int main(int argc, char** argv) {
/* Check number of parameters. */
if (argc != 4)
usage(argv[0]);
/* Read the grid from the input file. */
readInputFile(argv[1]);
/* Read the solution file generated by the Prolog run. */
readPrologFile(argv[2]);
/* Write the query file. */
writeOutputFile(argv[3]);
return 0;
}
// -----------------------------------------------------------------------------
//
// -----------------------------------------------------------------------------
void WriteStatsGenOdfAngleFile::execute()
{
int err = 0;
setErrorCondition(err);
dataCheck();
if(getErrorCondition() < 0) {
return;
}
// Figure out how many unique phase values we have by looping over all the phase values
int64_t totalPoints = m_CellPhasesPtr.lock()->getNumberOfTuples();
std::set<int32_t> uniquePhases;
for (int64_t i = 0; i < totalPoints; i++)
{
uniquePhases.insert(m_CellPhases[i]);
}
uniquePhases.erase(0); // remove Phase 0 as this is a Special Phase for DREAM3D
std::vector<QFile*> oFiles;
QFileInfo fi(getOutputFile());
QString absPath = fi.absolutePath();
QString fname = fi.completeBaseName();
QString suffix = fi.suffix();
for (std::set<int32_t>::iterator iter = uniquePhases.begin(); iter != uniquePhases.end(); iter++)
{
/* Let the GUI know we are done with this filter */
QString ss = QObject::tr("Writing file for phase '%1'").arg(*iter);
notifyStatusMessage(getHumanLabel(), ss);
QString absFilePath = absPath + "/" + fname + "_Phase_" + QString::number(*iter) + "." + suffix;
QFile file(absFilePath);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Truncate))
{
setErrorCondition(-99000);
QString ss = QObject::tr("Error creating output file '%1'").arg(absFilePath);
notifyErrorMessage(getHumanLabel(), ss, getErrorCondition());
return;
}
QTextStream out(&file);
// Dry run to figure out how many lines we are going to have
int32_t lineCount = determineOutputLineCount(totalPoints, *iter);
int err = writeOutputFile(out, lineCount, totalPoints, *iter);
if (err < 0)
{
setErrorCondition(-99001);
QString ss = QObject::tr("Error writing output file '%1'").arg(absFilePath);
notifyErrorMessage(getHumanLabel(), ss, getErrorCondition());
return;
}
out.flush();
file.close(); // Close the file
}
/* Let the GUI know we are done with this filter */
notifyStatusMessage(getHumanLabel(), "Complete");
}
void TaskManager::actionlib_callback(const apc_bt_comms::ManagerGoalConstPtr &goal)
{
ROS_INFO("BT Task Manager got a request!");
sleep(0.1);
if (goal->success)
{
if (task_ == "pick")
{
ROS_INFO("Will mark bin as solved!");
if (markAsSolved(current_bin_))
{
nh_.setParam("/apc/task_manager/running", false);
}
}
else
{
ROS_INFO("Will mark object as solved!");
if (markAsSolved(current_object_))
{
nh_.setParam("/apc/task_manager/running", false);
}
}
}
else
{
if (goal->pop)
{
if (task_ == "pick")
{
if (!current_bin_.empty())
{
ROS_INFO("Current bin is not empty! Will mark as impossible");
markAsImpossible(current_bin_);
current_bin_.clear();
current_object_.clear();
}
ROS_INFO("Will pop next mission bin!");
current_bin_ = getNextInMission();
current_object_ = getOrderForBin(current_bin_);
current_arm_ = selectArm(current_object_, current_bin_);
}
else
{
if (!current_object_.empty())
{
ROS_INFO("Current object is not empty! Will mark as impossible");
markAsImpossible(current_object_);
current_bin_.clear();
current_object_.clear();
}
ROS_INFO("Will pop next mission object!");
current_object_ = getNextInMission();
current_arm_ = selectArm(current_object_, current_bin_);
current_bin_ = getBinWithFewerItems(current_arm_);
}
}
else
{
if (task_ == "stow") // Failed to place an object
{
setParam("/apc/task_manager/place_failure", true);
current_bin_ = getOtherBin();
}
}
}
setSystemTarget();
writeOutputFile();
result_.result = true;
action_server_.setSucceeded(result_);
}
