bool QDockWindow::qt_invoke( int _id, QUObject* _o )
{
switch ( _id - staticMetaObject()->slotOffset() ) {
case 0: undock((QWidget*)static_QUType_ptr.get(_o+1)); break;
case 1: undock(); break;
case 2: dock(); break;
case 3: setOrientation((Orientation)(*((Orientation*)static_QUType_ptr.get(_o+1)))); break;
case 4: setCaption((const QString&)static_QUType_QString.get(_o+1)); break;
case 5: toggleVisible(); break;
default:
return QFrame::qt_invoke( _id, _o );
}
return TRUE;
}
AutoDock::AutoDock(SysLogParser *parser, FemtoTester *tester, QObject *parent) :
QObject(parent),
m_parser(parser),
m_tester(tester),
m_dockingState(DockingStateMessage::DockedManually),
m_softDockingLimits(0, 0),
m_regularDockingLimits(0, 0),
m_zeroDockingLimits(0, 0),
m_dockingMode(ManualDocking),
m_slots(),
m_currentSlot(0),
m_targetSlot(0),
m_servoSpeedUp(0),
m_servoSpeedDown(0),
m_zForce(0),
m_forceIsSteady(false),
m_autoDock(false),
m_autoUndock(false),
m_autoSlotSelect(false)
{
loadSettings();
connect(tester, SIGNAL(connectedStateChanged(bool)), this, SLOT(loadHwSettings()));
connect(tester, SIGNAL(dockingForceChanged(qreal,bool)), this, SLOT(setDockingForce(qreal,bool)));
connect(tester, SIGNAL(settingsByteChanged(quint8,quint8)), this, SLOT(onHwByteSettingChanged(quint8,quint8)));
connect(tester, SIGNAL(settingsWordChanged(quint8,quint16)), this, SLOT(onHwWordSettingChanged(quint8,quint16)));
connect(tester, SIGNAL(settingsArrayChanged(quint8,QByteArray)), this, SLOT(onHwArraySettingChanged(quint8,QByteArray)));
connect(tester, SIGNAL(dockingStateChanged(DockingStateMessage::DockingState)), this, SLOT(onDockingStateChange(DockingStateMessage::DockingState)));
connect(tester, SIGNAL(dockingStateChanged(DockingStateMessage::DockingState)), this, SIGNAL(dockingStateChanged(DockingStateMessage::DockingState)));
connect(m_parser, SIGNAL(dockingModeSelected(AutoDock::DockingMode)), this, SLOT(setDockingMode(AutoDock::DockingMode)));
connect(m_parser, SIGNAL(suctionRingVacuumDisabled()), this, SLOT(onTreatmentFinished()));
connect(m_parser, SIGNAL(treatmentAborted()), this, SLOT(onTreatmentFinished()));
connect(m_parser, SIGNAL(dmsSensorReset()), this, SLOT(undock()));
connect(m_parser, SIGNAL(treatmentStarted()), this, SLOT(stop())); // lock when treatment starts
}
int main(int argc, char** argv) {
ros::init(argc,argv,"pr2_actions");
ros::NodeHandle node_handle;
Approach approach(node_handle);
Dock dock(node_handle);
Undock undock(node_handle);
Pick pick(node_handle);
Place place(node_handle);
ros::spin();
return 0;
}
void
killb(int qx, int qy)
{
struct quad *q;
struct xy *b;
q = &Quad[qx][qy];
if (q->bases <= 0)
return;
if (!damaged(SSRADIO)) {
/* then update starchart */
if (q->scanned < 1000)
q->scanned -= 10;
else
if (q->scanned > 1000)
q->scanned = -1;
}
q->bases = 0;
Now.bases -= 1;
for (b = Now.base; ; b++)
if (qx == b->x && qy == b->y)
break;
*b = Now.base[Now.bases];
if (qx == Ship.quadx && qy == Ship.quady) {
Sect[Etc.starbase.x][Etc.starbase.y] = EMPTY;
if (Ship.cond == DOCKED)
undock(0);
printf("Starbase at %d,%d destroyed\n",
Etc.starbase.x, Etc.starbase.y);
} else {
if (!damaged(SSRADIO)) {
printf("Uhura: Starfleet command reports that the "
"starbase in\n");
printf(" quadrant %d,%d has been destroyed\n",
qx, qy);
}
else
schedule(E_KATSB | E_GHOST, TOOLARGE, qx, qy, 0);
}
}
void initial_status::update_docking_info()
{
int i;
object *objp = &Objects[Ships[m_ship].objnum];
// remove old info
for (i = 0; i < num_dock_points; i++)
{
// see if the object at this point is no longer there
object *dockee_objp = dock_find_object_at_dockpoint(objp, i);
if (dockee_objp != NULL)
{
// check if the dockee ship thinks that this ship is docked to this dock point
if (objp != dock_find_object_at_dockpoint(dockee_objp, dockpoint_array[i].dockee_point) ) {
// undock it
undock(objp, dockee_objp);
}
}
}
// add new info
for (i = 0; i < num_dock_points; i++)
{
// see if there is an object at this point that wasn't there before
if (dockpoint_array[i].dockee_shipnum >= 0)
{
if (dock_find_object_at_dockpoint(objp, i) == NULL)
{
object *dockee_objp = &Objects[Ships[dockpoint_array[i].dockee_shipnum].objnum];
int dockee_point = dockpoint_array[i].dockee_point;
// dock it
dock(objp, i, dockee_objp, dockee_point);
}
}
}
update_map_window();
}
bool FdoSelectionManager::nativeEventFilter(const QByteArray& eventType, void* message, long int* result)
{
Q_UNUSED(result);
if (eventType != "xcb_generic_event_t") {
return false;
}
xcb_generic_event_t* ev = static_cast<xcb_generic_event_t *>(message);
auto responseType = XCB_EVENT_RESPONSE_TYPE(ev);
if (responseType == XCB_CLIENT_MESSAGE) {
auto ce = reinterpret_cast<xcb_client_message_event_t *>(ev);
if (ce->type == Xcb::atoms->opcodeAtom) {
switch (ce->data.data32[1]) {
case SYSTEM_TRAY_REQUEST_DOCK:
dock(ce->data.data32[2]);
return true;
}
}
} else if (responseType == XCB_UNMAP_NOTIFY) {
auto unmappedWId = reinterpret_cast<xcb_unmap_notify_event_t *>(ev)->window;
if (m_proxies[unmappedWId]) {
undock(unmappedWId);
}
} else if (responseType == m_damageEventBase + XCB_DAMAGE_NOTIFY) {
auto damagedWId = reinterpret_cast<xcb_damage_notify_event_t *>(ev)->drawable;
auto sniProx = m_proxies[damagedWId];
Q_ASSERT(sniProx);
if(sniProx) {
sniProx->update();
xcb_damage_subtract(QX11Info::connection(), m_damageWatches[damagedWId], XCB_NONE, XCB_NONE);
}
}
return false;
}
void DockWidget::appexit()
{
if(docked)undock();
mykapp->quit();
exit(0);
}
int main(int argc, char *argv[]) {
/*set line buffering of stdout*/
setvbuf(stdout, NULL, _IOLBF, 0);
int maxloops;
if(argc == 1)
maxloops = 100;
else
maxloops = atoi(argv[1]);
printf("EVaura activated for %i mining loops\n", maxloops);
/*Initialize random number generator*/
point rsult;
points rsults = {0, NULL};
gsl_rng_default_seed = time(NULL);
r = gsl_rng_alloc (gsl_rng_default);
current_time = time(NULL);
int shieldson = 0;
int randompulse, pulsetimer;
char number_of_belts = 0;
char current_belt = 0;
char is_belt_toast[20] = {0};
char unable_to_lock = 0;
display = XOpenDisplay(NULL); // Open first (-best) display
screen = DefaultScreenOfDisplay(display);
assert(display);
xdodisplay = xdo_new_with_opened_display (display,":0",1);
xdo_window_select_with_click(xdodisplay, &EVEwindow);
update_screenshot(); //obtain display properties
initialize_images();
initialize_ore_tables();
ship *s = &mackinaw;
for(int i = 0; i < maxloops; i++){
undock();
//Warp to belt
click_on(&menu_belts_inactive, 1, "");
mysleep(500);
update_screenshot();
number_of_belts = find_multiple(&aba_menu, NULL);
if(number_of_belts < 1){
printf("No belts found!!!\n Docking!");
//dock();
//break;
}
else
printf("We found %i belts\n", number_of_belts);
//choose random belt which isn't already depleted
while((current_belt = random_int(1, number_of_belts)) &&
is_belt_toast[(int)current_belt] == 1) {
printf("We chosed %i. belt, but is is empty\n", current_belt);
}
if (findmatch(&menu_name, &rsult) == 0){
click(rsult.X + random_int(0,30), rsult.Y + 19*current_belt, 1, "s");
printf("Warping to %i. belt\n", current_belt);
}
if(random_int(0,3) > 1) {
start_shields(s);
shieldson = 1;
}
else
shieldson = 0;
wait_for_warp(s);
//arrived to belt
launch_drones(s);
click_on(&menu_mining_inactive, 1, "");
mysleep(1500);
lock_nearest_roid();
start_mining(&pulsetimer, &randompulse);
if(shieldson == 0)
start_shields(s);
while(1){
sleep(1);
update_screenshot();
if (findmatch(&full_cargo2, NULL) == 0)
break;
if (findmatch(&invalid_target, NULL) == 0)
click_on(&OK, 1, "");
switch (check_roid_lock()) {
case 0 :
unable_to_lock++;
if(unable_to_lock > 6){
printf("We were repeatedly unable to lock anything, this belt is probably toast\n");
//FIXME: this could probably also happen with pirates or roids too far to lock
is_belt_toast[(int)current_belt] = 1;
i--;//decrease counter, sice this loop wasnt finished
goto dock;
}
printf("we didnt found any locked roids, attempting to lock one\n");
if (lock_best_roid() == 0) {
start_mining(&pulsetimer, &randompulse);
unable_to_lock = 0;
}
continue;
case 1 :
if(find_multiple(&i_mining_laser_active, &rsults) == 0){
start_mining(&pulsetimer, &randompulse);
}
lock_best_roid();
unable_to_lock = 0;
continue;
}
switch (find_multiple(&i_mining_laser_active, &rsults)) {
case 0 :
printf("we have a locked roid however lasers were not active\n");
start_mining(&pulsetimer, &randompulse);
continue;
case 1 :
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F1", 5);
//pulse random laser, if we are lucky we turn on the right one
//if not, we will turn on both next time
break;
}
sleep(2);
if ( (time(NULL) - pulsetimer) > randompulse ) {
printf("cycling lasers\n");
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F1", 5);
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F2", 5);
mysleep(1000);
update_screenshot();
if (check_roid_lock() == 1) {
mysleep(50);
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F1", 5);
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F2", 5);
mysleep(random_int(100,300));
}
else if(check_roid_lock() > 1 ){
mouse_move(locked_roids.rsult[0].X, locked_roids.rsult[0].Y);
xdo_click(xdodisplay, CURRENTWINDOW, 1);
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F1", 5);
mysleep(550);
mouse_move(locked_roids.rsult[1].X, locked_roids.rsult[1].Y);
xdo_click(xdodisplay, CURRENTWINDOW, 1);
xdo_keysequence(xdodisplay, CURRENTWINDOW, "F2", 5);
}
pulsetimer = time(NULL);
randompulse = random_int(50,150);
}
}
dock:
dock_drones(s);//we can dock while preparing to warp
if (click_on(&menu_default_inactive, 1, "") == 0) {
printf("defalut menu inactive, clicking on it\n");
mysleep(random_int(800,1200));
}
else
printf("default menu probably active, no need to click\n");
update_screenshot();
if(click_on(&aba_peace_station, 1, "d") == 0) {
printf("found Aba station, attempting a warp\n");
}
else
printf ("Cant find Aba station, something bad is going on.\n");
wait_for_warp(s);
mysleep(10000);//FIXME: new function wait for dock???
for (int i = 0; unload_ore(s) == 1; i++){
mysleep(5000);
if(i > 4){
printf("Unable to unload ore\n");
goto exit;
}
}
}
exit:
if(displayImage)
cvReleaseImage(&displayImage);
XCloseDisplay(display);
return 0;
}