MainService::MainService(int argc, char* argv[])
{
setServiceDescription("The daemon for monitoring and handling the g15 macro service");
setServiceFlags(QtServiceBase::Default); //Stopped but not suspended
thread_keys = new KeyThread();
connect(thread_keys, SIGNAL(writeDbg(const QString)), this, SLOT(writeDbg(const QString)));
connect(this, SIGNAL(sendExit()), thread_keys, SLOT(setExit()));
thread_x = new XThread();
connect(thread_x, SIGNAL(writeDbg(const QString)), this, SLOT(writeDbg(const QString)));
connect(this, SIGNAL(sendExit()), thread_x, SLOT(setExit()));
connect(thread_keys, SIGNAL(sendRecordingStatus(bool, int, int)), thread_x, SLOT(setRecordingStatus(bool, int, int)));
connect(thread_keys, SIGNAL(playbackMacro(int, int)), thread_x, SLOT(playbackMacro(int, int)));
}
//------------------------------------------------------------------
void DefaultInputSystem::windowClosed( RenderWindow* _window )
{
WindowEventListeners::Iterator it = mWindowEventListeners.getIterator();
while(it.hasMoreElements())
{
BaseWindowEventListener* windowEventListener = it.getNext();
windowEventListener->windowClosed();
}
sendExit();
}
//--------------------------------------------------------------
void ofxMatrixNetworkServer::exit() {
//for each client lets send them a message letting them know what port they are connected on
for(int i = 0; i < getLastID(); i++){
if(isClientConnected(i)){
sendExit(i);
disconnectClient(i);
}
}
close();
}
NodeTypesPanel::NodeTypesPanel()
{
layout = new QGridLayout;
layout->setAlignment(Qt::AlignTop);
int row = 0;
caption = new QLabel("<h2>" + i18n("Custom Node Types") + "</h2>");
layout->addWidget(caption, row, 0);
++row;
typelist = new QListWidget;
layout->addWidget(typelist, row, 0, 4, 1);
++row;
typelist->addItems(Controller::create()->getDataStore()->getCustomNodeTypeNames());
btnAdd = new QPushButton(i18n("Add new Node Type"));
layout->addWidget(btnAdd, row, 1);
++row;
connect(btnAdd, SIGNAL(clicked()), this, SLOT(addType()));
btnEdit = new QPushButton(i18n("Edit Node Type"));
layout->addWidget(btnEdit, row, 1);
++row;
connect(btnEdit, SIGNAL(clicked()), this, SLOT(editType()));
btnDelete = new QPushButton(i18n("Delete Node Type"));
layout->addWidget(btnDelete, row, 1);
++row;
connect(btnDelete, SIGNAL(clicked()), this, SLOT(deleteType()));
btnExit = new QPushButton(i18n("Close"));
btnExit->setMinimumWidth(100);
layout->addWidget(btnExit, row, 0, 1, 1, Qt::AlignRight);
connect(btnExit, SIGNAL(clicked()), this, SLOT(sendExit()));
setLayout(layout);
connect(typelist, SIGNAL(itemSelectionChanged()), this, SLOT(updateButtons()));
updateButtons();
}
NodeTypeManager::NodeTypeManager()
{
layout = new QVBoxLayout;
layout->setAlignment(Qt::AlignTop);
nodetypespanel = new NodeTypesPanel;
layout->addWidget(nodetypespanel);
connect(nodetypespanel, SIGNAL(exit()), this, SLOT(sendExit()));
connect(nodetypespanel, SIGNAL(addNodeType()), this, SLOT(showInputWidget()));
connect(nodetypespanel, SIGNAL(editNodeType(QString)), this, SLOT(showNodeTypeBuilder(QString)));
connect(nodetypespanel, SIGNAL(deleteNodeType(QString)), this, SLOT(deleteNodeType(QString)));
inputwidget = new InputWidget;
inputwidget->setVisible(false);
layout->addWidget(inputwidget);
connect(inputwidget, SIGNAL(done()), this, SLOT(addNodeType()));
nodetypebuilder = new NodeTypeBuilder;
nodetypebuilder->setVisible(false);
layout->addWidget(nodetypebuilder);
connect(nodetypebuilder, SIGNAL(close()), this, SLOT(hideNodeTypeBuilder()));
setLayout(layout);
}
/**
* Main robot function that controls the behaviour of the robot.
* Needs a connected socket to communicate with the simulator or HW
*/
void robot(int sck, FILE *sckfd)
{
int val1;
int curX = 2;
int curY = 0;
int direction = NORTH;
initRobot(sck, 100, curX, curY);
//initGrid();
int nummoves = 0;
// Challenge A/B
int destX = 5, destY = 5;
FILE *file;
file = fopen("log.txt", "w");
// Loop until destination is reached
while (1) {
// system("cls");
int nextX, nextY, dir, rotation;
calculateRoute(curX, curY, destX, destY);
d_printGrid(curX, curY);
if (!nodes[curX][curY]->next) {
fprintf(stderr, "No route found\n");
sendExit(sck);
return;
}
nextX = nodes[curX][curY]->next->pos.x;
nextY = nodes[curX][curY]->next->pos.y;
dir = findDirection(curX, curY, nextX, nextY);
rotation = dir - direction;
if (rotation > 2)
rotation -= 4;
if (rotation < -2)
rotation += 4;
fprintf(stderr, "Next (%d,%d), rotation: %d\n", nextX, nextY, dir);
if (rotation < 0) { //turn left
fprintf(file, "Turn left %d\r\n", abs(rotation));
setCommand(sck, TURN, 1, abs(rotation), 0);
} else if (rotation > 0) {//turn right
fprintf(file, "Turn right %d\r\n", abs(rotation));
setCommand(sck, TURN, 2, rotation, 0);
}
fflush(file);
// wait until robot is ready with turning
if (rotation != 0) {
while (1) {
getCommand(sck, sckfd, READY, 1, &val1, NULL);
if (val1 == 1)
break;
}
fprintf(file, "Ready!\r\n");
}
// Update direction
direction = dir;
if (curY == 0 || curY == 6 || curX == 0 || curX == 6)
nummoves = 1;
else
nummoves = 2;
printf("Cur (%d,%d) Nummoves: %d\n", curX, curY, nummoves);
printf("Move forward\n");
fprintf(file, "Move forward %d\r\n", nummoves);
fflush(file);
setCommand(sck, MOVE, 1, nummoves, 0);
if (nummoves == 1) {
// Wait while not ready
while (1) {
getCommand(sck, sckfd, READY, 1, &val1, NULL);
if (val1 == 1) {
break;
}
}
curX = nextX;
curY = nextY;
} else if (nummoves == 2) {
// Wait while not ready
while (1) {
getCommand(sck, sckfd, READY, 1, &val1, NULL);
if (val1 == 1) {
break;
}
}
// Check for mine
printf("Check for mine\n");
getCommand(sck, sckfd, MINE, 1, &val1, NULL);
if (val1 == 1) {
//removeConnection(x1, y1, x2, y2);
// Clear mine flag
setCommand(sck, MINE, 1, 0, 0);
fprintf(file, "Mine found!\r\n");
printf("Mine found!\n");
// Get back!:D
//return 0;
} else {
printf("No mine found!\n");
}
}
}
fclose(file);
sendExit(sck);
}
MainService::stop()
{
//shutdown the threads
sendExit();
}
