void LibraryManager::show() {
if(slotLoad == false) {
loaded.reset();
requestedLoadType.reset();
skipButton.setText("Cancel");
} else {
skipButton.setText("Skip");
}
setInformation(true);
setVisible();
setFocused();
onChange();
}
Constraint::Constraint(ConstraintType constraintType,
std::shared_ptr<ConstraintData> data,
std::shared_ptr<Representation> representation0,
const SurgSim::DataStructures::Location& location0,
std::shared_ptr<Representation> representation1,
const SurgSim::DataStructures::Location& location1)
: m_active(true)
{
m_mlcpMap[FIXED_3DPOINT] = Math::MLCP_BILATERAL_3D_CONSTRAINT;
m_mlcpMap[FIXED_3DROTATION_VECTOR] = Math::MLCP_BILATERAL_3D_CONSTRAINT;
m_mlcpMap[FRICTIONAL_3DCONTACT] = Math::MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT;
m_mlcpMap[FRICTIONLESS_3DCONTACT] = Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT;
m_mlcpMap[FRICTIONAL_SLIDING] = Math::MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT;
m_mlcpMap[FRICTIONLESS_SLIDING] = Math::MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT;
setInformation(constraintType, data, representation0, location0, representation1, location1);
}
// Construct with measurement and variance.
SpeedAndBiasError::SpeedAndBiasError(const okvis::SpeedAndBiases& measurement,
double speedVariance,
double gyrBiasVariance,
double accBiasVariance) {
setMeasurement(measurement);
information_t information;
information.setZero();
information.topLeftCorner<3, 3>() = Eigen::Matrix3d::Identity() * 1.0
/ speedVariance;
information.block<3, 3>(3, 3) = Eigen::Matrix3d::Identity() * 1.0
/ gyrBiasVariance;
information.bottomRightCorner<3, 3>() = Eigen::Matrix3d::Identity() * 1.0
/ accBiasVariance;
setInformation(information);
}
QImage RemoteSource::takeLoaded() {
if (!loaderValid() || !_loader->finished()) {
return QImage();
}
auto data = _loader->imageData(shrinkBox());
if (data.isNull()) {
destroyLoader(CancelledFileLoader);
return QImage();
}
setInformation(_loader->bytes().size(), data.width(), data.height());
destroyLoader();
return data;
}
// Construct with measurement and information matrix
SpeedAndBiasError::SpeedAndBiasError(const okvis::SpeedAndBias & measurement,
const information_t & information) {
setMeasurement(measurement);
setInformation(information);
}
bool WindowsJob::setLimit(const OJInt32_t timeLimit,
const OJInt32_t memoryLimit)
{
ILogger *logger = LoggerFactory::getLogger(LoggerId::AppInitLoggerId);
//限制时间，单位为100ns。 1ms = 10的6次方ns = 10000 * 100ns。
OJInt64_t limitTime = timeLimit * 10000; // ms->100ns
int limitMemory = memoryLimit; //bytes
if (limitMemory <= 0) //超出int范围了
limitMemory = 128 * 1024 * 1024; //默认128M
//设置基本限制信息
JOBOBJECT_EXTENDED_LIMIT_INFORMATION subProcessLimitRes;
ZeroMemory(&subProcessLimitRes, sizeof(subProcessLimitRes));
JOBOBJECT_BASIC_LIMIT_INFORMATION & basicInfo = subProcessLimitRes.BasicLimitInformation;
basicInfo.LimitFlags = \
JOB_OBJECT_LIMIT_PRIORITY_CLASS | /*限制job优先级*/ \
JOB_OBJECT_LIMIT_PROCESS_TIME | /*限制job时间*/ \
JOB_OBJECT_LIMIT_PROCESS_MEMORY | /*限制job内存*/ \
JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION | /*遇到异常，让进程直接死掉。*/\
JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE | /*进程跟随job一起关闭*/\
JOB_OBJECT_LIMIT_BREAKAWAY_OK;
if(useToExcuter_)
{
basicInfo.LimitFlags |= JOB_OBJECT_LIMIT_ACTIVE_PROCESS;
basicInfo.ActiveProcessLimit = 1;
}
basicInfo.PriorityClass = NORMAL_PRIORITY_CLASS; //优先级为默认
basicInfo.PerProcessUserTimeLimit.QuadPart = limitTime;
subProcessLimitRes.ProcessMemoryLimit = limitMemory;
if (!setInformation(JobObjectExtendedLimitInformation, &subProcessLimitRes, sizeof(subProcessLimitRes)))
{
logger->logErrorX(OJStr("[process] - setLimit - can't set job extend info! error:%u"),
GetLastError());
return false;
}
//让完成端口发出时间限制的消息
JOBOBJECT_END_OF_JOB_TIME_INFORMATION timeReport;
ZeroMemory(&timeReport, sizeof(timeReport));
timeReport.EndOfJobTimeAction = JOB_OBJECT_POST_AT_END_OF_JOB;//时间到了，通过管道发出信息。
if (!setInformation(JobObjectEndOfJobTimeInformation, &timeReport, sizeof(JOBOBJECT_END_OF_JOB_TIME_INFORMATION)))
{
logger->logErrorX(OJStr("[process] - setLimit - can't set job end info! error:%u"), GetLastError());
return false;
}
//UI限制。禁止访问一些资源。
JOBOBJECT_BASIC_UI_RESTRICTIONS subProcessLimitUi;
ZeroMemory(&subProcessLimitUi, sizeof(subProcessLimitUi));
subProcessLimitUi.UIRestrictionsClass = JOB_OBJECT_UILIMIT_ALL;
if (!setInformation(JobObjectBasicUIRestrictions, &subProcessLimitUi, sizeof(subProcessLimitUi)))
{
logger->logErrorX(OJStr("[process] - setLimit - can't set job limit info! error:%u"), GetLastError());
return false;
}
//将作业关联到完成端口，以确定其运行情况，及退出的原因。完成端口可理解为管道，job和应用程序分别位于管道的两端。
//应用程序可以通过管道，查询job的工作状态。
s_mutex_.lock();
ULONG id = ++s_id_;
s_mutex_.unlock();
//创建完成端口
iocpHandle_ = CreateIoCompletionPort(INVALID_HANDLE_VALUE, NULL, id, 0);
if (NULL == iocpHandle_)
{
logger->logErrorX(OJStr("[process] - setLimit - create IOCP failed! error:%u"),
GetLastError());
return false;
}
JOBOBJECT_ASSOCIATE_COMPLETION_PORT jobCP;
ZeroMemory(&jobCP, sizeof(jobCP));
jobCP.CompletionKey = (PVOID)id;
jobCP.CompletionPort = iocpHandle_;
if (!setInformation(JobObjectAssociateCompletionPortInformation, &jobCP, sizeof(jobCP)))
{
logger->logErrorX(OJStr("[process] - setLimit - can't set job CompletionPort info! error:%d"),
GetLastError());
return false;
}
return true;
}
