/*
** Filter the current selection through shell command "command". The selection
** is removed, and replaced by the output from the command execution. Failed
** command status and output to stderr are presented in dialog form.
*/
void FilterSelection(WindowInfo *window, const char *command, int fromMacro)
{
int left, right, textLen;
char *text;
/* Can't do two shell commands at once in the same window */
if (window->shellCmdData != NULL) {
XBell(TheDisplay, 0);
return;
}
/* Get the selection and the range in character positions that it
occupies. Beep and return if no selection */
text = BufGetSelectionText(window->buffer);
if (*text == '\0') {
XtFree(text);
XBell(TheDisplay, 0);
return;
}
textLen = strlen(text);
BufUnsubstituteNullChars(text, window->buffer);
left = window->buffer->primary.start;
right = window->buffer->primary.end;
/* Issue the command and collect its output */
issueCommand(window, command, text, textLen, ACCUMULATE | ERROR_DIALOGS |
REPLACE_SELECTION, window->lastFocus, left, right, fromMacro);
}
int main()
{
cout << "Relational Database by Group 5 - CS 237 PA4" << endl;
cout << "Bonus features implemented: Delete and FindRange" << endl;
cout << "Loading database records.txt . . . " << endl;
Database* db = new Database("records.txt");
cout << "Set up database and indices successfully" << endl;
cout << endl;
ifstream infile;
string filename = "commands.txt";
infile.open(filename.c_str());
if (infile.fail()) {
cerr << "Invalid commands file.";
exit(1);
}
else {
string line;
while (!infile.eof()) {
getline(infile, line);
issueCommand(line, db);
}
}
pause_237(false);
}
void squeezeLiteGui::CliReady(void)
{
DEBUGF("cliConnected Slot");
m_playerInfo = new playerInfo(cli,encodedMacAddress);
m_playerInfoThread = new playerInfoThread(m_playerInfo);
m_playerInfo->moveToThread(m_playerInfoThread);
// Error message processing
connect(m_playerInfo,SIGNAL(playerInfoError(QString)),
this,SLOT(ErrorMessageReceiver(QString)));
connect(cli,SIGNAL(cliError(QString)),
this,SLOT(ErrorMessageReceiver(QString)));
// interface command issuing
connect(this,SIGNAL(issueStandardCommand(CliCommand)),
cli,SLOT(SendStandardCommand(CliCommand)));
connect(this,SIGNAL(issueCommand(QByteArray)),
cli,SLOT(SendCommand(QByteArray))); // so device can send messages
connect(m_playerInfo,SIGNAL(PlayerInfoFilled()),
this,SLOT(playerInfoReady()));
connect(m_playerInfo,SIGNAL(PlayerStatus(PlayerState)),
this,SLOT(PlayerStatus(PlayerState)));
m_playerInfoThread->start();
// connect(this,SIGNAL(deviceStatusReady()),this,SLOT(initInterfaceConnections()));
}
/*
** Execute the line of text where the the insertion cursor is positioned
** as a shell command.
*/
void ExecCursorLine(WindowInfo *window, int fromMacro)
{
char *cmdText;
int left, right, insertPos;
char *subsCommand, fullName[MAXPATHLEN];
int pos, line, column;
char lineNumber[11];
/* Can't do two shell commands at once in the same window */
if (window->shellCmdData != NULL) {
XBell(TheDisplay, 0);
return;
}
/* get all of the text on the line with the insert position */
pos = TextGetCursorPos(window->lastFocus);
if (!GetSimpleSelection(window->buffer, &left, &right)) {
left = right = pos;
left = BufStartOfLine(window->buffer, left);
right = BufEndOfLine(window->buffer, right);
insertPos = right;
} else
insertPos = BufEndOfLine(window->buffer, right);
cmdText = BufGetRange(window->buffer, left, right);
BufUnsubstituteNullChars(cmdText, window->buffer);
/* insert a newline after the entire line */
BufInsert(window->buffer, insertPos, "\n");
/* Substitute the current file name for % and the current line number
for # in the shell command */
strcpy(fullName, window->path);
strcat(fullName, window->filename);
TextPosToLineAndCol(window->lastFocus, pos, &line, &column);
sprintf(lineNumber, "%d", line);
subsCommand = shellCommandSubstitutes(cmdText, fullName, lineNumber);
if (subsCommand == NULL)
{
DialogF(DF_ERR, window->shell, 1, "Shell Command",
"Shell command is too long due to\n"
"filename substitutions with '%%' or\n"
"line number substitutions with '#'", "OK");
return;
}
/* issue the command */
issueCommand(window, subsCommand, NULL, 0, 0, window->lastFocus, insertPos+1,
insertPos+1, fromMacro);
free(subsCommand);
XtFree(cmdText);
}
/*
** Execute shell command "command", on input string "input", depositing the
** in a macro string (via a call back to ReturnShellCommandOutput).
*/
void ShellCmdToMacroString(WindowInfo *window, const char *command,
const char *input)
{
char *inputCopy;
/* Make a copy of the input string for issueCommand to hold and free
upon completion */
inputCopy = *input == '\0' ? NULL : XtNewString(input);
/* fork the command and begin processing input/output */
issueCommand(window, command, inputCopy, strlen(input),
ACCUMULATE | OUTPUT_TO_STRING, NULL, 0, 0, True);
}
/** * @brief Funkcija koja ceka na acknowledge signal od primaoca komande. * @param delay predstavlja broj milisekundi koliko zelimo da cekamo. * @retval Nema. * @author praetorian ( [email protected] ) */ void waitAck( CommandNameType command_name, int address, uint16_t data ) { while( TRUE ) { sleep( 25 ); if( FLAG_ackReceived ) { FLAG_ackReceived = FALSE; command_ID++; break; } issueCommand( command_name, address, data ); } }
/*
** Execute shell command "command", depositing the result at the current
** insert position or in the current selection if the window has a
** selection.
*/
void ExecShellCommand(WindowInfo *window, const char *command, int fromMacro)
{
int left, right, flags = 0;
char *subsCommand, fullName[MAXPATHLEN];
int pos, line, column;
char lineNumber[11];
/* Can't do two shell commands at once in the same window */
if (window->shellCmdData != NULL) {
XBell(TheDisplay, 0);
return;
}
/* get the selection or the insert position */
pos = TextGetCursorPos(window->lastFocus);
if (GetSimpleSelection(window->buffer, &left, &right))
flags = ACCUMULATE | REPLACE_SELECTION;
else
left = right = pos;
/* Substitute the current file name for % and the current line number
for # in the shell command */
strcpy(fullName, window->path);
strcat(fullName, window->filename);
TextPosToLineAndCol(window->lastFocus, pos, &line, &column);
sprintf(lineNumber, "%d", line);
subsCommand = shellCommandSubstitutes(command, fullName, lineNumber);
if (subsCommand == NULL)
{
DialogF(DF_ERR, window->shell, 1, "Shell Command",
"Shell command is too long due to\n"
"filename substitutions with '%%' or\n"
"line number substitutions with '#'", "OK");
return;
}
/* issue the command */
issueCommand(window, subsCommand, NULL, 0, flags, window->lastFocus, left,
right, fromMacro);
free(subsCommand);
}
status_t BnStreamListener::onTransact(
uint32_t code, const Parcel &data, Parcel *reply, uint32_t flags) {
switch (code) {
case QUEUE_BUFFER:
{
CHECK_INTERFACE(IStreamListener, data, reply);
size_t index = static_cast<size_t>(data.readInt32());
size_t size = static_cast<size_t>(data.readInt32());
queueBuffer(index, size);
break;
}
case ISSUE_COMMAND:
{
CHECK_INTERFACE(IStreamListener, data, reply);
Command cmd = static_cast<Command>(data.readInt32());
bool synchronous = static_cast<bool>(data.readInt32());
sp<AMessage> msg;
if (data.readInt32()) {
msg = AMessage::FromParcel(data);
}
issueCommand(cmd, synchronous, msg);
break;
}
default:
return BBinder::onTransact(code, data, reply, flags);
}
return OK;
}
bool NXTCam::disableTracking()
{
return issueCommand('D');
}
void squeezeLiteGui::setVolume(int vol)
{
QString cmd = QString("mixer volume %1 \n").arg(vol);
emit issueCommand(cmd.toLatin1());
}
bool NXTCam::enableTracking()
{
return issueCommand('E');
}
bool NXTCam::readImageRegisters()
{
return issueCommand('H');
}
bool NXTCam::getColorMap()
{
return issueCommand('G');
}
bool NXTCam::sortSize()
{
return issueCommand('A');
}
int sendCommand(int* dramAddress, int busNumber, int chipNumber, int pageNumber, int offset, int operationCode, int length, int tag)
{
writeCommand(dramAddress, busNumber, chipNumber, pageNumber, offset, operationCode, length, tag);
issueCommand();
return 0;
}
bool NXTCam::sortNone()
{
return issueCommand('X');
}
bool PFMate::sendSignal()
{
return issueCommand('G');
}
bool NXTCam::pingCam()
{
return issueCommand('P');
}
int main( void )
{
//konfiguracija taktova
RCC_ADCCLKConfig(RCC_PCLK2_Div2);//konfigurisanje takta za ADC
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);//dovodjenje takta za DMA kontroler
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1, ENABLE);//dovodjenje takta portu A, B, C, tajmeru TIM1 i ADC-u
//konfiguracija portova - analogni ulazi
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//konfiguracija portova - bargraph tj. DIGIO konektor
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_5 | GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* DMA1 channel1 configuration ----------------------------------------------*/
DMA_DeInit(DMA1_Channel1);
DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address;//adresa izvorista za dma prenos - DATA REGISTER ADC-a
DMA_InitStructure.DMA_MemoryBaseAddr = (u32)ADC_RegularConvertedValueTab;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = 4;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
/* Enable DMA1 channel1 */
DMA_Cmd(DMA1_Channel1, ENABLE);
/* ADC1 configuration ------------------------------------------------------*/
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 4;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_Channel_12, 1, ADC_SampleTime_1Cycles5);
ADC_RegularChannelConfig(ADC1, ADC_Channel_13, 2, ADC_SampleTime_1Cycles5);
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 3, ADC_SampleTime_1Cycles5);
ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 4, ADC_SampleTime_1Cycles5);
ADC_ExternalTrigConvCmd(ADC1, ENABLE);//omogucavanje externog triger moda
ADC_DMACmd(ADC1, ENABLE);//omogucavanje DMA prenosa za ADC
ADC_Cmd(ADC1, ENABLE);
ADC_ResetCalibration(ADC1);//adc kalibracija
while(ADC_GetResetCalibrationStatus(ADC1));
ADC_StartCalibration(ADC1);
while(ADC_GetCalibrationStatus(ADC1));
//konfiguracija tajmera TIM1 koji radi u PWM modu, i svoj izlaz koristi za trigerovanje ADC-a
TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
TIM_TimeBaseInitStruct.TIM_Period = 150 - 1;
TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
TIM_TimeBaseInitStruct.TIM_ClockDivision = 0x0;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStruct);
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = 150 / 2;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM1, &TIM_OCInitStruct);
TIM_Cmd(TIM1, ENABLE);//dozovla rada tajmera tek kada se konfigurisu i DMA i ADC
TIM_CtrlPWMOutputs(TIM1, ENABLE);//generisanje PWM izlaza za tajmer 1
baterija_Acc_const=0.004032;
servo_5V_const=0.004032;
/* Inicijalizacija. */
InitGPIO_Pin(GPIOB, GPIO_Pin_11, GPIO_Mode_IPU, GPIO_Speed_50MHz);
UsartInit();
/* Inicijalizacija glavnog tajmera. */
initTimerServo();//zbog ovoga se baterija meri i dok je prekidac uvucen
/* Glavna masina stanja. */
while(1)
{
switch (state_robot)
{
/* Pocetno stanje u kome se inicijalizaciju sistemi, podesava preskaler, ukljucuje UV. */
case 0: // pocetno stanje, sve inicijalizujemo i krenemo napred
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11)) // ako je ocitano Vcc, tj. krene se sa izvrsavanjem, u suprotnom ostajemo u
// istom stanju
{
/* Inicijalizacija glavnog tajmera. */
initTimer90();
/* Inicijalizacija tajmera za proveru pozicije robota. */
SysTick_Config( SysTick_Config( SystemCoreClock / 1000 ) );
/* Provera koja je stategije. */
checkStrategy();
/* Zadavanje komandi. */
issueCommand( START_RUNNING, MOTION_DEVICE_ADDRESS, 30 );
waitAck( START_RUNNING, MOTION_DEVICE_ADDRESS, 30 );
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 1000 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 1000 );
issueCommand( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 30 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 30 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 25 );
if ( FLAG_arriveOnDest ) break;
sleep( 100 );
}
state_robot++;
sleep(100);
}
break;
/* Blago okretanje da bi se izbegla ivica na sredini terena. */
case 1:
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 20 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 20 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 25 );
if ( FLAG_arriveOnDest ) break;
sleep( 100 );
}
}
else
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 20 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 20 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 25 );
if ( FLAG_arriveOnDest ) break;
sleep( 100 );
}
}
state_robot++;
sleep(100);
break;
/* Blago pomeranje napred, ka sredini terena. */
case 2:
{
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 50 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 50 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
}
/* Blaga rotacija da bi se poravnali opet. */
case 3:
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 25 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 25 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
else
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 25 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 25 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
state_robot++;
sleep(100);
break;
/* Blago pomeranje napred da bi pomerili kocke u sredinu terena. */
case 4:
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 10 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 10 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Vracanje unazad. */
case 5:
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
issueCommand( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 50 );
waitAck( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 50 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Okretanje ka prvoj kucici, onoj daljoj od ivice terana i gasenje senzora. */
case 6:
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 175 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 175 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
else
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 175 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 175 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
issueCommand( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
state_robot++;
sleep(100);
break;
/* Zatvaranje prvih vrata. */
case 7:
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 700 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 700 );
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 100 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 100 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Vracanje unazad. */
case 8:
issueCommand( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
issueCommand( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 60 );
waitAck( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 60 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Okretanje za 180 stepeni ka pocetnoj poziciji. */
case 9:
//issueCommand( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
//waitAck( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 180 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 180 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
else
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 180 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 180 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
state_robot++;
sleep(100);
break;
/* Odlazak naspram druge kucice. */
case 10:
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 15 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 15 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Okretanje ka kucici. */
case 11:
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 175 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 175 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
else
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 175 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 175 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
issueCommand( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
state_robot++;
sleep(100);
break;
/* Zatvaranje druge kucice. */
case 12:
issueCommand( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_OFF, MOTION_DEVICE_ADDRESS, 1 );
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 700 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 700 );
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 60 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 60 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Vracanje unazad. */
case 13:
issueCommand( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
waitAck( ULTRASOUND_ON, MOTION_DEVICE_ADDRESS, 1 );
issueCommand( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
waitAck( PRESCALER, MOTION_DEVICE_ADDRESS, 500 );
issueCommand( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 60 );
waitAck( MOVE_BACKWARD, MOTION_DEVICE_ADDRESS, 60 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Okretanje ka centru naseg dela terena. */
case 14:
if( FLAG_strategyLeft )
{
issueCommand( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 270 );
waitAck( ROTATE_LEFT, MOTION_DEVICE_ADDRESS, 270 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
else
{
issueCommand( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 270 );
waitAck( ROTATE_RIGHT, MOTION_DEVICE_ADDRESS, 270 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
}
state_robot++;
sleep(100);
break;
case 15:
issueCommand( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 40 );
waitAck( MOVE_FORWARD, MOTION_DEVICE_ADDRESS, 40 );
while( TRUE )
{
issueCommand( CHECK_ARRIVE, MOTION_DEVICE_ADDRESS, 1 );
sleep( 100 );
if ( FLAG_arriveOnDest ) break;
}
state_robot++;
sleep(100);
break;
/* Podrazumevano stanje u kome se ne radi nista. */
default:
break;
}
}
}
bool NXTCam::adpaOff()
{
return issueCommand('O');
}
bool NXTCam::adpaOn()
{
return issueCommand('N');
}
bool NXTCam::selectLineMode()
{
return issueCommand('L');
}
bool NXTCam::writeImageRegisters()
{
return issueCommand('C');
}
bool NXTPowerMeter::resetCounters()
{
return issueCommand('R');
}
bool NXTCam::selectObjectMode()
{
return issueCommand('B');
}
void RInterface::processREvalRequest (REvalRequest *request) {
RK_TRACE (RBACKEND);
RKGlobals::controlWindow()->addChain (request->in_chain);
// clear reply object
issueCommand (".rk.rkreply <- NULL", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
if (!request->call_length) {
closeChain (request->in_chain);
return;
}
QString call = request->call[0];
if (call == "get.tempfile.name") {
if (request->call_length >= 3) {
QString file_prefix = request->call[1];
QString file_extension = request->call[2];
QDir dir (RKSettingsModuleGeneral::filesPath ());
int i=0;
while (dir.exists (file_prefix + QString::number (i) + file_extension)) {
i++;
}
issueCommand (".rk.rkreply <- \"" + dir.filePath (file_prefix + QString::number (i) + file_extension) + "\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
} else {
issueCommand (".rk.rkreply <- \"Too few arguments in call to get.tempfile.name.\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
}
} else if (call == "get.output.html.file") {
QDir dir (RKSettingsModuleGeneral::filesPath ());
// TODO: make more generic, get filename sanely
issueCommand (".rk.rkreply <- \"" + dir.filePath ("rk_out.html") + "\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
} else if (call == "sync") {
RObject *obj = 0;
if (request->call_length >= 2) {
QString object_name = request->call[1];
obj = RKGlobals::rObjectList ()->findObject (object_name);
}
if (obj) {
RObject::ChangeSet *set = new RObject::ChangeSet;
set->from_index = -1;
set->to_index = -1;
// for now a complete update is needed, in case new objects were added
RKGlobals::rObjectList ()->updateFromR ();
RKGlobals::tracker ()->objectDataChanged (obj, set);
issueCommand (".rk.rkreply <- \"Sync scheduled for object '" + obj->getFullName () + "'\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
} else {
issueCommand (".rk.rkreply <- \"Object not recognized or not specified in call to sync. Ignoring\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
}
} else if (call == "require") {
if (request->call_length >= 2) {
QString lib_name = request->call[1];
issueCommand (".rk.rkreply <- NULL", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
KMessageBox::information (0, i18n ("The R-backend has indicated that in order to carry out the current task it needs the package '%1', which is not currently installed. We'll open the package-management tool, and there you can try to locate and install the needed package.").arg (lib_name), i18n ("Require package '%1'").arg (lib_name));
RKLoadLibsDialog::showInstallPackagesModal (0, request->in_chain, lib_name);
issueCommand (".rk.rkreply <- \"\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
} else {
issueCommand (".rk.rkreply <- \"Too few arguments in call to require.\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
}
} else if (call == "quit") {
RKwardApp::getApp ()->close ();
// if we're still alive, quitting was cancelled
issueCommand (".rk.rkreply <- \"Quitting was cancelled\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
#ifndef DISABLE_RKWINDOWCATCHER
// does not work, yet :-( R crashes.
} else if (call == "catchWindow") {
// TODO: error checking/handling (wrong parameter count/type)
if (request->call_length >= 3) {
MUTEX_LOCK;
window_catcher->catchWindow (request->call[1], QString (request->call[2]).toInt ());
MUTEX_UNLOCK;
}
#endif // DISABLE_RKWINDOWCATCHER
} else {
issueCommand (".rk.rkreply <- \"Unrecognized call '" + call + "'. Ignoring\"", RCommand::App | RCommand::Sync, QString::null, 0, 0, request->in_chain);
}
closeChain (request->in_chain);
}
/*
** Do a shell command, with the options allowed to users (input source,
** output destination, save first and load after) in the shell commands
** menu.
*/
void DoShellMenuCmd(WindowInfo *window, const char *command,
int input, int output,
int outputReplacesInput, int saveFirst, int loadAfter, int fromMacro)
{
int flags = 0;
char *text;
char *subsCommand, fullName[MAXPATHLEN];
int left, right, textLen;
int pos, line, column;
char lineNumber[11];
WindowInfo *inWindow = window;
Widget outWidget;
/* Can't do two shell commands at once in the same window */
if (window->shellCmdData != NULL) {
XBell(TheDisplay, 0);
return;
}
/* Substitute the current file name for % and the current line number
for # in the shell command */
strcpy(fullName, window->path);
strcat(fullName, window->filename);
pos = TextGetCursorPos(window->lastFocus);
TextPosToLineAndCol(window->lastFocus, pos, &line, &column);
sprintf(lineNumber, "%d", line);
subsCommand = shellCommandSubstitutes(command, fullName, lineNumber);
if (subsCommand == NULL)
{
DialogF(DF_ERR, window->shell, 1, "Shell Command",
"Shell command is too long due to\n"
"filename substitutions with '%%' or\n"
"line number substitutions with '#'", "OK");
return;
}
/* Get the command input as a text string. If there is input, errors
shouldn't be mixed in with output, so set flags to ERROR_DIALOGS */
if (input == FROM_SELECTION) {
text = BufGetSelectionText(window->buffer);
if (*text == '\0') {
XtFree(text);
free(subsCommand);
XBell(TheDisplay, 0);
return;
}
flags |= ACCUMULATE | ERROR_DIALOGS;
} else if (input == FROM_WINDOW) {
text = BufGetAll(window->buffer);
flags |= ACCUMULATE | ERROR_DIALOGS;
} else if (input == FROM_EITHER) {
text = BufGetSelectionText(window->buffer);
if (*text == '\0') {
XtFree(text);
text = BufGetAll(window->buffer);
}
flags |= ACCUMULATE | ERROR_DIALOGS;
} else /* FROM_NONE */
text = NULL;
/* If the buffer was substituting another character for ascii-nuls,
put the nuls back in before exporting the text */
if (text != NULL) {
textLen = strlen(text);
BufUnsubstituteNullChars(text, window->buffer);
} else
textLen = 0;
/* Assign the output destination. If output is to a new window,
create it, and run the command from it instead of the current
one, to free the current one from waiting for lengthy execution */
if (output == TO_DIALOG) {
outWidget = NULL;
flags |= OUTPUT_TO_DIALOG;
left = right = 0;
} else if (output == TO_NEW_WINDOW) {
EditNewFile(GetPrefOpenInTab()?inWindow:NULL, NULL, False, NULL, window->path);
outWidget = WindowList->textArea;
inWindow = WindowList;
left = right = 0;
CheckCloseDim();
} else { /* TO_SAME_WINDOW */
outWidget = window->lastFocus;
if (outputReplacesInput && input != FROM_NONE) {
if (input == FROM_WINDOW) {
left = 0;
right = window->buffer->length;
} else if (input == FROM_SELECTION) {
GetSimpleSelection(window->buffer, &left, &right);
flags |= ACCUMULATE | REPLACE_SELECTION;
} else if (input == FROM_EITHER) {
if (GetSimpleSelection(window->buffer, &left, &right))
flags |= ACCUMULATE | REPLACE_SELECTION;
else {
left = 0;
right = window->buffer->length;
}
}
} else {
if (GetSimpleSelection(window->buffer, &left, &right))
flags |= ACCUMULATE | REPLACE_SELECTION;
else
left = right = TextGetCursorPos(window->lastFocus);
}
}
/* If the command requires the file be saved first, save it */
if (saveFirst) {
if (!SaveWindow(window)) {
if (input != FROM_NONE)
XtFree(text);
free(subsCommand);
return;
}
}
/* If the command requires the file to be reloaded after execution, set
a flag for issueCommand to deal with it when execution is complete */
if (loadAfter)
flags |= RELOAD_FILE_AFTER;
/* issue the command */
issueCommand(inWindow, subsCommand, text, textLen, flags, outWidget, left,
right, fromMacro);
free(subsCommand);
}
void RInterface::issueCommand (const QString &command, int type, const QString &rk_equiv, RCommandReceiver *receiver, int flags, RCommandChain *chain) {
RK_TRACE (RBACKEND);
issueCommand (new RCommand (command, type, rk_equiv, receiver, flags), chain);
}
bool NXTCam::camFirmware()
{
return issueCommand('V');
}
bool NXTCam::illuminationOn()
{
return issueCommand('I');
}
