/**
* \brief Load a OPluginItem for the specified interface
* This will open the resource of the OPluginItem::path() and then will query
* if the Interface specified in the uuid is available and then will manage the
* resource and Interface.
*
* @param item The OPluginItem that should be loaded
* @param uuid The Interface to query for
*
* @return Either 0 in case of failure or the Plugin as QUnknownInterface*
*/
QUnknownInterface* OGenericPluginLoader::load( const OPluginItem& item, const QUuid& uuid) {
/*
* Check if there could be a library
*/
QString pa = item.path();
if ( pa.isEmpty() )
return 0l;
/*
* See if we get a library
* return if we've none
*/
setSafeMode( pa, true );
QLibrary *lib = Internal::OPluginLibraryHolder::self()->ref( pa );
if ( !lib ) {
setSafeMode();
return 0l;
}
/**
* try to load the plugin and just in case initialize the pointer to a pointer again
*/
QUnknownInterface* iface=0;
if ( lib->queryInterface( uuid, &iface ) == QS_OK ) {
installTranslators( item.name() );
m_library.insert( iface, lib );
}else
iface = 0;
setSafeMode();
return iface;
}
/**
* \fn LongInt::LongInt(int n)
* \brief Default constructor.
*
* Construct an empty object with the capacity to store "n" digits.
* The parameter has a default value of DEFAULT_INIT_SIZE. (See LongInt.h)
*
*/
LongInt::LongInt(int n) {
setSafeMode();
number = new char[n+1]; // The extra cell is needed for the EOS character.
stock = n;
number += stock;
size = 1;
sign = false;
}
StatusIndicatorMenuVerticalView::StatusIndicatorMenuVerticalView(StatusIndicatorMenu *controller) :
MSceneWindowView(controller),
controller(controller)
{
// Create an extension area for the top row plugins
MApplicationExtensionArea *extensionArea = new MApplicationExtensionArea("com.meego.core.MStatusIndicatorMenuExtensionInterface/1.0");
connect(extensionArea, SIGNAL(extensionInstantiated(MApplicationExtensionInterface*)), controller, SLOT(setStatusIndicatorMenuInterface(MApplicationExtensionInterface*)));
connect(extensionArea, SIGNAL(extensionInstantiated(MApplicationExtensionInterface*)), this, SLOT(setExtensionLayoutPosition(MApplicationExtensionInterface*)));
extensionArea->setObjectName("StatusIndicatorMenuExtensionArea");
setSafeMode(extensionArea, QFile(CRASH_FILE).exists());
extensionArea->init();
// Add panning to the expension area
MPannableViewport* viewport = new MPannableViewport();
viewport->setWidget(extensionArea);
viewport->setVerticalPanningPolicy(MPannableWidget::PanningAsNeeded);
viewport->setStyleName("StatusIndicatorMenuViewport");
viewport->positionIndicator()->setStyleName("CommonPositionIndicatorInverted");
// Put the extension area to a horizontal layout
QGraphicsLinearLayout *vlayout = new QGraphicsLinearLayout(Qt::Vertical);
vlayout->setContentsMargins(0, 0, 0, 0);
vlayout->setSpacing(0);
vlayout->addItem(viewport);
// Add a separator line on the bottom of the menu
MStylableWidget *bottomSeparator = new MStylableWidget;
bottomSeparator->setStyleName("StatusIndicatorMenuBottomSeparator");
bottomSeparator->setLayoutPosition(M::VerticalTopPosition);
vlayout->addItem(bottomSeparator);
// Create a container widget for extension area and settings button layout
containerWidget = new MStylableWidget;
containerWidget->setStyleName("StatusIndicatorMenuExtensionAreaWidget");
containerWidget->setLayout(vlayout);
QGraphicsLinearLayout *hlayout = new QGraphicsLinearLayout(Qt::Horizontal);
hlayout->setContentsMargins(0, 0, 0, 0);
hlayout->setSpacing(0);
hlayout->addStretch();
hlayout->addItem(containerWidget);
hlayout->addStretch();
// Add a separator line on the right of the menu
MStylableWidget *rightSeparator = new MStylableWidget;
rightSeparator->setStyleName("StatusIndicatorMenuRightSeparator");
rightSeparator->setLayoutPosition(M::HorizontalLeftPosition);
hlayout->addItem(rightSeparator);
controller->setLayout(hlayout);
containerWidget->installEventFilter(this);
}
void startSlam(int v)
{
FileStorage fs("config.yml", FileStorage::READ);
Mat cam, dist, rpos, q, s;
fs["cameraMatrix"] >> cam;
fs["distMatrix"] >> dist;
fs["sensorPos"] >> rpos;
fs["q"] >> q;
fs["s"] >> s;
fs.release();
ml = new MarkerLocator(cam, dist, rpos, 100.);
// Mat q = (Mat_<double>(2,1) << .01, .1*M_PI/180);
// Mat s = (Mat_<double>(2,1) << 10, .5*M_PI/180);
slam = new EkfSlam(&scan, q, s);
#ifdef GUI
namedWindow("EKFSlam");
disp = new MapDisplay("Map");
waitKey();
#endif
Mat u = (Mat_<double>(2,1) << 0, 0);
int fd = openPort();
oiStart();
setSafeMode();
readDist();
readAngle();
VideoCapture cap(0);
if(!cap.isOpened()) {
printf("Failed capture\n");
return;
}
VideoWriter record("/tmp/demo.avi", CV_FOURCC('D','I','V','X'), 30, Size(1340,600), true);
if(!record.isOpened()) {
printf("Failed writer\n");
return;
}
clock_t t;
time_t stime;
while(1) {
t = clock();
setDrive(v,v);
double mindist = 99999;
while(msElap(t) < 100 && !hitWall()) {
u.at<double>(0) = (double)readDist();
u.at<double>(1) = M_PI*(double)readAngle()/180;
mindist = slamStep(u, cap, record);
}
// backup before turn when running into something
if(hitWall() || mindist < 700) {
if(hitWall()) {
// backup
setDrive(-15,-15);
t = clock();
while(msElap(t) < 500) {
u.at<double>(0) = (double)readDist();
u.at<double>(1) = M_PI*(double)readAngle()/180;
slamStep(u, cap, record);
}
}
// turn
if(time(&stime)%60 < 30) {
setDrive(-5, 5);
}
else
setDrive(5,-5);
t = clock();
while(msElap(t) < 250) {
u.at<double>(0) = 0;
u.at<double>(1) = M_PI*(double)readAngle()/180;
slamStep(u, cap, record);
}
}
if(waitKey(10) == 27)
break;
}
setDrive(0,0);
imwrite("lastFrame.png", g_outFrame);
close(fd);
delete ml;
delete slam;
#ifdef GUI
delete disp;
#endif
}
