int resetSimulation(rtSimulationThread_t *p_thread)
{
int i;
stopSimulation(p_thread);
pthread_mutex_lock(&p_thread->simulationMutex);
restartSimulation(&p_thread->simulation);
pthread_mutex_unlock(&p_thread->simulationMutex);
return 0;
}
/**
* Constructor.
* @param m pointer to main window
*/
Simulator::Simulator(MainWindow* m)
: QObject(m)
{
main = m;
simdlg = new SimulatorDlgImpl((QWidget*)main);
current_state=NULL;
connect(simdlg, SIGNAL(closing()), this, SLOT(stopSimulation()) );
connect(simdlg, SIGNAL(inputSent()), this, SLOT(next()) );
connect(simdlg, SIGNAL(resetPressed()), this, SLOT(reset()) );
}
MainWindow::MainWindow()
{
loadMapAction = new QAction( tr("Load Map"), this );
startSimAction = new QAction( tr("Start Simulation"), this );
stopSimAction = new QAction( tr("Stop Simulation"), this );
exitAction = new QAction( tr("Exit"), this );
aboutAction = new QAction( tr("About"), this );
connect( loadMapAction, SIGNAL(triggered()), this, SLOT(loadMap()) );
connect( startSimAction, SIGNAL(triggered()), this, SLOT(startSimulation()) );
connect( stopSimAction, SIGNAL(triggered()), this, SLOT(stopSimulation()) );
connect( exitAction, SIGNAL(triggered()), this, SLOT(exit()) );
connect( aboutAction, SIGNAL(triggered()), this, SLOT(about()) );
topMenu = menuBar()->addMenu( tr("File") );
topMenu->addAction( loadMapAction );
topMenu->addSeparator();
topMenu->addAction( startSimAction );
topMenu->addAction( stopSimAction );
topMenu->addSeparator();
topMenu->addAction( exitAction );
customiseMapAction = new QAction( tr("Customise Map"), this );
connect( customiseMapAction, SIGNAL(triggered()), this, SLOT(customiseMap()) );
topMenu = menuBar()->addMenu( tr("Options") );
topMenu->addAction( customiseMapAction );
topMenu = menuBar()->addMenu( tr("Help") );
topMenu->addAction( aboutAction );
showMaximized();
drawMain = new DrawWidgetMW();
setCentralWidget( drawMain );
simthread = new QThread();
simwrk = new SimulationWorker( drawMain );
simwrk->moveToThread( simthread );
statusBar();
statusBar()->addPermanentWidget( &scaleLabel );
connect( simthread, SIGNAL(started()), simwrk, SLOT(startModeling()) );
connect( simwrk, SIGNAL(finished()), simthread, SLOT(quit()) );
connect( drawMain, SIGNAL( sendScale( int ) ), this, SLOT( showScale( const int ) ) );
setWindowTitle( tr("Water Movement Simulation Tool") );
}
RobotVREP::~RobotVREP()
{
if (video_recording_flag)
{
setVideoRecordingMode(false);
}
if (simulation_in_progress)
{
stopSimulation();
}
simxFinish(clientID);
vrep_error.close();
}
void Mediator::handleDispatcher(int index){
int fd = socketManager->getConnectedFD(index);
char messageIN[BUFFER_SIZE];
int rd = ioStream->readLine(fd, messageIN, BUFFER_SIZE);
if (rd > 0){
cout << "[From Dispatcher...]\t" << messageIN << flush;
vector<char*> tokens ;
char* token = strtok(messageIN, "|");
while (token != NULL){
tokens.push_back(token);
token = strtok(NULL, "|\n");
}
if (strcmp(tokens[0],"setupEnv") == 0)
setupEnv(tokens, fd);
else if (strcmp(tokens[0], "disconnect")==0){
disconnect(tokens[1], fd);
}
else if (strcmp(tokens[0], "BG_putFile")==0){
BG_put_file(tokens[1], atol(tokens[2]), fd);
}
else if (strcmp(tokens[0], "BG_start") == 0){
BG_start(tokens[1], atol(tokens[2]));
}
else if (strcmp(tokens[0], "JOB_STOP") ==0 ){
// processList.stopAll();
// becomeFree();
stopSimulation("dispatcher");
becomeFree();
simulationFinished();
}
else if (strcmp(tokens[0], "JOB_ABORT") ==0 ){
abortSimulation();
}
else if (strcmp(tokens[0], "getTick\n") == 0){
getTick(fd);
}
else
cout << "else?" << endl << flush;
}
else{
socketManager->closeByIndex(index);
cout << "Dispatcher Closed" << endl << flush;
}
}
static void* runThread(void *arg)
{
rate_t loopRate;
int ret = 0;
rtSimulationThread_t *simulationThread = (rtSimulationThread_t*) arg;
//allegro has to be initialized int thread
//allegro creates thread -> shall inherit from this one
ret = initAllegroComponents(simulationThread);
if(ret != 0)
exit(0);
PRINT_INFO("SimulationThread started.\n");
simulationThread->running = 1;
simulationThread->exitCode = initRate(&loopRate, SIMULATION_RATE);
if(simulationThread->exitCode != 0) {
PRINT_ERR("Failed to init rate (%d).\n", simulationThread->exitCode);
simulationThread->keepRunning = 0;
}
while(simulationThread->keepRunning) {
//EXEC RESTART_TIME_TAKING(simulationExecutionTime);
RESTART_TIME_TAKING(simulationReactionTime);
if(simulationThread->simulate) {
// simulate the crash simulation for one timestep
ret = stepSimulationThreadSafe(simulationThread);
if(ret != 0)
stopSimulation(simulationThread);
}
drawSimulationThreadSafe(simulationThread, ret);
//EXEC STOP_TIME_TAKING(simulationExecutionTime);
STOP_TIME_TAKING(simulationReactionTime);
simulationThread->exitCode = sleepRate(&loopRate);
if(simulationThread->exitCode != 0) {
PRINT_ERR("Failed to sleep (%d).\n", simulationThread->exitCode);
simulationThread->keepRunning = 0;
}
}
destroyAllegroComponents(simulationThread);
simulationThread->running = 0;
PRINT_INFO("SimulationThread terminated.\n");
pthread_exit(&simulationThread->exitCode);
}
FormSimulator::FormSimulator(FormMain* parent)
: QDialog(parent), m_ui(new Ui::FormSimulator), m_mainWindow(parent), m_isActive(false), m_activeSimulation(NULL) {
m_ui->setupUi(this);
// Load some needed settings.
m_isVisibleOnStartup = qApp->settings()->value(APP_CFG_SIMULATOR, "visible_on_startup", false).toBool();
m_isSticked = qApp->settings()->value(APP_CFG_SIMULATOR, "is_sticked", false).toBool();
// Do necessary initializations.
setupIcons();
setupPhoneWidget();
connect(parent, SIGNAL(moved()), this, SLOT(conditionallyAttachToParent()));
connect(parent, SIGNAL(resized()), this, SLOT(conditionallyAttachToParent()));
connect(m_ui->m_btnRunSimulation, SIGNAL(clicked()), this, SLOT(startSimulation()));
connect(m_ui->m_btnStopSimulation, SIGNAL(clicked()), this, SLOT(stopSimulation()));
connect(m_ui->m_btnGoBack, SIGNAL(clicked()), this, SLOT(goBack()));
connect(this, SIGNAL(stopEnableChanged(bool)), m_ui->m_btnStopSimulation, SLOT(setEnabled(bool)));
// This window mustn't be deleted when closed by user.
setAttribute(Qt::WA_DeleteOnClose, false);
setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint);
}
void MainWindow::Toolbar()
{
QPixmap openIcon((const char**) open_xpm);
QPixmap redoIcon((const char**) redo_xpm);
QPixmap simulateIcon((const char**) simulate_xpm);
QPixmap stopIcon((const char**) stop_xpm);
QPixmap cameraIcon((const char**) camera_xpm);
QPixmap filmIcon((const char**) film_xpm);
QPixmap frontViewIcon((const char**) frontView_xpm);
QPixmap topViewIcon((const char**) topView_xpm);
QPixmap rightSideViewIcon((const char**) rightSideView_xpm);
toolbar = addToolBar("main toolbar");
QAction *open = toolbar->addAction(QIcon(openIcon), "Open Scene (Ctrl + O)");
QAction *redo = toolbar->addAction(QIcon(redoIcon), "Load last viewed scene (Ctrl + Shift + Q)");
toolbar->addSeparator();
QAction *simulate = toolbar->addAction(QIcon(simulateIcon), "Start Simulation (Ctrl + R");
QAction *stop = toolbar->addAction(QIcon(stopIcon), "Stop Simulation (Ctrl + C");
stop->setVisible(false);
toolbar->addSeparator();
QAction *camera = toolbar->addAction(QIcon(cameraIcon), "Export screenshot");
QAction *film = toolbar->addAction(QIcon(filmIcon), "Export film sequence");
toolbar->addSeparator();
QAction *front = toolbar->addAction(QIcon(frontViewIcon), "View scene from front");
QAction *top = toolbar->addAction(QIcon(topViewIcon), "View scene from top");
QAction *rightSide = toolbar->addAction(QIcon(rightSideViewIcon), "View scene from right");
connect(open, SIGNAL(triggered()), this, SLOT(loadScene()));
connect(redo, SIGNAL(triggered()), this, SLOT(quickLoad()));
connect(simulate, SIGNAL(triggered()), this, SLOT(startSimulation()));
connect(stop, SIGNAL(triggered()), this, SLOT(stopSimulation()));
connect(camera, SIGNAL(triggered()), this, SLOT(camera()));
connect(film, SIGNAL(triggered()), this, SLOT(film()));
connect(front, SIGNAL(triggered()), this, SLOT(front()));
connect(top, SIGNAL(triggered()), this, SLOT(top()));
connect(rightSide, SIGNAL(triggered()), this, SLOT(side()));
}
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();
}
}
}
/**
* @brief Data::initialize initilize all important containers.
* @param mainWindow
*/
void Data::initialize(MainWindow *mainWindow) {
changed = false;
this->mainWindow = mainWindow;
// connect start and stop signals
connect(mainWindow->ui->actionRun_Mesh, SIGNAL(triggered()), this,
SLOT(runMesh()));
connect(mainWindow->ui->actionStop_Simulation, SIGNAL(triggered()),this,SLOT(stopSimulation()));
//connect the on click even of items in node category list
connect(mainWindow->ui->NodeCategories_List,SIGNAL(itemClicked(QListWidgetItem*)),
this, SLOT(onNodeCategoryItemClicked(QListWidgetItem*)));
/**
* Create the Nodecatalog
*/
if (nodeCatalog) delete nodeCatalog;
nodeCatalog = new NodeCatalog();
/**
* Create the render object
*/
SingletonRender::instance();
/**
* Create the NodeFactory
*/
if (nodeFactory) delete nodeFactory;
this->nodeFactory = new NodeFactory();
/**
* Initialize stored settings
*/
SettingsHandler::setSettingsPath(QApplication::applicationDirPath() +
"/settings.ini");
/**
* Initialize settings from .ini file
*/
SettingsHandler::initializeSettings();
/**
* Checks if Framework path is set
*/
if (!SettingsHandler::contains("frameworkpath")){
int choice = QMessageBox::information(
0, QString("Please, set your framework path"),
QString("You haven't set your framework path yet.\nChoose first!"),
"Choose", "Ignore");
if (choice == 1) return;
QString fileName = QFileDialog::getOpenFileName(
mainWindow, "Set your framework path", "", "");
SettingsHandler::storeSetting("frameworkpath", fileName);
}
AniseCommunicator::setFrameworkPath(
SettingsHandler::getSetting("frameworkpath"));
/**
* Start loading node types
* Load all available NodeTypes
*/
QString out = AniseCommunicator::getAllNodeTypes();
JsonFileHandler::parseNodeTypesFromAnise(out);
/**
* Render the Nodecatalog depending on Category filled with test nodes
*/
displayNodeCategory(Data::instance()->getNodeCatalog()->getContentVector());
}
void Simulation::reset() {
stopSimulation();
gripper_.reset();
info_.reset();
}
void MainWindow::createActions()
{
//loadAct
loadSceneAct = new QAction(tr("&Load Scene"), this);
loadSceneAct->setShortcut(Qt::CTRL + Qt::Key_O);
loadSceneAct->setStatusTip(tr("Load scene"));
connect(loadSceneAct, SIGNAL(triggered()), this, SLOT(loadScene()));
//quickLoadAct
quickLoadAct = new QAction(tr("&Quick Load"), this);
quickLoadAct->setShortcut(Qt::SHIFT + Qt::CTRL + Qt::Key_Q);
quickLoadAct->setStatusTip(tr("Load last scene"));
connect(quickLoadAct, SIGNAL(triggered()), this, SLOT(quickLoad()));
//saveSceneAct
saveSceneAct = new QAction(tr("&Save Scene"), this);
saveSceneAct->setShortcut(Qt::CTRL + Qt::Key_S);
saveSceneAct->setStatusTip(tr("Save Scene"));
connect(saveSceneAct, SIGNAL(triggered()), this, SLOT(saveScene()));
loadPluginFileAct = new QAction(tr("&Load Plugin"), this);
loadPluginFileAct->setShortcut(Qt::CTRL + Qt::Key_L);
loadPluginFileAct->setStatusTip(tr("Load plugin file"));
connect(loadPluginFileAct, SIGNAL(triggered()), this, SLOT(loadPluginFileWithDialog()));
loadPluginDirAct = new QAction(tr("&Load Plugin Directory"), this);
loadPluginDirAct->setShortcut(Qt::CTRL + Qt::SHIFT + Qt::Key_L);
loadPluginDirAct->setStatusTip(tr("Load all plugins in directory"));
connect(loadPluginDirAct, SIGNAL(triggered()), this, SLOT(loadPluginDirWithDialog()));
/// save workspace configuration action
saveWorkspaceConfigurationAct = new QAction(tr("Save Workspace"), this);
saveWorkspaceConfigurationAct->setStatusTip(tr("Save the configuration of the workspace"));
connect(saveWorkspaceConfigurationAct, SIGNAL(triggered()), this, SLOT(saveWorkspace()));
/// save new workspace configuration action
saveNewWorkspaceConfigurationAct = new QAction(tr("Save Workspace As..."), this);
saveNewWorkspaceConfigurationAct->setStatusTip(tr("Save a new workspace configuration"));
connect(saveNewWorkspaceConfigurationAct, SIGNAL(triggered()), this, SLOT(saveNewWorkspace()));
/// load workspace configuration action
loadWorkspaceConfigurationAct = new QAction(tr("Load Workspace"), this);
loadWorkspaceConfigurationAct->setStatusTip(tr("Load a workspace configuration"));
connect(loadWorkspaceConfigurationAct, SIGNAL(triggered()), this, SLOT(loadWorkspace()));
//closeAct
closeSceneAct = new QAction(tr("&Close"), this);
closeSceneAct->setShortcut(Qt::CTRL + Qt::Key_W);
closeSceneAct->setStatusTip(tr("Close Scene"));
connect(closeSceneAct, SIGNAL(triggered()), this, SLOT(close()));
//exitAct
exitAct = new QAction(tr("&Exit"), this);
exitAct->setShortcuts(QKeySequence::Quit);
exitAct->setStatusTip(tr("Exit the application"));
connect(exitAct, SIGNAL(triggered()), this, SLOT(exit()));
//frontAct
frontAct = new QAction(tr("Front"), this);
frontAct->setStatusTip(tr("Camera Front View"));
connect(frontAct, SIGNAL(triggered()), this, SLOT(front()));
//topAct
topAct = new QAction(tr("Top"), this);
topAct->setStatusTip(tr("Camera Top View"));
connect(topAct, SIGNAL(triggered()), this, SLOT(top()));
//sideAct
sideAct = new QAction(tr("Side"), this);
sideAct->setStatusTip(tr("Camera Side View"));
connect(sideAct, SIGNAL(triggered()), this, SLOT(side()));
//startSimulationAct
startSimulationAct = new QAction(tr("Start Simulation"), this);
startSimulationAct->setShortcut(Qt::CTRL + Qt::Key_R);
connect(startSimulationAct, SIGNAL(triggered()), this, SLOT(startSimulation()));
//stopSimulationAct
stopSimulationAct = new QAction(tr("Stop Simulation"), this);
stopSimulationAct->setShortcut(Qt::CTRL + Qt::Key_C);
connect(stopSimulationAct, SIGNAL(triggered()), this, SLOT(stopSimulation()));
//simulateSingleStepAct
simulateSingleStepAct = new QAction(tr("Simulate Single Step"), this);
simulateSingleStepAct->setStatusTip(tr("Simulates one step at a time"));
simulateSingleStepAct->setShortcut(Qt::CTRL + Qt::SHIFT + Qt::Key_R);
connect(simulateSingleStepAct, SIGNAL(triggered()), this, SLOT(simulateSingleStep()));
//renderDuringSimulationAct
renderDuringSimulationAct = new QAction(tr("Render during Simulation"), this);
connect(renderDuringSimulationAct, SIGNAL(triggered()), this, SLOT(renderDuringSimulation()));
//whiteAct
whiteAct = new QAction(tr("White"), this);
connect(whiteAct, SIGNAL(triggered()), this, SLOT(white()));
//grayAct
grayAct = new QAction(tr("Gray"), this);
connect(grayAct, SIGNAL(triggered()), this, SLOT(gray()));
//BlackAct
blackAct = new QAction(tr("Black"), this);
connect(blackAct, SIGNAL(triggered()), this, SLOT(black()));
//resetCameraAct
resetCameraAct = new QAction(tr("Reset Camera"), this);
resetCameraAct->setStatusTip(tr("Reset Camera Angle"));
connect(resetCameraAct, SIGNAL(triggered()), this, SLOT(resetCamera()));
//xga1024x768Act
xga1024x768Act = new QAction(tr("XGA 1024 x 768"), this);
xga1024x768Act->setCheckable(true);
xga1024x768Act->setChecked(true);
connect(xga1024x768Act, SIGNAL(triggered()), this, SLOT(xga1024x768()));
//vga640x480Act
vga640x480Act = new QAction(tr("VGA 640 x 768"), this);
vga640x480Act->setCheckable(true);
connect(vga640x480Act, SIGNAL(triggered()), this, SLOT(vga640x480()));
//hd1280x720Act
hd1280x720Act = new QAction(tr("HD 1280 x 720"), this);
hd1280x720Act->setCheckable(true);
connect(hd1280x720Act, SIGNAL(triggered()), this, SLOT(hd1280x720()));
//aboutAct
aboutAct = new QAction(tr("About"), this);
aboutAct->setShortcut(Qt::Key_F1);
connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
}
