static void tsuroStart()
{
timerUpdate(&g_time);
timerUpdate(&g_demoTimer);
memset(&g_game, 0, sizeof(g_game));
//g_game.mode = TSURO_MODE_DEMO;
g_game.mode = TSURO_MODE_SINGLE_PLAYER;
tsuroCreateDeck();
tsuroReset();
}
/**
* @details
* Runs the pipeline.
*
* This method is run repeatedly by the pipeline application every time
* data matching the requested remote data is available until either
* the pipeline application is killed or the method 'stop()' is called.
*/
void UdpBFPipeline::run(QHash<QString, DataBlob*>& remoteData)
{
timerStart(&_totalTime);
// Get pointer to the remote time series data blob.
// This is a block of data containing a number of time series of length
// N for each sub-band and polarisation.
timeSeries = (TimeSeriesDataSetC32*) remoteData[_streamIdentifier];
dataOutput( timeSeries, _streamIdentifier);
// Run the polyphase channeliser.
// Generates spectra from a blocks of time series indexed by sub-band
// and polarisation.
ppfChanneliser->run(timeSeries, spectra);
// Convert spectra in X, Y polarisation into spectra with stokes parameters.
stokesGenerator->run(spectra, stokes);
// Clips RFI and modifies blob in place
weightedIntStokes->reset(stokes);
timerStart(&_rfiClipperTime);
rfiClipper->run(weightedIntStokes);
timerUpdate(&_rfiClipperTime);
dataOutput(&(weightedIntStokes->stats()), "RFI_Stats");
stokesIntegrator->run(stokes, intStokes);
// Calls output stream managed->send(data, stream) the output stream
// manager is configured in the xml.
dataOutput(intStokes, "SpectrumDataSetStokes");
// stop();
if (_iteration % 100 == 0)
cout << "Finished the CV beamforming pipeline, iteration " << _iteration << " out of " << _totalIterations << endl;
_iteration++;
if (_iteration == _totalIterations) stop();
#ifdef TIMING_ENABLED
timerUpdate(&_totalTime);
if( _iteration % 100 == 0 )
{
timerReport(&_rfiClipperTime, "RFI_Clipper");
timerReport(&_totalTime, "Pipeline Time (excluding adapter)");
std::cout << std::endl;
}
#endif
}
PlayerGst::PlayerGst() : pipeline(0), bus(0), paused(false), Gstart(0), Glength(0), link(0), usePlaybin(false)
{
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
gstplayer = this;
gst_init (0, 0);
}
static void tsuroDemoUpdate(float dt)
{
tsuroPlayer* player = &g_game.player;
if (!g_paused)
{
tsuroMovePlayer(dt * tsuroPlayerSpeed);
float timeRunning = timerGetTickSinceLastUUpdate(&g_demoTimer);
if (timeRunning>5.f)
{
tsuroReset();
timerUpdate(&g_demoTimer);
}
}
if (g_rotate)
{
for (int i=0; i<tsuroNumCells; i++)
{
for (int j=0; j<tsuroNumCells; j++)
{
tsuroNode* node = &g_game.nodes[i][j];
if (node->used)
{
if (g_rotate) tsuroCardRotate(&node->card, g_rotate);
}
}
}
player->current.path = (player->current.path + g_rotate*2 + 8) % 8;
g_rotate = 0;
tsuroCardDump(&g_game.nodes[0][0].card);
}
}
GLWidget277::GLWidget277(QWidget *parent)
: QOpenGLWidget(parent) {
// Allow the timer to redraw the window
connect(&timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
// Tell the timer to redraw 60 times per second
timer.start(16);
}
static void animateScene ()
{
float dt = timerGetTickSinceLastUUpdate(&g_time);
timerUpdate(&g_time);
vehicleTick(dt);
glutPostRedisplay();
}
void _TimeManager::start()
{
m_timer = new QTimer( this );
connect( m_timer, SIGNAL(timeout()), this, SLOT(timerUpdate()) );
int maxFPS = 60;
// Determines the refresh rate based off of the max number of frames/sec.
m_timer->start( (float)1000/maxFPS );
m_time.start();
} // _TimeManager::start()
// Конструктор TransCoder
TransCoder::TransCoder(QWidget *parent) : QMainWindow(parent)
{
setupUi(this);
defaultContainer = 1;
defaultCodec = 1;
transcoder = this;
bitrateList << 8 << 16 << 24 << 32 << 40 <<
48 << 56 << 64 << 80 << 96 << 112 <<
128 << 160 << 192 << 224 << 256 << 320;
treeWidget->setHeaderLabels(QStringList() << trUtf8("Композиция") << trUtf8("Время"));
treeWidget->header()->setStretchLastSection(false);
treeWidget->setColumnWidth(1, 75);
treeWidget->header()->setSectionResizeMode(0,QHeaderView::Stretch);
containerBox->addItems(QStringList() << "ogg" << "mp3" << "flac" << "aac");
codecBox->addItems(QStringList() << "vorbis" << "lame" << "flac" << "faac");
containerBox->setCurrentIndex(defaultContainer);
codecBox->setCurrentIndex(defaultCodec);
statusLabel = new QLabel();
lineEdit->setText(QDir::homePath());
dirdialog = new QFileDialog(this, trUtf8("Выбрать директорию для сохранения альбома"), QDir::homePath());
dirdialog->setFileMode(QFileDialog::DirectoryOnly);
dirdialog->setOption(QFileDialog::DontUseNativeDialog, true);
statusBar()->addWidget(statusLabel, 1);
selectAllAction->setStatusTip(trUtf8("Выбор всех композиций для кодирования"));
selected = false;
transcode = false;
numTrack = 0;
timer = new QTimer(this);
// Костыль для неюникодовых локалей
localFileNamesEncoder = QTextCodec::codecForLocale()->makeEncoder();
restoreSettings();
connect(selectDirButton, SIGNAL(clicked()), dirdialog, SLOT(exec()));
connect(dirdialog, SIGNAL(directoryEntered(QString)), lineEdit, SLOT(setText(QString)));
connect(dirdialog, SIGNAL(directoryEntered(QString)), this, SLOT(updateSettings()));
connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
connect(selectAllAction, SIGNAL(triggered()), this, SLOT(selectAllTrigger()));
connect(startButton, SIGNAL(clicked()), this, SLOT(startTranscode()));
connect(stopButton, SIGNAL(clicked()), this, SLOT(stopAll()));
connect(containerBox, SIGNAL(activated(int)), codecBox, SLOT(setCurrentIndex(int)));
connect(codecBox, SIGNAL(activated(int)), containerBox, SLOT(setCurrentIndex(int)));
connect(treeWidget, SIGNAL(itemEntered(QTreeWidgetItem*,int)), this, SLOT(toolItem(QTreeWidgetItem*,int)));
connect(treeWidget, SIGNAL(itemPressed(QTreeWidgetItem*,int)), this, SLOT(toolItem(QTreeWidgetItem*,int)));
connect(quitAction, SIGNAL(triggered()), this, SIGNAL(transQuit()));
connect(prefAction, SIGNAL(triggered()), this, SIGNAL(prefShow()));
}
RsAutoUpdatePage::RsAutoUpdatePage(int ms_update_period,QWidget *parent)
: MainPage(parent)
{
_timer = new QTimer ;
_timer->setInterval(ms_update_period);
_timer->setSingleShot(true);
QObject::connect(_timer,SIGNAL(timeout()),this,SLOT(timerUpdate())) ;
_timer->start() ;
}
CFunctionTestSpeedTableWindow::CFunctionTestSpeedTableWindow(QWidget *parent) :
QWidget(parent)
{
setProperty("testFlag",false);
//***UI CONPONENTS
QVBoxLayout *top = new QVBoxLayout;
QGroupBox *_mainGroupBox = new QGroupBox(tr("车速表测试"));
QGridLayout *_mainGrid = new QGridLayout(_mainGroupBox);
_currentValue = new QSpinBox;
_currentValue->setMinimum(0);
_currentValue->setMaximum(300);
_autoTestButton = new QPushButton(tr("自动检测"));
_singleTestButton = new QPushButton(tr("测单点"));
_signOutLabel = new QLabel;
_signOutLabel->setStyleSheet("border-radius:20px;background:#fff;border:1px solid #666;");
_signOutLabel->setFixedSize(40,40);
_statusLabel = new QLabel(tr("状态："));
_statusLabel->setStyleSheet("font:bold 16px;color:#0099FF;max-height:50px;min-height:26px;background:#CCFF99;");
QLabel *_bitMap = new QLabel();
_bitMap->setScaledContents(true);
_bitMap->setPixmap(QPixmap(":/res/高低档切换.bmp"));
_bitMap->setFixedSize(48,50);
_bitMap->setProperty("picture",true);
//***Layout
_mainGrid->addWidget(_statusLabel,0,0,1,3);
_mainGrid->addWidget(new QLabel(tr("高低档切换指示灯：")),1,0);
_mainGrid->addWidget(_bitMap,1,1);
_mainGrid->addWidget(_signOutLabel,1,2);
_mainGrid->addWidget(new QLabel(tr("车速：")),2,0);
_mainGrid->addWidget(_currentValue,2,1);
_mainGrid->addWidget(new QLabel(tr("km/h")),2,2);
_mainGrid->addWidget(_autoTestButton,3,1);
_mainGrid->addWidget(_singleTestButton,3,2);
top->addWidget(_mainGroupBox);
top->setSizeConstraint(QLayout::SetFixedSize);
top->setAlignment(Qt::AlignCenter);
setLayout(top);
//***signals
connect(_autoTestButton,SIGNAL(clicked()),this,SLOT(autoTestButtonClicked()));
connect(_singleTestButton,SIGNAL(clicked()),this,SLOT(singleTestButtonClicked()));
_timer = new QTimer;
connect(_timer,SIGNAL(timeout()),this,SLOT(timerUpdate()));
cf = ((CApp*)qApp)->_tjob->_mconfig;
}
EventDialog::EventDialog(QWidget *parent) :
QDialog(parent),
ui(new Ui::EventDialog)
{
ui->setupUi(this);
id1 = startTimer(1000);
id2 = startTimer(2000);
id3 = startTimer(10000);
QTimer *timer = new QTimer(this);
connect(timer, SIGNAL(timeout()),this, SLOT(timerUpdate()));
timer->start(1000);
}
Boolean timerExpired(UInteger16 index, IntervalTimer *itimer)
{
timerUpdate(itimer);
if(index >= TIMER_ARRAY_SIZE)
return FALSE;
if(!itimer[index].expire)
return FALSE;
itimer[index].expire = FALSE;
return TRUE;
}
int CCQApplication::run()
{
/* Initialize instance and cocos2d */
if (! applicationDidFinishLaunching())
{
return 0;
}
_timer = new QTimer(this);
connect(_timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
_timer->start(_qAnimationInterval);
return cocos2d::CCQApplication::getInstance()->exec();
}
seekerBarTicker::seekerBarTicker(int minute)
{
this->minute = minute;
this->isPoint = false;
this->painted = false;
updateTimer = new QTimer(this);
updateTimer->setInterval(6000);
connect(updateTimer,SIGNAL(timeout()),this,SLOT(timerUpdate()));
timer = time(0);
updateTimer->start();
}
CFullTestSelfPowerWindow::CFullTestSelfPowerWindow(QWidget *parent) :
QWidget(parent)
{
setProperty("testFlag",0);
setProperty("index",0);
//***UI components
_statusLabel = new QLabel(tr("点击测试按钮开始仪表自供电测试，请观察仪表是否在主电，常电切换过程中是否工作正常。"));
_statusLabel->setStyleSheet("font:bold 14px;color:#0099FF;max-height:26px;min-height:26px;background:#CCFF99;");
_testResult = new QLabel(tr("...自供电状态..."));
_testResult->setStyleSheet("background:wheat;min-width:240px;min-height:30px;border:1px solid blue;");
_testResult->setAlignment(Qt::AlignCenter);
_startButton = new QPushButton(tr("开始自供电测试"));
//***Layout
QVBoxLayout *globalVLayout = new QVBoxLayout;
QGroupBox *_mainGroupBox =new QGroupBox(tr("自供电测试"));
QVBoxLayout *_vl = new QVBoxLayout(_mainGroupBox);
_vl->addWidget(_statusLabel);
QGridLayout *grid = new QGridLayout();
_label1 = new QLabel(tr(" 主电开 "));
_label1->setStyleSheet("font:bold 18px;color:green;max-height:30px;min-height:30px;background:#CCFF99;");
_label2 = new QLabel(tr(" 常电关 "));
_label2->setStyleSheet("font:bold 18px;color:red;max-height:30px;min-height:30px;background:wheat;");
grid->addWidget(_label1,0,0);
grid->addWidget(_label2,0,1);
grid->addWidget(new QLabel(tr("仪表反馈：")),1,0);
grid->addWidget(_testResult,1,1);
grid->addWidget(_startButton,2,1);
_vl->addLayout(grid);
globalVLayout->addWidget(_mainGroupBox);
setLayout(globalVLayout);
//***signal
connect(_startButton,SIGNAL(clicked()),this,SLOT(startButtonClicked()));
connect((CApp*)qApp,SIGNAL(sendBackFullTestData_selfpower(QByteArray)),this,SLOT(sendBackData(QByteArray)));
_timer = new QTimer;
connect(_timer,SIGNAL(timeout()),this,SLOT(timerUpdate()));
cf = ((CApp*)qApp)->_tjob->_mconfig;
}
Boolean
timerExpired(UInteger16 index, IntervalTimer * itimer)
{
timerUpdate(itimer);
if (index >= TIMER_ARRAY_SIZE)
return FALSE;
if (!itimer[index].expire)
return FALSE;
itimer[index].expire = FALSE;
DBG2("timerExpired: Timer %d expired, taking actions. current interval: %d; current left: %d\n", index, itimer[index].left , itimer[index].interval);
return TRUE;
}
void Baker::update(double dt)
{
if (isBaking())
{
if (timeLimit == 0)
{
startTimer(5, 10);
}
else
{
if (timerUpdate(dt))
{
setToPlacingFood();
stopTimer();
}
}
}
}
PlayerAudiere::PlayerAudiere() : svolume(100), file(""), sync(false), paused(false)
{
stream = 0;
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
whiteList << "application/ogg";
whiteList << "audio/ogg";
whiteList << "audio/x-vorbis+ogg";
whiteList << "audio/x-flac+ogg";
whiteList << "audio/mpeg";
whiteList << "audio/x-flac";
whiteList << "audio/x-wav";
whiteList << "audio/x-aiff";
whiteList << "audio/x-aiffc";
whiteList << "audio/x-mod";
whiteList << "audio/x-s3m";
whiteList << "audio/x-xm";
whiteList << "audio/x-it";
}
static void tsuroUpdate ()
{
float dt = timerGetTickSinceLastUUpdate(&g_time);
timerUpdate(&g_time);
switch(g_game.mode)
{
case TSURO_MODE_DEMO:
tsuroDemoUpdate(dt);
break;
case TSURO_MODE_SINGLE_PLAYER:
tsuroSinglePlayerUpdate(dt);
break;
}
// Reset
g_rotate = 0;
glutPostRedisplay();
}
/**
* @details
* Runs the pipeline.
*
* This method is run repeatedly by the pipeline application every time
* data matching the requested remote data is available until either
* the pipeline application is killed or the method 'stop()' is called.
*/
void TimingPipeline::run(QHash<QString, DataBlob*>& remoteData)
{
timerStart(&_totalTime);
// Get pointer to the remote time series data blob.
// This is a block of data containing a number of time series of length
// N for each sub-band and polarisation.
timeSeries = (TimeSeriesDataSetC32*) remoteData["LofarTimeStream1"];
// Get the total number of samples per chunk.
_totalSamplesPerChunk =
timeSeries->nTimesPerBlock() * timeSeries->nTimeBlocks();
// Run the polyphase channeliser.
// Generates spectra from a blocks of time series indexed by sub-band
// and polarisation.
timerStart(&_ppfTime);
ppfChanneliser->run(timeSeries, spectra);
timerUpdate(&_ppfTime);
// Convert spectra in X, Y polarisation into spectra with stokes parameters.
timerStart(&_stokesTime);
stokesGenerator->run(spectra, stokes);
timerUpdate(&_stokesTime);
// The RFI clipper
timerStart(&_rfiClipper);
weightedIntStokes->reset(stokes);
rfiClipper->run(weightedIntStokes);
timerUpdate(&_rfiClipper);
// timerStart(&_integratorTime);
// stokesIntegrator->run(stokes, intStokes);
// timerUpdate(&_integratorTime);
// Calls output stream managed->send(data, stream) the output stream
// manager is configured in the xml.
//dataOutput(spectra, "SpectrumDataSetC32");
timerStart(&_outputTime);
dataOutput(stokes, "SpectrumDataSetStokes");
timerUpdate(&_outputTime);
// stop();
if (_iteration % 50 == 0)
cout << "Finished the UDP beamforming pipeline, iteration " << _iteration << endl;
timerUpdate(&_totalTime);
++_iteration;
// if (_iteration > 43000) stop();
if (_iteration * _totalSamplesPerChunk >= 16*16384*5) {
stop();
//timerReport(&(adapter->timeData()), "Adapter Time");
timerReport(&_ppfTime, "Polyphase Filter");
timerReport(&_stokesTime, "Stokes Generator");
timerReport(&_rfiClipper, "RFI_Clipper");
// timerReport(&_integratorTime, "Stokes Integrator");
timerReport(&_outputTime, "Output");
timerReport(&_totalTime, "Pipeline Time (excluding adapter)");
cout << endl;
cout << "Total (average) allowed time per iteration = "
<< _totalSamplesPerChunk * 5.12e-6 << " sec" << endl;
//cout << "Total (average) actual time per iteration = "
// << adapterTime.timeAverage + _totalTime.timeAverage << " sec" << endl;
cout << "nSubbands = " << timeSeries->nSubbands() << endl;
cout << "nPols = " << timeSeries->nPolarisations() << endl;
cout << "nBlocks = " << timeSeries->nTimeBlocks() << endl;
cout << "nChannels = " << timeSeries->nTimesPerBlock() << endl;
cout << endl;
}
}
int main (int argc, char **argv)
{
#if 0
const int N = 4;
float y[N] = {-0.653828, -0.653828, 0.753333, 0.753333};
float k[N];
float l[2] = {0.f, 0.f};
float kdl[2] = {0.f, 0.f};
float n[2] = {0.f, 0.f};
for (int i=0; i<N; i++)
{
if (y[i] > 0.f)
{
l[1] += y[i];
n[1] += 1.f;
}
else
{
l[0] -= y[i];
n[0] += 1.f;
}
}
kdl[1] = l[1] / (n[1]*l[0] + n[0]*l[1]);
kdl[0] = l[0] / (n[1]*l[0] + n[0]*l[1]);
for (int i=0; i<2; i++)
{
printf("[%d] l = %f kdl = %f\n", i, l[i], kdl[i]);
}
for (int i=0; i<N; i++)
{
k[i] = y[i] > 0.f ? kdl[1] : kdl[0];
}
float force = 0.f;
float torque = 0.f;
for (int i=0; i<N; i++)
{
force += k[i];
torque += y[i] * k[i];
}
printf("force = %f\n", force);
printf("torque = %f\n", torque);
printf("kdl[0]/kdl[1] = %f\n", kdl[0]/kdl[1]);
return 0;
#endif
#if 0
vec3 r = {1.f, -0.3f, 0.f};
vec3 fground = {0.f, 1.f, 0.f};
vec3 fcent = {-1.f, 0.f, 0.f};
vec3 tground;
vec3 tcent;
veccross(&tground, &r, &fground);
veccross(&tcent, &r, &fcent);
printf("tground = %f\n", tground.z);
printf("tcent = %f\n", tcent.z);
return 0;
float axleFriction = 200.1f;
float mass = 10.f;
float invMass = 1.f/mass;
float v = 10.0f;
float dt = 0.01;
for (int r=0; r<100; r++)
{
float force = -axleFriction*sgn(v);
v = v + force*invMass * dt;
printf("v = %f\n", v);
}
return 0;
#endif
#if 0
float mass = 10.f;
float wheelmass = 1.0f;
float radius = 0.1f;
float wheelInertia = 2.f/5.f*radius*radius*wheelmass;
float vel = 0.f;
float wheelVel= 0.f;
float dt = 0.01f;
float torque = 1000.f;
float angSpeed = -dt*torque*radius/wheelInertia;
float momentum = angSpeed*wheelInertia;
printf("momentum put in = %f \n", momentum);
for (int repeat = 0; repeat<10; repeat++)
{
{
float contactSpeed = radius * angSpeed + wheelVel;
float error = contactSpeed;
float denom = 1.f/wheelmass + radius*radius/wheelInertia;
float impulse = error / denom;
// Add impulse to the wheel
wheelVel = wheelVel - impulse/wheelmass;
angSpeed = angSpeed - radius*impulse/wheelInertia;
}
// Axis error
{
float error = wheelVel - vel;
float denom = 1.f/wheelmass + 1.f/mass;
float impulse = error/denom;
wheelVel = wheelVel - impulse/wheelmass;
vel = vel + impulse/mass;
}
}
printf("momentum c = %f\n", vel*mass);
printf("momentum w = %f\n", vel*wheelmass);
printf("momentum aw = %f\n", angSpeed*wheelInertia);
printf("total momentum = %f\n", vel*(mass+wheelmass) + angSpeed*wheelInertia);
printf("chassis = %f, wheel = %f\n", vel, wheelVel);
return 0;
#endif
#if 0
float mass = 10.f;
float inertia = mass * 0.4f;
vec3 wheelOffset = {0.f, 1.5f, -0.2f};
float wheelmass = 1.0f;
float radius = 0.1f;
float wheelInertia = 2.f/5.f*radius*radius*wheelmass;
vec3 vel = {0.f, 0.f, 0.f};
vec3 w = {0.f, 0.f, 0.f};
float wheelVel= 0.f;
float dt = 0.01f;
float torque = 1000.f;
float angSpeed = -dt*torque*radius/wheelInertia;
for (int repeat = 0; repeat<100; repeat++)
{
{
float contactSpeed = radius * angSpeed + wheelVel;
float error = contactSpeed;
float denom = 1.f/wheelmass + radius*radius/wheelInertia;
float impulse = error / denom;
// Add impulse to the wheel
wheelVel = wheelVel - impulse/wheelmass;
angSpeed = angSpeed - radius*impulse/wheelInertia;
}
// Axis error
{
// float axleVel = vel;
vec3 cross;
veccross(&cross, &w, &wheelOffset);
float axleVel = vel.y + cross.y;
vec3 pulldir = {0.f, 1.f, 0.f};
float error = wheelVel - axleVel;
if (error < 0.000001f) break;
float denom = 1.f/wheelmass + computeDenominator(1.f/mass, 1.f/inertia, &wheelOffset, &pulldir);
float impulse = error/denom;
wheelVel = wheelVel - impulse/wheelmass;
//vel = vel + impulse/mass;
{
vecscale(&pulldir, &pulldir, impulse);
addImpulseAtOffset(&vel, &w, 1.f/mass, 1.f/inertia, &wheelOffset, &pulldir);
}
}
}
printf("wheelVel = %f, vel = %f, w = %f\n", wheelVel, vel.y, w.x);
printf("%f\n", w.x/vel.y);
// Simple force application!
{
wheelVel = 0.f;
vec3 impulse = {0.f, dt * torque / radius, 0.f};
veczero(&vel);
veczero(&w);
vec3 offset = wheelOffset;
//offset.z -= radius;
printf("wheelVel = %f, vel = %f, w = %f\n", wheelVel, vel.y, w.x);
addImpulseAtOffset(&vel, &w, 1.f/mass, 1.f/inertia, &offset, &impulse);
}
printf("wheelVel = %f, vel = %f, w = %f\n", wheelVel, vel.y, w.x);
printf("%f\n", w.x/vel.y);
return 0;
#endif
#if 0
float x = 100.f;
float friction = 20.f;
float dt = 0.01f;
float r = dt*friction;
int n=0;
while (n<1000)
{
//x = x - r*x/(fabsf(x)+r);
printf("%f\n", x);
n++;
}
return 0;
#endif
timerUpdate(&g_time);
vehicleInit();
// GLUT Window Initialization:
glutInit (&argc, argv);
glutInitWindowSize (s_width, s_height);
glutInitDisplayMode ( GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutCreateWindow ("CS248 GLUT example");
// Initialize OpenGL graphics state
initGraphics();
// Register callbacks:
glutDisplayFunc (display);
glutReshapeFunc (reshape);
glutKeyboardFunc (keyboard);
glutMouseFunc (mouseButton);
glutMotionFunc (mouseMotion);
glutIdleFunc (animateScene);
//BuildPopupMenu ();
//glutAttachMenu (GLUT_RIGHT_BUTTON);
// Turn the flow of control over to GLUT
glutMainLoop ();
return 0;
}
void AutoGraspGenerationDlg::init()
{
millisecondsPerMeshPoint = 30000;
meshPointIncrement = 10;
currentMeshPointIndex = 0;
grasp_dir = "/home/jvarley/grasp_deep_learning/graspit_gdl/saved_grasps/";
seedHandMovementTimer = new QTimer(this);
connect(seedHandMovementTimer,SIGNAL(timeout()), this, SLOT(timerUpdate()));
energyBox->insertItem("Hand Contacts");
energyBox->insertItem("Potential Quality");
energyBox->insertItem("Contacts AND Quality");
energyBox->insertItem("Autograsp Quality");
energyBox->insertItem("Guided Autograsp");
energyBox->setCurrentItem(1);//CHANGED!
plannerTypeBox->insertItem("Sim. Ann.");
plannerTypeBox->insertItem("Loop");
plannerTypeBox->insertItem("Multi-Threaded");
plannerTypeBox->insertItem("Online");
plannerTypeBox->insertItem("Assisted Control");
plannerTypeBox->insertItem("Time Test");
plannerTypeBox->setCurrentItem(3);//CHANGED!
plannerInitButton->setEnabled(TRUE);
plannerResetButton->setEnabled(FALSE);
plannerStartButton->setEnabled(FALSE);
instantEnergyButton->setEnabled(FALSE);
QString n;
QIntValidator* vAnnSteps = new QIntValidator(1,500000,this);
annStepsEdit->setValidator(vAnnSteps);
n.setNum(70000);
annStepsEdit->setText(n);
spaceSearchBox->insertItem("Complete");
spaceSearchBox->insertItem("Axis-angle");
spaceSearchBox->insertItem("Ellipsoid");
spaceSearchBox->insertItem("Approach");
spaceSearchBox->setCurrentItem(3);
prevGraspButton->setEnabled(FALSE);
nextGraspButton->setEnabled(FALSE);
bestGraspButton->setEnabled(FALSE);
executeGraspButton->setEnabled(FALSE);
variableBox->setColumnLayout(0, Qt::Vertical);
varGridLayout = new QGridLayout( variableBox->layout(),1,5 );
varGridLayout->setSpacing(5);
varGridLayout->setAlignment(Qt::AlignTop);
varGridLayout->addMultiCellWidget(spaceSearchLabel,0,0,0,1);
varGridLayout->addMultiCellWidget(spaceSearchBox,0,0,2,4);
varGridLayout->addWidget( new QLabel("On", variableBox),1,0 );
varGridLayout->addWidget( new QLabel("Name", variableBox),1,1 );
varGridLayout->addWidget( new QLabel("Input", variableBox),1,2 );
varGridLayout->addWidget( new QLabel("Target", variableBox),1,3 );
varGridLayout->addWidget( new QLabel("Confidence", variableBox),1,4 );
inputGloveBox->setEnabled(FALSE);
inputLoadButton->setEnabled(FALSE);
}
void run() {
view.firstTimeStamp = view.lastRecordFrame = view.lastVideoFrame = getMS();
view.dirty = 0;
view.lastVideoFrameSkip=0;
view.zoomTarget = view.zoom;
view.zoomSpeed = 0;
VectorCopy(view.rot, view.rotTarget);
VectorZero(view.rotSpeed);
while (!view.quit) {
Uint32 ts_before, ts_after;
Uint32 ts;
ts_before = getMS();
if (state.mode & SM_RECORD) {
view.frameSkipCounter = 0;
//if (view.verboseMode)
// conAdd(LLOW, "R frame:%5i dt:%5i fs:%2i", state.totalFrames, view.deltaVideoFrame, state.historyNFrame);
setTitle(va("%s frame: %i/%i (skip:%i)", STRING_RECORD, state.totalFrames, state.historyFrames, state.historyNFrame));
processFrame();
ts = getMS();
view.deltaRecordFrame = ts - view.lastRecordFrame;
view.lastRecordFrame = ts;
if (state.autoSave && (state.totalFrames - state.lastSave) >= state.autoSave) {
cmdSaveFrameDump(0);
state.lastSave = state.totalFrames;
}
}
else if (state.mode & SM_PLAY) {
if (view.frameSkip < 0) {
view.frameSkipCounter++;
if (view.frameSkipCounter > -view.frameSkip) {
view.frameSkipCounter = 0;
state.currentFrame++;
}
} else {
state.currentFrame++;
state.currentFrame+=view.frameSkip;
}
if (state.currentFrame >= state.frame) {
state.currentFrame = 0;
view.frameSkipCounter = 0;
}
//if (view.verboseMode)
// conAdd(LLOW, "P frame:%5i dt:%5i fs:%2i", state.currentFrame, view.deltaVideoFrame, state.historyNFrame);
}
timerUpdate();
runInput();
if (view.quit) return;
if (state.autoRecordNext) {
state.autoRecordNext = 0;
cmdRecord(0);
}
setColours();
if (view.zoomFitAuto == 2) {
cmdZoomFit(NULL);
view.zoomTarget = view.zoom;
view.zoomSpeed = 0;
}
runVideo();
/* if we are not recording or replaying, wait a bit -- helps to cool down you laptop :-)) */
if (((state.mode & (SM_RECORD|SM_PLAY) ) == 0) && (view.dirty < 1)) {
ts_after = getMS();
if (ts_after < (ts_before + SMALL_NAP)) SDL_Delay( SMALL_NAP - (ts_after - ts_before));
}
/* pull the break on very fast video cards - 60fps playback is enough */
if (((state.mode & SM_PLAY ) == SM_PLAY) || (state.mode == 0)) {
ts_after = getMS();
if (ts_after < (ts_before + PLAY_MIN_TIME)) SDL_Delay(PLAY_MIN_TIME - (ts_after - ts_before));
}
/* if minVideoRefreshTime is set, hold the current frame a bit longer*/
if (view.minVideoRefreshTime >= SDL_TIMESLICE) {
ts_after = getMS();
if (ts_after < (ts_before + view.minVideoRefreshTime)) SDL_Delay(view.minVideoRefreshTime - (ts_after - ts_before));
}
// if last video frame was displayed, reset dirty flag
if (view.lastVideoFrameSkip==0) {
view.dirty = 0;
if (view.drawAxis==3) view.drawAxis=1;
}
}
}
