dlgIRC::dlgIRC()
{
setupUi(this);
session = new IrcSession(this);
irc->setOpenExternalLinks ( true );
setUnifiedTitleAndToolBarOnMac( true );
connect( irc, SIGNAL(anchorClicked(QUrl)), this, SLOT(anchorClicked(QUrl)));
connect( session, SIGNAL(messageReceived(IrcMessage*)), this, SLOT(onMessageReceived(IrcMessage*)));
connect( session, SIGNAL(connected()), this, SLOT(onConnected()));
connect( lineEdit, SIGNAL(returnPressed()), this, SLOT(sendMsg()));
QFile file( QDir::homePath()+"/.config/mudlet/irc_nick" );
file.open( QIODevice::ReadOnly );
QDataStream ifs( & file );
QString nick;
ifs >> nick;
file.close();
if( nick.isEmpty() )
{
nick = tr("Mudlet%1").arg(QString::number(rand()%10000));
QFile file( QDir::homePath()+"/.config/mudlet/irc_nick" );
file.open( QIODevice::WriteOnly | QIODevice::Unbuffered );
QDataStream ofs( & file );
ofs << nick;
file.close();
}
session->setNickName(nick);
mNick = nick;
session->setUserName("mudlet");
session->setRealName(mudlet::self()->version);
session->setHost("irc.freenode.net");
session->setPort(6667);
session->open();
}
bool IServerApp::sendMsg( uint32_t nSessionID , const char* pBuffer , uint16_t nLen, bool bBroadcast )
{
if ( isConnected() == false )
{
LOGFMTE("target svr is not connect , send msg failed") ;
return false ;
}
stMsgTransferData msgTransData ;
msgTransData.nSenderPort = getLocalSvrMsgPortType() ;
msgTransData.bBroadCast = bBroadcast ;
msgTransData.nSessionID = nSessionID ;
int nLne = sizeof(msgTransData) ;
if ( nLne + nLen >= MAX_MSG_BUFFER_LEN )
{
stMsg* pmsg = (stMsg*)pBuffer ;
LOGFMTE("msg send to session id = %d , is too big , cannot send , msg id = %d ",nSessionID,pmsg->usMsgType) ;
return false;
}
memcpy_s(m_pSendBuffer ,sizeof(m_pSendBuffer),&msgTransData,nLne);
memcpy_s(m_pSendBuffer + nLne ,sizeof(m_pSendBuffer) - nLne, pBuffer,nLen );
nLne += nLen ;
sendMsg(m_pSendBuffer,nLne);
return true ;
}
void TcpThread::opeatorData()
{
OperatorSql w;
char ch = data[2].at(0).toAscii(); //将QChar 转换为标准C语言的ASCII，上网找了，switch在QT中只能支持整型对象
//操作数据库
if (!w.createConnection()) {
sendMsg(tr("SQL_LINK_ERROR"));
return;
}
/*
if(!w.verifyUser(data[0],data[1]))//用户名密码错误
{
sendMsg(tr("USER_PASSWORD_ERROR"));
tcpSocket->disconnectFromHost();//断开连接
QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8"));
qDebug()<< tr("用户或者密码不正确！")<<"\n";
return;
}
*/
QString sqlstr = data[3];//取出SQL语句
switch(ch)
{
case 'Q': {
w.queryRecode(sqlstr);
saveLog();
break;//保存日志
}
case 'A': {
if(w.addRecode(sqlstr))
{
sendMsg(tr("ADD_SUCCESS"));
saveLog();
break;
}
else
{
sendMsg(tr("ADD_FAILED"));
break;
}
}
case 'D': {
if(w.deleteRecode(sqlstr))
{
sendMsg(tr("DELETE_SUCCESS")) ;
saveLog();
break;
}
else
{
sendMsg(tr("DELETE_FAILED"));
break;
}
}
case 'U': {
if( w.updateRecode(sqlstr)) {
sendMsg(tr("UPDATE_SUCCESS"));
saveLog();
break;
}
else
{
sendMsg(tr("UPDATE_FAILED"));
break;
}
}
default: sendMsg(tr("UNKOWN_ERROR")); break;
}
}
bool
Monitor::coach_move( const char * command )
{
char obj[128];
double x = 0.0, y = 0.0, ang = 0.0, velx = 0.0, vely = 0.0;
int n = std::sscanf( command,
" ( move ( %127[^)] ) %lf %lf %lf %lf %lf ) ",
obj, &x, &y, &ang, &velx, &vely );
if ( n < 3
|| std::isnan( x ) != 0
|| std::isnan( y ) != 0
|| std::isnan( ang ) != 0
|| std::isnan( velx ) != 0
|| std::isnan( vely ) != 0 )
{
sendMsg( MSG_BOARD, "(error illegal_object_form)" );
return false;
}
std::string obj_name = "(";
obj_name += obj;
obj_name += ')';
if ( obj_name == BALL_NAME )
{
M_stadium.clearBallCatcher();
if ( n == 3 || n == 4 )
{
M_stadium.moveBall( PVector( x, y ), PVector( 0.0, 0.0 ) );
}
else if ( n == 6 )
{
M_stadium.moveBall( PVector( x, y ), PVector( velx, vely ) );
}
else
{
sendMsg( MSG_BOARD, "(error illegal_command_form)" );
return false;
}
}
else
{
char teamname[128];
int unum = 0;
if ( std::sscanf( obj_name.c_str(),
PLAYER_NAME_FORMAT,
teamname, &unum ) != 2
|| unum < 1
|| MAX_PLAYER < unum )
{
sendMsg( MSG_BOARD, "(error illegal_object_form)" );
return false;
}
Side side = ( M_stadium.teamLeft().name() == teamname
? LEFT
: M_stadium.teamRight().name() == teamname
? RIGHT
: NEUTRAL );
PVector pos( x, y );
PVector vel( velx, vely );
ang = Deg2Rad( rcss::bound( ServerParam::instance().minMoment(),
ang,
ServerParam::instance().maxMoment() ) );
if ( n == 3 )
{
M_stadium.movePlayer( side, unum, pos, NULL, NULL );
}
else if ( n == 4 )
{
M_stadium.movePlayer( side, unum, pos, &ang, NULL );
}
else if ( n == 6 )
{
M_stadium.movePlayer( side, unum, pos, &ang, &vel );
}
else
{
sendMsg( MSG_BOARD, "(error illegal_command_form)" );
return false;
}
}
sendMsg( MSG_BOARD, "(ok move)" );
return true;
}
void elFlowPort::sendCmd( const std::string& cmd )
{
sendMsg( cmd.c_str(), cmd.size(), false );
}
void IdDialog::IdListCustomPopupMenu( QPoint )
{
QMenu contextMnu( this );
std::list<RsGxsId> own_identities ;
rsIdentity->getOwnIds(own_identities) ;
QTreeWidgetItem *item = ui->idTreeWidget->currentItem();
if (item) {
uint32_t item_flags = item->data(RSID_COL_KEYID,Qt::UserRole).toUInt() ;
if(!(item_flags & RSID_FILTER_OWNED_BY_YOU))
{
if(own_identities.size() <= 1)
{
QAction *action = contextMnu.addAction(QIcon(":/images/chat_24.png"), tr("Chat with this person"), this, SLOT(chatIdentity()));
if(own_identities.empty())
action->setEnabled(false) ;
else
action->setData(QString::fromStdString((own_identities.front()).toStdString())) ;
}
else
{
QMenu *mnu = contextMnu.addMenu(QIcon(":/images/chat_24.png"),tr("Chat with this person as...")) ;
for(std::list<RsGxsId>::const_iterator it=own_identities.begin();it!=own_identities.end();++it)
{
RsIdentityDetails idd ;
rsIdentity->getIdDetails(*it,idd) ;
QPixmap pixmap ;
if(idd.mAvatar.mSize == 0 || !pixmap.loadFromData(idd.mAvatar.mData, idd.mAvatar.mSize, "PNG"))
pixmap = QPixmap::fromImage(GxsIdDetails::makeDefaultIcon(*it)) ;
QAction *action = mnu->addAction(QIcon(pixmap), QString("%1 (%2)").arg(QString::fromUtf8(idd.mNickname.c_str()), QString::fromStdString((*it).toStdString())), this, SLOT(chatIdentity()));
action->setData(QString::fromStdString((*it).toStdString())) ;
}
}
contextMnu.addAction(QIcon(":/images/mail_new.png"), tr("Send message to this person"), this, SLOT(sendMsg()));
}
}
contextMnu.addSeparator();
contextMnu.addAction(ui->editIdentity);
contextMnu.addAction(ui->removeIdentity);
contextMnu.addSeparator();
contextMnu.exec(QCursor::pos());
}
//
// bool sendState(toID)
// Last modified: 27Aug2006
//
// Attempts to send the state of the cell
// to the neighbor with the parameterized ID,
// returning true if successful, false otherwise.
//
// Returns: true if successful, false otherwise
// Parameters:
// toID in the ID of the receiving neighbor
//
bool Cell::sendState(const GLint toID)
{
return sendMsg(new State(*this), toID, STATE);
} // sendState(const GLint)
void obp_canraw(void *pvParameters)
{
//>>>> oobdtemple protocol initmain >>>>
int keeprunning = 1;
data_packet *dp;
data_packet actDataPacket;
UBaseType_t busToUse = *(UBaseType_t *) pvParameters;
/* function pointers to the bus interface */
extern bus_init actBus_init;
extern bus_send actBus_send;
extern bus_flush actBus_flush;
extern bus_param actBus_param;
extern bus_close actBus_close;
extern QueueHandle_t protocolQueue;
extern QueueHandle_t outputQueue;
extern QueueHandle_t inputQueue;
MsgData *msg;
MsgData *ownMsg;
param_data *args;
extern SemaphoreHandle_t protocollBinarySemaphore;
UBaseType_t msgType;
UBaseType_t timeout = 0;
int i;
//catch the "Protocoll is running" Semaphore
xSemaphoreTake(protocollBinarySemaphore, portMAX_DELAY);
/* activate the bus... */
odbarr[busToUse] ();
actBus_init();
ODPBuffer *protocolBuffer;
protocolBuffer = NULL;
// start with the protocol specific initalisation
//<<<< oobdtemple protocol initmain <<<<
extern print_cbf printdata_CAN;
UBaseType_t stateMachine_state = 0;
UBaseType_t actBufferPos = 0;
/* tell the Rx-ISR about the function to use for received data */
busControl(ODB_CMD_RECV, odp_canraw_recvdata);
protocolBuffer = createODPBuffer(CANRAWBUFFERSIZE);
if (protocolBuffer == NULL) {
keeprunning = 0;
} else {
protocolBuffer->len = 0;
}
extern protocolConfigPtr actProtConfigPtr;
struct CanRawConfig *protocolConfig;
protocolConfig = pvPortMalloc(sizeof(struct CanRawConfig));
if (protocolConfig == NULL) {
keeprunning = 0;
} else {
actProtConfigPtr = protocolConfig;
protocolConfig->recvID = 0x7DF;
protocolConfig->separationTime = 0;
protocolConfig->showBusTransfer = 0;
}
//>>>> oobdtemple protocol mainloop_start >>>>
for (; keeprunning;) {
if (MSG_NONE != (msgType = waitMsg(protocolQueue, &msg, portMAX_DELAY))) // portMAX_DELAY
/* handle message */
{
switch (msgType) {
//<<<< oobdtemple protocol mainloop_start <<<<
//>>>> oobdtemple protocol MSG_BUS_RECV >>>>
case MSG_BUS_RECV:
dp = msg->addr;
//<<<< oobdtemple protocol MSG_BUS_RECV <<<<
if (protocolConfig->showBusTransfer > 0) {
odp_canraw_dumpFrame(dp, printdata_CAN);
}
// no more action, Raw CAN does not manage any answers from the bus
//>>>> oobdtemple protocol MSG_SERIAL_DATA >>>>
break;
case MSG_SERIAL_DATA:
//<<<< oobdtemple protocol MSG_SERIAL_DATA <<<<
if (stateMachine_state == SM_CANRAW_STANDBY) { /* only if just nothing to do */
dp = (data_packet *) msg->addr;
// data block received from serial input which need to be handled now
if (((protocolBuffer->len) + dp->len) <=
CANRAWBUFFERSIZE) {
/* copy the data into the uds- buffer */
for (i = 0; i < dp->len; i++) {
protocolBuffer->data[protocolBuffer->len++] =
dp->data[i];
}
} else {
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_CANRAW_DATA_TOO_LONG_ERR,
(protocolBuffer->len) + dp->len,
ERR_CODE_CANRAW_DATA_TOO_LONG_ERR_TEXT);
}
}
//>>>> oobdtemple protocol MSG_SERIAL_PARAM_1 >>>>
break;
case MSG_SERIAL_PARAM:
args = (UBaseType_t *) msg->addr;
/*
* DEBUGPRINT("protocol parameter received %ld %ld %ld\n",
args->args[ARG_RECV], args->args[ARG_CMD],
args->args[ARG_VALUE_1]);
*/
switch (args->args[ARG_RECV]) {
case FBID_PROTOCOL_GENERIC:
/*
* DEBUGPRINT
("generic protocol parameter received %ld %ld\n",
args->args[ARG_CMD], args->args[ARG_VALUE_1]);
*/
switch (args->args[ARG_CMD]) {
case PARAM_INFO:
//<<<< oobdtemple protocol MSG_SERIAL_PARAM_1 <<<<
CreateParamOutputMsg(args, odp_canraw_printParam);
//>>>> oobdtemple protocol MSG_SERIAL_PARAM_2 >>>>
break;
// and here we proceed all command parameters
case PARAM_LISTEN:
xTickCurrent = 0; // set current Timestamp to "0" if Listen mode ist activated
protocolConfig->showBusTransfer =
args->args[ARG_VALUE_1];
createCommandResultMsg(FBID_PROTOCOL_GENERIC,
ERR_CODE_NO_ERR, 0, NULL);
break;
default:
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_OS_UNKNOWN_COMMAND, 0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
break;
//<<<< oobdtemple protocol MSG_SERIAL_PARAM_2 <<<<
case FBID_PROTOCOL_SPEC:
//DEBUGPRINT ("can raw protocol parameter received %ld %ld\n", args->args[ARG_CMD], args->args[ARG_VALUE_1]);
switch (args->args[ARG_CMD]) {
// first we commend out all parameters which are not used to generate the right "unknown parameter" message in the default - area
/*
case PARAM_ECHO:
break;
case PARAM_TIMEOUT_PENDING:
break;
case PARAM_BLOCKSIZE:
break;
*/
case PARAM_CANRAW_FRAME_DELAY:
protocolConfig->separationTime =
args->args[ARG_VALUE_1] + 1;
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_NO_ERR, 0, NULL);
break;
case PARAM_CANRAW_SENDID:
protocolConfig->recvID = args->args[ARG_VALUE_1];
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_NO_ERR, 0, NULL);
break;
default:
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_OS_UNKNOWN_COMMAND,
0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
break;
//>>>> oobdtemple protocol MSG_OTHERS >>>>
case FBID_BUS_GENERIC:
case FBID_BUS_SPEC:
actBus_param(args); /* forward the received params to the underlying bus. */
break;
default:
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_OS_UNKNOWN_COMMAND,
0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
//<<<< oobdtemple protocol MSG_OTHERS <<<<
//>>>> oobdtemple protocol MSG_INIT >>>>
case MSG_INIT:
if (protocolBuffer != NULL) {
protocolBuffer->len = 0;
}
//<<<< oobdtemple protocol MSG_INIT <<<<
//>>>> oobdtemple protocol MSG_PROTOCOL_STOP >>>>
break;
case MSG_PROTOCOL_STOP:
keeprunning = 0;
break;
//<<<< oobdtemple protocol MSG_PROTOCOL_STOP <<<<
//>>>> oobdtemple protocol MSG_SEND_BUFFER >>>>
case MSG_SEND_BUFFER:
/* let's Dance: Starting the transfer protocol */
//<<<< oobdtemple protocol MSG_SEND_BUFFER <<<<
if (protocolBuffer->len > 0) {
actBufferPos = 0;
for (; sendMoreFrames(protocolBuffer, &actBufferPos, &protocolConfig->showBusTransfer, &stateMachine_state, &timeout, printdata_CAN, actBus_send);); // fire all in one shot.
//>>>> oobdtemple protocol MSG_SEND_BUFFER_2 >>>>
} else { /* no data to send? */
createCommandResultMsg
(FBID_PROTOCOL_GENERIC, ERR_CODE_NO_ERR, 0, NULL);
/* just release the input again */
if (pdPASS !=
sendMsg(MSG_SERIAL_RELEASE, inputQueue, NULL)) {
printser_string("Input queue is full!");
DEBUGPRINT
("FATAL ERROR: input queue is full!\n", 'a');
}
}
break;
//<<<< oobdtemple protocol MSG_SEND_BUFFER_2 <<<<
//>>>> oobdtemple protocol MSG_TICK >>>>
case MSG_TICK:
//<<<< oobdtemple protocol MSG_TICK <<<<
if (timeout > 0) { /* we just waiting for the next frame to send */
if (timeout == 1) { /* time's gone... */
for (; sendMoreFrames(protocolBuffer, &actBufferPos, &protocolConfig->showBusTransfer, &stateMachine_state, &timeout, printdata_CAN, actBus_send);); // fire all in one shot.
if (timeout < 2) { //
protocolBuffer->len = 0;
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_NO_ERR, 0, NULL);
stateMachine_state = SM_CANRAW_STANDBY;
if (pdPASS !=
sendMsg(MSG_SERIAL_RELEASE, inputQueue,
NULL)) {
printser_string("INPQUE_FULL");
DEBUGPRINT
("FATAL ERROR: input queue is full!\n",
'a');
}
}
}
timeout--;
}
//>>>> oobdtemple protocol final >>>>
break;
}
disposeMsg(msg);
}
/* vTaskDelay (5000 / portTICK_PERIOD_MS); */
}
/* Do all cleanup here to finish task */
actBus_close();
vPortFree(protocolConfig);
freeODPBuffer(protocolBuffer);
xSemaphoreGive(protocollBinarySemaphore);
vTaskDelete(NULL);
}
void QMidiOut::sendEvent(const QMidiEvent& e)
{
sendMsg(e.message());
}
int main()
{
unsigned long nMsg = 0;
char *cmnd, *uname1, *uname2;
int k;
user *users = NULL;
freopen("input.txt", "r", stdin);
freopen("output.txt", "w", stdout);
cmnd = (char*)malloc(sizeof(char)*10);
while(scanf("%s", cmnd)!=EOF)
{
if(DEBUG)
printf("cmnd read: %s\n", cmnd);
if(!strcmp(cmnd, "ADD"))
{
uname1 = getUser();
if(users==NULL)
init(uname1, &users);
else
addUser(uname1, users);
}
else if(!strcmp(cmnd, "FOLLOW"))
{
uname1 = getUser(), uname2 = getUser();
follow(uname1, uname2, users);
}
else if(!strcmp(cmnd, "SEND"))
{
uname1 = getUser();
sendMsg(uname1, ++nMsg, users);
}
else if(!strcmp(cmnd, "RESEND"))
{
uname1 = getUser();
scanf("%d", &k);
resendMsg(uname1, k, users);
}
else if(!strcmp(cmnd, "INACTIVE"))
{
uname1 = getUser();
inactivate(uname1, users);
}
else if(!strcmp(cmnd, "ACTIVE"))
{
uname1 = getUser();
activate(uname1, users);
}
else //UNFOLLOW
{
uname1 = getUser(), uname2 = getUser();
unfollow(uname1, uname2, users);
}
}
user *cur = users;
do
{
print(*cur);
cur = cur->next;
}
while(cur!=users);
return 0;
}
// Get the msg types for Destination and Position.
void PathingController::receivePosMsg(const owr_messages::position &msg) {
currLat = msg.latitude;
currLong = msg.longitude;
currHeading = msg.heading;
sendMsg();
}
int
ManagerFilter::handleNeedMore(AHData* msg)
{
int* iMsg = (int*)msg->getData();
int pId = iMsg[0];
int mId = iMsg[1];
pthread_mutex_lock(&mLog);
// log << "Received work request from " << pId << " with mId: " << mId;
// log << ", expected mId: " << lastId[pId]+1 << std::endl;
pthread_mutex_unlock(&mLog);
// Handle Work Request
// Check if we should answer the request.
if (mId <= lastId[pId] ) return 1;
int* pMsg;
size_t msgSize = 0;
pthread_mutex_lock(&mWorkQueue);
// If we have work
if (!workQueue.empty())
{
// Mark that he has work and update lastId
hasWork[pId] = true;
lastId[pId]++;
// Build char message
std::list<Candidate> workToSend;
workToSend.push_front(workQueue.front());
workQueue.pop();
pMsg = list2Msg(workToSend, pId, msgSize);
}
// If we don't have work
else
{
// Mark no work for this pId
hasWork[pId] = false;
// Loop through all known clients, to see if someone has work
bool someWork = false;
std::map<int,bool>::iterator it;
for (it = hasWork.begin(); it != hasWork.end(); it++)
{
if (it->second)
{
someWork = true;
break;
}
}
// If none has work to do, we can stop
if (!someWork)
{
pMsg = buildEowMsg(msgSize);
closeEventList(this->sNeedMore);
closeEventList(this->sNewWork);
}
// Otherwise, ask for work
else
{
// Send msg
pthread_mutex_lock(&mStatus);
if (!this->hasRequest) {
this->hasRequest = true;
AHData* askForMore = new AHData(new int(msgId), sizeof(int),
sWorkRequest);
sendMsg(askForMore);
}
pthread_mutex_unlock(&mStatus);
pMsg = 0;
}
}
pthread_mutex_unlock(&mWorkQueue);
if (msgSize != 0)
{
std::cout << ">>>>> MANAGER <<<<<<" << std::endl;
std::cout << " >> MSG: " << pMsg << std::endl;
AHData* d = new AHData(pMsg, msgSize, sOut);
sendMsg(d);
}
delete msg;
return 1;
}
ssize_t CClient::sendWlcomeMsg(){
string ret = "220 SimpleFtpServer\r\n";
return sendMsg(ret);
}
/** Constructor */
CreateBlogMsg::CreateBlogMsg(std::string cId ,QWidget* parent, Qt::WFlags flags)
: mBlogId(cId), QMainWindow (parent, flags)
{
/* Invoke the Qt Designer generated object setup routine */
ui.setupUi(this);
setAttribute ( Qt::WA_DeleteOnClose, true );
setupFileActions();
setupEditActions();
setupViewActions();
setupInsertActions();
setupParagraphActions();
setAcceptDrops(true);
setStartupText();
newBlogMsg();
ui.toolBar_2->addAction(ui.actionIncreasefontsize);
ui.toolBar_2->addAction(ui.actionDecreasefontsize);
ui.toolBar_2->addAction(ui.actionBlockquoute);
ui.toolBar_2->addAction(ui.actionOrderedlist);
ui.toolBar_2->addAction(ui.actionUnorderedlist);
ui.toolBar_2->addAction(ui.actionBlockquoute);
ui.toolBar_2->addAction(ui.actionCode);
ui.toolBar_2->addAction(ui.actionsplitPost);
setupTextActions();
connect(ui.actionPublish, SIGNAL(triggered()), this, SLOT(sendMsg()));
connect(ui.actionNew, SIGNAL(triggered()), this, SLOT (fileNew()));
connect(ui.actionIncreasefontsize, SIGNAL (triggered()), this, SLOT (fontSizeIncrease()));
connect(ui.actionDecreasefontsize, SIGNAL (triggered()), this, SLOT (fontSizeDecrease()));
connect(ui.actionBlockquoute, SIGNAL (triggered()), this, SLOT (blockQuote()));
connect(ui.actionCode, SIGNAL (triggered()), this, SLOT (toggleCode()));
connect(ui.actionsplitPost, SIGNAL (triggered()), this, SLOT (addPostSplitter()));
connect(ui.actionOrderedlist, SIGNAL (triggered()), this, SLOT (addOrderedList()));
connect(ui.actionUnorderedlist, SIGNAL (triggered()), this, SLOT (addUnorderedList()));
//connect(webView, SIGNAL(loadFinished(bool)),this, SLOT(updateTextEdit()));
connect( ui.msgEdit, SIGNAL( textChanged(const QString &)), this, SLOT(updateTextEdit()));
connect( ui.msgEdit, SIGNAL(currentCharFormatChanged(QTextCharFormat)),
this, SLOT(currentCharFormatChanged(QTextCharFormat)));
connect( ui.msgEdit, SIGNAL(cursorPositionChanged()),
this, SLOT(cursorPositionChanged()));
QPalette palette = QApplication::palette();
codeBackground = palette.color( QPalette::Active, QPalette::Midlight );
fontChanged(ui.msgEdit->font());
colorChanged(ui.msgEdit->textColor());
alignmentChanged(ui.msgEdit->alignment());
connect( ui.msgEdit->document(), SIGNAL(modificationChanged(bool)),
actionSave, SLOT(setEnabled(bool)));
connect( ui.msgEdit->document(), SIGNAL(modificationChanged(bool)),
this, SLOT(setWindowModified(bool)));
connect( ui.msgEdit->document(), SIGNAL(undoAvailable(bool)),
actionUndo, SLOT(setEnabled(bool)));
connect( ui.msgEdit->document(), SIGNAL(undoAvailable(bool)),
ui.actionUndo, SLOT(setEnabled(bool)));
connect( ui.msgEdit->document(), SIGNAL(redoAvailable(bool)),
actionRedo, SLOT(setEnabled(bool)));
setWindowModified( ui.msgEdit->document()->isModified());
actionSave->setEnabled( ui.msgEdit->document()->isModified());
actionUndo->setEnabled( ui.msgEdit->document()->isUndoAvailable());
ui.actionUndo->setEnabled( ui.msgEdit->document()->isUndoAvailable());
actionRedo->setEnabled( ui.msgEdit->document()->isRedoAvailable());
connect(actionUndo, SIGNAL(triggered()), ui.msgEdit, SLOT(undo()));
connect(ui.actionUndo, SIGNAL(triggered()), ui.msgEdit, SLOT(undo()));
connect(actionRedo, SIGNAL(triggered()), ui.msgEdit, SLOT(redo()));
actionCut->setEnabled(false);
actionCopy->setEnabled(false);
connect(actionCut, SIGNAL(triggered()), ui.msgEdit, SLOT(cut()));
connect(actionCopy, SIGNAL(triggered()), ui.msgEdit, SLOT(copy()));
connect(actionPaste, SIGNAL(triggered()), ui.msgEdit, SLOT(paste()));
connect(ui.msgEdit, SIGNAL(copyAvailable(bool)), actionCut, SLOT(setEnabled(bool)));
connect(ui.msgEdit, SIGNAL(copyAvailable(bool)), actionCopy, SLOT(setEnabled(bool)));
#ifndef QT_NO_CLIPBOARD
connect(QApplication::clipboard(), SIGNAL(dataChanged()), this, SLOT(clipboardDataChanged()));
#endif
//defaultCharFormat
defaultCharFormat = ui.msgEdit->currentCharFormat();
const QFont defaultFont = ui.msgEdit->document()->defaultFont();
defaultCharFormat.setFont( defaultFont );
defaultCharFormat.setForeground( ui.msgEdit->currentCharFormat().foreground() );
defaultCharFormat.setProperty( QTextFormat::FontSizeAdjustment, QVariant( 0 ) );
defaultCharFormat.setBackground( palette.color( QPalette::Active,
QPalette::Base ) );
defaultCharFormat.setProperty( TextFormat::HasCodeStyle, QVariant( false ) );
//defaultBlockFormat
defaultBlockFormat = ui.msgEdit->textCursor().blockFormat();
}
int solver(int *map, int x1, int y1, int x2, int y2, int *stones, int n)
{
int i;
int x, y;
/*
printf("(%d, %d) ~ (%d, %d)\n\n", x1, y1, x2, y2);
printf("Map\n");
for (y=0; y<32; y++) {
printf("\t");
for (x=0; x<32; x++) printf("%d", MAP(x, y));
printf("\n");
}
printf("\n");
printf("Stones\n");
for (i=0; i<n; i++) {
printf("\tstone %d\n", i+1);
for (y=0; y<8; y++) {
printf("\t\t");
for (x=0; x<8; x++) printf("%d", STONE(i, x, y));
printf("\n");
}
}
printf("\n");
*/
/* Solutions for light.txt */
char *solutions[] = {
"H 0 2 2\n",
"H 0 2 2\nT 0 -6 0\n",
"H 0 2 2\nT 0 -6 0\n\nH 0 1 -1\n",
NULL
};
printf("Solutions\n");
for (i=0; (solutions[i] != NULL); i++) {
sleep(5);
printf("Solutin %d\n", i+1);
// Padding
int j, line = 0;
for (j=0; (solutions[i][j] != '\0'); j++) {
if (solutions[i][j] == '\n') line++;
}
// Like a START BIT
sendMsg("S");
// Main
sendMsg(solutions[i]);
for (j=0; j<(n - line); j++) sendMsg("");
// Prepare for next problem
if (sendMsg("E") == EXIT_FAILURE)
return EXIT_SUCCESS; // transition to `Ready state`
}
// Forced termination
return EXIT_FAILURE;
}
void Marmote_StopStreaming(FT_HANDLE ftHandle)
{
uint8_t dummy;
sendMsg(ftHandle, SDR, STOP_STREAMING, &dummy, 0);
}
void odp_canraw_recvdata(data_packet * p, UBaseType_t callFromISR)
{
extern print_cbf printdata_CAN;
extern printChar_cbf printChar;
extern protocolConfigPtr actProtConfigPtr;
struct CanRawConfig *protocolConfig;
short ByteCnt;
if (callFromISR)
xTickNew = (uint16_t) xTaskGetTickCountFromISR();
else
xTickNew = (uint16_t) xTaskGetTickCount();
if (xTickNew < xTickOld) // check for xTick overflow
xTickOld = 0;
if (xTickCurrent >= 59999) // limit timestamp to 0-59999 tick (ms)
xTickCurrent = 0;
xTickCurrent = xTickCurrent + (xTickNew - xTickOld);
xTickOld = xTickNew; // set latest value to xTickOld for next duration
p->timestamp = xTickCurrent;
protocolConfig = actProtConfigPtr;
if (protocolConfig != NULL) {
if (protocolConfig->showBusTransfer == 1) { //normal output
MsgData *msg;
extern QueueHandle_t protocolQueue;
if (NULL != (msg = createDataMsg(p))) {
UBaseType_t res = 0;
if (callFromISR) {
res = sendMsgFromISR(MSG_BUS_RECV, protocolQueue, msg);
} else {
res = sendMsg(MSG_BUS_RECV, protocolQueue, msg);
}
if (res != pdPASS) {
disposeMsg(msg);
DEBUGPRINT("FATAL ERROR: protocol queue is full!\n",
'a');
}
} else {
DEBUGPRINT("FATAL ERROR: Out of Heap space!l\n", 'a');
}
}
if (protocolConfig->showBusTransfer == 2) { //normal output, but straight from the ISR
printdata_CAN(MSG_BUS_RECV, p, printChar);
}
if (protocolConfig->showBusTransfer == 3) {
// Lawicel format: Estimated out of http://lxr.free-electrons.com/source/drivers/net/can/slcan.c line 110 cc.
if (p->recv & 0x80000000) { // Bit 32 set, so it's an extended CAN ID
printser_string("T");
printser_uint32ToHex(p->recv & 0x1FFFFFFF);
} else {
printser_string("t");
printser_int((p->recv & 0x700) >> 8, 10);
printser_uint8ToHex(p->recv & 0x00FF);
}
printser_int(p->len, 10);
ByteCnt = 0;
while (ByteCnt != p->len) {
printser_uint8ToHex(p->data[ByteCnt]);
ByteCnt++;
}
if (p->err == 0x01)
printser_string("FFFF"); // if error occurs set timestamp to 0xFFFF
else
printser_uint16ToHex(p->timestamp * portTICK_PERIOD_MS & 0xFFFF); //reduce down to 16 bit = 65536 ms = ~ 1 min
printLF();
}
if (protocolConfig->showBusTransfer == 4) {
printser_uint8ToRaw(255); //startbyte
printser_uint8ToRaw((p->len & 0xF) | // bit 0-3: DLC
((p->err & 3) << 4) | //bit 4-5 : Error flag
(((p->recv & 0x80000000) ? 1 : 0) << 5) //bit 6: Extended CAN ID
); //Status flag
printser_uint16ToRawCoded(p->timestamp * portTICK_PERIOD_MS & 0xFFFF); //reduce down to 16 bit = 65536 ms = ~ 1 min
if ((p->recv & 0x80000000)) { // Bit 32 set, so it's an exended CAN ID
printser_uint32ToRawCoded(p->recv & 0x1FFFFFFF);
} else {
printser_uint16ToRawCoded(p->recv & 0x1FFFFFFF);
}
int i;
for (i = 0; i < p->len; i++) {
printser_uint8ToRawCoded(p->data[i]);
}
}
}
}
void QMidiOut::setInstrument(int voice, int instr)
{
qint32 msg = 0xC0 + voice;
msg |= instr << 8;
sendMsg(msg);
}
/*
* Handler for all the buttons
* The actual keyboard message to send is passed through evt->extra.
*/
int handleButton (struct pgEvent * evt)
{
sendMsg (evt->extra);
return 1;
}
void QMidiOut::noteOff(int note, int voice)
{
qint32 msg = 0x80 + voice;
msg |= note << 8;
sendMsg(msg);
}
/** Constructor */
IdDialog::IdDialog(QWidget *parent) :
RsGxsUpdateBroadcastPage(rsIdentity, parent),
ui(new Ui::IdDialog)
{
ui->setupUi(this);
mIdQueue = NULL;
/* Setup UI helper */
mStateHelper = new UIStateHelper(this);
// mStateHelper->addWidget(IDDIALOG_IDLIST, ui->idTreeWidget);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDLIST, ui->idTreeWidget, false);
mStateHelper->addClear(IDDIALOG_IDLIST, ui->idTreeWidget);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_Nickname);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_KeyId);
// mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_GpgHash);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_GpgId);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_GpgName);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_Type);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->lineEdit_LastUsed);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->toolButton_Reputation);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->line_RatingOverall);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->line_RatingImplicit);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->line_RatingOwn);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->line_RatingPeers);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repModButton);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_Accept);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_Ban);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_Negative);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_Positive);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_Custom);
mStateHelper->addWidget(IDDIALOG_IDDETAILS, ui->repMod_spinBox);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_Nickname);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_GpgName);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_KeyId);
// mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_GpgHash);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_GpgId);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_Type);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_GpgName);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->lineEdit_LastUsed);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->line_RatingOverall);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->line_RatingImplicit);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->line_RatingOwn);
mStateHelper->addLoadPlaceholder(IDDIALOG_IDDETAILS, ui->line_RatingPeers);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_Nickname);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_KeyId);
// mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_GpgHash);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_GpgId);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_Type);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_GpgName);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->lineEdit_LastUsed);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->line_RatingOverall);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->line_RatingImplicit);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->line_RatingOwn);
mStateHelper->addClear(IDDIALOG_IDDETAILS, ui->line_RatingPeers);
//mStateHelper->addWidget(IDDIALOG_REPLIST, ui->treeWidget_RepList);
//mStateHelper->addLoadPlaceholder(IDDIALOG_REPLIST, ui->treeWidget_RepList);
//mStateHelper->addClear(IDDIALOG_REPLIST, ui->treeWidget_RepList);
/* Connect signals */
connect(ui->toolButton_NewId, SIGNAL(clicked()), this, SLOT(addIdentity()));
connect(ui->todoPushButton, SIGNAL(clicked()), this, SLOT(todo()));
connect(ui->removeIdentity, SIGNAL(triggered()), this, SLOT(removeIdentity()));
connect(ui->editIdentity, SIGNAL(triggered()), this, SLOT(editIdentity()));
connect(ui->chatIdentity, SIGNAL(triggered()), this, SLOT(chatIdentity()));
connect(ui->idTreeWidget, SIGNAL(itemSelectionChanged()), this, SLOT(updateSelection()));
connect(ui->idTreeWidget, SIGNAL(customContextMenuRequested(QPoint)), this, SLOT(IdListCustomPopupMenu(QPoint)));
connect(ui->filterComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(filterComboBoxChanged()));
connect(ui->filterLineEdit, SIGNAL(textChanged(QString)), this, SLOT(filterChanged(QString)));
connect(ui->repModButton, SIGNAL(clicked()), this, SLOT(modifyReputation()));
connect(ui->messageButton, SIGNAL(clicked()), this, SLOT(sendMsg()));
ui->avlabel->setPixmap(QPixmap(":/images/user/friends64.png"));
ui->headerTextLabel->setText(tr("People"));
/* Initialize splitter */
ui->splitter->setStretchFactor(0, 1);
ui->splitter->setStretchFactor(1, 0);
QList<int> sizes;
sizes << width() << 500; // Qt calculates the right sizes
ui->splitter->setSizes(sizes);
/* Add filter types */
ui->filterComboBox->addItem(tr("All"), RSID_FILTER_ALL);
ui->filterComboBox->addItem(tr("Owned by you"), RSID_FILTER_OWNED_BY_YOU);
ui->filterComboBox->addItem(tr("Linked to your node"), RSID_FILTER_YOURSELF);
ui->filterComboBox->addItem(tr("Linked to neighbor nodes"), RSID_FILTER_FRIENDS);
ui->filterComboBox->addItem(tr("Linked to distant nodes"), RSID_FILTER_OTHERS);
ui->filterComboBox->addItem(tr("Anonymous"), RSID_FILTER_PSEUDONYMS);
ui->filterComboBox->setCurrentIndex(0);
/* Add filter actions */
QTreeWidgetItem *headerItem = ui->idTreeWidget->headerItem();
QString headerText = headerItem->text(RSID_COL_NICKNAME);
ui->filterLineEdit->addFilter(QIcon(), headerText, RSID_COL_NICKNAME, QString("%1 %2").arg(tr("Search"), headerText));
headerText = headerItem->text(RSID_COL_KEYID);
ui->filterLineEdit->addFilter(QIcon(), headerItem->text(RSID_COL_KEYID), RSID_COL_KEYID, QString("%1 %2").arg(tr("Search"), headerText));
/* Setup tree */
ui->idTreeWidget->sortByColumn(RSID_COL_NICKNAME, Qt::AscendingOrder);
ui->idTreeWidget->enableColumnCustomize(true);
ui->idTreeWidget->setColumnCustomizable(RSID_COL_NICKNAME, false);
/* Set initial column width */
int fontWidth = QFontMetricsF(ui->idTreeWidget->font()).width("W");
ui->idTreeWidget->setColumnWidth(RSID_COL_NICKNAME, 18 * fontWidth);
ui->idTreeWidget->setColumnWidth(RSID_COL_KEYID, 25 * fontWidth);
ui->idTreeWidget->setColumnWidth(RSID_COL_IDTYPE, 18 * fontWidth);
mIdQueue = new TokenQueue(rsIdentity->getTokenService(), this);
mStateHelper->setActive(IDDIALOG_IDDETAILS, false);
mStateHelper->setActive(IDDIALOG_REPLIST, false);
// Hiding RepList until that part is finished.
//ui->treeWidget_RepList->setVisible(false);
ui->toolButton_Reputation->setVisible(false);
#ifndef UNFINISHED
ui->todoPushButton->hide() ;
#endif
QString hlp_str = tr(
" <h1><img width=\"32\" src=\":/icons/help_64.png\"> Identities</h1> \
<p>In this tab you can create/edit pseudo-anonymous identities. \
</p> \
<p>Identities are used to securely identify your data: sign forum and channel posts,\
and receive feedback using Retroshare built-in email system, post comments \
after channel posts, etc.</p> \
<p> \
Identities can optionally be signed by your Retroshare node's certificate. \
Signed identities are easier to trust but are easily linked to your node's IP address. \
</p> \
<p> \
Anonymous identities allow you to anonymously interact with other users. They cannot be \
spoofed, but noone can prove who really owns a given identity. \
</p> \
") ;
registerHelpButton(ui->helpButton, hlp_str) ;
// load settings
processSettings(true);
// hide reputation sice it's currently unused
ui->reputationGroupBox->hide();
ui->tweakGroupBox->hide();
}
void QMidiOut::stopAll(int voice)
{
sendMsg((0xB0 | voice) | (0x7B << 8));
}
double RobotController::onAction(ActionEvent &evt)
{
switch(m_state){
// 初期姿勢を設定 seting initial pose
case 0: {
//broadcastMsgToSrv("Let's start the clean up task\n");
sendMsg("VoiceReco_Service","Let's start the clean up task\n");
double angL1 =m_my->getJointAngle("LARM_JOINT1")*180.0/(PI);
double angL4 =m_my->getJointAngle("LARM_JOINT4")*180.0/(PI);
double angR1 =m_my->getJointAngle("RARM_JOINT1")*180.0/(PI);
double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI);
double thetaL1 = -20-angL1;
double thetaL4 = -160-angL4;
double thetaR1 = -20-angR1;
double thetaR4 = -160-angR4;
if(thetaL1<0) m_my->setJointVelocity("LARM_JOINT1", -m_jvel, 0.0);
else m_my->setJointVelocity("LARM_JOINT1", m_jvel, 0.0);
if(thetaL4<0) m_my->setJointVelocity("LARM_JOINT4", -m_jvel, 0.0);
else m_my->setJointVelocity("LARM_JOINT4", m_jvel, 0.0);
if(thetaR1<0) m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0);
else m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0);
if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0);
else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0);
m_time_LA1 = DEG2RAD(abs(thetaL1))/ m_jvel + evt.time();
m_time_LA4 = DEG2RAD(abs(thetaL4))/ m_jvel + evt.time();
m_time_RA1 = DEG2RAD(abs(thetaR1))/ m_jvel + evt.time();
m_time_RA4 = DEG2RAD(abs(thetaR4))/ m_jvel + evt.time();
m_state = 1;
break;
}
// 初期姿勢に移動 moving initial pose
case 1: {
if(evt.time() >= m_time_LA1) m_my->setJointVelocity("LARM_JOINT1", 0.0, 0.0);
if(evt.time() >= m_time_LA4) m_my->setJointVelocity("LARM_JOINT4", 0.0, 0.0);
if(evt.time() >= m_time_RA1) m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
if(evt.time() >= m_time_RA4) m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0);
if(evt.time() >= m_time_LA1 && evt.time() >= m_time_LA4
&& evt.time() >= m_time_RA1 && evt.time() >= m_time_RA4){
// 位置Aの方向に回転を開始します setting position a for rotating
//broadcastMsgToSrv("Moving to the table");
m_time = rotateTowardObj(pos_a, m_vel, evt.time());
m_state = 2;
}
break;
}
// 位置Aの方向に回転 rotating to position a
case 2: {
// 回転終了
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// 位置Aに移動します setting position a for moving
m_time = goToObj(pos_a, m_vel*4, 0.0, evt.time());
m_state = 3;
}
break;
}
// 位置Aに移動 moving to position a
case 3: {
// 位置Aに到着
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// 位置Bの方向に回転を開始します setting position b for rotating
m_time = rotateTowardObj(pos_b, m_vel, evt.time());
m_state = 4;
}
break;
}
// 位置Bの方向に回転 rotating to position b
case 4: {
// 回転終了
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// 位置Bに移動します setting position b for moving
m_time = goToObj(pos_b, m_vel*4, 0.0, evt.time());
m_state = 5;
}
break;
}
// 位置Bに移動 moving to position b
case 5: {
// 位置Bに到着
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// テーブルの方向に回転を開始します setting table position for rotating
SimObj *table = getObj("table_0");
Vector3d pos;
table->getPosition(pos);
m_time = rotateTowardObj(pos, m_vel, evt.time());
m_state = 6;
}
break;
}
// テーブルの方向に回転 rotating to table
case 6: {
// 回転終了
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// ゴミがある場所と名前を取得します
// ゴミが見つからなかった
if(!this->recognizeTrash(m_tpos,m_tname)){
//broadcastMsgToSrv("No trash detected");
//broadcastMsgToSrv("Task finished");
sleep(10);
}
// ゴミが見つかった trash detected
else{
//broadcastMsgToSrv("Please show which trash to take\n");
sendMsg("VoiceReco_Service","Please show me which object to take");
m_state = 7;
}
}
break;
}
// wating to point
case 7: {
break;
}
// 物体認識開始 starting object recognition
case 8: {
// m_tpos object direction on object
SimObj *target = this->getObj(m_pointedObject.c_str());
target->getPosition(m_tpos);
//broadcastMsgToSrv("Ok I will take it\n");
msg_ob = "I will take " + m_pointedObject ;
sendMsg("VoiceReco_Service",msg_ob);
// ゴミの方向に回転をはじめる
m_time = rotateTowardObj(m_tpos, m_vel, evt.time());
m_state = 9;
break;
}
// ゴミの方向に回転をはじめる setting trash position for rotating
case 9: {
m_time = rotateTowardObj(m_tpos, m_vel, evt.time());
m_state = 10;
break;
}
// ゴミの方向に回転中 rotating to trash
case 10: {
// 回転終了
if(evt.time() >= m_time){
// 回転を止める
m_my->setWheelVelocity(0.0, 0.0);
//ゴミの位置まで移動をはじめる setting trash position for moving
m_time = goToObj(m_tpos, m_vel*4, 25.0, evt.time());
m_state = 11;
}
break;
}
// ゴミの位置まで移動中 moving to trash
case 11: {
// 移動終了
if(evt.time() >= m_time){
// 移動を止める
m_my->setWheelVelocity(0.0, 0.0);
// 関節の回転を始める setting arm for grasping
double angR1 =m_my->getJointAngle("RARM_JOINT1")*180.0/(PI);
double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI);
double thetaR1 = -30.0-angR1;
double thetaR4 = 0.0-angR4;
if(thetaR1<0) m_my->setJointVelocity("RARM_JOINT1", -m_jvel, 0.0);
else m_my->setJointVelocity("RARM_JOINT1", m_jvel, 0.0);
if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0);
else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0);
m_time_RA1 = DEG2RAD(abs(thetaR1) )/ m_jvel + evt.time();
m_time_RA4 = DEG2RAD(abs(thetaR4) )/ m_jvel + evt.time();
// ゴミを取りに関節を曲げる状態に移行します
m_state = 12;
}
break;
}
// 関節を回転中 rotating arm for grasping
case 12: {
// 関節回転終了
if(evt.time() >= m_time_RA1) m_my->setJointVelocity("RARM_JOINT1", 0.0, 0.0);
if(evt.time() >= m_time_RA4) m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0);
if(evt.time() >= m_time_RA1 && evt.time() >= m_time_RA4){
if(m_grasp) {
//broadcastMsgToSrv("grasping the trash");
// 関節の回転を始める setting arm for taking
double angR4 =m_my->getJointAngle("RARM_JOINT4")*180.0/(PI);
double thetaR4 = -90.0-angR4;
if(thetaR4<0) m_my->setJointVelocity("RARM_JOINT4", -m_jvel, 0.0);
else m_my->setJointVelocity("RARM_JOINT4", m_jvel, 0.0);
m_time_RA4 = DEG2RAD(abs(thetaR4) )/ m_jvel + evt.time();
// 関節を戻す状態に移行します
m_state = 13;
}
else{
// graspできない
broadcastMsgToSrv("Unreachable");
}
}
break;
}
// 関節を回転中 rotating arm for taking
case 13: {
// 関節回転終了
if(evt.time() >= m_time_RA4){
m_my->setJointVelocity("RARM_JOINT4", 0.0, 0.0);
// 位置Aの方向に回転を開始します setting position a for rotating
//broadcastMsgToSrv("Moving to the trashbox");
sendMsg("VoiceReco_Service","Now I will go to the trash boxes");
m_time = rotateTowardObj(pos_a, m_vel, evt.time());
m_state = 14;
}
break;
}
// 位置Aの方向に回転 rotating to position a
case 14: {
// 回転終了
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// 位置Aに移動します setting position a for moving
m_time = goToObj(pos_a, m_vel*4, 0.0, evt.time());
m_state = 15;
}
break;
}
// 位置Aの位置まで移動中 movig to position a
case 15: {
// 移動終了
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
//broadcastMsgToSrv("Please tell me which trash box \n");
sendMsg("VoiceReco_Service","Please show me which trash box to use");
m_state = 16;
}
break;
}
// watig to point4
case 16: {
break;
}
// ゴミ箱認識 starting trash box recognitiong-g-0
case 17: {
// m_tpos object direction on object
SimObj *target_trash = this->getObj(m_pointedtrash.c_str());
target_trash->getPosition(m_tpos);
//broadcastMsgToSrv("Ok I will throw the trash in trash box \n");
msg_trash = "Ok I will put "+ m_pointedObject+"in"+ m_pointedtrash + "\n";
sendMsg("VoiceReco_Service",msg_trash);
// ゴミの方向に回転をはじめる setting position trash box for rotating
m_time = rotateTowardObj(m_tpos, m_vel, evt.time());
m_state = 18;
break;
}
// ゴミ箱の方向に回転中 rotating to trash box
case 18: {
if(evt.time() >= m_time){
// 回転を止める
m_my->setWheelVelocity(0.0, 0.0);
//ゴミの位置まで移動をはじめる setting trash position for moving
m_time = goToObj(m_tpos, m_vel*4, 30.0, evt.time());
m_state = 19;
}
break;
}
// ゴミを持ってゴミ箱に向かっている状態 moving to trash box
case 19: {
// ゴミ箱に到着
if(evt.time() >= m_time){
m_my->setWheelVelocity(0.0, 0.0);
// grasp中のパーツを取得します getting grasped tarts
CParts *parts = m_my->getParts("RARM_LINK7");
// releaseします
parts->releaseObj();
// ゴミが捨てられるまで少し待つ
sleep(1);
// 捨てたゴミをゴミ候補から削除 deleting grasped object from list
std::vector<std::string>::iterator it;
it = std::find(m_trashes.begin(), m_trashes.end(), m_pointedObject);
m_trashes.erase(it);
// grasp終了
m_grasp = false;
m_state = 1;
}
break;
}
}
return 0.01;
}
bool SSMP1commands::sendStopTalkingCmd()
{
char stopmsg[4] = {SSMP1_CMD_STOP_READING, '\x0', '\x0', '\x0'};
return sendMsg(stopmsg, 4);
}
bool
Monitor::parseCommand( const char * message )
{
if ( ! std::strcmp( message, "(dispbye)" ) )
{
disable();
return true;
}
else if ( ! std::strcmp( message, "(dispstart)" ) )
{
M_stadium.kickOff();
return true;
}
else if ( ! std::strncmp( message, "(dispplayer", 11 ) )
{
return dispplayer( message );
}
else if ( ! std::strncmp( message, "(dispdiscard", 12 ) )
{
return dispdiscard( message );
}
else if ( ! std::strncmp( message, "(compression", 12 ) )
{
return compression( message );
}
else if ( ! std::strncmp( message, "(dispfoul", 9 ) )
{
return dispfoul( message );
}
else if ( ! std::strncmp( message, "(dispcard", 9 ) )
{
return dispcard( message );
}
else if ( ServerParam::instance().coachMode()
|| ServerParam::instance().coachWithRefereeMode() )
{
if ( ! std::strncmp( message, "(start)", 7 ) )
{
M_stadium.kickOff();
sendMsg( MSG_BOARD, "(ok start)" );
return true;
}
else if ( ! std::strncmp( message, "(change_mode", 12 ) )
{
return coach_change_mode( message );
}
else if ( ! std::strncmp( message, "(move", 5 ) )
{
return coach_move( message );
}
else if ( ! std::strncmp( message, "(recover", 8 ) )
{
return coach_recover();
}
else if ( ! std::strcmp( message, "change_player_type" ) )
{
return coach_change_player_type( message );
}
else if ( ! std::strncmp( message, "(check_ball", 11 ) )
{
return coach_check_ball();
}
else
{
sendMsg( MSG_BOARD, "(error illegal_command_form)" );
return false;
}
}
else
{
sendMsg( MSG_BOARD, "(error illegal_command_form)" );
return false;
}
return true;
}
bool SSMP1commands::sendQueryIdCmd(unsigned char extradatalen)
{
char querymsg[4] = {SSMP1_CMD_GET_ID, '\x80', '\x00', static_cast<char>(extradatalen)};
return sendMsg(querymsg, 4);
}
bool
Monitor::coach_change_player_type( const char * command )
{
char teamname[128];
int unum, player_type;
if ( std::sscanf( command,
" ( change_player_type %127s %d %d ) ",
teamname, &unum, &player_type ) != 3 )
{
sendMsg( MSG_BOARD, "(error illegal_command_form)" );
return false;
}
const Team * team = NULL;
if ( M_stadium.teamLeft().name() == teamname )
{
team = &( M_stadium.teamLeft() );
}
else if ( M_stadium.teamRight().name() == teamname )
{
team = &( M_stadium.teamRight() );
}
if ( team == NULL )
{
sendMsg( MSG_BOARD, "(warning no_team_found)" );
return false;
}
if ( player_type < 0
|| player_type >= PlayerParam::instance().playerTypes() )
{
sendMsg( MSG_BOARD, "(error out_of_range_player_type)" );
return false;
}
const Player * player = NULL;
for ( int i = 0; i < team->size(); ++i )
{
const Player * p = team->player( i );
if ( p && p->unum() == unum )
{
player = p;
break;
}
}
if ( player == NULL )
{
sendMsg( MSG_BOARD, "(warning no_such_player)" );
return false;
}
M_stadium.substitute( player, player_type );
char buf[64];
snprintf( buf, 64,
"(ok change_player_type %s %d %d)",
teamname, unum, player_type );
sendMsg( MSG_BOARD, buf );
return true;
}
bool SSMP1commands::sendReadAddressCmd(SSM1_CUtype_dt cu, unsigned int dataaddr)
{
if (dataaddr > 0xffff) return false;
char msg[4] = {0,};
unsigned char msglen = 0;
if (cu == SSM1_CU_Engine)
{
msg[0] = SSMP1_CMD_READ_ENGINE;
msglen = 4;
}
else if (cu == SSM1_CU_Transmission)
{
msg[0] = SSMP1_CMD_READ_TRANSMISSION;
msglen = 4;
}
else if (cu == SSM1_CU_CruiseCtrl)
{
msg[0] = SSMP1_CMD_READ_CRUISECONTROL;
msglen = 4;
}
else if (cu == SSM1_CU_AirCon)
{
msg[0] = SSMP1_CMD_READ_AIRCON;
msglen = 3;
}
else if (cu == SSM1_CU_AirCon2)
{
msg[0] = SSMP1_CMD_READ_AIRCON2;
msglen = 4;
}
else if (cu == SSM1_CU_FourWS)
{
msg[0] = SSMP1_CMD_READ_4WS;
msglen = 3;
}
else if (cu == SSM1_CU_ABS)
{
msg[0] = SSMP1_CMD_READ_ABS;
msglen = 4;
}
else if (cu == SSM1_CU_AirSusp)
{
msg[0] = SSMP1_CMD_READ_AIRSUSP;
msglen = 4;
}
else if (cu == SSM1_CU_PwrSteer)
{
msg[0] = SSMP1_CMD_READ_POWERSTEERING;
msglen = 4;
}
else
return false;
char highaddrbyte = (dataaddr & 0xffff) >> 8;
char lowaddrbyte = dataaddr & 0xff;
msg[1] = highaddrbyte;
msg[2] = lowaddrbyte;
msg[3] = '\x00';
return sendMsg(msg, msglen);
/* TODO: add block read support for newer ECUs/TCUs
=> make nrofbytes a fcn parameter */
}
int main()
{
#ifdef WINDOWS_XP
// Initialize the winsock library
WSADATA wsaData;
winLog << "system started ..." << endl;
winLog << endl << "initialize the winsock library ... ";
try
{
if (WSAStartup(0x101, &wsaData))
{
myException* initializationException = new myException(0,"Error: calling WSAStartup()");
throw initializationException;
}
}
catch(myException* excp)
{
excp->response();
delete excp;
exit(1);
}
winLog << "successful" << endl;
#endif
// get local information if neither the name or the address is given
winLog << endl;
winLog << "Retrieve the local host name and address:" << endl;
myHostInfo uHostAddress;
string localHostName = uHostAddress.getHostName();
string localHostAddr = uHostAddress.getHostIPAddress();
cout << "------------------------------------------------------" << endl;
cout << " My local host information:" << endl;
cout << " Name: " << localHostName << endl;
cout << " Address: " << localHostAddr << endl;
cout << "------------------------------------------------------" << endl;
winLog << " ==> Name: " << localHostName << endl;
winLog << " ==> Address: " << localHostAddr << endl;
// open socket on the local host
myTcpSocket myServer(PORTNUM);
cout << myServer;
winLog << "server configuation: " << endl;
winLog << myServer;
myServer.bindSocket();
cout << endl << "server finishes binding process... " << endl;
winLog << endl << "server finishes binding process... " << endl;
myServer.listenToClient();
cout << "server is listening to the port ... " << endl;
winLog << "server is listening to the port ... " << endl;
// wait to accept a client connection.
// processing is suspended until the client connects
cout << "server is waiting for client connecction ... " << endl;
winLog << "server is waiting for client connnection ... " << endl;
myTcpSocket* client; // connection dedicated for client communication
string clientHost; // client name etc.
client = myServer.acceptClient(clientHost);
cout << endl << "==> A client from [" << clientHost << "] is connected!" << endl << endl;
winLog << endl << "==> A client from [" << clientHost << "] is connected!" << endl << endl;
while(1)
{
string clientMessageIn = "";
// receive from the client
int numBytes = client->recieveMessage(clientMessageIn);
if ( numBytes == -99 ) break;
cout << "[RECV:" << clientHost << "]: " << clientMessageIn << endl;
winLog << "[RECV:" << clientHost << "]: " << clientMessageIn << endl;
// send to the clien
char sendmsg[MAX_MSG_LEN+1];
memset(sendmsg,0,sizeof(sendmsg));
cout << "[" << localHostName << ":SEND] ";
cin.getline(sendmsg,MAX_MSG_LEN);
if ( numBytes == -99 ) break;
string sendMsg(sendmsg);
if ( sendMsg.compare("Bye") == 0 || sendMsg.compare("bye") == 0 )
break;
//cout << "[" << localHostName << ": SEND] " << sendMsg << endl;
winLog << "[" << localHostName << ": SEND] " << sendMsg << endl;
client->sendMessage(sendMsg);
}
#ifdef WINDOWS_XP
// Close the winsock library
winLog << endl << "system shut down ...";
try
{
if (WSACleanup())
{
myException* cleanupException = new myException(0,"Error: calling WSACleanup()");
throw cleanupException;
}
}
catch(myException* excp)
{
excp->response();
delete excp;
exit(1);
}
winLog << "successful" << endl;
#endif
return 1;
}
void Marmote_SetFrequency(FT_HANDLE ftHandle, uint32_t freq_hz)
{
uint8_t txBuffer[4];
memcpy(txBuffer, &freq_hz, sizeof(freq_hz));
sendMsg(ftHandle, SDR, SET_FREQUENCY, txBuffer, sizeof(freq_hz));
}
