Sim::Sim()
: sim::Sim(), _arena(0)
{
#if ODE == 1
DBG("Using ODE");
sim::ode::World *w = new sim::ode::World();
setWorld(w);
w->setCFM(.0001);
w->setERP(0.8);
w->setStepType(sim::ode::World::STEP_TYPE_QUICK);
w->setAutoDisable(0.01, 0.01, 5, 0.);
w->setContactApprox1(true);
w->setContactApprox2(true);
w->setContactBounce(0.1, 0.1);
#else
DBG("Using Bullet");
sim::bullet::World *w = new sim::bullet::World();
setWorld(w);
#endif
setTimeStep(sim::Time::fromMs(5));
setTimeSubSteps(2);
pauseSimulation();
setSimulateReal(false);
_povray = 0;
createArena();
createRobots();
}
void * buttonEvents(void *vargp){
int x=-1,y=-1;
XEvent event;
fu_arg *args = (fu_arg *) vargp;
XGrabPointer(args->ui_params->dis, args->ui_params->win, False, ButtonPressMask, GrabModeAsync,
GrabModeAsync, None, None, CurrentTime);
XSelectInput(args->ui_params->dis, args->ui_params->win, ButtonPressMask | ButtonReleaseMask);
/*sleep para esperar que a janela principal seja desenhada.*/
sleep(5);
while(*(args->ui_params->button_event)){
XNextEvent(args->ui_params->dis,&event);
switch(event.type){
case ButtonPress:
switch(event.xbutton.button){
case Button1:
x=event.xbutton.x;
y=event.xbutton.y;
if(x > 10 && x < 110 && y > 90 && y < 120){
if(play)
pauseSimulation(args ->ui_params);
else
runSimulation(args ->ui_params);
}
if(x > 10 && x < 110 && y > 140 && y < 170){
pauseSimulation(args -> ui_params);
printf("\e[H\e[2J");
pushMemoryToFile(getFile("w"), &(*args->aux), args->insertionID);
printf("Done!!");
printf("\n\n\n");
sleep(2);
/*runSimulation(args->ui_params);*/
}
break;
}
break;
default:
break;
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
newDebug = NULL;
newAgent = NULL;
newEnvironment = NULL;
newBeep = NULL;
started = false;
paused = false;
scene = new QGraphicsScene(this);
ui->graphicsView->setScene(scene);
setCentralWidget(ui->graphicsView);
//automatically trigger updates for now
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(timeToStep()));
timer->start(10);
//connect menus to their corresponding slots
connect(ui->actionStep,SIGNAL(triggered()),this,SLOT(timeToStep()));
connect(ui->actionAgent_2, SIGNAL(triggered()), this, SLOT(createNewAgentWindow()));
connect(ui->actionAdd_Environment, SIGNAL(triggered()), this, SLOT(createNewEnvironmentWindow()));
connect(ui->actionStart, SIGNAL(triggered()), this, SLOT(startSimulation()));
connect(ui->actionCreate_New_Beep, SIGNAL(triggered()), this, SLOT(createNewBeepTypeWindow()));
connect(ui->actionPause, SIGNAL(triggered()), this, SLOT(pauseSimulation()));
connect(ui->actionContinue, SIGNAL(triggered()), this, SLOT(unPauseSimulation()));
/*for(int i = 5; i < 26; i++)
for(int j = 15; j < 26; j++)
pointTemps.push_back(std::make_pair (std::make_pair (i,j), 100));*/
/*QGraphicsEllipseItem *tempEllipse = new QGraphicsEllipseItem();
for(unsigned i = 0; i < 2; i++){
Robot tempRobot = Robot();
tempRobot.setBody(tempEllipse);
robots.push_back(tempRobot);
}
for(unsigned i = 0; i<robots.size(); i++){
robots[i].updateDrawPosition(scene);
}*/
reDraw();
}
void SimulationMainWindow1D::createButtons(){
QPushButton *runButton = new QPushButton("&Run", this);
runButton->setGeometry(QRect(QPoint(10, 40), QSize(80, 30)));
connect(runButton, SIGNAL(released()), this, SLOT(runSimulation()));
QPushButton *pauseButton = new QPushButton("&Pause", this);
pauseButton->setGeometry(QRect(QPoint(10, 80), QSize(80, 30)));
connect(pauseButton, SIGNAL(clicked()), this, SLOT(pauseSimulation()));
QPushButton *restartButton = new QPushButton("&Restart", this);
restartButton->setGeometry(QRect(QPoint(10, 120), QSize(80, 30)));
connect(restartButton, SIGNAL(clicked()), this, SLOT(restartSimulation()));
}
void SimulationMainWindow2D::createActions(){
exitAct = new QAction(tr("E&xit"), this);
exitAct->setShortcuts(QKeySequence::Quit);
exitAct->setStatusTip(tr("Exit the application"));
connect(exitAct, SIGNAL(triggered()), this, SLOT(close()));
aboutAct = new QAction(tr("&About"), this);
aboutAct->setStatusTip(tr("Show the application's About box"));
connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
aboutQtAct = new QAction(tr("About &Qt"), this);
aboutQtAct->setStatusTip(tr("Show the Qt library's About box"));
connect(aboutQtAct, SIGNAL(triggered()), qApp, SLOT(aboutQt()));
connect(aboutQtAct, SIGNAL(triggered()), this, SLOT(aboutQt()));
alignmentGroup = new QActionGroup(this);
//alignmentGroup->addAction(leftAlignAct);
//alignmentGroup->addAction(rightAlignAct);
//alignmentGroup->addAction(justifyAct);
//alignmentGroup->addAction(centerAct);
//leftAlignAct->setChecked(true);
runAct = new QAction(tr("&Run"), this);
runAct->setShortcut(tr("Ctrl+Alt+R"));
runAct->setStatusTip(tr("Running the simulation"));
connect(runAct, SIGNAL(triggered()), this, SLOT(runSimulation()));
pauseAct = new QAction(tr("&Pause"), this);
pauseAct->setShortcut(tr("Ctrl+Alt+P"));
pauseAct->setStatusTip(tr("Pause the simulation"));
connect(pauseAct, SIGNAL(triggered()), this, SLOT(pauseSimulation()));
restartAct = new QAction(tr("&Restart"), this);
restartAct->setShortcut(tr("Ctrl+Alt+N"));
restartAct->setStatusTip(tr("Restart the simulation"));
connect(restartAct, SIGNAL(triggered()), this, SLOT(restartSimulation()));
}
void Mediator::handleCommand(int index){
int fd = socketManager->getConnectedFD(index);
char messageIN[BUFFER_SIZE];
int rd = ioStream->readLine(fd, messageIN, BUFFER_SIZE);
if (rd > 0){
cout << "[From Command...]\t" << messageIN << flush;
char* command = strtok(messageIN, "|");
if (strcmp(command,"init") ==0){
char* ip = strtok(NULL, "|\n");
int cmd_port = atoi(strtok(NULL, "|\n"));
int data_port = atoi(strtok(NULL, "|\n"));
int time_port = atoi(strtok(NULL, "|\n"));
int info_port = atoi(strtok(NULL, "|\n"));
initClient(ip, fd, cmd_port, data_port, time_port, info_port);
}
else if (strcmp(command,"putfile") ==0){
long fileSize = 0;
char* filename = strtok(NULL, "|");
sscanf(strtok(NULL, "|\n"), "%d", &fileSize);
int data_fd = clientList.getActiveClient()->data_fd;
putfile(filename, fileSize, fd, data_fd);
}
else if (strcmp(command,"startSimulation") == 0){
char* command = strtok(NULL, "|\n");
int timePort;
sscanf(strtok(NULL, "|\n"), "%d", &timePort);
startSimulation(command, false);
}
else if (strcmp(command,"pauseSimulation") == 0){
pauseSimulation(strtok(NULL, "|\n"));
}
else if (strcmp(command,"stopSimulation") == 0){
stopSimulation(strtok(NULL, "|\n"));
}
else if (strcmp(command,"resumeSimulation") == 0){
resumeSimulation(strtok(NULL, "|\n"));
}
else if (strcmp(command,"abortSimulation") == 0){
abortSimulation();
}
else if (strcmp(command, "getResults\n") == 0){
getResults();
}
/*
else if (strcmp(command, "getFileList\n") == 0){
getFileList();
}
*/
else if (strcmp(command, "getFile") == 0){
getFile(strtok(NULL, "|\n"));
}
else if (strcmp(command, "reconnect") == 0){
reconnect(strtok(NULL, "\n"), fd);
}
else if (strcmp(command, "sendtoSE") == 0){
sendtoSE("From GUI : ", strtok(NULL, "|"));
}
else if (strcmp(command, "console") == 0){
commandConsole(strtok(NULL, "\n"), fd);
}
else if (strcmp(command, "init_remote") == 0){
initRemote(strtok(NULL, "\n"), fd);
}
else
cout << "else??\n" << flush;
}
else{
if (currentSession == 0){
abortSimulation();
}else{
closeClient();
}
}
}
void SimulationMainWindow1D::createActions(){
exitAct = new QAction(tr("E&xit"), this);
exitAct->setShortcuts(QKeySequence::Quit);
exitAct->setStatusTip(tr("Exit the application"));
connect(exitAct, SIGNAL(triggered()), this, SLOT(close()));
aboutAct = new QAction(tr("&About"), this);
aboutAct->setStatusTip(tr("Show the application's About box"));
connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
aboutQtAct = new QAction(tr("About &Qt"), this);
aboutQtAct->setStatusTip(tr("Show the Qt library's About box"));
connect(aboutQtAct, SIGNAL(triggered()), qApp, SLOT(aboutQt()));
connect(aboutQtAct, SIGNAL(triggered()), this, SLOT(aboutQt()));
// Simulation menu actions
runAct = new QAction(tr("&Run"), this);
runAct->setShortcut(tr("Ctrl+Alt+R"));
runAct->setStatusTip(tr("Running the simulation"));
connect(runAct, SIGNAL(triggered()), this, SLOT(runSimulation()));
pauseAct = new QAction(tr("&Pause"), this);
pauseAct->setShortcut(tr("Ctrl+Alt+P"));
pauseAct->setStatusTip(tr("Pause the simulation"));
connect(pauseAct, SIGNAL(triggered()), this, SLOT(pauseSimulation()));
restartAct = new QAction(tr("&Restart"), this);
restartAct->setShortcut(tr("Ctrl+Alt+N"));
restartAct->setStatusTip(tr("Restart the simulation"));
connect(restartAct, SIGNAL(triggered()), this, SLOT(restartSimulation()));
// Input manu actions
gridSizeAct = new QAction(tr("&Grid Size"), this);
connect(gridSizeAct, SIGNAL(triggered()), this, SLOT(setGridSize()));
toleranceAct = new QAction(tr("&Error Tolerance"), this);
connect(toleranceAct, SIGNAL(triggered()), this, SLOT(setTolerance()));
delaySecAct = new QAction(tr("&Animation Delay"), this);
connect(delaySecAct, SIGNAL(triggered()), this, SLOT(setDelaySec()));
realizationTimeStepAct = new QAction(tr("&Realization Time Step"), this);
connect(realizationTimeStepAct, SIGNAL(triggered()),
this, SLOT(setRealizationTimeStep()));
// Setting the initial condition
setICSinAct = new QAction(tr("&Sin"), this);
setICSinAct->setCheckable(true);
connect(setICSinAct, SIGNAL(triggered()), this, SLOT(setICSin()));
setICStepAct = new QAction(tr("&Step"), this);
setICStepAct->setCheckable(true);
connect(setICStepAct, SIGNAL(triggered()), this, SLOT(setICStep()));
setICRndNoiseAct = new QAction(tr("&Random Noise"), this);
setICRndNoiseAct->setCheckable(true);
connect(setICRndNoiseAct, SIGNAL(triggered()), this, SLOT(setICRndNoise()));
icGroup = new QActionGroup(this);
icGroup->addAction(setICSinAct);
icGroup->addAction(setICStepAct);
icGroup->addAction(setICRndNoiseAct);
setICSinAct->setChecked(true);
// Setting main solver
setLaxFriedrichsAct = new QAction(tr("Lax-FriedRichs Scheme"), this);
setLaxFriedrichsAct->setCheckable(true);
connect(setLaxFriedrichsAct, SIGNAL(triggered()), this,
SLOT(setLaxFriedrichsScheme()));
setRK4Act = new QAction(tr("RK4 Scheme"), this);
setRK4Act->setCheckable(true);
connect(setRK4Act, SIGNAL(triggered()), this,SLOT(setRK4Scheme()));
setMacCormackAct = new QAction(tr("MacCormack Scheme"), this);
setMacCormackAct->setCheckable(true);
connect(setMacCormackAct, SIGNAL(triggered()), this,
SLOT(setMacCormackScheme()));
setForwardEulerAct = new QAction(tr("Forward Euler Scheme"), this);
setForwardEulerAct->setCheckable(true);
connect(setForwardEulerAct, SIGNAL(triggered()), this,
SLOT(setForwardEulerScheme()));
setKurganovTadmor2000Act = new QAction(tr("Kurganov-Tadmor Scheme"), this);
setKurganovTadmor2000Act->setCheckable(true);
connect(setKurganovTadmor2000Act, SIGNAL(triggered()), this,
SLOT(setKurganovTadmor2000Scheme()));
setRK4KurganovTadmor2000Act =
new QAction(tr("RK4 Kurganov-Tadmor Scheme"), this);
setRK4KurganovTadmor2000Act->setCheckable(true);
connect(setRK4KurganovTadmor2000Act, SIGNAL(triggered()), this,
SLOT(setRK4KurganovTadmor2000Scheme()));
setKurganovTadmor2ndOrder2000Act =
new QAction(tr("2nd Order Kurganov-Tadmor Scheme"), this);
setKurganovTadmor2ndOrder2000Act->setCheckable(true);
connect(setKurganovTadmor2ndOrder2000Act, SIGNAL(triggered()), this,
SLOT(setKurganovTadmor2ndOrder2000Scheme()));
solverGroup = new QActionGroup(this);
solverGroup->addAction(setMacCormackAct);
solverGroup->addAction(setForwardEulerAct);
solverGroup->addAction(setLaxFriedrichsAct);
solverGroup->addAction(setKurganovTadmor2000Act);
solverGroup->addAction(setRK4KurganovTadmor2000Act);
solverGroup->addAction(setKurganovTadmor2ndOrder2000Act);
solverGroup->addAction(setRK4Act);
setRK4Act->setChecked(true);
// Setting flux solver
setMUSCLSAct = new QAction(tr("MUSCL Scheme"), this);
setMUSCLSAct->setCheckable(true);
connect(setMUSCLSAct, SIGNAL(triggered()), this, SLOT(setMUSCLSScheme()));
setLinearReconstructionAct =
new QAction(tr("Linear Reconstruction Scheme"), this);
setLinearReconstructionAct->setCheckable(true);
connect(setLinearReconstructionAct, SIGNAL(triggered()), this,
SLOT(setLinearReconstructionScheme()));
setPiecewiseParabolicReconstructionAct =
new QAction(tr("Piecewise Parabolic Reconstruction Scheme"), this);
setPiecewiseParabolicReconstructionAct->setCheckable(true);
connect(setPiecewiseParabolicReconstructionAct, SIGNAL(triggered()), this,
SLOT(setPiecewiseParabolicReconstructionScheme()));
fluxGroup = new QActionGroup(this);
fluxGroup->addAction(setMUSCLSAct);
fluxGroup->addAction(setPiecewiseParabolicReconstructionAct);
fluxGroup->addAction(setLinearReconstructionAct);
setLinearReconstructionAct->setChecked(true);
}
