int main()
{
while (1)
{
scanf("%s",inst);
if (inst[0] == '8')
break;
pos = 0;
int over = 0;
A = B = 0;
while (1)
{
switch (inst[pos])
{
case '0':command0();break;
case '1':command1();break;
case '2':command2();break;
case '3':command3();break;
case '4':command4();break;
case '5':command5();break;
case '6':command6();break;
case '7':command7();break;
case '8':over = 1;break;
default:over = 1;break;
}
if (over || pos > 255)
break;
}
printf("%s\n",inst);
}
return 0;
}
void Model::RunExtruder (double extruder_speed, double extruder_length, bool reverse)
{
static bool extruderIsRunning = false;
if (settings.Slicing.Use3DGcode) {
if (extruderIsRunning)
SendNow("M103");
else
SendNow("M101");
extruderIsRunning = !extruderIsRunning;
return;
}
std::stringstream oss;
string command("G1 F");
oss << extruder_speed;
command += oss.str();
SendNow(command);
oss.str("");
// set extruder zero
SendNow("G92 E0");
oss << extruder_length;
string command2("G1 E");
if (reverse)
command2+="-";
command2+=oss.str();
SendNow(command2);
SendNow("G1 F1500.0");
SendNow("G92 E0"); // set extruder zero
}
int command(int keycode, t_box *box)
{
if (box->id != 0)
return (command2(keycode, box));
if (keycode == KEY_ESC)
exit(0);
else if (keycode == KEY_PAD1)
screen_init(box, 1);
else if (keycode == KEY_PAD2)
screen_init(box, 2);
else if (keycode == KEY_PAD4)
screen_init(box, 4);
else if (keycode == KEY_PAD3)
screen_init(box, 3);
else if (keycode == KEY_PAD5)
screen_init(box, 5);
else if (keycode == KEY_PAD6)
screen_init(box, 6);
else if (keycode == KEY_PAD7)
screen_init(box, 7);
else if (keycode == KEY_PAD8)
screen_init(box, 8);
else if (keycode == KEY_PAD9)
screen_init(box, 9);
else if (keycode == KEY_CLEAR)
screen_init(box, 10);
return (1);
}
void ModelViewController::RunExtruder()
{
static bool extruderIsRunning = false;
if(ProcessControl.Use3DGcode)
{
if(extruderIsRunning)
serial->SendNow("M103");
else
serial->SendNow("M101");
extruderIsRunning = 1-extruderIsRunning;
return;
}
std::stringstream oss;
string command("G1 F");
oss << m_iExtruderSpeed;
command += oss.str();
serial->SendNow(command);
oss.str("");
serial->SendNow("G92 E0"); // set extruder zero
oss << m_iExtruderLength;
string command2("G1 E");
if(!m_bExtruderDirection) // Forwards
command2+="-";
command2+=oss.str();
serial->SendNow(command2);
serial->SendNow("G1 F1500.0");
serial->SendNow("G92 E0"); // set extruder zero
}
void TestPageCommands::testInsertPageCommand() // move of frames
{
KWDocument document;
KWPageInsertCommand command1(&document, 0);
QCOMPARE(document.pageCount(), 0);
QCOMPARE(document.frameSetCount(), 0);
command1.redo();
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 0);
KWFrameSet *fs = new KWFrameSet();
MockShape *shape = new MockShape();
KWFrame *frame = new KWFrame(shape, fs);
Q_UNUSED(frame);
document.addFrameSet(fs);
QPointF startPos = shape->position();
KWPageInsertCommand command2(&document, 0);
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 1);
command2.redo();
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(command2.page().pageNumber(), 1);
QCOMPARE(command1.page().pageNumber(), 2);
QPointF newPos = shape->position();
QCOMPARE(newPos, QPointF(0, command2.page().height()) + startPos); // it moved ;)
KWPageInsertCommand command3(&document, 2);
command3.redo();
QCOMPARE(document.pageCount(), 3);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(newPos, shape->position()); // it has not moved from page 2
command3.undo();
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(newPos, shape->position()); // it has not moved from page 2
QCOMPARE(command2.page().pageNumber(), 1);
QCOMPARE(command1.page().pageNumber(), 2);
command2.undo();
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(command1.page().pageNumber(), 1);
QCOMPARE(startPos, shape->position()); // it has been moved back
command2.redo();
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(command2.page().pageNumber(), 1);
QCOMPARE(command1.page().pageNumber(), 2);
QCOMPARE(QPointF(0, command2.page().height()) + startPos, newPos); // it moved again ;)
}
bool
PersistentFetchAccount::DeleteObject(shared_ptr<FetchAccount> pFA)
{
SQLCommand command("delete from hm_fetchaccounts where faid = @FAID");
command.AddParameter("@FAID", pFA->GetID());
if (!Application::Instance()->GetDBManager()->Execute(command))
return false;
SQLCommand command2("delete from hm_fetchaccounts_uids where uidfaid = @UIDFAID");
command2.AddParameter("@UIDFAID", pFA->GetID());
if (!Application::Instance()->GetDBManager()->Execute(command2))
return false;
return true;
}
void TestPageCommands::testInsertPageCommand3() // restore all properties
{
KWDocument document;
KWPageInsertCommand command1(&document, 0);
command1.redo();
KWPage page = command1.page();
KWPageStyle style = page.pageStyle();
style.setHasMainTextFrame(false);
style.setFootnoteDistance(10);
KoPageLayout layout;
layout.width = 400;
layout.height = 300;
layout.leftMargin = 4;
layout.rightMargin = 6;
layout.topMargin = 7;
layout.bottomMargin = 5;
style.setPageLayout(layout);
page.setPageStyle(style);
KWPageInsertCommand command2(&document, 1); // append one page.
command2.redo();
QCOMPARE(command2.page().pageStyle(), style);
QCOMPARE(command2.page().width(), 400.);
// undo and redo, remember order is important
command2.undo();
command1.undo();
command1.redo();
command2.redo();
QVERIFY(command1.page() != page);
QCOMPARE(command1.page().pageNumber(), 1);
KWPageStyle style2 = command1.page().pageStyle();
QCOMPARE(style2, style);
QCOMPARE(style2.hasMainTextFrame(), false);
QCOMPARE(style2.footnoteDistance(), 10.);
KoPageLayout layout2 = style2.pageLayout();
QCOMPARE(layout2, layout);
QCOMPARE(command2.page().pageStyle(), style);
QCOMPARE(command2.page().width(), 400.);
}
int _tmain(int argc, _TCHAR* argv[])
{
ActiveObjectEngine active_objevt_engine;
std::unique_ptr<ICommand> command1(new SleepDelayCommand( 1000, &active_objevt_engine, 'A' ) );
std::unique_ptr<ICommand> command2(new SleepDelayCommand( 5000, &active_objevt_engine, 'B' ) );
std::unique_ptr<ICommand> command3( new SleepDelayCommand( 500, &active_objevt_engine, 'C' ) );
std::unique_ptr<ICommand> command4(new SleepDelayCommand( 10, &active_objevt_engine, 'E' ) );
std::unique_ptr<ICommand> command5(new SleepDelayCommand( 4500, &active_objevt_engine, 'D' ) );
active_objevt_engine.AddCommand( std::move( command1 ) );
active_objevt_engine.AddCommand( std::move( command2 ) );
active_objevt_engine.AddCommand( std::move( command3 ) );
active_objevt_engine.AddCommand( std::move( command4 ) );
active_objevt_engine.AddCommand( std::move( command5 ) );
active_objevt_engine.Run();
return 0;
}
void TestPageCommands::testInsertPageCommand2() // auto remove of frames
{
KWDocument document;
KWFrameSet *fs = new KWFrameSet();
document.addFrameSet(fs);
KWTextFrameSet *tfs = new KWTextFrameSet(&document, Words::MainTextFrameSet);
document.addFrameSet(tfs);
KWPageInsertCommand command1(&document, 0);
command1.redo();
MockShape *shape1 = new MockShape();
new KWFrame(shape1, fs);
MockShape *shape2 = new MockShape();
shape2->setUserData(new KoTextShapeData());
new KWTextFrame(shape2, tfs);
KWPageInsertCommand command2(&document, 1); // append a page
command2.redo();
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 2);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(tfs->frameCount(), 1);
// add a new frame for the page we just created.
MockShape *shape3 = new MockShape();
QPointF position(30, command2.page().offsetInDocument());
shape3->setPosition(position);
new KWTextFrame(shape3, tfs);
QCOMPARE(tfs->frameCount(), 2);
command2.undo(); // remove the page again.
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 2);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(tfs->frameCount(), 1); // the text frame is an auto-generated one, so it should be removed.
}
bool Printer::RunExtruder (double extruder_speed, double extruder_length,
bool reverse, int extruder_no)
{
//static bool extruderIsRunning = false; // 3D
assert(m_model != NULL); // Need a model first
// if (m_model->settings.Slicing.Use3DGcode) {
// if (extruderIsRunning)
// SendNow("M103");
// else
// SendNow("M101");
// extruderIsRunning = !extruderIsRunning;
// return;
// }
if (extruder_no >= 0)
if (!SelectExtruder(extruder_no)) return false;
std::stringstream oss;
string command("G1 F");
oss << extruder_speed;
command += oss.str();
if (!SendNow(command)) return false;
oss.str("");
// set extruder zero
if (!SendNow("G92 E0")) return false;
oss << extruder_length;
string command2("G1 E");
if (reverse)
command2+="-";
command2+=oss.str();
if (!SendNow(command2)) return false;
if (!SendNow("G1 F1500.0")) return false;
return SendNow("G92 E0"); // set extruder zero
}
bool ETsumoDriver::drive()
{
#if 0 //臨時スイープ 調整中（まともに走りません＞＜）
K_THETADOT = 6.5F;
K_PHIDOT = 25.0F;
if (!mInitState) {
if(mSearchPoint == 1){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_1; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_1;}
if(mSearchPoint == 2){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_2; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_2;mGps.adjustDirection(mGps.getDirection() + 30);}
if(mSearchPoint == 3){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_1; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_1 -150;mGps.adjustDirection(mGps.getDirection() + 30);}
if(mSearchPoint == 4){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_2 + 150; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_2;}
if(mSearchPoint == 5){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_1; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_1 -300;}
if(mSearchPoint == 6){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_2 + 300; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_2;}
if(mSearchPoint == 7){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_1; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_1 -450;}
if(mSearchPoint == 8){mPoint.X = GPS_ETSUMO_SEARCH_X_SWEEP_2 + 450; mPoint.Y = GPS_ETSUMO_SEARCH_Y_SWEEP_2;}
if(mSearchPoint > 8)mSearchPoint = 1;
mTripodCoordinateTrace.setTargetCoordinate(mPoint);//
mInitState = true;
mIsArrived = false;
mTripodCoordinateTrace.setAllowableError(30);
mTripodCoordinateTrace.setForward(50);
mTimeCounter = 0;
}
if (mTripodCoordinateTrace.isArrived())
{
mInitState = false;
mTimeCounter = 0;
mSearchPoint++;
return 0;
}
mTripodCoordinateTrace.execute();
return 0;
#endif
#if 0 //超信地旋回調査用
gDoSonar = true;
K_THETADOT = 6.5F;
K_PHIDOT = 25.0F;
if(mTimeCounter < 100000){
VectorT<float> command(50, 0);//第一要素：進行速度、第二要素：旋回速度
mActivator.run(command);//制御機器にセット
}
else{
VectorT<float> command2(0, 100);//第一要素：進行速度、第二要素：旋回速度
mActivator.run(command2);//制御機器にセット
}
mTimeCounter++;
return 0;
#endif
#if 0 //超信地旋回調査用
if (mState == ETsumoDriver::INIT) { // 初期化状態
gDoSonar = true;
if(gSonarIsDetected){
mInitState = true;
mState = ETsumoDriver::DOHYO_IN;
updateTargetCoordinates();
//mTargetX = mTargetTotalX;
//mTargetY = mTargetTotalY;
return 0;
}
K_THETADOT = 6.5F;
K_PHIDOT = 20.0F;
mTimeCounter++;
if (!mInitState) {
if(mSearchPoint == 1){mPoint.X = GPS_ETSUMO_SEARCH_X; mPoint.Y = GPS_ETSUMO_SEARCH_Y;}
if(mSearchPoint == 2){mPoint.X = GPS_ETSUMO_SEARCH_X + 200; mPoint.Y = GPS_ETSUMO_SEARCH_Y -200;}
if(mSearchPoint == 3){mPoint.X = GPS_ETSUMO_SEARCH_X + 400; mPoint.Y = GPS_ETSUMO_SEARCH_Y -400;}
if(mSearchPoint == 4){mPoint.X = GPS_ETSUMO_SEARCH_X + 600; mPoint.Y = GPS_ETSUMO_SEARCH_Y -600;}
mCoordinateTrace.setTargetCoordinate(mPoint);//
mInitState = true;
mIsArrived = false;
mCoordinateTrace.setAllowableError(30);
mCoordinateTrace.setForward(50);
mTimeCounter = 0;
}
if (mCoordinateTrace.isArrived()) {mIsArrived = true; mTimeCounter = 0; mMyAngle = mGps.getDirection();}
if(mIsArrived){
if((mGps.getDirection() <= mMyAngle - 720) || (mGps.getDirection() >= mMyAngle +720)){
mInitState = false;
mTimeCounter = 0;
mSearchPoint++;
return 0;
}
else{
if((mSearchPoint % 2) == 0 ){
VectorT<float> command1(0, 100);//第一要素：進行速度、第二要素：旋回速度
mActivator.run(command1);//制御機器にセット
}
else{
VectorT<float> command2(0, -100);//第一要素：進行速度、第二要素：旋回速度
mActivator.run(command2);//制御機器にセット
}
}
return 0;
}
mCoordinateTrace.execute();
return 0;
}
#endif
//試走会用ライントレース
/*
if (mState == ETsumoDriver::INIT) { // 初期化状態
if (mInitState) {
gDoSonar = false;
K_THETADOT = 7.5F;
K_PHIDOT = 25.0F;
mLineTrace.setForward(100);
mInitState = false;
}
mLineTrace.execute();
}
*/
if (mState == ETsumoDriver::INIT) { // 初期化状態
gDoSonar = false;
mTimeCounter = 0;
mOrigK_THETADOT = K_THETADOT; // 後で戻すために保存
mOrigK_PHIDOT = K_PHIDOT; // 後で戻すために保存
K_THETADOT = 6.5F;
K_PHIDOT = 20.0F;
mScanState = UNKNOWN;
mLightSensor.setLamp(0);//試しにライトセンサOFF
//状態遷移
mInitState = true;
mState = ETsumoDriver::PREPARE_SPOTSEARCH;
}
if (mState == ETsumoDriver::PREPARE_SPOTSEARCH) {
if (mInitState) {
gDoSonar = false;
K_THETADOT = 6.5F;
K_PHIDOT = 60.0F;
mTimeCounter = 0;
mCoordinateTrace.setTargetCoordinate(MakePoint(GPS_ETSUMO_SEARCH_X, GPS_ETSUMO_SEARCH_Y));// ＠todo要再設定
mCoordinateTrace.setForward(50.0);
mCoordinateTrace.setAllowableError(30);
mInitState = false;
mIsArrived = false;
}
// 移動完了
if (mCoordinateTrace.isArrived()) {
mInitState = true;
//mState = ETsumoDriver::SWINGSEARCH;
mState = ETsumoDriver::SPOTSEARCH;
}
mCoordinateTrace.execute();
}
if (mState == ETsumoDriver::SPOTSEARCH) {
if (mInitState) {
gDoSonar = false; //
K_PHIDOT = K_PHIDOT_FOR_MOVE;
mTimeCounter = 0;
mAngleTrace.setForward(0);
mAngleTrace.setTargetAngle(360.0);
mAngleTrace.setAllowableError(2.0); // 2度
mInitState = false;
mIsArrived = false;
mSonarDetectCount = 0;
mTargetTotalX = 0;
mTargetTotalY = 0;
}
// 方向転換完了
if (! mIsArrived && mAngleTrace.isArrived()) {
K_PHIDOT = K_PHIDOT_FOR_SEARCH;
gDoSonar = true;
mIsArrived = true;
}
// 方向転換完了してからスポットサーチ開始
if(mIsArrived && (mTimeCounter % 20 == 0) && (mTimeCounter >= 100)){
if(gSonarIsDetected){
mSonarDetectCount++;
updateTargetCoordinates();
if(SUMO_DEBUG) {mSpeaker.playTone(1000, 1, 10);}
}
else if(mTimeCounter % 100 == 0){
float setangle = mGps.getDirection() - 100;//この数値は十分大きいため、調整不要のはず
mAngleTrace.setTargetAngle(setangle);
}
}
//スポットサーチ範囲内で探知成功！
if(mSonarDetectCount >= 3){
mInitState = true;
mTargetX = mTargetTotalX / mSonarDetectCount;
mTargetY = mTargetTotalY / mSonarDetectCount;
mState = ETsumoDriver::DOHYO_IN;
}
//スポットサーチ範囲内にペットボトルが無いことを確認、スイングサーチへ移行
else if((Gps::marge180(mGps.getDirection()) <= -90.0) && mIsArrived){
mInitState = true;
mState = ETsumoDriver::SPOTSEARCH_to_SWINGSEARCH;
}
mAngleTrace.execute();
}
if (mState == ETsumoDriver::SPOTSEARCH_to_SWINGSEARCH) {
if (mInitState) {
gDoSonar = false;
K_PHIDOT = 60.0F;
mTimeCounter = 0;
mCoordinateTrace.setTargetCoordinate(MakePoint(GPS_ETSUMO_SEARCH_X + 200.0, GPS_ETSUMO_SEARCH_Y - 200.0));// ＠todo要再設定
mCoordinateTrace.setForward(RIKISHI_FORWARD);
mCoordinateTrace.setAllowableError(30);
mInitState = false;
mIsArrived = false;
}
// 移動完了
if (mCoordinateTrace.isArrived()) {
mInitState = true;
mState = ETsumoDriver::SWINGSEARCH;
}
mCoordinateTrace.execute();
}
if (mState == ETsumoDriver::SWINGSEARCH) {
if (mInitState) {
gDoSonar = false;
K_PHIDOT = K_PHIDOT_FOR_MOVE;
mTimeCounter = 0;
mSonarDetectCount = 0;
mAngleTrace.setForward(0);
mAngleTrace.setTargetAngle(480);
//mAngleTrace.setTargetAngle(415);
mAngleTrace.setAllowableError(2.0); // 2度
mInitState = false;
mIsArrived = false;
mTargetTotalX = 0;
mTargetTotalY = 0;
}
// 方向転換完了
if (! mIsArrived && mAngleTrace.isArrived()) {
mIsArrived = true;
mTimeCounter = 0;
K_PHIDOT = K_PHIDOT_FOR_SEARCH;
gDoSonar = true; // ソナー起動
}
// 方向転換完了してからスイングサーチ開始
if(mIsArrived && (mTimeCounter % 20 == 0)){
if(gSonarIsDetected){
mSonarDetectCount++;
updateTargetCoordinates();
if(SUMO_DEBUG) {mSpeaker.playTone(500, 1, 20);}
}
else if((mTimeCounter % 100 == 0) && (mTimeCounter > 100)){
float setangle = mGps.getDirection() - 100;
mAngleTrace.setTargetAngle(setangle);
}
}
//スイングサーチ範囲内で探知成功！
if(mSonarDetectCount >= 3){
mInitState = true;
mTargetX = mTargetTotalX / mSonarDetectCount;
mTargetY = mTargetTotalY / mSonarDetectCount;
mState = ETsumoDriver::DOHYO_IN;
}
mAngleTrace.execute();
}
if (mState == ETsumoDriver::DOHYO_IN) {
if (mInitState) {
mTimeCounter = 0;
K_PHIDOT = 60.0F;
mTargetAngle = calcTargetAngle(mTargetX, mTargetY);//ターゲットのアングルを-180〜180で返す
if((mTargetAngle > -45) && (mTargetAngle < 135)){
mCoordinateTrace.setTargetCoordinate(MakePoint(mTargetX - 300, mTargetY));
}
else{
mCoordinateTrace.setTargetCoordinate(MakePoint(mTargetX, mTargetY + 300));
}
mCoordinateTrace.setForward(RIKISHI_FORWARD);
mCoordinateTrace.setAllowableError(30);
mInitState = false;
mIsArrived = false;
gDoSonar = false;
}
// 移動完了
if (! mIsArrived && mCoordinateTrace.isArrived()) {
mInitState = true;
mState = ETsumoDriver::HAKKE_READY;
}
mCoordinateTrace.execute();
}
if (mState == ETsumoDriver::HAKKE_READY) {
if (mInitState) {
gDoSonar = false;
mTimeCounter = 0;
mAngleTrace.setForward(0);
K_PHIDOT = K_PHIDOT_FOR_MOVE;
mTargetAngle = calcTargetAngle(mTargetX, mTargetY);//ターゲットのアングルを-180〜180で返す
if((mTargetAngle > -45) && (mTargetAngle < 135)){
mAngleTrace.setTargetAngle(45);
}
else{
mAngleTrace.setTargetAngle(-45);
}
mAngleTrace.setAllowableError(2.0); // 2度
mInitState = false;
mIsArrived = false;
}
// 方向転換完了
if (! mIsArrived && mAngleTrace.isArrived()) {
mIsArrived = true;
mTimeCounter = 0;
K_PHIDOT = K_PHIDOT_FOR_SEARCH;
}
// 方向転換完了してから落ち着くまで待機
if(mIsArrived && (mTimeCounter > 100)){
mInitState = true;
mState = ETsumoDriver::SCAN;
}
mAngleTrace.execute();
}
if (mState == ETsumoDriver::SCAN) {
if (mInitState) {
gDoSonar = true; // ソナー起動
K_PHIDOT = K_PHIDOT_FOR_SEARCH;
mTimeCounter = 0;
mSonarDetectCount = 0;
mFailScanCounter = 0;
mTargetTotalX = 0;
mTargetTotalY = 0;
mAngleTrace.setForward(0);
mInitState = false;
mIsArrived = false;
mScanState = SWINGRIGHT;
}
//最初は右回りにスキャン、ターゲットロスト後に左回りにスキャン
if(mTimeCounter % 20 == 0){
if(gSonarIsDetected){
mFailScanCounter = 0; //検知したら検知失敗回数をリセット
mSonarDetectCount++;
updateTargetCoordinates();
if(SUMO_DEBUG) {mSpeaker.playTone(1000, 1, 10);}
}
else{
mFailScanCounter++;
if(mFailScanCounter > 255){
mFailScanCounter = 255;//念のため
}
}
//右回りにスキャン
if((mTimeCounter % 100 == 0) && (mScanState == SWINGRIGHT)){
float setangle = mGps.getDirection() - 100;
mAngleTrace.setTargetAngle(setangle);
}
//左回りにスキャン
else if((mTimeCounter % 100 == 0) && (mScanState == SWINGLEFT)){
float setangle = mGps.getDirection() + 100;
mAngleTrace.setTargetAngle(setangle);
}
}
//ターゲットロスト後に状態遷移
if((mFailScanCounter >= 10) && (mSonarDetectCount >= 2)){
//右回りなら左回りへ状態遷移
if(mScanState == SWINGRIGHT){
mFailScanCounter = 0;
mPrevSonarDetectCount = mSonarDetectCount; //右回りの時の検知回数を保存
mSonarDetectCount = 0; //右回りの時の検知回数をクリア
mTimeCounter = 0;
mScanState = SWINGLEFT;
}
//
else if(mScanState == SWINGLEFT){
gDoSonar = false;
mTimeCounter = 0;
mTargetX = mTargetTotalX / (mSonarDetectCount + mPrevSonarDetectCount);
mTargetY = mTargetTotalY / (mSonarDetectCount + mPrevSonarDetectCount);
mInitState = true;
mState = ETsumoDriver::NOKOTTA_GO;
}
}
mAngleTrace.execute();
}
if (mState == ETsumoDriver::NOKOTTA_GO) {
if (mInitState) {
gDoSonar = false; //
K_PHIDOT = 30.0F;
mTimeCounter = 0;
mAngleTrace.setForward(0);
mTargetAngle = calcTargetAngle(mTargetX, mTargetY);//ターゲットのアングルを-180〜180で返す
mAngleTrace.setTargetAngle(mTargetAngle + 0);//左右視力の違い?補正 ＠todo機体依存か要調査
mAngleTrace.setAllowableError(1.0); // 1度
mInitState = false;
mIsArrived = false;
mOshidashiFlag = false;
}
if (! mIsArrived) {
mTargetAngle = calcTargetAngle(mTargetX, mTargetY);//精度向上のため、動的にターゲットアングルを更新する
mAngleTrace.setTargetAngle(mTargetAngle + 0);//左右視力の違い?補正 ＠todo機体依存か要調査
}
// 方向転換完了
if (! mIsArrived && mAngleTrace.isArrived()) {
mIsArrived = true;
mTimeCounter = 0;
}
//ゆっくり押し出し、時々張り手
if(!mOshidashiFlag && mIsArrived && (mTimeCounter > 100)){
mAngleTrace.setForward(OSHIDASHI_FORWARD);//＠todoベストな値を要検証
}
//押し出し判定
if((mGps.getXCoordinate() > (GPS_ETSUMO_SEARCH_X + 800)) || (mGps.getYCoordinate() < (GPS_ETSUMO_SEARCH_Y - 800))){//＠todoベストな値を要検証
mAngleTrace.setForward(-30);//判定が出たらゆっくり後退
mTimeCounter = 0;
mOshidashiFlag = true;
mLightSensor.setLamp(1);//ライトセンサON
}
//そっと4秒ほど後退後状態遷移
if(mOshidashiFlag && (mTimeCounter > 500)){
//mState = ETsumoDriver::KACHI_NANORI;
//mInitState = true;
}
mAngleTrace.execute();
}
/*メモリが足りない？ためコメントアウト
if (mState == ETsumoDriver::KACHI_NANORI) {
if (mInitState) {
gDoSonar = false;
K_PHIDOT = 60.0F;
mTimeCounter = 0;
mCoordinateTrace.setTargetCoordinate(MakePoint(0, 0));
mCoordinateTrace.setForward(30);
mCoordinateTrace.setAllowableError(30);
mInitState = false;
mIsArrived = false;
}
// 移動完了
if (mCoordinateTrace.isArrived()) {
mInitState = true;
mState = ETsumoDriver::SPOTSEARCH_to_SWINGSEARCH;
}
mCoordinateTrace.execute();
}
*/
mTimeCounter++;
return 0;
}
void TestPageCommands::testRemovePageCommand() // move of frames
{
KWDocument document;
KWPageInsertCommand insertCommand(&document, 0);
insertCommand.redo();
KWFrameSet *fs = new KWFrameSet();
MockShape *shape = new MockShape();
KWFrame *frame = new KWFrame(shape, fs);
Q_UNUSED(frame);
document.addFrameSet(fs);
KWPageInsertCommand insertCommand2(&document, 1);
insertCommand2.redo();
MockShape *shape2 = new MockShape();
QPointF pos = QPointF(20, insertCommand2.page().offsetInDocument() + 10);
shape2->setPosition(pos);
KWFrame *frame2 = new KWFrame(shape2, fs);
Q_UNUSED(frame2);
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 2);
// remove page2
KWPageRemoveCommand command1(&document, insertCommand2.page());
command1.redo();
QCOMPARE(insertCommand.page().pageNumber(), 1);
QCOMPARE(insertCommand2.page().isValid(), false);
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(shape2->position(), pos); // shapes are not deleted, just removed from the document
command1.undo();
QCOMPARE(insertCommand.page().pageNumber(), 1);
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 2);
QCOMPARE(shape2->position(), pos); // not moved.
// remove page 1
KWPageRemoveCommand command2(&document, insertCommand.page());
command2.redo();
QCOMPARE(insertCommand.page().isValid(), false);
QCOMPARE(document.pageCount(), 1);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 1);
QCOMPARE(shape->position(), QPointF(0,0));
QCOMPARE(shape2->position(), QPointF(20, 10)); // moved!
command2.undo();
QCOMPARE(document.pageCount(), 2);
QCOMPARE(document.frameSetCount(), 1);
QCOMPARE(fs->frameCount(), 2);
QCOMPARE(shape->position(), QPointF(0,0));
QCOMPARE(shape2->position(), pos); // moved back!
}
bool executeCommand(sqlite3 *db, const char *command)
{
char **params;
int paramsCount;
int i;
int from, to;
double sum;
(void)db; // unused
// parse command
paramsCount = countWords(command);
params = malloc(sizeof(char*) * paramsCount);
for (i=0; i<paramsCount; i++)
params[i] = getWord(command, i);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_HELP)))
commandHelp();
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_1)))
command1();
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_2)))
command2();
if ((paramsCount >= 4) && (!strcmp(params[0], COMMAND_TRANSF)))
{
sscanf(params[1], "%i", &from);
sscanf(params[3], "%lf", &sum);
sscanf(params[2], "%i", &to);
//transfer(db, from, to, sum);
if (sum < 0 ) return false;
debit(db, from, sum);
credit(db, to, sum);
}
if ((paramsCount >= 3) && (!strcmp(params[0], COMMAND_DEB)))
{
sscanf(params[1], "%i", &from);
sscanf(params[2], "%lf", &sum);
if (sum < 0 ) return false;
debit(db, from, sum);
}
if ((paramsCount >= 3) && (!strcmp(params[0], COMMAND_CRED)))
{
sscanf(params[1], "%i", &to);
sscanf(params[2], "%lf", &sum);
if (sum < 0) return false;
credit(db, to, sum);
}
if ((paramsCount >= 2) && (!strcmp(params[0], COMMAND_CHCK)))
{
sscanf(params[1], "%i", &to);
checkAccount(db, to);
}
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_UNDO)))
undo(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_ADD)))
createNewCustomer(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_DEL)))
deleteCustomer(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_DELACC)))
deleteAccount(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_ADDACC)))
addAccount(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_COMMIT)))
commit(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_SHOW)))
showAll(db);
if ((paramsCount >= 1) && (!strcmp(params[0], COMMAND_LOGGER)))
logger(db);
for (i=0; i<paramsCount; i++)
free(params[i]);
free(params);
return true;
}
