void ViZscoreNoiseDetector::setWindowSize(const int &size)
{
mWindowSize = size;
mHalfWindow = qFloor(size / 2.0);
setOffset(mHalfWindow);
}
void NotePlayHandle::play( sampleFrame * _working_buffer )
{
if( m_muted )
{
return;
}
// if the note offset falls over to next period, then don't start playback yet
if( offset() >= Engine::mixer()->framesPerPeriod() )
{
setOffset( offset() - Engine::mixer()->framesPerPeriod() );
return;
}
lock();
if( m_frequencyNeedsUpdate )
{
updateFrequency();
}
// number of frames that can be played this period
f_cnt_t framesThisPeriod = m_totalFramesPlayed == 0
? Engine::mixer()->framesPerPeriod() - offset()
: Engine::mixer()->framesPerPeriod();
// check if we start release during this period
if( m_released == false &&
instrumentTrack()->isSustainPedalPressed() == false &&
m_totalFramesPlayed + framesThisPeriod > m_frames )
{
noteOff( m_totalFramesPlayed == 0
? ( m_frames + offset() ) // if we have noteon and noteoff during the same period, take offset in account for release frame
: ( m_frames - m_totalFramesPlayed ) ); // otherwise, the offset is already negated and can be ignored
}
// under some circumstances we're called even if there's nothing to play
// therefore do an additional check which fixes crash e.g. when
// decreasing release of an instrument-track while the note is active
if( framesLeft() > 0 )
{
// clear offset frames if we're at the first period
// skip for single-streamed instruments, because in their case NPH::play() could be called from an IPH without a buffer argument
// ... also, they don't actually render the sound in NPH's, which is an even better reason to skip...
if( m_totalFramesPlayed == 0 && ! ( m_instrumentTrack->instrument()->flags() & Instrument::IsSingleStreamed ) )
{
memset( _working_buffer, 0, sizeof( sampleFrame ) * offset() );
}
// play note!
m_instrumentTrack->playNote( this, _working_buffer );
}
if( m_released )
{
f_cnt_t todo = framesThisPeriod;
// if this note is base-note for arpeggio, always set
// m_releaseFramesToDo to bigger value than m_releaseFramesDone
// because we do not allow NotePlayHandle::isFinished() to be true
// until all sub-notes are completely played and no new ones
// are inserted by arpAndChordsTabWidget::processNote()
if( ! m_subNotes.isEmpty() )
{
m_releaseFramesToDo = m_releaseFramesDone + 2 * Engine::mixer()->framesPerPeriod();
}
// look whether we have frames left to be done before release
if( m_framesBeforeRelease )
{
// yes, then look whether these samples can be played
// within one audio-buffer
if( m_framesBeforeRelease <= framesThisPeriod )
{
// yes, then we did less releaseFramesDone
todo -= m_framesBeforeRelease;
m_framesBeforeRelease = 0;
}
else
{
// no, then just decrease framesBeforeRelease
// and wait for next loop... (we're not in
// release-phase yet)
todo = 0;
m_framesBeforeRelease -= framesThisPeriod;
}
}
// look whether we're in release-phase
if( todo && m_releaseFramesDone < m_releaseFramesToDo )
{
// check whether we have to do more frames in current
// loop than left in current loop
if( m_releaseFramesToDo - m_releaseFramesDone >= todo )
{
// yes, then increase number of release-frames
// done
m_releaseFramesDone += todo;
}
else
{
// no, we did all in this loop!
m_releaseFramesDone = m_releaseFramesToDo;
}
}
}
// update internal data
m_totalFramesPlayed += framesThisPeriod;
unlock();
}
/**
* Constructor.
*/
QG_GraphicView::QG_GraphicView(QWidget* parent, Qt::WindowFlags f, RS_Document* doc)
:RS_GraphicView(parent, f)
,hScrollBar(new QG_ScrollBar(Qt::Horizontal, this))
,vScrollBar(new QG_ScrollBar(Qt::Vertical, this))
,layout(new QGridLayout(this))
,gridStatus(new QLabel("-", this))
,curCad(new QCursor(QPixmap(":ui/cur_cad_bmp.png"), CURSOR_SIZE, CURSOR_SIZE))
,curDel(new QCursor(QPixmap(":ui/cur_del_bmp.png"), CURSOR_SIZE, CURSOR_SIZE))
,curSelect(new QCursor(QPixmap(":ui/cur_select_bmp.png"), CURSOR_SIZE, CURSOR_SIZE))
,curMagnifier(new QCursor(QPixmap(":ui/cur_glass_bmp.png"), CURSOR_SIZE, CURSOR_SIZE))
,curHand(new QCursor(QPixmap(":ui/cur_hand_bmp.png"), CURSOR_SIZE, CURSOR_SIZE))
,redrawMethod(RS2::RedrawAll)
,isSmoothScrolling(false)
{
RS_DEBUG->print("QG_GraphicView::QG_GraphicView()..");
RS_DEBUG->print(" Setting Container..");
if (doc) {
setContainer(doc);
doc->setGraphicView(this);
}
RS_DEBUG->print(" container set.");
setFactorX(4.0);
setFactorY(4.0);
setOffset(50, 50);
setBorders(10, 10, 10, 10);
if (doc) {
setDefaultAction(new RS_ActionDefault(*doc, *this));
}
layout->setMargin(0);
layout->setSpacing(0);
layout->setColumnStretch(0, 1);
layout->setColumnStretch(1, 0);
layout->setColumnStretch(2, 0);
layout->setRowStretch(0, 1);
layout->setRowStretch(1, 0);
hScrollBar->setSingleStep(50);
hScrollBar->setCursor(Qt::ArrowCursor);
layout->addWidget(hScrollBar, 1, 0);
layout->addItem(new QSpacerItem(0, hScrollBar->sizeHint().height()), 1, 0);
connect(hScrollBar, SIGNAL(valueChanged(int)),
this, SLOT(slotHScrolled(int)));
vScrollBar->setSingleStep(50);
vScrollBar->setCursor(Qt::ArrowCursor);
layout->addWidget(vScrollBar, 0, 2);
layout->addItem(new QSpacerItem(vScrollBar->sizeHint().width(), 0), 0, 2);
connect(vScrollBar, SIGNAL(valueChanged(int)),
this, SLOT(slotVScrolled(int)));
// Dummy widgets for scrollbar corners:
//layout->addWidget(new QWidget(this), 1, 1);
//QWidget* w = new QWidget(this);
//w->setEraseColor(QColor(255,0,0));
gridStatus->setAlignment(Qt::AlignRight);
layout->addWidget(gridStatus, 1, 1, 1, 2);
layout->addItem(new QSpacerItem(50, 0), 0, 1);
setMouseTracking(true);
// flickering under win:
//setFocusPolicy(WheelFocus);
setFocusPolicy(Qt::NoFocus);
// See https://sourceforge.net/tracker/?func=detail&aid=3289298&group_id=342582&atid=1433844 (Left-mouse drag shrinks window)
setAttribute(Qt::WA_NoMousePropagation);
int aa = RS_SETTINGS->readNumEntry("/Appearance/Antialiasing");
set_antialiasing(aa?true:false);
}
void AudioInfo::operator=(const IAudioInfo &info){
setSamples(info.getSamples());
setOffset(info.getOffset());
setSamplerate(info.getSamplerate());
setChannels(info.getChannels());
}
bool Wind::buttonPressCallback( GuiButton* b )
{
//oflog( of_log_verbose, "button pressed: %s (%s)", b->gettitle().c_str(), b->gettag().c_str() );
bool close_menu = false;
string tag = b->getTag();
if ( tag == "view_focus" )
{
showing_image = SI_FOCUS;
if ( xoffs == -1 )
{
xoffs = colorImg.getWidth()/2-80;
yoffs = colorImg.getHeight()/2-60;
}
}
else if ( tag == "view_focus_centre" )
{
xoffs = colorImg.getWidth()/2-80;
yoffs = colorImg.getHeight()/2-60;
}
else if ( tag == "view_focus_left" )
{
xoffs = max(0,xoffs-10);
}
else if ( tag == "view_focus_right" )
{
xoffs = min(int(colorImg.getWidth()-160),xoffs+10);
}
else if ( tag == "view_focus_up" )
{
yoffs = max(0,yoffs-10);
}
else if ( tag == "view_focus_down" )
{
yoffs = min(int(colorImg.getHeight()-120),yoffs+10);
}
else if ( tag == "view_none" )
showing_image = SI_NONE;
else if ( tag == "view_diff" )
showing_image = SI_DIFF;
else if ( tag == "view_gray_contrasted" )
showing_image = SI_GRAY_CONTRASTED;
else if ( tag == "calc_cont1_+" )
setContrast1( contrast_1 * 1.05f );
else if ( tag == "calc_cont1_-" )
setContrast1( contrast_1 / 1.05f );
#ifndef NEW_TINY
else if ( tag == "calc_cont2_+" )
setContrast2( contrast_2 * 1.05f );
else if ( tag == "calc_cont2_-" )
setContrast2( contrast_2 / 1.05f );
#endif
else if ( tag == "calc_stride_+" )
setStride( stride+1 );
else if ( tag == "calc_stride_-" )
setStride( stride-1 );
else if ( tag == "calc_offset_+" )
setOffset( offset+1 );
else if ( tag == "calc_offset_-" )
setOffset( offset-1 );
else if ( tag == "calc_step_+" )
setStep( step + 0.25f );
else if ( tag == "calc_step_-" )
setStep( step - 0.25f );
else if ( tag == "calc_hsv_seth" )
setWhichHSVChannel(0);
else if ( tag == "calc_hsv_sets" )
setWhichHSVChannel(1);
else if ( tag == "calc_hsv_setv" )
setWhichHSVChannel(2);
else if ( tag == "calc_hsv_setall" )
setWhichHSVChannel(3);
else if ( tag == "sys_save" )
{
((testApp*)ofGetAppPtr())->saveSettings();
close_menu = true;
}
else if ( tag == "sys_reboot_n" || tag == "sys_shutdown_n" )
close_menu = true;
else if ( tag == "sys_shutdown_y" )
system("sudo poweroff");
else if ( tag == "sys_reboot_y" )
system("sudo reboot");
else if ( tag == "sys_cyclewifi" )
{
system("sudo cyclewlan0" );
close_menu = true;
}
return close_menu;
}
void Wind::setup( ofxXmlSettings& data )
{
tiny = (unsigned char*)malloc( TINY_WIDTH*TINY_HEIGHT );
draw_debug = false;
first_frame = true;
pd = new ofxPd();
pd->init( 0,2,FREQ );
pd->openPatch( "sound1/_main.pd" );
bLearnBakground = true;
threshold = 30;
data_send_start_timer = DATA_SEND_START_TIMER;
#ifdef SCREEN
screen.setup( "/dev/spidev1.1", /*SPI_CPHA | SPI_CPOL*/0, 40000000 );
input.setup( "/dev/spidev1.0", 0, 10000000 );
if ( !input.loadCalibration( data ) )
{
input.startCalibration();
}
#endif
// gui
gui.setup( 320, 240 );
gui.setListener( this );
gui.addButton( "View", "view" );
gui.addButton( "view", "None", "view_none" );
gui.addButton( "view", "Focus", "view_focus" );
gui.addButton( "view_focus", "Centre", "view_focus_centre" );
gui.addButton( "view_focus", "<-", "view_focus_left" );
gui.addButton( "view_focus", "->", "view_focus_right" );
gui.addButton( "view_focus", "/\\", "view_focus_up" );
gui.addButton( "view_focus", "\\/", "view_focus_down" );
gui.addButton( "view", "Calc", "view_calc" );
gui.addButton( "view_calc", "GrayCn", "view_gray_contrasted" );
gui.addButton( "view_calc", "Diff", "view_diff" );
gui.addButton( "Calc", "calc" );
gui.addButton( "calc", "Cont 1", "calc_cont1" );
gui.addButton( "calc_cont1", "+", "calc_cont1_+" );
gui.addButton( "calc_cont1", "-", "calc_cont1_-" );
#ifndef NEW_TINY
gui.addButton( "calc", "Cont 2", "calc_cont2" );
gui.addButton( "calc_cont2", "+", "calc_cont2_+" );
gui.addButton( "calc_cont2", "-", "calc_cont2_-" );
#endif
gui.addButton( "calc", "Offset", "calc_offset" );
gui.addButton( "calc_offset", "+", "calc_offset_+" );
gui.addButton( "calc_offset", "-", "calc_offset_-" );
gui.addButton( "calc", "Stride", "calc_stride" );
gui.addButton( "calc_stride", "+", "calc_stride_+" );
gui.addButton( "calc_stride", "-", "calc_stride_-" );
gui.addButton( "calc", "Step", "calc_step" );
gui.addButton( "calc_step", "+", "calc_step_+" );
gui.addButton( "calc_step", "-", "calc_step_-" );
gui.addButton( "calc", "HSV", "calc_hsv" );
gui.addButton( "calc_hsv", "H(0)", "calc_hsv_seth" );
gui.addButton( "calc_hsv", "S(1)", "calc_hsv_sets" );
gui.addButton( "calc_hsv", "V(2)", "calc_hsv_setv" );
gui.addButton( "calc_hsv", "All(3)", "calc_hsv_setall" );
gui.addButton( "Sys", "sys" );
gui.addButton( "sys", "Save", "sys_save" );
gui.addButton( "sys", "S/down", "sys_shutdown" );
gui.addButton( "sys_shutdown", "S/down", "sys_shutdown_y" );
gui.addButton( "sys_shutdown", "Cancel", "sys_shutdown_n" );
gui.addButton( "sys", "Reboot", "sys_reboot" );
gui.addButton( "sys_reboot", "Reboot", "sys_reboot_y" );
gui.addButton( "sys_reboot", "Cancel", "sys_reboot_n" );
gui.addButton( "sys", "CyWifi", "sys_cyclewifi" );
gui.addValue( "Contr1", "cont1", "%.2f" );
gui.addValue( "Contr2", "cont1", "%.2f" );
gui.addValue( "Offset", "offset", "%.0f" );
gui.addValue( "Stride", "stride", "%.0f" );
gui.addValue( "Step", "step", "%.2f" );
gui.addValue( "HSV", "hsv", "%.0f" );
showing_image = SI_NONE;
prev_showing_image = SI_FOCUS;
xoffs = -1;
yoffs = -1;
setWhichHSVChannel( data.getValue( "which_hsv_channel", DEFAULT_HSV_CHANNEL ));
setContrast1(data.getValue("contrast_1", DEFAULT_CONTRAST_1 ));
setContrast2(data.getValue("contrast_2", DEFAULT_CONTRAST_2 ));
setStride(data.getValue( "stride", DEFAULT_STRIDE ));
setOffset(data.getValue( "offset", DEFAULT_OFFSET ));
setStep(data.getValue( "step", DEFAULT_STEP ));
}
void ShiftImageTimesDialog::dcDateTimeChanged(const QDateTime &newDateTime)
{
if (!dcImageEpoch)
return;
setOffset(newDateTime.toTime_t() - dcImageEpoch);
}
/**
*@brief サインスマート製4自由度ロボットアーム制御クラスのコンストラクタ
*/
RobotArm::RobotArm()
{
jl = new Vector3d[4];
pl = new Vector3d[4];
l[0] = ArmLength0;
l[1] = ArmLength1;
l[2] = ArmLength2;
l[3] = ArmLength3;
lh = HandLength;
lf = FingerLength;
m[0] = ArmMath0;
m[1] = ArmMath1;
m[2] = ArmMath2;
m[3] = ArmMath3;
mh = HandMath;
mf = FingerMath;
wi = ArmWidth;
wf = FingerWidth;
hi = ArmHeight;
hf = FingerHeight;
rh = HandRadius;
jl[0](0) = 0;
jl[0](1) = 0;
jl[0](2) = 0;
pl[0](0) = jl[0](0);
pl[0](1) = jl[0](1);
pl[0](2) = jl[0](2)+l[0]/2;
jl[1](0) = pl[0](0);
jl[1](1) = pl[0](1);
jl[1](2) = pl[0](2)+l[0]/2;
pl[1](0) = jl[1](0);
pl[1](1) = jl[1](1);
pl[1](2) = jl[1](2)+l[1]/2;
jl[2](0) = pl[1](0);
jl[2](1) = pl[1](1);
jl[2](2) = pl[1](2)+l[1]/2;
pl[2](0) = jl[2](0);
pl[2](1) = jl[2](1);
pl[2](2) = jl[2](2)+l[2]/2;
jl[3](0) = pl[2](0);
jl[3](1) = pl[2](1);
jl[3](2) = pl[2](2)+l[2]/2;
pl[3](0) = jl[3](0);
pl[3](1) = jl[3](1)+l[3]/2;
pl[3](2) = jl[3](2);
jh(0) = pl[3](0);
jh(1) = pl[3](1)+l[3]/2;
jh(2) = pl[3](2);
ph(0) = jh(0);
//pyh = jyh+lh/2;
ph(1) = jh(1);
ph(2) = jh(2);
jf(0) = ph(0);
//jyf = pyh+lh/2;
jf(1) = ph(1);
jf(2) = ph(2);
pf(0) = jf(0);
pf(1) = jf(1);
pf(2) = jf(2)-lf/2;
hw = 0.02;
setAngle(0, 0, 0, 0);
dt = 0.01;
//endTime = -1;
//time = 0;
/*targetPoint(0) = 0;
targetPoint(1) = 0;
targetPoint(2) = 0;
startPoint(0) = 0;
startPoint(1) = 0;
startPoint(2) = 0;*/
setOffset(0,0,0,0);
Kp = 10;
Kjp = 10;
openGripper();
maxSpeedCartesian = Vector3d(1000, 1000, 1000);
maxSpeedJoint[0] = 1000;
maxSpeedJoint[1] = 1000;
maxSpeedJoint[2] = 1000;
maxSpeedJoint[3] = 1000;
softUpperLimitCartesian = Vector3d(1000, 1000, 1000);
softLowerLimitCartesian = Vector3d(-1000, -1000, -1000);
pauseFalg = false;
stopFalg = false;
//homePosition = Vector3d(0, 0, 0);
softUpperLimitJoint[0] = MOTOR_UPPER__LIMIT_0;
softUpperLimitJoint[1] = MOTOR_UPPER__LIMIT_1;
softUpperLimitJoint[2] = MOTOR_UPPER__LIMIT_2;
softUpperLimitJoint[3] = MOTOR_UPPER__LIMIT_3;
softLowerLimitJoint[0] = MOTOR_LOWER__LIMIT_0;
softLowerLimitJoint[1] = MOTOR_LOWER__LIMIT_1;
softLowerLimitJoint[2] = MOTOR_LOWER__LIMIT_2;
softLowerLimitJoint[3] = MOTOR_LOWER__LIMIT_3;
serbo = true;
manifactur = "SainSmart";
type = "DIY 4-Axis Servos Control Palletizing Robot Arm";
axisNum = 4;
cmdCycle = 50;
isGripper = false;
//speedPoint = 10;
//speedJointPos = 1;
MaxSpeedJoint[0] = 2;
MaxSpeedJoint[1] = 2;
MaxSpeedJoint[2] = 2;
MaxSpeedJoint[3] = 2;
MaxSpeedCartesianTrans = 0.5;
MaxSpeedCartesianRot = 2;
MinTime = dt;
jointOffset[0] = MOTOR_OFFSET_0;
jointOffset[1] = MOTOR_OFFSET_1;
jointOffset[2] = MOTOR_OFFSET_2;
jointOffset[3] = MOTOR_OFFSET_3;
}
