "Controls_Plant_2705_1");
//engEvalString(m_matlabEngine, "open('test_final_model');");
//engEvalString(m_matlabEngine, "sim('test_final_model');");
engEvalString(m_matlabEngine, runEval.toUtf8().constData());
engClose(m_matlabEngine);
ButtonAdamsSim->setStyleSheet("QPushButton {border-radius: 2px;padding: 0.2em 0.2em 0.3em 0.2em;border: 1px solid rgb(100, 100,100);background: QLinearGradient( x1: 0, y1: 0.02, x2: 0, y2: 1.2, stop: 0 #220, stop: 1 #ffffff);color: white;}");
}
int
main (int ac, char *av[])
{
FILE *fp;
/* save our name for usage() */
me = av[0];
/* crack args */
while (--ac && **++av == '-') {
char *s = *av;
while (*++s) {
switch (*s) {
case 'b': /* beep when true */
bflag++;
break;
case 'd':
if (ac < 2) {
fprintf (stderr, "-d requires open fileno\n");
usage();
}
directfd = atoi(*++av);
ac--;
break;
case 'e': /* print each updated expression value */
eflag++;
break;
case 'f': /* print final expression value */
fflag++;
break;
case 'h':
if (directfd >= 0) {
fprintf (stderr, "Can not combine -d and -h\n");
usage();
}
if (ac < 2) {
fprintf (stderr, "-h requires host name\n");
usage();
}
host = *++av;
ac--;
break;
case 'i': /* read expression from stdin */
iflag++;
break;
case 'o': /* print operands as they change */
oflag++;
break;
case 'p':
if (directfd >= 0) {
fprintf (stderr, "Can not combine -d and -p\n");
usage();
}
if (ac < 2) {
fprintf (stderr, "-p requires tcp port number\n");
usage();
}
port = atoi(*++av);
ac--;
break;
case 't':
if (ac < 2) {
fprintf (stderr, "-t requires timeout\n");
usage();
}
timeout = atoi(*++av);
ac--;
break;
case 'v': /* verbose */
verbose++;
break;
case 'w': /* wait for expression to be true */
wflag++;
break;
default:
fprintf (stderr, "Unknown flag: %c\n", *s);
usage();
}
}
}
/* now there are ac args starting with av[0] */
/* compile expression from av[0] or stdin */
if (ac == 0)
compile (NULL);
else if (ac == 1)
compile (av[0]);
else
usage();
/* open connection */
if (directfd >= 0) {
fp = fdopen (directfd, "r+");
setbuf (fp, NULL); /* don't absorb next guy's stuff */
if (!fp) {
fprintf (stderr, "Direct fd %d: %s\n",directfd,strerror(errno));
exit(1);
}
if (verbose)
fprintf (stderr, "Using direct fd %d\n", directfd);
} else {
fp = openINDIServer();
if (verbose)
fprintf (stderr, "Connected to %s on port %d\n", host, port);
}
/* build a parser context for cracking XML responses */
lillp = newLilXML();
/* set up to catch an io timeout function */
signal (SIGALRM, onAlarm);
/* send getProperties */
getProps(fp);
/* initialize all properties */
initProps(fp);
/* evaluate expression, return depending on flags */
return (runEval(fp));
}
