bool RenderSVGResourceGradient::applyResource(RenderObject* object, RenderStyle* style, GraphicsContext*& context, unsigned short resourceMode)
{
ASSERT(object);
ASSERT(style);
ASSERT(context);
ASSERT(resourceMode != ApplyToDefaultMode);
// Be sure to synchronize all SVG properties on the gradientElement _before_ processing any further.
// Otherwhise the call to collectGradientAttributes() in createTileImage(), may cause the SVG DOM property
// synchronization to kick in, which causes removeAllClientsFromCache() to be called, which in turn deletes our
// GradientData object! Leaving out the line below will cause svg/dynamic-updates/SVG*GradientElement-svgdom* to crash.
SVGGradientElement* gradientElement = static_cast<SVGGradientElement*>(node());
if (!gradientElement)
return false;
gradientElement->updateAnimatedSVGAttribute(anyQName());
if (!m_gradient.contains(object))
m_gradient.set(object, new GradientData);
GradientData* gradientData = m_gradient.get(object);
bool isPaintingText = resourceMode & ApplyToTextMode;
// Create gradient object
if (!gradientData->gradient) {
buildGradient(gradientData, gradientElement);
// CG platforms will handle the gradient space transform for text after applying the
// resource, so don't apply it here. For non-CG platforms, we want the text bounding
// box applied to the gradient space transform now, so the gradient shader can use it.
#if PLATFORM(CG)
if (gradientData->boundingBoxMode && !isPaintingText) {
#else
if (gradientData->boundingBoxMode) {
#endif
FloatRect objectBoundingBox = object->objectBoundingBox();
gradientData->userspaceTransform.translate(objectBoundingBox.x(), objectBoundingBox.y());
gradientData->userspaceTransform.scaleNonUniform(objectBoundingBox.width(), objectBoundingBox.height());
}
gradientData->userspaceTransform.multLeft(gradientData->transform);
gradientData->gradient->setGradientSpaceTransform(gradientData->userspaceTransform);
}
if (!gradientData->gradient)
return false;
// Draw gradient
context->save();
if (isPaintingText) {
#if PLATFORM(CG)
if (!createMaskAndSwapContextForTextGradient(context, m_savedContext, m_imageBuffer, object)) {
context->restore();
return false;
}
#endif
context->setTextDrawingMode(resourceMode & ApplyToFillMode ? cTextFill : cTextStroke);
}
const SVGRenderStyle* svgStyle = style->svgStyle();
ASSERT(svgStyle);
if (resourceMode & ApplyToFillMode) {
context->setAlpha(svgStyle->fillOpacity());
context->setFillGradient(gradientData->gradient);
context->setFillRule(svgStyle->fillRule());
} else if (resourceMode & ApplyToStrokeMode) {
if (svgStyle->vectorEffect() == VE_NON_SCALING_STROKE)
gradientData->gradient->setGradientSpaceTransform(transformOnNonScalingStroke(object, gradientData->userspaceTransform));
context->setAlpha(svgStyle->strokeOpacity());
context->setStrokeGradient(gradientData->gradient);
SVGRenderSupport::applyStrokeStyleToContext(context, style, object);
}
return true;
}
void RenderSVGResourceGradient::postApplyResource(RenderObject* object, GraphicsContext*& context, unsigned short resourceMode)
{
ASSERT(context);
ASSERT(resourceMode != ApplyToDefaultMode);
if (resourceMode & ApplyToTextMode) {
#if PLATFORM(CG)
// CG requires special handling for gradient on text
if (m_savedContext && m_gradient.contains(object)) {
GradientData* gradientData = m_gradient.get(object);
// Restore on-screen drawing context
context = m_savedContext;
m_savedContext = 0;
FloatRect targetRect;
gradientData->gradient->setGradientSpaceTransform(clipToTextMask(context, m_imageBuffer, targetRect, object, gradientData));
context->setFillGradient(gradientData->gradient);
context->fillRect(targetRect);
m_imageBuffer.clear();
}
#else
UNUSED_PARAM(object);
#endif
} else {
if (resourceMode & ApplyToFillMode)
context->fillPath();
else if (resourceMode & ApplyToStrokeMode)
context->strokePath();
}
context->restore();
}
// TODO removeme
ossia::net::node_base& AreaComponent::thisNode() const
{
return node();
}
void RenderMediaControlTimelineContainer::layout()
{
RenderFlexibleBox::layout();
LayoutStateDisabler layoutStateDisabler(&view());
MediaControlTimelineContainerElement* container = static_cast<MediaControlTimelineContainerElement*>(node());
container->setTimeDisplaysHidden(width().toInt() < minWidthToDisplayTimeDisplays);
}
// induce tail if necessary
Agedge_t *edge(char *tname, Agnode_t *h)
{
return edge(node(agraphof(h), tname), h);
}
// induce tail/head if necessary
Agedge_t *edge(Agraph_t *g, char *tname, char *hname)
{
return edge(node(g, tname), node(g, hname));
}
status_t
FilePlaylistItem::_RestoreFromTrash(vector<entry_ref>* refs,
vector<BString>* namesInTrash)
{
char trashPath[B_PATH_NAME_LENGTH];
status_t err = find_directory(B_TRASH_DIRECTORY, (*refs)[0].device,
false /*create it*/, trashPath, B_PATH_NAME_LENGTH);
if (err != B_OK) {
fprintf(stderr, "failed to find Trash: %s\n", strerror(err));
return err;
}
for (vector<entry_ref>::size_type i = 0; i < refs->size(); i++) {
// construct the entry to the file in the trash
// TODO: BEntry(const BDirectory* directory, const char* path) is broken!
// BEntry entry(trashPath, (*namesInTrash)[i].String());
BPath path(trashPath, (*namesInTrash)[i].String());
BEntry entry(path.Path());
err = entry.InitCheck();
if (err != B_OK) {
fprintf(stderr, "failed to init BEntry for %s: %s\n",
(*namesInTrash)[i].String(), strerror(err));
return err;
}
//entry.GetPath(&path);
//printf("moving '%s'\n", path.Path());
// construct the folder of the original entry_ref
node_ref nodeRef;
nodeRef.device = (*refs)[i].device;
nodeRef.node = (*refs)[i].directory;
BDirectory originalDir(&nodeRef);
err = originalDir.InitCheck();
if (err != B_OK) {
fprintf(stderr, "failed to init original BDirectory for "
"%s: %s\n", (*refs)[i].name, strerror(err));
return err;
}
//path.SetTo(&originalDir, fItems[i].name);
//printf("as '%s'\n", path.Path());
// Reset the name here, the user may have already moved the entry
// out of the trash via Tracker for example.
(*namesInTrash)[i] = "";
// Finally, move the entry back into the original folder
err = entry.MoveTo(&originalDir, (*refs)[i].name);
if (err != B_OK) {
fprintf(stderr, "failed to restore entry from trash "
"%s: %s\n", (*refs)[i].name, strerror(err));
return err;
}
// Remove the attribute that helps Tracker restore the entry.
BNode node(&entry);
node.RemoveAttr("_trk/original_path");
}
return B_OK;
}
void
DrawingCursor::processCurrentNode(void) {
Gist::VisualNode* n = node();
double parentX = x - static_cast<double>(n->getOffset());
double parentY = y - static_cast<double>(Layout::dist_y) + nodeWidth;
if (!n->isRoot() &&
(n->getParent(na)->getStatus() == STOP ||
n->getParent(na)->getStatus() == UNSTOP) )
parentY -= (nodeWidth-failedWidth)/2;
double myx = x;
double myy = y;
if (n->getStatus() == STOP || n->getStatus() == UNSTOP)
myy += (nodeWidth-failedWidth)/2;
if (n != startNode()) {
if (n->isOnPath())
painter.setPen(Qt::red);
else
painter.setPen(Qt::black);
// Here we use drawPath instead of drawLine in order to
// workaround a strange redraw artefact on Windows
QPainterPath path;
path.moveTo(myx,myy);
path.lineTo(parentX,parentY);
painter.drawPath(path);
}
// draw shadow
if (n->isMarked()) {
painter.setBrush(Qt::gray);
painter.setPen(Qt::NoPen);
if (n->isHidden()) {
QPointF points[3] = {QPointF(myx+shadowOffset,myy+shadowOffset),
QPointF(myx+nodeWidth+shadowOffset,
myy+hiddenDepth+shadowOffset),
QPointF(myx-nodeWidth+shadowOffset,
myy+hiddenDepth+shadowOffset),
};
painter.drawConvexPolygon(points, 3);
} else {
switch (n->getStatus()) {
case Gist::SOLVED:
{
QPointF points[4] = {QPointF(myx+shadowOffset,myy+shadowOffset),
QPointF(myx+halfNodeWidth+shadowOffset,
myy+halfNodeWidth+shadowOffset),
QPointF(myx+shadowOffset,
myy+nodeWidth+shadowOffset),
QPointF(myx-halfNodeWidth+shadowOffset,
myy+halfNodeWidth+shadowOffset)
};
painter.drawConvexPolygon(points, 4);
}
break;
case Gist::FAILED:
painter.drawRect(myx-halfFailedWidth+shadowOffset,
myy+shadowOffset, failedWidth, failedWidth);
break;
case Gist::UNSTOP:
case Gist::STOP:
{
QPointF points[8] = {QPointF(myx+shadowOffset-quarterFailedWidthF,
myy+shadowOffset),
QPointF(myx+shadowOffset+quarterFailedWidthF,
myy+shadowOffset),
QPointF(myx+shadowOffset+halfFailedWidth,
myy+shadowOffset
+quarterFailedWidthF),
QPointF(myx+shadowOffset+halfFailedWidth,
myy+shadowOffset+halfFailedWidth+
quarterFailedWidthF),
QPointF(myx+shadowOffset+quarterFailedWidthF,
myy+shadowOffset+failedWidth),
QPointF(myx+shadowOffset-quarterFailedWidthF,
myy+shadowOffset+failedWidth),
QPointF(myx+shadowOffset-halfFailedWidth,
myy+shadowOffset+halfFailedWidth+
quarterFailedWidthF),
QPointF(myx+shadowOffset-halfFailedWidth,
myy+shadowOffset
+quarterFailedWidthF),
};
painter.drawConvexPolygon(points, 8);
}
break;
case Gist::BRANCH:
painter.drawEllipse(myx-halfNodeWidth+shadowOffset,
myy+shadowOffset, nodeWidth, nodeWidth);
break;
case Gist::UNDETERMINED:
painter.drawEllipse(myx-halfNodeWidth+shadowOffset,
myy+shadowOffset, nodeWidth, nodeWidth);
break;
}
}
}
painter.setPen(Qt::SolidLine);
if (n->isHidden()) {
if (n->hasOpenChildren()) {
QLinearGradient gradient(myx-nodeWidth,myy,
myx+nodeWidth*1.3,myy+hiddenDepth*1.3);
if (n->hasSolvedChildren()) {
gradient.setColorAt(0, white);
gradient.setColorAt(1, green);
} else if (n->hasFailedChildren()) {
gradient.setColorAt(0, white);
gradient.setColorAt(1, red);
} else {
gradient.setColorAt(0, white);
gradient.setColorAt(1, QColor(0,0,0));
}
painter.setBrush(gradient);
} else {
if (n->hasSolvedChildren())
painter.setBrush(QBrush(green));
else
painter.setBrush(QBrush(red));
}
QPointF points[3] = {QPointF(myx,myy),
QPointF(myx+nodeWidth,myy+hiddenDepth),
QPointF(myx-nodeWidth,myy+hiddenDepth),
};
painter.drawConvexPolygon(points, 3);
} else {
switch (n->getStatus()) {
case Gist::SOLVED:
{
if (n->isCurrentBest(curBest)) {
painter.setBrush(QBrush(orange));
} else {
painter.setBrush(QBrush(green));
}
QPointF points[4] = {QPointF(myx,myy),
QPointF(myx+halfNodeWidth,myy+halfNodeWidth),
QPointF(myx,myy+nodeWidth),
QPointF(myx-halfNodeWidth,myy+halfNodeWidth)
};
painter.drawConvexPolygon(points, 4);
}
break;
case Gist::FAILED:
painter.setBrush(QBrush(red));
painter.drawRect(myx-halfFailedWidth, myy, failedWidth, failedWidth);
break;
case Gist::UNSTOP:
case Gist::STOP:
{
painter.setBrush(n->getStatus() == STOP ?
QBrush(red) : QBrush(green));
QPointF points[8] = {QPointF(myx-quarterFailedWidthF,myy),
QPointF(myx+quarterFailedWidthF,myy),
QPointF(myx+halfFailedWidth,
myy+quarterFailedWidthF),
QPointF(myx+halfFailedWidth,
myy+halfFailedWidth+
quarterFailedWidthF),
QPointF(myx+quarterFailedWidthF,
myy+failedWidth),
QPointF(myx-quarterFailedWidthF,
myy+failedWidth),
QPointF(myx-halfFailedWidth,
myy+halfFailedWidth+
quarterFailedWidthF),
QPointF(myx-halfFailedWidth,
myy+quarterFailedWidthF),
};
painter.drawConvexPolygon(points, 8);
}
break;
case Gist::BRANCH:
painter.setBrush(n->childrenLayoutIsDone() ? QBrush(blue) :
QBrush(white));
painter.drawEllipse(myx-halfNodeWidth, myy, nodeWidth, nodeWidth);
break;
case Gist::UNDETERMINED:
painter.setBrush(Qt::white);
painter.drawEllipse(myx-halfNodeWidth, myy, nodeWidth, nodeWidth);
break;
}
}
if (copies && (n->hasCopy() && !n->hasWorkingSpace())) {
painter.setBrush(Qt::darkRed);
painter.drawEllipse(myx, myy, 10.0, 10.0);
}
if (copies && n->hasWorkingSpace()) {
painter.setBrush(Qt::darkYellow);
painter.drawEllipse(myx, myy + 10.0, 10.0, 10.0);
}
if (n->isBookmarked()) {
painter.setBrush(Qt::black);
painter.drawEllipse(myx-10-0, myy, 10.0, 10.0);
}
}
void
App::OpenFile(entry_ref ref, int32 line)
{
if (!ref.name)
return;
BNode node(&ref);
BString type;
if (node.ReadAttrString("BEOS:TYPE",&type) != B_OK)
{
update_mime_info(BPath(&ref).Path(),0,0,1);
node.ReadAttrString("BEOS:TYPE",&type);
}
if (type.CountChars() > 0)
{
if (type == PROJECT_MIME_TYPE || type.FindFirst("text/") != 0)
{
be_roster->Launch(&ref);
return;
}
}
else
{
BString extension = BPath(&ref).Path();
int32 pos = extension.FindLast(".");
if (pos >= 0)
{
extension = extension.String() + pos;
if (extension.ICompare(".cpp") != 0 &&
extension.ICompare(".h") != 0 &&
extension.ICompare(".hpp") != 0 &&
extension.ICompare(".c") != 0)
{
return;
}
}
}
// BMessage msg(B_REFS_RECEIVED);
BMessage msg(PALEDIT_OPEN_FILE);
msg.AddRef("refs",&ref);
if (line >= 0)
msg.AddInt32("line",line);
if (be_roster->IsRunning(EDITOR_SIGNATURE))
{
BMessenger msgr(EDITOR_SIGNATURE);
msgr.SendMessage(&msg);
}
else
{
DPath path(gAppPath.GetFolder());
path.Append("PalEdit");
entry_ref launchref;
BEntry(path.GetFullPath()).GetRef(&launchref);
if (be_roster->Launch(&launchref,&msg) != B_OK &&
be_roster->Launch(EDITOR_SIGNATURE,&msg) != B_OK)
be_roster->Launch(&ref);
}
}
bool RenderSVGResourceGradient::applyResource(RenderObject* object, RenderStyle* style, GraphicsContext*& context, unsigned short resourceMode)
{
ASSERT(object);
ASSERT(style);
ASSERT(context);
ASSERT(resourceMode != ApplyToDefaultMode);
// Be sure to synchronize all SVG properties on the gradientElement _before_ processing any further.
// Otherwhise the call to collectGradientAttributes() in createTileImage(), may cause the SVG DOM property
// synchronization to kick in, which causes removeAllClientsFromCache() to be called, which in turn deletes our
// GradientData object! Leaving out the line below will cause svg/dynamic-updates/SVG*GradientElement-svgdom* to crash.
SVGGradientElement* gradientElement = toSVGGradientElement(node());
if (!gradientElement)
return false;
if (m_shouldCollectGradientAttributes) {
gradientElement->synchronizeAnimatedSVGAttribute(anyQName());
if (!collectGradientAttributes(gradientElement))
return false;
m_shouldCollectGradientAttributes = false;
}
// Spec: When the geometry of the applicable element has no width or height and objectBoundingBox is specified,
// then the given effect (e.g. a gradient or a filter) will be ignored.
FloatRect objectBoundingBox = object->objectBoundingBox();
if (gradientUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX && objectBoundingBox.isEmpty())
return false;
OwnPtr<GradientData>& gradientData = m_gradientMap.add(object, nullptr).iterator->value;
if (!gradientData)
gradientData = adoptPtr(new GradientData);
bool isPaintingText = resourceMode & ApplyToTextMode;
// Create gradient object
if (!gradientData->gradient) {
buildGradient(gradientData.get());
// CG platforms will handle the gradient space transform for text after applying the
// resource, so don't apply it here. For non-CG platforms, we want the text bounding
// box applied to the gradient space transform now, so the gradient shader can use it.
#if USE(CG)
if (gradientUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX && !objectBoundingBox.isEmpty() && !isPaintingText) {
#else
if (gradientUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX && !objectBoundingBox.isEmpty()) {
#endif
gradientData->userspaceTransform.translate(objectBoundingBox.x(), objectBoundingBox.y());
gradientData->userspaceTransform.scaleNonUniform(objectBoundingBox.width(), objectBoundingBox.height());
}
AffineTransform gradientTransform;
calculateGradientTransform(gradientTransform);
gradientData->userspaceTransform *= gradientTransform;
if (isPaintingText) {
// Depending on font scaling factor, we may need to rescale the gradient here since
// text painting removes the scale factor from the context.
AffineTransform additionalTextTransform;
if (shouldTransformOnTextPainting(object, additionalTextTransform))
gradientData->userspaceTransform *= additionalTextTransform;
}
gradientData->gradient->setGradientSpaceTransform(gradientData->userspaceTransform);
}
if (!gradientData->gradient)
return false;
// Draw gradient
context->save();
if (isPaintingText) {
#if USE(CG)
if (!createMaskAndSwapContextForTextGradient(context, m_savedContext, m_imageBuffer, object)) {
context->restore();
return false;
}
#endif
context->setTextDrawingMode(resourceMode & ApplyToFillMode ? TextModeFill : TextModeStroke);
}
const SVGRenderStyle* svgStyle = style->svgStyle();
ASSERT(svgStyle);
if (resourceMode & ApplyToFillMode) {
context->setAlpha(svgStyle->fillOpacity());
context->setFillGradient(gradientData->gradient);
context->setFillRule(svgStyle->fillRule());
} else if (resourceMode & ApplyToStrokeMode) {
if (svgStyle->vectorEffect() == VE_NON_SCALING_STROKE)
gradientData->gradient->setGradientSpaceTransform(transformOnNonScalingStroke(object, gradientData->userspaceTransform));
context->setAlpha(svgStyle->strokeOpacity());
context->setStrokeGradient(gradientData->gradient);
SVGRenderSupport::applyStrokeStyleToContext(context, style, object);
}
return true;
}
void RenderSVGResourceGradient::postApplyResource(RenderObject* object, GraphicsContext*& context, unsigned short resourceMode, const Path* path, const RenderSVGShape* shape)
{
ASSERT(context);
ASSERT(resourceMode != ApplyToDefaultMode);
if (resourceMode & ApplyToTextMode) {
#if USE(CG)
// CG requires special handling for gradient on text
GradientData* gradientData;
if (m_savedContext && (gradientData = m_gradientMap.get(object))) {
// Restore on-screen drawing context
context = m_savedContext;
m_savedContext = 0;
AffineTransform gradientTransform;
calculateGradientTransform(gradientTransform);
FloatRect targetRect;
gradientData->gradient->setGradientSpaceTransform(clipToTextMask(context, m_imageBuffer, targetRect, object, gradientUnits() == SVGUnitTypes::SVG_UNIT_TYPE_OBJECTBOUNDINGBOX, gradientTransform));
context->setFillGradient(gradientData->gradient);
context->fillRect(targetRect);
m_imageBuffer.clear();
}
#else
UNUSED_PARAM(object);
#endif
} else {
if (resourceMode & ApplyToFillMode) {
if (path)
context->fillPath(*path);
else if (shape)
shape->fillShape(context);
}
if (resourceMode & ApplyToStrokeMode) {
if (path)
context->strokePath(*path);
else if (shape)
shape->strokeShape(context);
}
}
context->restore();
}
RenderBox* RenderPart::embeddedContentBox() const
{
if (!node() || !widget() || !widget()->isFrameView())
return 0;
return toFrameView(widget())->embeddedContentBox();
}
int main(int argc, char *argv[])
{
cout << "Enter dimension" << endl;
cin >> dim;
//dim = 4;
cout << "Enter number to generate partitions" << endl;
cin >> num;
//num = 20;
//Initializing the array
p[0] = node(dim);
p[1] = node(dim);
p[2] = node(dim);
possible[0] = node(dim);
possible[1] = node(dim);
//Initializing possible with initial possible nodes
int l=0; //Iterator
for(int j=dim-1;j>=0;j--)
{
int *x = node(dim);
x[j] = 1;
delete [] possible[l];
possible[l] = x;
l++;
}
//Creating List object
shared_ptr<List> initialList(new List());
//Inserting 0 node
initialList->insert_tail(node(dim));
//pointer initialization
d = NULL;
a = NULL;
//Initilization of results
res[0] = 1;
res[1] = 1;
sum[0] = 0;
sum[1] = 1;
int start_s = clock();
//The main call
addpart(1,0,dim-1,initialList);
int stop_s = clock();
//Printing time
cout << "Time : " << (stop_s - start_s)/(double)(CLOCKS_PER_SEC)*1000 << endl;
//Deleting pointer a
if(a!=NULL)
{
delete [] a;
}
//Deleting pointer d
if(d!=NULL)
{
delete [] d;
}
//Result
/*cout << "Result : " << endl;
for(int j=0;j<=num;j++)
{
cout << "res["<<j<<"]" << ": " << res[j] << endl;
}*/
//Sum
cout << "Sum : " << endl;
for(int j=0;j<2000;j++)
{
if(j<=num)
{
cout << fixed << setprecision(0) << "sum["<<j<<"]" << ": " << sum[j] << endl;
}
//Deleting objects from the arrays
if(p[j]!=NULL)
{
delete [] p[j];
}
if(possible[j]!=NULL)
{
delete [] possible[j];
}
}
//Deleting List instance
//delete initialList;
}
void
ImageFilePanel::SelectionChanged()
{
entry_ref ref;
Rewind();
if (GetNextSelectedRef(&ref) == B_OK) {
BEntry entry(&ref);
BNode node(&ref);
fImageView->ClearViewBitmap();
if (node.IsFile()) {
BBitmap* bitmap = BTranslationUtils::GetBitmap(&ref);
if (bitmap != NULL) {
BRect dest(fImageView->Bounds());
if (bitmap->Bounds().Width() > bitmap->Bounds().Height()) {
dest.InsetBy(0, (dest.Height() + 1
- ((bitmap->Bounds().Height() + 1)
/ (bitmap->Bounds().Width() + 1)
* (dest.Width() + 1))) / 2);
} else {
dest.InsetBy((dest.Width() + 1
- ((bitmap->Bounds().Width() + 1)
/ (bitmap->Bounds().Height() + 1)
* (dest.Height() + 1))) / 2, 0);
}
fImageView->SetViewBitmap(bitmap, bitmap->Bounds(), dest,
B_FOLLOW_LEFT | B_FOLLOW_TOP, 0);
BString resolution;
resolution << B_TRANSLATE("Resolution: ")
<< (int)(bitmap->Bounds().Width() + 1)
<< "x" << (int)(bitmap->Bounds().Height() + 1);
fResolutionView->SetText(resolution.String());
delete bitmap;
BNodeInfo nodeInfo(&node);
char type[B_MIME_TYPE_LENGTH];
if (nodeInfo.GetType(type) == B_OK) {
BMimeType mimeType(type);
mimeType.GetShortDescription(type);
// if this fails, the MIME type will be displayed
fImageTypeView->SetText(type);
} else {
BMimeType refType;
if (BMimeType::GuessMimeType(&ref, &refType) == B_OK) {
refType.GetShortDescription(type);
// if this fails, the MIME type will be displayed
fImageTypeView->SetText(type);
} else
fImageTypeView->SetText("");
}
}
} else {
fResolutionView->SetText("");
fImageTypeView->SetText("");
}
fImageView->Invalidate();
fResolutionView->Invalidate();
}
BFilePanel::SelectionChanged();
}
HTMLMediaElement* RenderMedia::mediaElement() const
{
return toMediaElement(node());
}
void add(int u,int v,int len){
G[u].push_back(node(v,len));
}
LayoutUnit RenderTextControlMultiLine::computeControlHeight(LayoutUnit lineHeight, LayoutUnit nonContentHeight) const
{
return lineHeight * static_cast<HTMLTextAreaElement*>(node())->rows() + nonContentHeight;
}
TEST(AggregateTests, HashDistinctTest) {
/*
* SELECT d, a, b, c FROM table GROUP BY a, b, c, d;
*/
const int tuple_count = TESTS_TUPLES_PER_TILEGROUP;
// Create a table and wrap it in logical tiles
auto &txn_manager = concurrency::TransactionManager::GetInstance();
auto txn = txn_manager.BeginTransaction();
auto txn_id = txn->GetTransactionId();
std::unique_ptr<storage::DataTable> data_table(
ExecutorTestsUtil::CreateTable(tuple_count, false));
ExecutorTestsUtil::PopulateTable(txn, data_table.get(),
2 * tuple_count, false,
true,
true); // let it be random
txn_manager.CommitTransaction();
std::unique_ptr<executor::LogicalTile> source_logical_tile1(
executor::LogicalTileFactory::WrapTileGroup(data_table->GetTileGroup(0),
txn_id));
std::unique_ptr<executor::LogicalTile> source_logical_tile2(
executor::LogicalTileFactory::WrapTileGroup(data_table->GetTileGroup(1),
txn_id));
// (1-5) Setup plan node
// 1) Set up group-by columns
std::vector<oid_t> group_by_columns = {0, 1, 2, 3};
// 2) Set up project info
planner::ProjectInfo::DirectMapList direct_map_list = {
{0, {0, 3}}, {1, {0, 0}}, {2, {0, 1}}, {3, {0, 2}}};
auto proj_info = new planner::ProjectInfo(planner::ProjectInfo::TargetList(),
std::move(direct_map_list));
// 3) Set up unique aggregates (empty)
std::vector<planner::AggregatePlan::AggTerm> agg_terms;
// 4) Set up predicate (empty)
expression::AbstractExpression* predicate = nullptr;
// 5) Create output table schema
auto data_table_schema = data_table.get()->GetSchema();
std::vector<oid_t> set = {3, 0, 1, 2};
std::vector<catalog::Column> columns;
for (auto column_index : set) {
columns.push_back(data_table_schema->GetColumn(column_index));
}
auto output_table_schema = new catalog::Schema(columns);
// OK) Create the plan node
planner::AggregatePlan node(proj_info, predicate, std::move(agg_terms),
std::move(group_by_columns), output_table_schema,
AGGREGATE_TYPE_HASH);
// Create and set up executor
auto txn2 = txn_manager.BeginTransaction();
std::unique_ptr<executor::ExecutorContext> context(
new executor::ExecutorContext(txn2));
executor::AggregateExecutor executor(&node, context.get());
MockExecutor child_executor;
executor.AddChild(&child_executor);
EXPECT_CALL(child_executor, DInit()).WillOnce(Return(true));
EXPECT_CALL(child_executor, DExecute())
.WillOnce(Return(true))
.WillOnce(Return(true))
.WillOnce(Return(false));
EXPECT_CALL(child_executor, GetOutput())
.WillOnce(Return(source_logical_tile1.release()))
.WillOnce(Return(source_logical_tile2.release()));
EXPECT_TRUE(executor.Init());
EXPECT_TRUE(executor.Execute());
txn_manager.CommitTransaction();
/* Verify result */
std::unique_ptr<executor::LogicalTile> result_tile(executor.GetOutput());
EXPECT_TRUE(result_tile.get() != nullptr);
for (auto tuple_id : *result_tile) {
int colA = ValuePeeker::PeekAsInteger(result_tile->GetValue(tuple_id, 1));
(void)colA;
}
}
status_t
FilePlaylistItem::_MoveIntoTrash(vector<entry_ref>* refs,
vector<BString>* namesInTrash)
{
char trashPath[B_PATH_NAME_LENGTH];
status_t err = find_directory(B_TRASH_DIRECTORY, (*refs)[0].device,
true /*create it*/, trashPath, B_PATH_NAME_LENGTH);
if (err != B_OK) {
fprintf(stderr, "failed to find Trash: %s\n", strerror(err));
return err;
}
BDirectory trashDir(trashPath);
err = trashDir.InitCheck();
if (err != B_OK) {
fprintf(stderr, "failed to init BDirectory for %s: %s\n",
trashPath, strerror(err));
return err;
}
for (vector<entry_ref>::size_type i = 0; i < refs->size(); i++) {
BEntry entry(&(*refs)[i]);
err = entry.InitCheck();
if (err != B_OK) {
fprintf(stderr, "failed to init BEntry for %s: %s\n",
(*refs)[i].name, strerror(err));
return err;
}
// Find a unique name for the entry in the trash
(*namesInTrash)[i] = (*refs)[i].name;
int32 uniqueNameIndex = 1;
while (true) {
BEntry test(&trashDir, (*namesInTrash)[i].String());
if (!test.Exists())
break;
(*namesInTrash)[i] = (*refs)[i].name;
(*namesInTrash)[i] << ' ' << uniqueNameIndex;
uniqueNameIndex++;
}
// Remember the original path
BPath originalPath;
entry.GetPath(&originalPath);
// Finally, move the entry into the trash
err = entry.MoveTo(&trashDir, (*namesInTrash)[i].String());
if (err != B_OK) {
fprintf(stderr, "failed to move entry into trash %s: %s\n",
trashPath, strerror(err));
return err;
}
// Allow Tracker to restore this entry
BNode node(&entry);
BString originalPathString(originalPath.Path());
node.WriteAttrString("_trk/original_path", &originalPathString);
}
return B_OK;
}
TEST(AggregateTests, PlainSumCountDistinctTest) {
/*
* SELECT SUM(a), COUNT(b), COUNT(DISTINCT b) from table
*/
const int tuple_count = TESTS_TUPLES_PER_TILEGROUP;
// Create a table and wrap it in logical tiles
auto &txn_manager = concurrency::TransactionManager::GetInstance();
auto txn = txn_manager.BeginTransaction();
auto txn_id = txn->GetTransactionId();
std::unique_ptr<storage::DataTable> data_table(
ExecutorTestsUtil::CreateTable(tuple_count, false));
ExecutorTestsUtil::PopulateTable(txn, data_table.get(),
2 * tuple_count, false,
true, true);
txn_manager.CommitTransaction();
std::unique_ptr<executor::LogicalTile> source_logical_tile1(
executor::LogicalTileFactory::WrapTileGroup(data_table->GetTileGroup(0),
txn_id));
std::unique_ptr<executor::LogicalTile> source_logical_tile2(
executor::LogicalTileFactory::WrapTileGroup(data_table->GetTileGroup(1),
txn_id));
// (1-5) Setup plan node
// 1) Set up group-by columns
std::vector<oid_t> group_by_columns;
// 2) Set up project info
planner::ProjectInfo::DirectMapList direct_map_list = {
{0, {1, 0}}, {1, {1, 1}}, {2, {1, 2}}};
auto proj_info = new planner::ProjectInfo(planner::ProjectInfo::TargetList(),
std::move(direct_map_list));
// 3) Set up unique aggregates
std::vector<planner::AggregatePlan::AggTerm> agg_terms;
planner::AggregatePlan::AggTerm sumA(EXPRESSION_TYPE_AGGREGATE_SUM,
expression::TupleValueFactory(0, 0),
false);
planner::AggregatePlan::AggTerm countB(EXPRESSION_TYPE_AGGREGATE_COUNT,
expression::TupleValueFactory(0, 1),
false); // Flag distinct
planner::AggregatePlan::AggTerm countDistinctB(
EXPRESSION_TYPE_AGGREGATE_COUNT, expression::TupleValueFactory(0, 1),
true); // Flag distinct
agg_terms.push_back(sumA);
agg_terms.push_back(countB);
agg_terms.push_back(countDistinctB);
// 4) Set up predicate (empty)
expression::AbstractExpression* predicate = nullptr;
// 5) Create output table schema
auto data_table_schema = data_table.get()->GetSchema();
std::vector<oid_t> set = {0, 1, 1};
std::vector<catalog::Column> columns;
for (auto column_index : set) {
columns.push_back(data_table_schema->GetColumn(column_index));
}
auto output_table_schema = new catalog::Schema(columns);
// OK) Create the plan node
planner::AggregatePlan node(proj_info, predicate, std::move(agg_terms),
std::move(group_by_columns), output_table_schema,
AGGREGATE_TYPE_PLAIN);
// Create and set up executor
auto txn2 = txn_manager.BeginTransaction();
std::unique_ptr<executor::ExecutorContext> context(
new executor::ExecutorContext(txn2));
executor::AggregateExecutor executor(&node, context.get());
MockExecutor child_executor;
executor.AddChild(&child_executor);
EXPECT_CALL(child_executor, DInit()).WillOnce(Return(true));
EXPECT_CALL(child_executor, DExecute())
.WillOnce(Return(true))
.WillOnce(Return(true))
.WillOnce(Return(false));
EXPECT_CALL(child_executor, GetOutput())
.WillOnce(Return(source_logical_tile1.release()))
.WillOnce(Return(source_logical_tile2.release()));
EXPECT_TRUE(executor.Init());
EXPECT_TRUE(executor.Execute());
txn_manager.CommitTransaction();
/* Verify result */
std::unique_ptr<executor::LogicalTile> result_tile(executor.GetOutput());
EXPECT_TRUE(result_tile.get() != nullptr);
EXPECT_TRUE(result_tile->GetValue(0, 0)
.OpEquals(ValueFactory::GetIntegerValue(50))
.IsTrue());
EXPECT_TRUE(result_tile->GetValue(0, 1)
.OpEquals(ValueFactory::GetIntegerValue(10))
.IsTrue());
EXPECT_TRUE(result_tile->GetValue(0, 2)
.OpLessThanOrEqual(ValueFactory::GetIntegerValue(3))
.IsTrue());
}
// Main code:
int main(int argc,char* argv[])
{
// The joint handles and proximity sensor handles are given in the argument list
// (when V-REP launches this executable, V-REP will also provide the argument list)
int leftMotorHandle;
int rightMotorHandle;
int sensorHandle;
if (argc>=4)
{
leftMotorHandle=atoi(argv[1]);
rightMotorHandle=atoi(argv[2]);
sensorHandle=atoi(argv[3]);
}
else
{
printf("Indicate following arguments: 'leftMotorHandle rightMotorHandle sensorHandle'!\n");
sleep(5000);
return 0;
}
// Create a ROS node. The name has a random component:
int _argc = 0;
char** _argv = NULL;
struct timeval tv;
unsigned int timeVal=0;
if (gettimeofday(&tv,NULL)==0)
timeVal=(tv.tv_sec*1000+tv.tv_usec/1000)&0x00ffffff;
std::string nodeName("rosBubbleRob");
std::string randId(boost::lexical_cast<std::string>(timeVal+int(999999.0f*(rand()/(float)RAND_MAX))));
nodeName+=randId;
ros::init(_argc,_argv,nodeName.c_str());
if(!ros::master::check())
return(0);
ros::NodeHandle node("~");
printf("rosBubbleRob just started with node name %s\n",nodeName.c_str());
// 1. Let's subscribe to V-REP's info stream (that stream is the only one enabled by default,
// and the only one that can run while no simulation is running):
ros::Subscriber subInfo=node.subscribe("/vrep/info",1,infoCallback);
// 2. Request V-REP to launch a publisher for the BubbleRob's proximity sensor:
ros::ServiceClient client_enablePublisher=node.serviceClient<vrep_common::simRosEnablePublisher>("/vrep/simRosEnablePublisher");
vrep_common::simRosEnablePublisher srv_enablePublisher;
srv_enablePublisher.request.topicName="proxData"+randId; // the requested topic name
srv_enablePublisher.request.queueSize=1; // the requested publisher queue size (on V-REP side)
srv_enablePublisher.request.streamCmd=simros_strmcmd_read_proximity_sensor; // the requested publisher type
srv_enablePublisher.request.auxInt1=sensorHandle; // some additional information the publisher needs (what proximity sensor)
if ( client_enablePublisher.call(srv_enablePublisher)&&(srv_enablePublisher.response.effectiveTopicName.length()!=0) )
{ // ok, the service call was ok, and the publisher was succesfully started on V-REP side
// V-REP is now streaming the proximity sensor data!
// 3. Let's subscribe to that proximity sensor data:
std::string topicName("/vrep/");
topicName+=srv_enablePublisher.response.effectiveTopicName; // Make sure to use the returned topic name, not the requested one (can be same)
ros::Subscriber sub=node.subscribe(topicName.c_str(),1,sensorCallback);
// 4. Let's tell V-REP to subscribe to the motor speed topic (publisher to that topic will be created further down):
ros::ServiceClient client_enableSubscriber=node.serviceClient<vrep_common::simRosEnableSubscriber>("/vrep/simRosEnableSubscriber");
vrep_common::simRosEnableSubscriber srv_enableSubscriber;
srv_enableSubscriber.request.topicName="/"+nodeName+"/wheels"; // the topic name
srv_enableSubscriber.request.queueSize=1; // the subscriber queue size (on V-REP side)
srv_enableSubscriber.request.streamCmd=simros_strmcmd_set_joint_state; // the subscriber type
if ( client_enableSubscriber.call(srv_enableSubscriber)&&(srv_enableSubscriber.response.subscriberID!=-1) )
{ // ok, the service call was ok, and the subscriber was succesfully started on V-REP side
// V-REP is now listening to the desired motor joint states
// 5. Let's prepare a publisher of those motor speeds:
ros::Publisher motorSpeedPub=node.advertise<vrep_common::JointSetStateData>("wheels",1);
// 6. Finally we have the control loop:
float driveBackStartTime=-99.0f;
while (ros::ok()&&simulationRunning)
{ // this is the control loop (very simple, just as an example)
vrep_common::JointSetStateData motorSpeeds;
float desiredLeftMotorSpeed;
float desiredRightMotorSpeed;
if (simulationTime-driveBackStartTime<3.0f)
{ // driving backwards while slightly turning:
desiredLeftMotorSpeed=-3.1415*0.5;
desiredRightMotorSpeed=-3.1415*0.25;
}
else
{ // going forward:
desiredLeftMotorSpeed=3.1415;
desiredRightMotorSpeed=3.1415;
if (sensorTrigger)
driveBackStartTime=simulationTime; // We detected something, and start the backward mode
sensorTrigger=false;
}
// publish the motor speeds:
motorSpeeds.handles.data.push_back(leftMotorHandle);
motorSpeeds.handles.data.push_back(rightMotorHandle);
motorSpeeds.setModes.data.push_back(2); // 2 is the speed mode
motorSpeeds.setModes.data.push_back(2);
motorSpeeds.values.data.push_back(desiredLeftMotorSpeed);
motorSpeeds.values.data.push_back(desiredRightMotorSpeed);
motorSpeedPub.publish(motorSpeeds);
// handle ROS messages:
ros::spinOnce();
// sleep a bit:
usleep(5000);
}
}
}
ros::shutdown();
printf("rosBubbleRob just ended!\n");
return(0);
}
void BPlusTree::_remove(Block blk, AttrType k) {
Node node(blk);
int i;
std::cout << "BPlusTree::_remove == k " << k.datai << std::endl;
std::cout << "BPlusTree::_remove == blk.pos " << blk.pos << std::endl;
// delete the corresponding p, k at first
for( i = 0; i < node.getKSize(); i++ ) {
if( node.getK(i) == k ) {
node.remove(k, node.getP(i), i);
break;
}
}
// then check whether the size of the node is too small
bool isRootWithSoleChild = node.isRoot() && !node.isLeaf() && node.getPSize() == 1;
bool isNotRootAndTooSmall = ( node.isLeaf() && node.getKSize() < fanout / 2 ) || ( !node.isLeaf() && node.getKSize() < (fanout+1) / 2 );
isNotRootAndTooSmall = isNotRootAndTooSmall && node.isRoot();
if( isRootWithSoleChild ) { // If the root node has only one pointer after deletion, it is deleted and the sole child becomes the root.
Block soleChildBlk;
bufferManager->getBlock(filename, node.getP(0), soleChildBlk);
Node soleChildNode(soleChildBlk);
soleChildNode.setRoot(true);
setRootNode(soleChildNode);
setRootPos(soleChildBlk.getPos());
soleChildNode.write2Blk(soleChildBlk, typeId, strLen, bufferManager);
bufferManager->deleteBlock(blk);
return;
}
else if( isNotRootAndTooSmall ) {
Block parentBlk;
Block siblingBlk;
Node siblingNode;
AttrType nk;
std::cout << "isNotRootAndTooSmall" << std::endl;
std::cout << "stk.top() = " << stk.top() << std::endl;
stk.pop();
std::cout << "parentBlk pos = " << stk.size() << std::endl;
bufferManager->getBlock(filename, stk.top(), parentBlk);
//stk.pop();
Node parentNode(parentBlk);
std::cout << "f**k" << std::endl;
// find sibling
bool isLeftSibling = true;
int siblingPos;
for( i = 0; i < parentNode.getPSize(); i++ ) {
if( parentNode.getP(i) == blk.getPos() ) {
if( i > 0 ) {
siblingPos = parentNode.getP(i-1);
nk = parentNode.getK(i);
}
else {
siblingPos = parentNode.getP(i+1);
nk = parentNode.getK(i);
isLeftSibling = false;
}
std::cout << "siblingPos " << siblingPos/BLOCK_SIZE << std::endl;
bufferManager->getBlock(filename, siblingPos, siblingBlk);
siblingNode.resetByBlock(siblingBlk);
break;
}
}
std::cout << "success up to now" << std::endl;
// merge
if( !isLeftSibling ) {
std::swap(node, siblingNode);
std::swap(blk, siblingBlk);
}
if( siblingNode.isLeaf() ) {
siblingNode.popP();
}
else {
siblingNode.appendK(nk);
}
for( i = 0; i < node.getPSize(); i++ ) {
siblingNode.appendP(node.getP(i));
if( i < node.getPSize() - 1 ) {
siblingNode.appendK(node.getK(i));
}
}
for( i = 0; i < siblingNode.getPSize(); i++ ) {
std::cout << "siblingNode.getP[" << i << "] = " << siblingNode.getP(i) << std::endl;
}
for( i = 0; i < siblingNode.getKSize(); i++ ) {
std::cout << "siblingNode.getK[" << i << "] = " << siblingNode.getK(i).datai << std::endl;
}
if( siblingNode.getPSize() <= fanout ) { // can be merged
std::cout << "siblingNode.write2Blk -- siblingBlk.pos[] " << siblingBlk.pos << std::endl;
// siblingNode.write2Blk(siblingBlk, typeId, strLen, bufferManager);
// bufferManager->deleteBlock(blk);
siblingNode.write2Blk(blk, typeId, strLen, bufferManager);
bufferManager->deleteBlock(siblingBlk);
_remove(parentBlk, nk);
}
else { // split
Node n1(false, false), n2(false, false);
for( i = 0; i < (siblingNode.getPSize() + 1) / 2 - 1; i++ ) {
n1.appendK(siblingNode.getK(i));
n1.appendP(siblingNode.getP(i));
}
n1.appendP(siblingNode.getP(i));
for( i = (siblingNode.getPSize() + 1) / 2; i < (siblingNode.getPSize() + 1) / 2; i++ ) {
n2.appendK(siblingNode.getK(i));
n2.appendP(siblingNode.getP(i));
}
n2.appendP(siblingNode.getP(i));
n1.write2Blk(siblingBlk, typeId, strLen, bufferManager);
n2.write2Blk(blk, typeId, strLen, bufferManager);
if( !isLeftSibling ) {
std::swap(blk, siblingBlk);
}
}
}
else {
node.write2Blk(blk, typeId, strLen, bufferManager);
}
}
int main(int argc, const char** argv)
{
if (argc < 2)
{
std::cerr << "Usage: " << argv[0] << " <node-id>" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
uavcan::Node<NodeMemoryPoolSize> node(getCanDriver(), getSystemClock());
node.setNodeID(self_node_id);
node.setName("org.uavcan.tutorial.configuree");
const int node_start_res = node.start();
if (node_start_res < 0)
{
throw std::runtime_error("Failed to start the node; error: " + std::to_string(node_start_res));
}
/*
* This would be our configuration storage.
*/
static struct Params
{
unsigned foo = 42;
float bar = 0.123456F;
double baz = 1e-5;
std::string booz = "Hello world!";
} configuration;
/*
* Now, we need to define some glue logic between the server (below) and our configuration storage (above).
* This is done via the interface uavcan::IParamManager.
*/
class : public uavcan::IParamManager
{
void getParamNameByIndex(Index index, Name& out_name) const override
{
if (index == 0) { out_name = "foo"; }
if (index == 1) { out_name = "bar"; }
if (index == 2) { out_name = "baz"; }
if (index == 3) { out_name = "booz"; }
}
void assignParamValue(const Name& name, const Value& value) override
{
if (name == "foo")
{
/*
* Parameter "foo" is an integer, so we accept only integer values here.
*/
if (value.is(uavcan::protocol::param::Value::Tag::integer_value))
{
configuration.foo = *value.as<uavcan::protocol::param::Value::Tag::integer_value>();
}
}
else if (name == "bar")
{
/*
* Parameter "bar" is a floating point, so we accept only float values here.
*/
if (value.is(uavcan::protocol::param::Value::Tag::real_value))
{
configuration.bar = *value.as<uavcan::protocol::param::Value::Tag::real_value>();
}
}
else if (name == "baz")
{
/*
* Ditto
*/
if (value.is(uavcan::protocol::param::Value::Tag::real_value))
{
configuration.baz = *value.as<uavcan::protocol::param::Value::Tag::real_value>();
}
}
else if (name == "booz")
{
/*
* Parameter "booz" is a string, so we take only strings.
*/
if (value.is(uavcan::protocol::param::Value::Tag::string_value))
{
configuration.booz = value.as<uavcan::protocol::param::Value::Tag::string_value>()->c_str();
}
}
else
{
std::cout << "Can't assign parameter: " << name.c_str() << std::endl;
}
}
void readParamValue(const Name& name, Value& out_value) const override
{
if (name == "foo")
{
out_value.to<uavcan::protocol::param::Value::Tag::integer_value>() = configuration.foo;
}
else if (name == "bar")
{
out_value.to<uavcan::protocol::param::Value::Tag::real_value>() = configuration.bar;
}
else if (name == "baz")
{
out_value.to<uavcan::protocol::param::Value::Tag::real_value>() = configuration.baz;
}
else if (name == "booz")
{
out_value.to<uavcan::protocol::param::Value::Tag::string_value>() = configuration.booz.c_str();
}
else
{
std::cout << "Can't read parameter: " << name.c_str() << std::endl;
}
}
int saveAllParams() override
{
std::cout << "Save - this implementation does not require any action" << std::endl;
return 0; // Zero means that everything is fine.
}
int eraseAllParams() override
{
std::cout << "Erase - all params reset to default values" << std::endl;
configuration = Params();
return 0;
}
/**
* Note that this method is optional. It can be left unimplemented.
*/
void readParamDefaultMaxMin(const Name& name, Value& out_def,
NumericValue& out_max, NumericValue& out_min) const override
{
if (name == "foo")
{
out_def.to<uavcan::protocol::param::Value::Tag::integer_value>() = Params().foo;
out_max.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = 9000;
out_min.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = 0;
}
else if (name == "bar")
{
out_def.to<uavcan::protocol::param::Value::Tag::real_value>() = Params().bar;
out_max.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = 1;
out_min.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = 0;
}
else if (name == "baz")
{
out_def.to<uavcan::protocol::param::Value::Tag::real_value>() = Params().baz;
out_max.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = 1;
out_min.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = 0;
}
else if (name == "booz")
{
out_def.to<uavcan::protocol::param::Value::Tag::string_value>() = Params().booz.c_str();
std::cout << "Limits for 'booz' are not defined" << std::endl;
}
else
{
std::cout << "Can't read the limits for parameter: " << name.c_str() << std::endl;
}
}
} param_manager;
/*
* Initializing the configuration server.
* A pointer to the glue logic object is passed to the method start().
*/
uavcan::ParamServer server(node);
const int server_start_res = server.start(¶m_manager);
if (server_start_res < 0)
{
throw std::runtime_error("Failed to start ParamServer: " + std::to_string(server_start_res));
}
/*
* Now, this node can be reconfigured via UAVCAN. Awesome.
* Many embedded applications require a restart before the new configuration settings can
* be applied, so it is highly recommended to also support the remote restart service.
*/
class : public uavcan::IRestartRequestHandler
{
bool handleRestartRequest(uavcan::NodeID request_source) override
{
std::cout << "Got a remote restart request from " << int(request_source.get()) << std::endl;
/*
* We won't really restart, so return 'false'.
* Returning 'true' would mean that we're going to restart for real.
* Note that it is recognized that some nodes may not be able to respond to the
* restart request (e.g. if they restart immediately from the service callback).
*/
return false;
}
} restart_request_handler;
/*
* Installing the restart request handler.
*/
node.setRestartRequestHandler(&restart_request_handler); // Done.
/*
* Running the node.
*/
node.setModeOperational();
while (true)
{
const int res = node.spin(uavcan::MonotonicDuration::getInfinite());
if (res < 0)
{
std::cerr << "Transient failure: " << res << std::endl;
}
}
}
void BPlusTree::insert(const AttrType &k, int p) {
int i;
int blkPos = _findLeaf(k);
std::cout << "insert blkPos" << blkPos/BLOCK_SIZE << std::endl;
//system("pause");
Block oldBlk;
bufferManager->getBlock(filename, blkPos, oldBlk);
Node node(oldBlk);
// first insert k,p into the corresponding leaf node
if( !node.getKSize() ) {
node.appendK(k);
node.appendP(p);
node.appendP(-1); // has problem here
} else {
for( i = 0; i < node.getKSize(); i++ ) {
if( k < node.getK(i) ) {
node.insert(k, p, i);
break;
}
}
if( i == node.getKSize() ) {
//std::cout << "k " << k.datai << std::endl;
//std::cout << "node.getK(i) " << node.getK(i-1).datai << std::endl;
node.insert(k, p, i);
}
}
if( node.getKSize() < fanout ) {
std::cout << " node.getKSize() < fanout " << std::endl;
node.write2Blk(oldBlk, typeId, strLen, bufferManager);
}
else { // need to split
Node n1(false, true), n2(false, true);
Block newBlk = bufferManager->newBlock(filename);
AttrType mid;
n1.setRoot(node.isRoot());
n2.setRoot(node.isRoot());
n1.setLeaf(node.isLeaf());
n2.setLeaf(node.isLeaf());
for( i = 0; i < (fanout + 1) / 2; i++ ) {
n1.appendK(node.getK(i));
n1.appendP(node.getP(i));
}
n1.appendP(newBlk.pos); // here is problem!
mid = node.getK(i);
for( i = (fanout + 1) / 2; i < fanout; i++ ) {
n2.appendK(node.getK(i));
n2.appendP(node.getP(i));
}
n2.appendP(node.getP(i));
n1.write2Blk(oldBlk, typeId, strLen, bufferManager);
n2.write2Blk(newBlk, typeId, strLen, bufferManager);
std::cout << "oldBlk " << oldBlk.pos/BLOCK_SIZE << std::endl;
std::cout << "newBlk " << newBlk.pos/BLOCK_SIZE << std::endl;
std::cout << "middata " << mid.datai << std::endl;
_insertNewBlk(oldBlk, mid, newBlk);
}
}
// induce head if necessary
Agedge_t *edge(Agnode_t *t, char *hname)
{
return edge(t, node(agraphof(t), hname));
}
int main(int argc, char** argv)
{
// initialize ROS
ros::init(argc, argv, "find_grasps");
ros::NodeHandle node("~");
GraspLocalizer::Parameters params;
// camera transforms (poses)
Eigen::Matrix4d base_tf, sqrt_tf;
base_tf << 0, 0.445417, 0.895323, 0.215,
1, 0, 0, -0.015,
0, 0.895323, -0.445417, 0.23,
0, 0, 0, 1;
sqrt_tf << 0.9366, -0.0162, 0.3500, -0.2863,
0.0151, 0.9999, 0.0058, 0.0058,
-0.3501, -0.0002, 0.9367, 0.0554,
0, 0, 0, 1;
params.cam_tf_left_ = base_tf * sqrt_tf.inverse();
params.cam_tf_right_ = base_tf * sqrt_tf;
// read ROS parameters
std::string cloud_topic;
std::string cloud_frame;
std::string svm_file_name;
std::vector<double> workspace;
std::vector<double> camera_pose;
int cloud_type;
bool parallel;
node.param("parallel", parallel, true);
node.param("cloud_topic", cloud_topic, CLOUD_TOPIC);
node.param("cloud_frame", cloud_frame, CLOUD_FRAME);
node.param("cloud_type", cloud_type, CLOUD_TYPE);
node.param("svm_file_name", svm_file_name, SVM_FILE_NAME);
node.param("num_threads", params.num_threads_, NUM_THREADS);
node.param("num_samples", params.num_samples_, NUM_SAMPLES);
node.param("num_clouds", params.num_clouds_, NUM_CLOUDS);
if (parallel) {
double finger_width, hand_outer_diameter, hand_depth;
node.param("finger_width", finger_width, FINGER_WIDTH);
node.param("hand_outer_diameter", hand_outer_diameter, HAND_OUTER_DIAMETER);
node.param("hand_depth", hand_depth, HAND_DEPTH);
params.finger_hand_ = new ParallelHand(finger_width, hand_outer_diameter, hand_depth);
}
//TODO else
node.param("init_bite", params.init_bite_, INIT_BITE);
node.param("hand_height", params.hand_height_, HAND_HEIGHT);
node.param("min_inliers", params.min_inliers_, MIN_HANDLE_INLIERS);
node.getParam("workspace", workspace);
node.getParam("camera_pose", camera_pose);
node.param("plotting", params.plotting_mode_, 0);
node.param("marker_lifetime", params.marker_lifetime_, 0.0);
Eigen::Matrix4d R;
for (int i=0; i < R.rows(); i++)
R.row(i) << camera_pose[i*R.cols()], camera_pose[i*R.cols() + 1], camera_pose[i*R.cols() + 2], camera_pose[i*R.cols() + 3];
Eigen::VectorXd ws(6);
ws << workspace[0], workspace[1], workspace[2], workspace[3], workspace[4], workspace[5];
params.workspace_ = ws;
std::cout << "-- Parameters --\n";
std::cout << " Input\n";
std::cout << " cloud_topic: " << cloud_topic << "\n";
std::cout << " cloud_frame: " << cloud_frame << "\n";
std::cout << " cloud_type: " << CLOUD_TYPES[cloud_type] << "\n";
std::cout << " Hand Search\n";
std::cout << " workspace: " << ws.transpose() << "\n";
std::cout << " num_samples: " << params.num_samples_ << "\n";
std::cout << " num_threads: " << params.num_threads_ << "\n";
std::cout << " num_clouds: " << params.num_clouds_ << "\n";
std::cout << " camera pose:\n" << R << std::endl;
std::cout << " Robot Hand Model\n";
//TODO: Make FingerGrasp printable.
// std::cout << " finger_width: " << params.finger_width_ << "\n";
// std::cout << " hand_outer_diameter: " << params.hand_outer_diameter_ << "\n";
// std::cout << " hand_depth: " << params.finger_width_ << "\n";
// std::cout << " init_bite: " << params.finger_width_ << "\n";
// std::cout << " hand_height: " << params.finger_width_ << "\n";
std::cout << " Antipodal Grasps Prediction\n";
std::cout << " svm_file_name: " << svm_file_name << "\n";
std::cout << " Handle Search\n";
std::cout << " min_inliers: " << params.min_inliers_ << "\n";
std::cout << " Visualization\n";
std::cout << " plot_mode: " << PLOT_MODES[params.plotting_mode_] << "\n";
std::cout << " marker_lifetime: " << params.marker_lifetime_ << "\n";
GraspLocalizer loc(node, cloud_topic, cloud_frame, cloud_type, svm_file_name, params);
loc.localizeGrasps();
return 0;
}
int testSQLiteDatabaseConnection()
{
SQLiteDatabaseConnection connection;
QFile file("sqlitetest.db");
std::cerr << "Removing database test file \"sqlitetest.db\"..." << std::endl;
if (file.exists())
file.remove();
std::cerr << "Opening \"sqlitetest.db\"..." << std::endl;
connection.open("sqlitetest.db");
CHECK(connection.isDBOpen());
std::cerr << "Closing database..." << std::endl;
connection.close();
CHECK(!connection.isDBOpen());
std::cerr << "Reopening \"sqlitetest.db\"..." << std::endl;
connection.open("sqlitetest.db");
CHECK(connection.isDBOpen());
RoutingNode node(25, 51.0, 7.0);
std::cerr << "Save Node..." << std::endl;
CHECK(connection.saveNode(node));
node = RoutingNode(26, 51.5, 7.5);
CHECK(connection.saveNode(node));
CHECK(*connection.getNodeByID(26) == node);
CHECK(*connection.getNodeByID(RoutingNode::convertIDToLongFormat(26)) == node);
RoutingEdge edge(45, 25, 26);
std::cerr << "Save Edge..." << std::endl;
edge.setCycleBarrier(true);
edge.setCyclewayType(5);
CHECK(connection.saveEdge(edge, "Teststraße"));
CHECK_EQ_TYPE(connection.getStreetName(edge), "Teststraße", QString);
edge = RoutingEdge(46, 26, 25);
CHECK(connection.saveEdge(edge));
GPSPosition min(50.0, 6.0);
GPSPosition max(52.0, 8.0);
QVector<boost::shared_ptr<RoutingNode> > list = connection.getNodes(min, max);
CHECK(!list.isEmpty());
CHECK(list.size() == 2);
std::cerr << "Node 0 from DB: " << *(list[0]) << std::endl;
std::cerr << "Node 1 from DB: " << *(list[1]) << std::endl;
CHECK((*list[0] == node) || (*list[1] == node));
boost::minstd_rand generator(42u);
boost::uniform_real<> uni_dist(50, 52);
boost::variate_generator<boost::minstd_rand&, boost::uniform_real<> > uni(generator, uni_dist);
std::cerr << "Inserting 10000 Nodes within one transaction..." << std::endl;
bool successInsertManyNodes = true;
CHECK(connection.beginTransaction());
for (int i=0; i<10000; i++)
{
node = RoutingNode(i + 100, uni(), uni() - (51.0 - 7.0));
successInsertManyNodes = successInsertManyNodes && connection.saveNode(node);
}
CHECK(successInsertManyNodes);
CHECK(connection.endTransaction());
std::cerr << "Hier erwartet: Resultcode 19 (-> Constraint failed)" << std::endl;
CHECK(!connection.saveNode(node));
boost::shared_ptr<RoutingEdge> dbEdge(connection.getEdgeByEdgeID(46));
CHECK_EQ(edge, *dbEdge);
QVector<boost::shared_ptr<RoutingEdge> > edgeList;
edgeList = connection.getEdgesByStartNodeID(26);
CHECK_EQ(edge, *edgeList[0]);
edgeList = connection.getEdgesByStartNodeID(26);
CHECK_EQ(edge, *edgeList[0]);
edgeList = connection.getEdgesByEndNodeID(25);
CHECK_EQ(edge, *edgeList[0]);
edgeList = connection.getEdgesByEndNodeID(25);
CHECK_EQ(edge, *edgeList[0]);
std::cerr << "Inserting 10000 Edges within one transaction..." << std::endl;
bool successInsertManyEdges = true;
CHECK(connection.beginTransaction());
for (int i=0; i<10000; i++)
{
edge = RoutingEdge(i + 100, i+99, i+100);
successInsertManyEdges = successInsertManyEdges && connection.saveEdge(edge);
}
CHECK(successInsertManyEdges);
CHECK(connection.endTransaction());
std::cerr << "Hier erwartet: Resultcode 19 (-> Constraint failed)" << std::endl;
CHECK(!connection.saveEdge(edge));
edgeList = connection.getEdgesByStartNodeID(99);
CHECK(!edgeList.isEmpty());
edgeList = connection.getEdgesByStartNodeID(100);
CHECK(!edgeList.isEmpty());
CHECK(connection.beginTransaction());
CHECK(connection.deleteEdge(99, 100));
CHECK(connection.deleteEdge(100, 101));
CHECK(connection.endTransaction());
edgeList = connection.getEdgesByStartNodeID(99);
CHECK(edgeList.isEmpty());
edgeList = connection.getEdgesByStartNodeID(100);
CHECK(edgeList.isEmpty());
return EXIT_SUCCESS;
}
RenderTextControlMultiLine::~RenderTextControlMultiLine()
{
if (node() && node()->inDocument())
static_cast<HTMLTextAreaElement*>(node())->rendererWillBeDestroyed();
}
Trie(){
nodes.push_back(node());
}
LayoutUnit RenderTextControlMultiLine::preferredContentWidth(float charWidth) const
{
int factor = static_cast<HTMLTextAreaElement*>(node())->cols();
return static_cast<LayoutUnit>(ceilf(charWidth * factor)) + scrollbarThickness();
}
static Node encode(const QString& rhs) {
Node node(rhs.toStdString());
return node;
}
void CNcdServerReportManager::NodeSetAsInstalledRequestL( MCatalogsBaseMessage& aMessage )
{
HBufC8* input = HBufC8::NewLC( aMessage.InputLength() );
TPtr8 inputPtr = input->Des();
aMessage.ReadInput( inputPtr );
RDesReadStream inputStream( *input );
CleanupClosePushL( inputStream );
TInt errorCode( inputStream.ReadInt32L() );
CNcdNodeIdentifier* identifier( CNcdNodeIdentifier::NewLC( inputStream ) );
CNcdReportManager& reportManager( ReportManagerL( aMessage ) );
CNcdNode& node( Provider().NodeManager().NodeL( *identifier ) );
CNcdNodeMetaData& metaData( node.NodeMetaDataL() );
TNcdReportStatusInfo info( ENcdReportCreate, errorCode );
// Use the node identifier to identify the content in install report.
// Node id uniquely identifies the node that contains contents
// that will be installed. One node may contains multiple contents but
// they are all thought as one bundle, in one operation. Also, notice that
// multiple nodes can contain same metadata and same content.
TNcdReportId reportId =
reportManager.RegisterInstallL(
identifier->NodeId(),
metaData.Identifier(),
info,
metaData.Identifier().ServerUri(),
metaData.Identifier().NodeNameSpace() );
// Set access point for report.
UpdateInstallReportAccessPointL( aMessage.Session().Context().FamilyId(),
reportId,
node,
metaData,
reportManager,
HttpSessionL( aMessage.Session().Context() ) );
// Set the final success information directly into the report instead of
// reporting other install statuses here.
TNcdReportStatus status( ENcdReportSuccess );
if ( errorCode == KErrNone )
{
status = ENcdReportSuccess;
}
else if ( errorCode == KErrCancel )
{
status = ENcdReportCancel;
}
else
{
status = ENcdReportFail;
}
// Create the status info object with the given info.
info.iStatus = status;
info.iErrorCode = errorCode;
reportManager.ReportInstallStatusL(
reportId,
info );
CleanupStack::PopAndDestroy( identifier );
CleanupStack::PopAndDestroy( &inputStream );
CleanupStack::PopAndDestroy( input );
aMessage.CompleteAndRelease( KErrNone );
}
