//------------------------------------------------------------
// output()
//------------------------------------------------------------
int output(int data, int size)
{
if (listFlag)
listObj(data, size);
if (objFlag)
outputObj(loc, data, size);
return NORMAL;
}
void
dcb(int size, char *label, char *op, int *errorPtr)
{
int blockSize, blockVal, i;
char *eval();
char backRef;
if (size == SHORT) {
NEWERROR(*errorPtr, INV_SIZE_CODE);
size = WORD;
} else if (!size)
size = WORD;
/* Move location counter to a word boundary and fix the listing if doing
DCB.W or DCB.L (but not if doing DCB.B, so DCB.B's can be contiguous) */
if ((size & (WORD | LONG)) && (loc & 1)) {
loc++;
listLoc();
}
/* Define the label attached to this directive, if any */
if (*label)
define(label, loc, pass2, errorPtr);
/* Evaluate the size of the block (in bytes, words, or longwords) */
op = eval(op, &blockSize, &backRef, errorPtr);
if (*errorPtr < SEVERE && !backRef) {
NEWERROR(*errorPtr, INV_FORWARD_REF);
return;
}
if (*errorPtr > SEVERE)
return;
if (*op != ',') {
NEWERROR(*errorPtr, SYNTAX);
return;
}
if (blockSize < 0) {
NEWERROR(*errorPtr, INV_LENGTH);
return;
}
/* Evaluate the data to put in block */
op = eval(++op, &blockVal, &backRef, errorPtr);
if (*errorPtr < SEVERE) {
if (!isspace(*op) && *op) {
NEWERROR(*errorPtr, SYNTAX);
return;
}
/* On pass 2, output the block of values directly
to the object file (without putting them in the listing) */
if (pass2)
for (i = 0; i < blockSize; i++) {
outputObj(loc, blockVal, size);
loc += size;
} else
loc += blockSize * size;
}
}
ICPWidget::ICPWidget(QWidget *parent) :
QFrame(parent),
ui(new Ui::ICPWidget)
{
ui->setupUi(this);
v.initCameraParameters();
v.setBackgroundColor(1.0,1.0,1.0);
v.addCoordinateSystem(0.3);
v.registerPointPickingCallback<ICPWidget>(&ICPWidget::pick,*this,NULL);
v.registerKeyboardCallback<ICPWidget>(&ICPWidget::key,*this,NULL);
widget.SetRenderWindow(v.getRenderWindow());
ui->frameView->layout()->addWidget(&widget);
ui->tools->setCurrentIndex(0);
QString dataInfo;
Pipe::loadData(_FrameKeyList,dataInfo,Pipe::_FrameListKey);
Pipe::loadData(_IdMapKeyList,dataInfo,Pipe::_IdMapListKey);
frameCloud = FullPointCloud::Ptr(new FullPointCloud);
segCloud = FullPointCloud::Ptr(new FullPointCloud);
currentFrame = 0;
currentState = PICK_FRAME;
currentObjIndex = -1;
connect(ui->nextFrame,SIGNAL(clicked()),this,SLOT(nextFrame()));
connect(ui->lastFrame,SIGNAL(clicked()),this,SLOT(lastFrame()));
connect(ui->loadFrame,SIGNAL(clicked()),this,SLOT(reLoadFrameWithView()));
connect(ui->addObj,SIGNAL(clicked()),this,SLOT(addObj()));
connect(ui->delObj,SIGNAL(clicked()),this,SLOT(delObj()));
connect(ui->icpObj,SIGNAL(clicked()),this,SLOT(icpObj()));
connect(ui->tools,SIGNAL(currentChanged(int)),this,SLOT(changeState(int)));
connect(ui->outObj,SIGNAL(clicked()),this,SLOT(outputObj()));
connect(ui->outFrame,SIGNAL(clicked()),this,SLOT(outputFrame()));
}
int incbin(int size, char *label, char *fileName, int *errorPtr)
{
char capLine[256];
char *src, *dst;
FILE *incFile;
unsigned char dataByte;
if (size) { // if .size code specified
NEWERROR(*errorPtr, INV_SIZE_CODE); // error, invalid size code
return NORMAL;
}
if (!*fileName) {
NEWERROR(*errorPtr, FILE_ERROR); // error, invalid syntax
return NORMAL;
}
// Define the label attached to this include directive, if any
if (*label)
define(label, loc, pass2, true, errorPtr);
strcap(capLine, fileName);
// strip quotes from filename
src = capLine;
dst = capLine;
while (*src) {
if (*src != '\'' && *src != '\"')
*dst++ = *src;
src++;
}
// strip whitespace from end of filename
dst--;
while (dst > capLine && isspace(*dst))
dst--;
dst++;
*dst = '\0';
if (pass2 && listFlag) { // if incbin directive should be listed
listLine(line);
}
try {
incFile = fopen(capLine, "rb"); // attempt to open incbin binary file
if (!incFile) { // if ERROR opening file
NEWERROR(*errorPtr, FILE_ERROR); // error, invalid syntax
return SEVERE;
}
// loop through every byte of incbin file
// while(!feof(incFile)) {
// fread(&dataByte, 1, 1, incFile); // read 1 byte of data from file
while(fread(&dataByte, 1, 1, incFile) && !feof(incFile)) {
// On pass 2, output the block of values directly
// to the object and binary files (without putting them in the listing)
if (pass2) {
if (objFlag)
outputObj(loc, dataByte, BYTE_SIZE);
}
loc++; // increment location counter once for each byte in file
}
fclose(incFile);
if (pass2 && listFlag) {
skipList = true; // don't list INCBIN statement again
}
}
catch( ... ) {
sprintf(buffer, "ERROR: An exception occurred in routine 'incbin'. \n");
printError(NULL, EXCEPTION, 0);
return NULL;
}
return NORMAL;
}
