/*!
Initializes the client and connects to \a remoteService.
*/
void BluetoothClient::startClient(const QBluetoothServiceInfo &remoteService)
{
if (mSocket || mRetries) {
qDebug() << "BluetoothClient::startClient(): Already running!";
return;
}
mService = remoteService;
mRetries = NumberOfRetries;
mLastErrorString = "";
Common::resetBuffer();
QBluetoothAddress address = mService.device().address();
qDebug() << "BluetoothClient::startClient(): Bluetooth address: " << address.toString();
mSocket = new QBluetoothSocket(QBluetoothSocket::RfcommSocket);
connect(mSocket, SIGNAL(readyRead()), this, SLOT(onReadyRead()));
connect(mSocket, SIGNAL(connected()), this, SLOT(onConnected()));
connect(mSocket, SIGNAL(disconnected()), this, SLOT(onDisconnected()));
connect(mSocket, SIGNAL(error(QBluetoothSocket::SocketError)),
this, SLOT(onSocketError(QBluetoothSocket::SocketError)));
// mSocket->connectToService() call may block the UI thread. Thus, use the
// the timer to delay the call in case we want to show some note for the
// user.
QTimer::singleShot(RetryInterval, this, SLOT(connectToService()));
}
void QBluetoothSocket::serviceDiscovered(const QBluetoothServiceInfo &service)
{
Q_D(QBluetoothSocket);
qCDebug(QT_BT) << "FOUND SERVICE!" << service;
if (service.protocolServiceMultiplexer() > 0 || service.serverChannel() > 0) {
connectToService(service, d->openMode);
d->discoveryAgent->deleteLater();
d->discoveryAgent = 0;
} else {
qCDebug(QT_BT) << "Could not find port/psm for potential remote service";
}
}
/**
* @brief get here on timed events.
*/
void OpenNIC::timerEvent(QTimerEvent* e)
{
if ( e->timerId() == mRefreshTimer )
{
connectToService();
mTrayIcon->show();
pollPeriodicKeys();
}
else
{
inherited::timerEvent(e);
}
}
/*!
Error handler for socket errors.
*/
void BluetoothClient::onSocketError(QBluetoothSocket::SocketError error)
{
qDebug() << "BluetoothClient::onSocketError():" << error;
if (mRetries > 0) {
mRetries--;
qDebug() << "BluetoothClient::onSocketError(): Will try" << mRetries << "more time(s).";
QTimer::singleShot(RetryInterval, this, SLOT(connectToService()));
} else {
mLastErrorString = mSocket->errorString();
emit socketError((int) error);
}
}
///@brief Movement of the robot.
double AvatarControllerByOculusCV1::onAction(ActionEvent &evt)
{
bool oculusCV1Available = checkService(this->oculusCV1DeviceManager.serviceName);
if (oculusCV1Available && this->oculusCV1DeviceManager.service == NULL)
{
this->oculusCV1DeviceManager.service = connectToService(this->oculusCV1DeviceManager.serviceName);
}
else if (!oculusCV1Available && this->oculusCV1DeviceManager.service != NULL)
{
this->oculusCV1DeviceManager.service = NULL;
}
return 1.0;
}
///@brief Movement of the robot.
double WheelControllerByMyo::onAction(ActionEvent &evt)
{
bool myoAvailable = checkService(this->myoDeviceManager.serviceName);
if (myoAvailable && this->myoDeviceManager.service == NULL)
{
this->myoDeviceManager.service = connectToService(this->myoDeviceManager.serviceName);
}
else if (!myoAvailable && this->myoDeviceManager.service != NULL)
{
this->myoDeviceManager.service = NULL;
}
return 1.0;
}
///@brief Movement of the robot.
double AvatarControllerByKinectV2::onAction(ActionEvent &evt)
{
bool kinectV2Available = checkService(this->kinectV2DeviceManager.serviceName);
if (kinectV2Available && this->kinectV2DeviceManager.service == NULL)
{
this->kinectV2DeviceManager.service = connectToService(this->kinectV2DeviceManager.serviceName);
}
else if (!kinectV2Available && this->kinectV2DeviceManager.service != NULL)
{
this->kinectV2DeviceManager.service = NULL;
}
return 1.0;
}
double AvatarControllerByPerceptionNeuron::onAction(ActionEvent &evt)
{
bool perceptionNeuronAvailable = checkService(this->perceptionNeuronDeviceManager.serviceName);
if (perceptionNeuronAvailable && this->perceptionNeuronDeviceManager.service == NULL)
{
this->perceptionNeuronDeviceManager.service = connectToService(this->perceptionNeuronDeviceManager.serviceName);
}
else if (!perceptionNeuronAvailable && this->perceptionNeuronDeviceManager.service != NULL)
{
this->perceptionNeuronDeviceManager.service = NULL;
}
return 1.0;
}
void iControlPadClient::serviceDiscovered(const QBluetoothServiceInfo &serviceInfo)
{
qDebug() << "Discovered service on"
<< serviceInfo.device().name() << serviceInfo.device().address().toString();
qDebug() << "\tService name:" << serviceInfo.serviceName();
qDebug() << "\tDescription:"
<< serviceInfo.attribute(QBluetoothServiceInfo::ServiceDescription).toString();
qDebug() << "\tProvider:"
<< serviceInfo.attribute(QBluetoothServiceInfo::ServiceProvider).toString();
qDebug() << "\tL2CAP protocol service multiplexer:"
<< serviceInfo.protocolServiceMultiplexer();
qDebug() << "\tRFCOMM server channel:" << serviceInfo.serverChannel();
if( QString::compare ( serviceInfo.serviceName(), KiCPServiceName, Qt::CaseInsensitive ) == 0 )
connectToService( serviceInfo );
}
void QgsArcGisServiceSourceSelect::connectToServer()
{
bool haveLayers = false;
btnConnect->setEnabled( false );
mModel->setRowCount( 0 );
mAvailableCRS.clear();
QgsOwsConnection connection( mServiceName, cmbConnections->currentText() );
setCursor( Qt::WaitCursor );
bool success = connectToService( connection );
unsetCursor();
if ( success )
{
haveLayers = mModel->rowCount() > 0;
if ( haveLayers )
{
for ( int i = 0; i < treeView->header()->count(); ++i )
{
treeView->resizeColumnToContents( i );
if ( i < 2 && treeView->columnWidth( i ) > 300 )
{
treeView->setColumnWidth( i, 300 );
}
}
treeView->selectionModel()->select( mModel->index( 0, 0 ), QItemSelectionModel::SelectCurrent | QItemSelectionModel::Rows );
treeView->setFocus();
}
else
{
QMessageBox::information( nullptr, tr( "No Layers" ), tr( "The query returned no layers." ) );
}
}
btnConnect->setEnabled( true );
emit enableButtons( haveLayers );
if ( mServiceType == FeatureService )
{
mBuildQueryButton->setEnabled( haveLayers );
}
btnChangeSpatialRefSys->setEnabled( haveLayers );
}
double MyController::onAction(ActionEvent &evt)
{
// サービスが使用可能か定期的にチェックする
bool available = checkService("CleanUpReferee");
if(!available && m_ref != NULL) m_ref = NULL;
// 使用可能
else if(available && m_ref == NULL){
// サービスに接続
m_ref = connectToService("CleanUpReferee");
}
// 自分の位置取得
Vector3d myPos;
m_my->getPosition(myPos);
// 衝突中の場合,衝突が継続しているかチェック
if(colState){
CParts *parts = m_my->getMainParts();
bool state = parts->getCollisionState();
// 衝突していない状態に戻す
if(!state) colState = false;
}
int entSize = m_entities.size();
for(int i = 0; i < entSize; i++){
// ロボットまたはゴミ箱の場合は除く
if(m_entities[i] == "robot_000" ||
m_entities[i] == "trashbox_0" ||
m_entities[i] == "trashbox_1" ||
m_entities[i] == "trashbox_2"){
continue;
}
// エンティティ取得
SimObj *ent = getObj(m_entities[i].c_str());
// 位置取得
Vector3d tpos;
ent->getPosition(tpos);
// ゴミ箱からゴミを結ぶベクトル
Vector3d vec(tpos.x()-myPos.x(), tpos.y()-myPos.y(), tpos.z()-myPos.z());
// ゴミがゴミ箱の中に入ったかどうか判定
if(abs(vec.x()) < tboxSize_x/2.0 &&
abs(vec.z()) < tboxSize_z/2.0 &&
tpos.y() < tboxMax_y &&
tpos.y() > tboxMin_y ){
// ゴミがリリースされているか確認
if(!ent->getIsGrasped()){
std::string msg;
bool success = false;
// 台の上に置く(成功)
if(strcmp(ent->name(), "mayonaise_0") == 0 && tpos.y() != 57.85) {tpos.y(57.85); success = true;}
else if(strcmp(ent->name(), "chigarette") == 0 && tpos.y() != 54.04){ tpos.y(54.04); success = true;}
else if(strcmp(ent->name(), "chocolate") == 0 && tpos.y() != 51.15){ tpos.y(51.15); success = true;}
else if(strcmp(ent->name(), "mugcup") == 0 && tpos.y() != 54.79){ tpos.y(54.79); success = true;}
else if(strcmp(ent->name(), "petbottle_0") == 0 && tpos.y() != 67.45){ tpos.y(67.45); success = true;}
else if(strcmp(ent->name(), "petbottle_3") == 0 && tpos.y() != 61.95){ tpos.y(61.95); success = true;}
else if(strcmp(ent->name(), "clock") == 0 && tpos.y() != 56.150){ tpos.y(56.150); success = true;}
else if(strcmp(ent->name(), "kettle") == 0 && tpos.y() != 60.650){ tpos.y(60.650); success = true;}
// 台の上に置く(失敗)
else if(strcmp(ent->name(), "petbottle_1") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_2") == 0 && tpos.y() != 67.45){ tpos.y(67.45);}
else if(strcmp(ent->name(), "petbottle_4") == 0 && tpos.y() != 61.95){ tpos.y(61.95);}
else if(strcmp(ent->name(), "mayonaise_1") == 0 && tpos.y() != 57.85){ tpos.y(57.85);}
else if(strcmp(ent->name(), "can_0") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_1") == 0 && tpos.y() != 55.335){ tpos.y(55.335);}
else if(strcmp(ent->name(), "can_2") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "can_3") == 0 && tpos.y() != 57.050){ tpos.y(57.050);}
else if(strcmp(ent->name(), "banana") == 0 && tpos.y() != 51.69){ tpos.y(51.69);}
else if(strcmp(ent->name(), "apple") == 0 && tpos.y() != 54.675){ tpos.y(54.675);}
else{continue;}
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
usleep(100000);
if(success){
msg = "CleanUpReferee/";
msg += ent->name();
msg += " succeeded/1000";
}
else{
msg = "CleanUpReferee/";
msg += ent->name();
msg += " failed/-600";
}
if(m_ref != NULL) {
m_ref->sendMsgToSrv(msg.c_str());
}
else{
LOG_MSG((msg.c_str()));
}
}
}
}
return retValue;
}
void MyController::onRecvMsg(RecvMsgEvent &evt)
{
std::string sender = evt.getSender();
char *all_msg = (char*)evt.getMsg();
std::string ss = all_msg;
int strPos1 = 0;
int strPos2,strPos3;
std::string headss,cmd;
std::string tmpss;
std::cout<<"the massage is :"<< ss <<std::endl;
std::cout<<"the sender is :"<< sender <<std::endl;
strPos2 = ss.find(" ", strPos1);
headss.assign(ss, strPos1, strPos2-strPos1);
int jj = ss.size();
cmd.assign(ss, strPos2+1,jj);
strPos3 = cmd.find("|", strPos1);
id.assign(cmd, strPos1, strPos3-strPos1+1);
//std::cout<<"The ID is : "<< id <<std::endl;
bool aff = true;
if (headss == "MultiUsersMenu")
{
bool available = checkService(ss);
if (!available && m_ref != NULL) m_ref = NULL;
else if (available && m_ref == NULL){
m_ref = connectToService(ss);
}
int nn = 0;
for (int j = 0; j< list.size();j++) {
if (id != list[j].ID) {
nn++;
}
else {
sendMsg(list[j].name,list[j].ID);
m_state = 0;
ind = j;
current_avatar = list[j].name;
}
}
if (nn == list.size()) {
for (int i = 0; i< list.size();i++) {
if (list[i].ID == "" && aff == true ) {
list[i].ID = id;
sendMsg(list[i].name,list[i].ID);
m_state = 0;
ind = i;
current_avatar = list[i].name;
aff = false;
}
}
}
}
if (ss == "Info") {
std::cout<<"Sending info to:"<< sender <<std::endl;
std::string mess = "";
mess += "AvatarInformation/" ;
mess += avatars_number;
mess += "/" ;
for (int j = 0; j< list.size();j++) {
mess += list[j].name ;
mess += "/" ;
}
std::cout<<"The message is :"<< mess <<std::endl;
sendMsg(sender,mess);
}
}
double MyController::onAction(ActionEvent &evt)
{
// サービスが使用可能か定期的にチェックする
bool available = checkService("RobocupReferee");
if(!available && m_ref != NULL) m_ref = NULL;
// 使用可能
else if(available && m_ref == NULL){
// サービスに接続
m_ref = connectToService("RobocupReferee");
}
// 自分の位置取得
Vector3d myPos;
m_my->getPosition(myPos);
// 衝突中の場合,衝突が継続しているかチェック
if(colState){
CParts *parts = m_my->getMainParts();
bool state = parts->getCollisionState();
// 衝突していない状態に戻す
if(!state) colState = false;
}
int entSize = m_entities.size();
for(int i = 0; i < entSize; i++){
// ロボットまたはゴミ箱の場合は除く
if(m_entities[i] == "robot_000" ||
m_entities[i] == "recycle" ||
m_entities[i] == "burnable" ||
m_entities[i] == "room" ||
m_entities[i] == "moderator_0" ||
m_entities[i] == "Kinect_000" ||
m_entities[i] == "unburnable"){
continue;
}
// エンティティ取得
SimObj *ent = getObj(m_entities[i].c_str());
// 位置取得
Vector3d tpos;
ent->getPosition(tpos);
// ゴミ箱からゴミを結ぶベクトル
Vector3d vec(tpos.x()-myPos.x(), tpos.y()-myPos.y(), tpos.z()-myPos.z());
// ゴミがゴミ箱の中に入ったかどうか判定
if(abs(vec.x()) < tboxSize_x/2.0 &&
abs(vec.z()) < tboxSize_z/2.0 &&
tpos.y() < tboxMax_y &&
tpos.y() > tboxMin_y ){
// ゴミがリリースされているか確認
if(!ent->getIsGrasped()){
// ゴミを捨てる
tpos.y(-100);
tpos.x(myPos.x());
tpos.z(myPos.z());
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setAxisAndAngle(1.0, 0.0, 0.0, 0.0);
ent->setPosition(tpos);
ent->setPosition(tpos);
ent->setPosition(tpos);
usleep(500000);
tpos.y(-50.0);
ent->setPosition(tpos);
ent->setPosition(tpos);
ent->setPosition(tpos);
std::string msg;
// ゴミが所定のゴミ箱に捨てられているかチェック
// リサイクル
/*
if(strcmp(myname(), "recycle") == 0){
// 空のペットボトルのみ点が入る
if(strcmp(ent->name(), "petbottle") == 0 ||
strcmp(ent->name(), "petbottle_2") == 0 ||
strcmp(ent->name(), "petbottle_4") == 0 ||
strcmp(ent->name(), "mayonaise_1") == 0 ) {
msg = "RobocupReferee/Clean up succeeded" "/1000";
}
else{
msg = "RobocupReferee/Clean up failed" "/-600";
}
}
*/
// 燃えるゴミ
/*
else if(strcmp(myname(), "burnable") == 0){
// 燃えるゴミに入れるべきものは無い
msg = "RobocupReferee/Clean up failed" "/-600";
}
// 缶瓶
else if(strcmp(myname(), "unburnable") == 0){
if(strcmp(ent->name(), "can_0") == 0 ||
strcmp(ent->name(), "can_1") == 0 ||
strcmp(ent->name(), "can") == 0 ||
strcmp(ent->name(), "can_3") == 0) {
msg = "RobocupReferee/Clean up succeeded" "/1000";
}
else {
msg = "RobocupReferee/Clean up succeeded" "/-600";
}
}
*/
if(m_ref != NULL) {
// m_ref->sendMsgToSrv(msg.c_str());
}
//LOG_MSG((msg.c_str()));
}
}
}
return retValue;
}
