void DateEdit::catchTextChanged(const char *txt)
{
QDate *dat=new QDate;
QString str_tmp(txt);
if(dateValidator()->translateToDate(str_tmp,*dat) == QValidator::Acceptable)
{
if(lastValue==NULL)
{
lastValue=dat;
emit dateChanged(dat);
}
else
{
if((*dat)==(*lastValue))
{
delete dat;
}
else
{
delete lastValue;
lastValue=dat;
emit dateChanged(dat);
};
};
}
else
{
if(lastValue!=NULL)
{
emit dateChanged(NULL);
delete lastValue;
lastValue=NULL;
};
delete dat;
};
}
void CFootBotUN::Init(TConfigurationNode& t_node) {
/*
* Get sensor/actuator handles
*
* The passed string (ex. "footbot_wheels") corresponds to the XML tag of the device
* whose handle we want to have. For a list of allowed values, type at the command
* prompt:
*
* $ launch_argos -q actuators
*
* to have a list of all the possible actuators, or
*
* $ launch_argos -q sensors
*
* to have a list of all the possible sensors.
*
* NOTE: ARGoS creates and initializes actuators and sensors internally, on the basis of
* the lists provided the XML file at the <controllers><footbot_diffusion><actuators>
* and <controllers><footbot_diffusion><sensors> sections. If you forgot to
* list a device in the XML and then you request it here, an error occurs.
*/
m_pcWheels = dynamic_cast<CCI_FootBotWheelsActuator*>(GetRobot().GetActuator("footbot_wheels"));
m_pcLEDs = dynamic_cast<CCI_FootBotLedsActuator*>(GetRobot().GetActuator("footbot_leds"));
m_pcProximity = dynamic_cast<CCI_FootBotProximitySensor*>(GetRobot().GetSensor("footbot_proximity"));
//Min distance to the current position to the target point to determine it this is reached (meters)
//GetNodeAttributeOrDefault(t_node, "targetMinPointDistance", m_targetMinPointDistance, m_targetMinPointDistance);
std::string text;
if (NodeExists(t_node, "targetMinPointDistance")) {
GetNodeText(GetNode(t_node, "targetMinPointDistance"), text);
sscanf(text.c_str(), "%f", &m_targetMinPointDistance);
//m_targetMinPointDistance = fmin(MAX_RESOLUTION, m_targetMinPointDistance);
}
printf("Min distance to target point %f in robot %s\n", m_targetMinPointDistance, GetRobot().GetRobotId().c_str());
//////////////////////////////////////////////////////////////
// Initialize things required by the communications
//////////////////////////////////////////////////////////////
m_pcWifiSensor = dynamic_cast<CCI_WiFiSensor*>(GetRobot().GetSensor("wifi"));
m_pcWifiActuator = dynamic_cast<CCI_WiFiActuator*>(GetRobot().GetActuator("wifi"));
str_Me = GetRobot().GetRobotId();
m_iSendOrNotSend = 0;
// How many robots are there ?
CSpace::TAnyEntityMap& tEntityMap = m_cSpace.GetEntitiesByType("wifi_equipped_entity");
numberOfRobots = tEntityMap.size();
printf("%s: There are %d robots [RMAGAN]\n", str_Me.c_str(), numberOfRobots);
// Am I a generator?
amIaGenerator = false;
skipFirstSend = true;
int numGenerators = m_numberOfGenerators * numberOfRobots;
int myID = atoi(str_Me.c_str() + 3);
if (myID < numGenerators)
amIaGenerator = true;
if (amIaGenerator)
printf("%s: There are %d generators, I am on of them\n", str_Me.c_str(), numGenerators);
else
printf("%s: There are %d generators, but not me :-(\n", str_Me.c_str(), numGenerators);
if (amIaGenerator) {
UInt32 id = CSimulator::GetInstance().GetRNG()->Uniform(CRange<UInt32>(numGenerators, numberOfRobots));
//UInt32 id = myID + numGenerators;
std::ostringstream str_tmp(ostringstream::out);
str_tmp << "fb_" << id;
str_Dest = str_tmp.str();
printf(" (dest=%s).\n", str_Dest.c_str());
}
//////////////////////////////////////////////////////////////
// end of communications things here
//////////////////////////////////////////////////////////////
/** LCM engine */
// LCM Thread
lcmThreadCommand.setLCMEngine("udpm://239.255.76.67:7667?ttl=1", "TARGET");
lcmThreadCommand.startInternalThread();
lcmThread.setLCMEngine("udpm://239.255.76.67:7667?ttl=1", "TRACK");
lcmThread.startInternalThread();
/** NAVIGATION AND AVOIDING COLLISION */
/* Additional sensors */
encoderSensor = dynamic_cast<CCI_FootBotEncoderSensor*>(GetRobot().GetSensor("footbot_encoder"));
/* Init navigation methods */
initOdometry();
initLocalNavigation(t_node);
}
void DateEdit::setFormat(DateValidator::DateFormat f)
{
QString str_tmp(text());
setText(dateValidator()->reFormat(str_tmp,f));
}
