TEST(DomainTransformTest, SplatSurfaceAccuracy)
{
static int dtModes[] = {DTF_NC, DTF_RF, DTF_IC};
RNG rnd(0);
for (int i = 0; i < 15; i++)
{
Size sz(rnd.uniform(512, 1024), rnd.uniform(512, 1024));
int guideCn = rnd.uniform(1, 4);
Mat guide(sz, CV_MAKE_TYPE(CV_32F, guideCn));
randu(guide, 0, 255);
Scalar surfaceValue;
int srcCn = rnd.uniform(1, 4);
rnd.fill(surfaceValue, RNG::UNIFORM, 0, 255);
Mat src(sz, CV_MAKE_TYPE(CV_8U, srcCn), surfaceValue);
double sigma_s = rnd.uniform(1.0, 100.0);
double sigma_r = rnd.uniform(1.0, 100.0);
int mode = dtModes[i%3];
Mat res;
dtFilter(guide, src, res, sigma_s, sigma_r, mode, 1);
double normL1 = cvtest::norm(src, res, NORM_L1)/src.total()/src.channels();
EXPECT_LE(normL1, 1.0/64);
}
}
bool MetavoxelClientManager::findFirstRayHeightfieldIntersection(const glm::vec3& origin,
const glm::vec3& direction, float& distance) {
RayHeightfieldIntersectionVisitor visitor(origin, direction, getLOD());
guide(visitor);
if (visitor.intersectionDistance == FLT_MAX) {
return false;
}
distance = visitor.intersectionDistance;
return true;
}
GENERAL_COLLECTORS_GUIDE PCB_BASE_FRAME::GetCollectorsGuide()
{
GENERAL_COLLECTORS_GUIDE guide( m_Pcb->GetVisibleLayers(),
( (PCB_SCREEN*)GetScreen())->m_Active_Layer );
// account for the globals
guide.SetIgnoreMTextsMarkedNoShow( ! m_Pcb->IsElementVisible( MOD_TEXT_INVISIBLE ));
guide.SetIgnoreMTextsOnCopper( ! m_Pcb->IsElementVisible( MOD_TEXT_BK_VISIBLE ));
guide.SetIgnoreMTextsOnCmp( ! m_Pcb->IsElementVisible( MOD_TEXT_FR_VISIBLE ));
guide.SetIgnoreModulesOnCu( ! m_Pcb->IsElementVisible( MOD_BK_VISIBLE ) );
guide.SetIgnoreModulesOnCmp( ! m_Pcb->IsElementVisible( MOD_FR_VISIBLE ) );
guide.SetIgnorePadsOnBack( ! m_Pcb->IsElementVisible( PAD_BK_VISIBLE ) );
guide.SetIgnorePadsOnFront( ! m_Pcb->IsElementVisible( PAD_FR_VISIBLE ) );
guide.SetIgnoreModulesVals( ! m_Pcb->IsElementVisible( MOD_VALUES_VISIBLE ) );
guide.SetIgnoreModulesRefs( ! m_Pcb->IsElementVisible( MOD_REFERENCES_VISIBLE ) );
return guide;
}
TEST(DomainTransformTest, BoxFilter_NC_accuracy)
{
double MAX_DIF = 1;
int radius = 5;
double sc = 1.0;
double ss = 1.01*radius / sqrt(3.0);
Mat src = imread(getOpenCVExtraDir() + "cv/edgefilter/statue.png");
ASSERT_TRUE(!src.empty());
Mat1b guide(src.size(), 200);
Mat res_dt, res_box;
blur(src, res_box, Size(2 * radius + 1, 2 * radius + 1));
dtFilter(guide, src, res_dt, ss, sc, DTF_NC, 1);
EXPECT_LE(cv::norm(res_dt, res_box, NORM_L2), MAX_DIF*src.total());
}
GENERAL_COLLECTORS_GUIDE PCB_BASE_FRAME::GetCollectorsGuide()
{
GENERAL_COLLECTORS_GUIDE guide( m_Pcb->GetVisibleLayers(), GetActiveLayer(),
GetGalCanvas()->GetView() );
// account for the globals
guide.SetIgnoreMTextsMarkedNoShow( ! m_Pcb->IsElementVisible( LAYER_MOD_TEXT_INVISIBLE ) );
guide.SetIgnoreMTextsOnBack( ! m_Pcb->IsElementVisible( LAYER_MOD_TEXT_BK ) );
guide.SetIgnoreMTextsOnFront( ! m_Pcb->IsElementVisible( LAYER_MOD_TEXT_FR ) );
guide.SetIgnoreModulesOnBack( ! m_Pcb->IsElementVisible( LAYER_MOD_BK ) );
guide.SetIgnoreModulesOnFront( ! m_Pcb->IsElementVisible( LAYER_MOD_FR ) );
guide.SetIgnorePadsOnBack( ! m_Pcb->IsElementVisible( LAYER_PAD_BK ) );
guide.SetIgnorePadsOnFront( ! m_Pcb->IsElementVisible( LAYER_PAD_FR ) );
guide.SetIgnoreThroughHolePads( ! m_Pcb->IsElementVisible( LAYER_PADS_TH ) );
guide.SetIgnoreModulesVals( ! m_Pcb->IsElementVisible( LAYER_MOD_VALUES ) );
guide.SetIgnoreModulesRefs( ! m_Pcb->IsElementVisible( LAYER_MOD_REFERENCES ) );
guide.SetIgnoreThroughVias( ! m_Pcb->IsElementVisible( LAYER_VIA_THROUGH ) );
guide.SetIgnoreBlindBuriedVias( ! m_Pcb->IsElementVisible( LAYER_VIA_BBLIND ) );
guide.SetIgnoreMicroVias( ! m_Pcb->IsElementVisible( LAYER_VIA_MICROVIA ) );
guide.SetIgnoreTracks( ! m_Pcb->IsElementVisible( LAYER_TRACKS ) );
return guide;
}
int main(){
int i = 0;
int mapCount = 0, clearMapCount = 0, dumpCount=0;
int revFrameCount = 0;
#ifdef USE_NORTH
targetsGPS[maxTargets].lat = ADVANCED5LAT;
targetsGPS[maxTargets].lon = ADVANCED5LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED6LAT;
targetsGPS[maxTargets].lon = ADVANCED6LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED7LAT;
targetsGPS[maxTargets].lon = ADVANCED7LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED8LAT;
targetsGPS[maxTargets].lon = ADVANCED8LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED2LAT;
targetsGPS[maxTargets].lon = ADVANCED2LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED1LAT;
targetsGPS[maxTargets].lon = ADVANCED1LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED3LAT;
targetsGPS[maxTargets].lon = ADVANCED3LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED12LAT;
targetsGPS[maxTargets].lon = ADVANCED12LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED4LAT;
targetsGPS[maxTargets].lon = ADVANCED4LON;
maxTargets++;
#else
targetsGPS[maxTargets].lat = ADVANCED4LAT;
targetsGPS[maxTargets].lon = ADVANCED4LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED1LAT;
targetsGPS[maxTargets].lon = ADVANCED1LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED2LAT;
targetsGPS[maxTargets].lon = ADVANCED2LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED3LAT;
targetsGPS[maxTargets].lon = ADVANCED3LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED11LAT;
targetsGPS[maxTargets].lon = ADVANCED11LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED8LAT;
targetsGPS[maxTargets].lon = ADVANCED8LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED7LAT;
targetsGPS[maxTargets].lon = ADVANCED7LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED6LAT;
targetsGPS[maxTargets].lon = ADVANCED6LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED11LAT;
targetsGPS[maxTargets].lon = ADVANCED11LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED5LAT;
targetsGPS[maxTargets].lon = ADVANCED5LON;
maxTargets++;
#endif
maxTargetIndex=maxTargets-1;
for(i=0;i<maxTargets;i++){// this is converting all GPS point data to XY data.
targetListXY[i].x = GPSX(targetsGPS[i].lon, startLongitude);
targetListXY[i].y = GPSY(targetsGPS[i].lat, startLatitude);
}
currentXY.x = GPSX(gpsvar.longitude,startLongitude);// converts current robot X location compared to start longitude
currentXY.y = GPSY(gpsvar.latitude,startLatitude);// converts current robot Y location compared to start latitude
targetXY = targetListXY[currentTargetIndex];//sets first target GPS point
nextTargetIndex = (currentTargetIndex + 1)%maxTargets;//sets next target GPS point
nextXY = targetListXY[nextTargetIndex];// ??
previousXY.x = GPSX(startLongitude, startLongitude);// why?
previousXY.y = GPSY(startLatitude, startLatitude);//Why?
initRoboteq(); /* Initialize roboteq */
initGuide();//what is guide?
#ifdef USE_VISION // if USE_vision is defined, then initialize vision.
initVision();
#endif //USE_VISION
#ifdef USE_GPS// if USE_GPS is defined, then initialize GPS.
initGPS();
initParser();
#endif //USE_GPS
#ifdef USE_LIDAR// if USE_LIDAR is defined, then initialize LIDAR.
initObjects();
initSICK();
#endif //USE_LIDAR
#ifdef DEBUG_VISUALIZER// if defined, then use visualizer.
initVisualizer();
#endif //DEBUG_VISUALIZER
#ifdef USE_MAP//////>>>>>>>>>>>????
initMap(0,0,0);
#endif //USE_MAP
#ifdef DUMP_GPS// dump GPS data into file
FILE *fp;
fp = fopen("gpsdump.txt", "w");
#endif // DUMP_GPS
while(1){
double dir = 1.0;
double speed = 0.0, turn = 0.0;
static double turnBoost = 0.750;//Multiplier for turn. Adjust to smooth jerky motions. Usually < 1.0
static int lSpeed = 0, rSpeed = 0;//Wheel Speed Variables
if (joystick() != 0) {// is joystick is connected
if (joy0.buttons & LB_BTN) {// deadman switch, but what does joy0.buttons do?????????????????????????????????
speed = -joy0.axis[1]; //Up is negative on joystick negate so positive when going forward
turn = joy0.axis[0];
lSpeed = (int)((speed + turnBoost*turn)*maxSpeed);//send left motor speed
rSpeed = (int)((speed - turnBoost*turn)*maxSpeed);//send right motor speed
}else{ //stop the robot
rSpeed=lSpeed=0;
}
if(((joy0.buttons & B_BTN)||autoOn)&& (saveImage==0)){//what is the single & ???????????????????
saveImage =DEBOUNCE_FOR_SAVE_IMAGE;//save each image the camera takes, save image is an int declared in vision_nav.h
}else{
if (saveImage) saveImage--; // turn off if button wasn't pressed?
}
if(joy0.buttons & RB_BTN){//turn on autonmous mode if start??? button is pressed
autoOn = 1;
mode=1;
}
if(joy0.buttons & Y_BTN){ // turn off autonomous mode
autoOn = 0;
mode =0;
}
lastButtons = joy0.buttons;//is this just updating buttons?
} else{
// printf("No Joystick Found!\n");
rSpeed=lSpeed=0;
}
//
// printf("3: %f %f\n",BASIC3LAT,BASIC3LON);
// printf("4: %f %f\n",BASIC4LAT,BASIC4LON);
// printf("5: %f %f\n",BASIC5LAT,BASIC5LON);
// getchar();
#ifdef AUTO_SWAP//what is this
if((currentTargetIndex>1&&targetIndexMem!=currentTargetIndex)||!autoOn||!mode==3){
startTime=currentTime=(float)(clock()/CLOCKS_PER_SEC);
targetIndexMem = currentTargetIndex;
}else{
currentTime=(float)(clock()/CLOCKS_PER_SEC);
}
totalTime = currentTime-startTime;
if(totalTime>=SWAPTIME&&autoOn){
swap();
targetIndexMem = 0;
}
#endif //AUTO_SWAP
#ifdef USE_GPS
readGPS();
currentXY.x = GPSX(gpsvar.longitude,startLongitude);
currentXY.y = GPSY(gpsvar.latitude,startLatitude);
robotTheta = ADJUST_RADIANS(DEG2RAD(gpsvar.course));
#else
currentXY.x = 0.0;
currentXY.y = 0.0;
robotTheta = 0.0;
#endif //USE_GPS
if(autoOn&&!flagPointSet){//this whole thing?????
flagXY.x=currentXY.x+FLAG_X_ADJUST;
flagXY.y=currentXY.y;
flagPointSet=1;
startAutoTime=currentAutoTime=(float)(clock()/CLOCKS_PER_SEC);
}
if(autoOn){
currentAutoTime=(float)(clock()/CLOCKS_PER_SEC);
totalAutoTime = currentAutoTime-startAutoTime;
if(totalAutoTime>=MODE2DELAY){
mode1TimeUp=1;//what is mode1 time up?
}
printf("TIMEING\n");
}
// if(currentTargetIndex <= OPEN_FIELD_INDEX || currentTargetIndex >= maxTargetIndex){
if(currentTargetIndex <= OPEN_FIELD_INDEX){//if you are on your last target, then set approaching thresh, and dest thresh to larger values?
//OPEN_FIELD_INDEX is set to 0 above...?
approachingThresh=4.0;
destinationThresh=3.0;
}else{//otherwise set your thresholds to a bit closer.
// destinationThresh=1.0;
destinationThresh=0.75;
approachingThresh=2.5;
}
//mode1 = lane tracking and obstacle avoidance. mode 2 = vision, lane tracking, but guide to gps. its not primary focus.
//mode3= gps mode in open field, but vision is toned down to not get distracted by random grass.
//mode 4= flag tracking
if(guide(currentXY, targetXY, previousXY, nextXY, robotTheta, robotWidth, 1)&& !allTargetsReached){//If target reached and and not all targets reached
printf("REACHED TARGET\n");
initGuide();// reset PID control stuff. problably resets all control variables.
previousXY = targetXY;//update last target
if(currentTargetIndex == maxTargetIndex){ //seeing if you are done with all targets.
allTargetsReached = 1;
}else{//otherwise update all the target information
currentTargetIndex = (currentTargetIndex + 1);
nextTargetIndex = (currentTargetIndex + 1)% maxTargets;
targetXY = targetListXY[currentTargetIndex];
nextXY = targetListXY[nextTargetIndex];
}
}
if((autoOn&&(currentTargetIndex == 0&&!approachingTarget&&!mode1TimeUp))||allTargetsReached){
//if autonomous, and on first target, and not not approaching target, and not mode 1 time up, or reached last target.
mode =1;//wtf is mode
distanceMultiplier = 50;//wthis is how heavily to rely on vision
} else if((autoOn&¤tTargetIndex == 0&&mode1TimeUp)||(autoOn&&approachingTarget&&(currentTargetIndex<=OPEN_FIELD_INDEX||currentTargetIndex>=maxTargetIndex-END_LANE_INDEX))){
mode =2;
distanceMultiplier = 50;
} else if((autoOn&¤tTargetIndex!=0)){
mode =3;
distanceMultiplier = 12;
}
flagPointDistance = D((currentXY.x-flagXY.x),(currentXY.y-flagXY.y));// basically the distance formula, but to what? what flags GPS point?
if(allTargetsReached&&flagPointDistance<FLAG_DIST_THRESH){
mode =4;// what is mode
}
#ifdef FLAG_TESTING
/*FLAG TESTING*/
mode=4;
#endif //FLAG_TESTING
/*Current Target Heading PID Control Adjustment*/
cvar.lookAhead = 0.00;//?
cvar.kP = 0.20; cvar.kI = 0.000; cvar.kD = 0.15;
turn = cvar.turn;
int bestVisGpsMask = 99;
int h = 0;
double minVisGpsTurn = 9999;
for(h=0;h<11;h++){
if(fabs((cvar.turn-turn_angle[h]))<minVisGpsTurn){
minVisGpsTurn=fabs((cvar.turn-turn_angle[h]));
bestVisGpsMask = h;
}
}
bestGpsMask = bestVisGpsMask;
// printf("bvg: %d \n", bestVisGpsMask);
// printf("vgt: %f cv3: %f\n", minVisGpsTurn,cvar3.turn);
#ifdef USE_VISION
// double visTurnBoost = 0.50;
double visTurnBoost = 1.0;
if(imageProc(mode) == -1) break;
if(mode==1||mode==2){
turn = turn_angle[bestmask];
turn *= visTurnBoost;
}else if(mode==3 && fabs(turn_angle[bestmask])>0.70){
turn = turn_angle[bestmask];
turn *= visTurnBoost;
}
#endif //USE_VISION
#ifdef USE_LIDAR
updateSick();
// findObjects();
#endif //USE_LIDAR
#ifdef USE_COMBINED_BUFFER//??????????
#define WORSTTHRESH 10
#define BESTTHRESH 3
if(mode==4){
#ifdef USE_NORTH
turn = (0.5*turn_angle[bestBlueMask]+0.5*turn_angle[bestRedMask]);
#else
turn = (0.65*turn_angle[bestBlueMask]+0.35*turn_angle[bestRedMask]);
#endif
turn *= 0.75;
}
combinedTargDist = cvar.targdist;
if(((approachingTarget||inLastTarget)&¤tTargetIndex>OPEN_FIELD_INDEX
&¤tTargetIndex<maxTargetIndex-END_LANE_INDEX)||(MAG(howbad[worstmask]-howbad[bestmask]))<BESTTHRESH||mode==4){
getCombinedBufferAngles(0,0);//Don't Use Vision Radar Data
}else{
getCombinedBufferAngles(0,1);//Use Vision Radar Data
}
if(combinedBufferAngles.left != 0 || combinedBufferAngles.right !=0){
if(mode == 1 || mode==2 || mode==3 || mode==4){
// if(mode == 1 || mode==2 || mode==3){
// if(mode==2 || mode==3){
// if(mode==3){
if(fabs(combinedBufferAngles.right)==fabs(combinedBufferAngles.left)){
double revTurn;
double revDistLeft, revDistRight;
int revIdx;
if(fabs(turn)<0.10) dir = -1.0;
if(fabs(combinedBufferAngles.left)>1.25) dir = -1.0;
if(dir<0){
revIdx = 540-RAD2DEG(combinedBufferAngles.left)*4;
revIdx = MIN(revIdx,1080);
revIdx = MAX(revIdx,0);
revDistLeft = LMSdata[revIdx];
revIdx = 540-RAD2DEG(combinedBufferAngles.right)*4;
revIdx = MIN(revIdx,1080);
revIdx = MAX(revIdx,0);
revDistRight = LMSdata[revIdx];
if(revDistLeft>=revDistRight){
revTurn = combinedBufferAngles.left;
}else {
revTurn = combinedBufferAngles.right;
}
turn = revTurn;
}else{
turn = turn_angle[bestmask];
}
} else if(fabs(combinedBufferAngles.right-turn)<fabs(combinedBufferAngles.left-turn)){
// } else if(turn<=0){
turn = combinedBufferAngles.right;
}else {
turn = combinedBufferAngles.left;
}
}
}
#endif //USE_COMBINED_BUFFER
if(dir<0||revFrameCount!=0){
dir = -1.0;
revFrameCount = (revFrameCount+1)%REVFRAMES;
}
// turn *= dir;
turn = SIGN(turn) * MIN(fabs(turn), 1.0);
speed = 1.0/(1.0+1.0*fabs(turn))*dir;
speed = SIGN(speed) * MIN(fabs(speed), 1.0);
if(!autoOn){
maxSpeed = 60;
targetIndexMem = 0;
}else if(dir<0){
maxSpeed = 30;
}else if(mode<=2||(mode==3 && fabs(turn_angle[bestmask])>0.25)){
maxSpeed = 60 - 25*fabs(turn);
// maxSpeed = 70 - 35*fabs(turn);
// maxSpeed = 90 - 50*fabs(turn);
// maxSpeed = 100 - 65*fabs(turn);
}else if(mode==4){
maxSpeed = 45-20*fabs(turn);
}else{
maxSpeed = 85 - 50*fabs(turn);
// maxSpeed = 100 - 65*fabs(turn);
// maxSpeed = 110 - 70*fabs(turn);
// maxSpeed = 120 - 85*fabs(turn);
}
if(autoOn){
lSpeed = (speed + turnBoost*turn) * maxSpeed;
rSpeed = (speed - turnBoost*turn) * maxSpeed;
}
#ifdef DEBUG_MAIN
printf("s:%.4f t: %.4f m: %d vt:%f dir:%f tmr: %f\n", speed, turn, mode, turn_angle[bestmask], flagPointDistance, totalAutoTime);
#endif //DEBUG_MAIN
#ifdef DUMP_GPS
if(dumpCount==0){
if (fp != NULL) {
fprintf(fp, "%f %f %f %f %f\n",gpsvar.latitude,gpsvar.longitude, gpsvar.course, gpsvar.speed, gpsvar.time);
}
}
dumpCount = dumpCount+1%DUMPGPSDELAY;
#endif //DUMP_GPS
#ifdef DEBUG_TARGET
debugTarget();
#endif //DEBUG_TARGET
#ifdef DEBUG_GUIDE
debugGuide();
#endif //DEBUG_GUIDE
#ifdef DEBUG_GPS
debugGPS();
#endif //DEBUG_GPS
#ifdef DEBUG_LIDAR
debugSICK();
#endif //DEBUG_LIDAR
#ifdef DEBUG_BUFFER
debugCombinedBufferAngles();
#endif //DEBUG_BUFFE
#ifdef DEBUG_VISUALIZER
robotX = currentXY.x;
robotY = currentXY.y;
robotTheta = robotTheta;//redundant I know....
targetX = targetXY.x;
targetY = targetXY.y;
// should probably pass the above to the function...
paintPathPlanner(robotX,robotY,robotTheta);
showPlot();
#endif //VISUALIZER
#ifdef USE_MAP
if(mapCount==0){
// mapRobot(currentXY.x,currentXY.y,robotTheta);
if(clearMapCount==0) clearMapSection(currentXY.x,currentXY.y,robotTheta);
else clearMapCount = (clearMapCount+1)%CLEARMAPDELAY;
mapVSICK(currentXY.x,currentXY.y,robotTheta);
// mapVSICK(0,0,0);
#ifdef USE_LIDAR
mapSICK(currentXY.x,currentXY.y,robotTheta);
#endif
showMap();
// printf("MAPPING\n");
}
mapCount= (mapCount+1)%MAPDELAY;
#endif //USE_MAP
sendSpeed(lSpeed,rSpeed);
Sleep(5);
}
#ifdef DUMP_GPS
fclose(fp);
#endif
return 0;
}
void autogen(FILE* out_file, int caseNum) {
guide();
/* Input and exception handling */
double* seq;
int numOfElements, genmode;
do {
printf("Generating mode? ");
scanf("%d", &genmode); getchar();
} while ((genmode < 1 || genmode > MODE_NUM) && printf("Invaild mode.\n"));
printf("How many elements in case#%d? ", caseNum); scanf("%d", &numOfElements); getchar();
if (numOfElements <= 0) { printf("Element number smaller than one. Program abort.\n"); exit(1); }
else if (genmode == 4 && numOfElements < 3) {
do { printf("Require at least 3 elements to generate a valid Fibonacci sequence.\n");
printf("How many elements in case#%d? ", caseNum);
scanf("%d", &numOfElements); getchar();
}
while (numOfElements < 3);
}
/* Generate panel */
seq = (double*)malloc(sizeof(double)*numOfElements);
switch (genmode) {
case 1: arthmtrcPro(seq, numOfElements); break;
case 2: geomtrcPro(seq, numOfElements); break;
case 3: randSeq(seq, numOfElements); break;
case 4: fiboSeq(seq, numOfElements); break;
case 5: pwrFun(seq, numOfElements); break;
}
/* Output */
int i;
static int lastmode;
static int format;
static char dformat;
static char out_format[10];
static int format_copy;
if (format_copy > 0) {
format_copy++;
goto label_seperator;
}
out_format[0] = '%'; out_format[1] = '\0';
// Possible enhancement:
// put format & seperator option into general setting before `autogen'
// there is no need to inquire on every case
label_format_option:
printf(">>>Output format:\n");
printf("1. Integer\n");
printf("2. Floating number\n");
printf("3. Character (ASCII)\n"); // how to output UNICODE character??
printf("? ");
scanf("%d", &format); getchar();
switch (format) {
case 1: dformat = 'd'; break;
case 2: dformat = 'f'; break;
case 3: dformat = 'c'; break;
default: printf("Invalid format!\n"); goto label_format_option;
}
int len;
if (format == 2) {
int digits; len = strlen(out_format);
char digits_char[2]; memset(digits_char, 0, sizeof(char)*2); // at most 99?
do { printf("How many decimal digits for output? ");
scanf("%d", &digits); getchar();
} while (digits < 0 && printf("Number of digits cannot be smaller than 0.\n"));
out_format[len] = '.'; out_format[len+1] = '\0';
itoa(digits, digits_char);
if (digits > 0) strcat(out_format, digits_char);
}
printf("Apply this format to all the following cases? (y/n) ");
char temp = getchar();
if (temp == 'y' || temp == 'Y') format_copy = 1; getchar();
static char sep;
static int sep_copy;
label_seperator:
if (sep_copy > 0) goto label_print;
printf(">>>Seperate each elements by:\n");
printf("0. Do not seperate\n");
printf("1. Blank\n");
printf("2. New line\n");
printf("3. Tab\n");
// customize seperator ?
printf("? ");
sep = getchar(); getchar();
switch (sep) {
case '0': sep = '\0'; break;
case '1': sep = ' '; break;
case '2': sep = '\n'; break;
case '3': sep = '\t'; break;
default: printf("Invalid option!\n"); goto label_seperator;
}
printf("Apply this seperator to all the following cases? (y/n) ");
temp = getchar();
if (temp == 'y' || temp == 'Y') sep_copy = 1; getchar();
label_print:
if (format <= 2) {
if (format_copy < 2) {
len = strlen(out_format);
out_format[len] = dformat;
out_format[len+1] = '\0';
}
for (i = 0; i < numOfElements; i++) {
if (format == 1) fprintf(out_file, out_format, (int)(seq[i]+0.5));
else fprintf(out_file, out_format, seq[i]);
if (i < numOfElements-1) {
if ('\0' != sep) fputc(sep, out_file);
} else fputc('\n', out_file);
}
} else
if (format == 3) {
if (format_copy < 2) {
out_format[2] = out_format[1];
out_format[1] = dformat;
}
for (i = 0; i < numOfElements; i++) {
fprintf(out_file, out_format, (char)seq[i]);
if (i < numOfElements-1) {
if ('\0' != sep) fputc(sep, out_file);
} else fputc('\n', out_file);
}
}
free(seq);
}
float MetavoxelClientManager::getHeightfieldHeight(const glm::vec3& location) {
HeightfieldHeightVisitor visitor(getLOD(), location);
guide(visitor);
return visitor.height;
}
/*Description - Prints the main menu in a new window using ncurses library*/
void menu() {
system("clear");
WINDOW *menu_win;
int highlight = 1;
int choice = 0;
int c;
initscr();
clear();
noecho();
cbreak(); /* Line buffering disabled. pass on everything */
startx = (80 - WIDTH) / 2;
starty = (24 - HEIGHT) / 2;
menu_win = newwin(HEIGHT, WIDTH, starty, startx);
keypad(menu_win, TRUE);
mvprintw(0, 20, "***************BLACKJACK****************");
mvprintw(2, 7, "Use arrow keys to go up and down, Press enter to select a choice");
refresh();
print_menu(menu_win, highlight);
while(1)
{ c = wgetch(menu_win);
switch(c)
{ case KEY_UP:
if(highlight == 1)
highlight = n_choices;
else
--highlight;
break;
case KEY_DOWN:
if(highlight == n_choices)
highlight = 1;
else
++highlight;
break;
case 10:
choice = highlight;
break;
default:
mvprintw(24, 0, "Charcter pressed is = %3d Hopefully it can be printed as '%c'", c, c);
refresh();
break;
}
print_menu(menu_win, highlight);
if(choice != 0) /* User did a choice come out of the infinite loop */
break;
}
clrtoeol();
endwin();
switch(choice) {
case 1: /*Guide*/
guide();
menu();
break;
case 2: /*Login*/
login();
break;
case 3: /*New account*/
new_user();
menu();
break;
case 4: /*Credits*/
credits();
menu();
break;
case 5: /*Admin*/
admin_login();
break;
case 6: /*exit*/
exit(0);
break;
}
}
/*Description - Prints the menu tht appears after login in a new window using ncurses library*/
void login_menu() {
system("clear");
WINDOW *menu_win;
int highlight = 1;
int choice = 0;
int c;
initscr();
clear();
noecho();
cbreak(); /* Line buffering disabled. pass on everything */
startx = (80 - WIDTH) / 2;
starty = (24 - HEIGHT) / 2;
menu_win = newwin(HEIGHT, WIDTH, starty, startx);
keypad(menu_win, TRUE);
mvprintw(0, 20, "***************WELCOME****************");
mvprintw(2, 7, "Use arrow keys to go up and down, Press enter to select a choice");
refresh();
print_menu2(menu_win, highlight);
while(1)
{ c = wgetch(menu_win);
switch(c)
{ case KEY_UP:
if(highlight == 1)
highlight = n_choices2;
else
--highlight;
break;
case KEY_DOWN:
if(highlight == n_choices2)
highlight = 1;
else
++highlight;
break;
case 10:
choice = highlight;
break;
default:
mvprintw(24, 0, "Charcter pressed is = %3d Hopefully it can be printed as '%c'", c, c);
refresh();
break;
}
print_menu2(menu_win, highlight);
if(choice != 0) /* User did a choice come out of the infinite loop */
break;
}
clrtoeol();
endwin();
switch(choice) {
case 1: /*Guide*/
guide();
login_menu();
break;
case 2: /*Play Game*/
play_game();
break;
case 3: /*Buy*/
buy_chips();
login_menu();
break;
case 4: /*Sell*/
sell_chips();
login_menu();
break;
case 5: /*Check bal*/
disp_bal();
login_menu();
break;
case 6: /*Change_info*/
change_info();
login_menu();
break;
case 7: /*Log out*/
logout();
menu();
break;
default:
login_menu();
break;
}
}
