void Parser::parse_property( std::string const& tag )
{
std::vector<Property> propertys;
std::string::size_type pos = tag.find( ' ' );
if( pos == std::string::npos )
{
on_start( tag, propertys );
return;
}
std::string tag_name = tag.substr( 0, pos );
std::string::size_type p1 = tag.find( '=', pos + 1 );
while( p1 != std::string::npos
&& pos != std::string::npos )
{
std::string name = property_name( tag, pos, p1 );
std::string::size_type p2 = tag.find( '\x22', p1 );//find "
if( p2 != std::string::npos )
{
std::string::size_type p3 = tag.find( '\x22', p2 + 1 );
if( p3 != std::string::npos )
{
std::string value( tag.substr( p2 + 1, p3 - p2 - 1 ) );
propertys.push_back( Property( name, value ) );
pos = tag.find( ' ', p3 );
}
else
pos = tag.find( ' ', p2 );
}
else if( ( p2 = tag.find( '\x27', p1 ) ) != std::string::npos )//find '
{
std::string::size_type p3 = tag.find( '\x27', p2 + 1 );
if( p3 != std::string::npos )
{
std::string value( tag.substr( p2 + 1, p3 - p2 - 1 ) );
propertys.push_back( Property( name, value ) );
pos = tag.find( ' ', p3 );
}
else
pos = tag.find( ' ', p2 );
}
else
{
pos = tag.find( ' ', p1 );
}
p1 = tag.find( '=', pos + 1 );
}
on_start( tag_name, propertys );
}
ExplorationWorkerWrapper(
OnSuccess_t&& success,
DeviceExplorerWidget& widg,
Device::DeviceInterface& dev)
: worker{new ExplorationWorker{dev}}
, m_widget{widg}
, m_success{std::move(success)}
{
QObject::connect(
thread,
&QThread::started,
worker,
[&]() { on_start(); }, // so that it runs on thread.
Qt::QueuedConnection);
QObject::connect(
worker,
&ExplorationWorker::finished,
this,
&ExplorationWorkerWrapper::on_finish,
Qt::QueuedConnection);
QObject::connect(
worker,
&ExplorationWorker::failed,
this,
&ExplorationWorkerWrapper::on_fail,
Qt::QueuedConnection);
}
static RET_CODE blind_scan_msg_proc(void *p_data, os_msg_t *p_msg)
{
bl_scan_priv_t *p_priv = (bl_scan_priv_t *)p_data;
RET_CODE ret = SUCCESS;
switch(p_msg->content)
{
case NC_EVT_LOCKED:
ret = on_locked(p_priv, (nc_channel_info_t *)p_msg->para1);
break;
case NC_EVT_UNLOCKED:
ret = on_unlocked(p_priv);
break;
case DVB_NIT_FOUND:
ret = on_nit(p_priv);
break;
case SCAN_CMD_START_SCAN:
ret = on_start(p_priv, p_msg);
break;
default:
break;
}
return ret;
}
void no_daemon_start(char * path, int nbCoreFiles, const char *name, void (*on_start) (void),
void (*on_stop) (void), void (*on_hup) (void)) {
int pid;
DEBUG_FUNCTION;
sprintf(pid_file, "%s%s", DAEMON_PID_DIRECTORY, name);
// check if running
if (read_pid(name, &pid) == 0 && kill(pid, 0) == 0) {
fprintf(stderr, "%s already running as pid: %d\n", pid_file, pid);
return;
}
rozofs_signals_declare (path,nbCoreFiles);
if (write_pid(name) != 0) {
fatal("write_pid failed: %s", strerror(errno));
return;
}
rozofs_attach_crash_cbk(remove_pid_file);
if (on_stop) rozofs_attach_crash_cbk((rozofs_attach_crash_cbk_t)on_stop);
if (on_hup) rozofs_attach_hgup_cbk((rozofs_attach_crash_cbk_t)on_hup);
on_start();
}
void BaseElement::run() {
if (initial_tick) {
on_start();
initial_tick = false;
}
else {
on_tick();
}
}
void Game::onGame(){
while(true){
switch (state) {
case GameState_Start:
on_start();
break;
case GameState_Deal:
on_deal();
break;
case GameState_WaitingForSpecial:
on_waiting_for_special();
break;
case GameState_Give:
on_give();
break;
case GameState_Back:
on_back();
break;
case GameState_GetBottom:
on_getbottom();
break;
case GameState_HoldUp:
on_holdup();
break;
case GameState_Play:
on_play();
break;
case GameState_Follow:
on_follow();
break;
case GameState_CircleFinished:
on_circlefinished();
break;
case GameState_NewTurn:
on_newturn();
break;
case GameState_Wait:
break;
default:
break;
}
Game::msleep(33);
}
}
interface::interface(QObject *parent) : QObject(parent)
{
connect(&connection, SIGNAL(on_start()), this, SLOT(do_login()));
/* Creating the user interface */
w_login = new login;
w_gameplay = new gameplay;
connect(&connection, SIGNAL(on_login()), w_login, SLOT(do_wait_ready()));
connect(&connection, SIGNAL(on_ready()), w_login, SLOT(do_wait()));
w_login->show();
}
void
onquest()
{
if(u.uevent.qcompleted || Not_firsttime) return;
if(!Is_special(&u.uz)) return;
if(Is_qstart(&u.uz)) on_start();
else if(Is_qlocate(&u.uz) && u.uz.dlevel > u.uz0.dlevel) on_locate();
else if(Is_nemesis(&u.uz)) on_goal();
return;
}
int
basic_parser::do_message_start ()
{
complete_ = false;
url_.clear();
status_.clear();
field_.clear();
value_.clear();
on_start();
return 0;
}
void NativeEngine::handle_cmd(int32_t cmd){
switch (cmd) {
case APP_CMD_INPUT_CHANGED:
on_input_changed();
break;
case APP_CMD_INIT_WINDOW:
on_init_window();
break;
case APP_CMD_TERM_WINDOW:
on_term_window();
break;
case APP_CMD_WINDOW_RESIZED:
on_window_resized();
break;
case APP_CMD_WINDOW_REDRAW_NEEDED:
on_window_redraw_needed();
break;
case APP_CMD_CONTENT_RECT_CHANGED:
on_content_rect_changed();
break;
case APP_CMD_GAINED_FOCUS:
on_gained_focus();
break;
case APP_CMD_LOST_FOCUS:
on_lost_focus();
break;
case APP_CMD_CONFIG_CHANGED:
on_config_changed();
break;
case APP_CMD_LOW_MEMORY:
on_low_memory();
break;
case APP_CMD_START:
on_start();
break;
case APP_CMD_RESUME:
on_resume();
break;
case APP_CMD_SAVE_STATE:
on_save_state();
break;
case APP_CMD_PAUSE:
on_pause();
break;
case APP_CMD_STOP:
on_stop();
break;
case APP_CMD_DESTROY:
on_destroy();
break;
}
}
int loop (void) {
on_start ();
if (binlog_enabled) {
double t = get_double_time ();
logprintf ("replay log start\n");
replay_log ();
logprintf ("replay log end in %lf seconds\n", get_double_time () - t);
write_binlog ();
#ifdef USE_LUA
lua_binlog_end ();
#endif
} else {
read_auth_file ();
}
update_prompt ();
assert (DC_list[dc_working_num]);
if (!DC_working || !DC_working->auth_key_id) {
// if (auth_state == 0) {
DC_working = DC_list[dc_working_num];
assert (!DC_working->auth_key_id);
dc_authorize (DC_working);
assert (DC_working->auth_key_id);
auth_state = 100;
write_auth_file ();
}
if (verbosity) {
logprintf ("Requesting info about DC...\n");
}
do_help_get_config ();
net_loop (0, mcs);
if (verbosity) {
logprintf ("DC_info: %d new DC got\n", new_dc_num);
}
int i;
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->auth_key_id) {
dc_authorize (DC_list[i]);
assert (DC_list[i]->auth_key_id);
write_auth_file ();
}
if (auth_state == 100 || !(DC_working->has_auth)) {
registeringStarted();
start_registering();
}
registeringFinished();
return connect_to_server();
}
astra_status_t start()
{
if (isStarted_)
return astra_status_t::ASTRA_STATUS_SUCCESS;
auto rc = on_start();
if (rc == astra_status_t::ASTRA_STATUS_SUCCESS)
{
isStarted_ = true;
listener_.on_started(this);
}
return rc;
}
int
main()
{
try
{
run_with_time_limit(
[]()
{
so_5::wrapped_env_t env{
[]( so_5::environment_t & env ) {
env.introduce_coop( []( so_5::coop_t & coop ) {
struct hello_sig : public so_5::signal_t {};
auto a = coop.define_agent();
a.on_start( [a] {
so_5::send_delayed< hello_sig >( a,
std::chrono::milliseconds( 25 ) );
} );
a.event< hello_sig >( a, [a] {
std::cout << "Hello for agent" << std::endl;
so_5::send_delayed< hello_sig >( a,
std::chrono::milliseconds( 100 ) );
} );
} );
}
};
std::this_thread::sleep_for( std::chrono::milliseconds(250) );
env.stop();
std::cout << "Stop signal is sent" << std::endl;
env.join();
std::cout << "Joined" << std::endl;
},
4,
"test for stopping wrapped_env_t" );
}
catch( const std::exception & ex )
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
return 0;
}
void
onquest(const d_level * orig_lev)
{
if (u.uevent.qcompleted || on_level(orig_lev, &u.uz))
return;
if (!Is_special(&u.uz))
return;
if (Is_qstart(&u.uz))
on_start(orig_lev);
else if (Is_qlocate(&u.uz))
on_locate(orig_lev);
else if (Is_nemesis(&u.uz))
on_goal();
return;
}
static RET_CODE blind_scan_msg_proc(void *p_data, os_msg_t *p_msg)
{
bl_scan_priv_t *p_priv = (bl_scan_priv_t *)p_data;
RET_CODE ret = SUCCESS;
switch(p_msg->content)
{
case BLIND_SCAN_EVT_LOCKED:
ret = on_locked_evt(p_priv, (nim_channel_info_t *)p_msg->para1);
if(ret == ERR_FAILURE)
BS_UNLOCK();
break;
case BLIND_SCAN_EVT_UNLOCKED:
ret = on_unlocked_evt(p_priv, (nim_channel_info_t *)p_msg->para1);
break;
case BLIND_SCAN_EVT_FINISHED:
ret = on_finished_evt(p_priv);
case DVB_NIT_FOUND:
ret = on_nit(p_priv);
break;
case DVB_CAT_FOUND:
ret = p_priv->hook.process_cat((void *)(p_msg->para1));
break;
case SCAN_CMD_START_SCAN:
ret = on_start(p_priv, p_msg);
break;
case SCAN_CMD_PAUSE_SCAN:
pause_flag = TRUE;
break;
case SCAN_CMD_RESUME_SCAN:
pause_flag = FALSE;
BS_UNLOCK_PAUSE();
break;
default:
break;
}
return ret;
}
int loop (void) {
on_start ();
read_auth_file ();
readline_active = 1;
rl_set_prompt ("");
assert (DC_list[dc_working_num]);
if (auth_state == 0) {
DC_working = DC_list[dc_working_num];
assert (!DC_working->auth_key_id);
dc_authorize (DC_working);
assert (DC_working->auth_key_id);
auth_state = 100;
write_auth_file ();
}
if (verbosity) {
logprintf ("Requesting info about DC...\n");
}
do_help_get_config ();
net_loop (0, mcs);
if (verbosity) {
logprintf ("DC_info: %d new DC got\n", new_dc_num);
}
int i;
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->auth_key_id) {
dc_authorize (DC_list[i]);
assert (DC_list[i]->auth_key_id);
write_auth_file ();
}
if (auth_state == 100) {
if (!default_username) {
size_t size = 0;
char *user = 0;
if (!user) {
printf ("Telephone number (with '+' sign): ");
if (net_getline (&user, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
set_default_username (user);
}
}
int res = do_auth_check_phone (default_username);
assert (res >= 0);
logprintf ("%s\n", res > 0 ? "phone registered" : "phone not registered");
if (res > 0) {
do_send_code (default_username);
char *code = 0;
size_t size = 0;
printf ("Code from sms: ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (do_send_code_result (code) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
free (code);
}
auth_state = 300;
} else {
printf ("User is not registered. Do you want to register? [Y/n] ");
char *code;
size_t size;
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (!*code || *code == 'y') {
printf ("Ok, starting registartion.\n");
} else {
printf ("Then try again\n");
exit (EXIT_SUCCESS);
}
char *first_name;
printf ("Name: ");
if (net_getline (&first_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
char *last_name;
printf ("Name: ");
if (net_getline (&last_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
int dc_num = do_get_nearest_dc ();
assert (dc_num >= 0 && dc_num <= MAX_DC_NUM && DC_list[dc_num]);
dc_working_num = dc_num;
DC_working = DC_list[dc_working_num];
do_send_code (default_username);
printf ("Code from sms: ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (do_send_code_result_auth (code, first_name, last_name) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
free (code);
}
auth_state = 300;
}
}
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->has_auth) {
do_export_auth (i);
do_import_auth (i);
DC_list[i]->has_auth = 1;
write_auth_file ();
}
write_auth_file ();
fflush (stdin);
fflush (stdout);
fflush (stderr);
rl_callback_handler_install (get_default_prompt (), interpreter);
rl_attempted_completion_function = (CPPFunction *) complete_text;
rl_completion_entry_function = complete_none;
do_get_dialog_list ();
return main_loop ();
}
int loop (void) {
on_start ();
if (binlog_enabled) {
replay_log ();
write_binlog ();
} else {
read_auth_file ();
}
update_prompt ();
assert (DC_list[dc_working_num]);
if (!DC_working || !DC_working->auth_key_id) {
// if (auth_state == 0) {
DC_working = DC_list[dc_working_num];
assert (!DC_working->auth_key_id);
dc_authorize (DC_working);
assert (DC_working->auth_key_id);
auth_state = 100;
write_auth_file ();
}
if (verbosity) {
logprintf ("Requesting info about DC...\n");
}
do_help_get_config ();
net_loop (0, mcs);
if (verbosity) {
logprintf ("DC_info: %d new DC got\n", new_dc_num);
}
int i;
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->auth_key_id) {
dc_authorize (DC_list[i]);
assert (DC_list[i]->auth_key_id);
write_auth_file ();
}
if (auth_state == 100 || !(DC_working->has_auth)) {
if (!default_username) {
size_t size = 0;
char *user = 0;
if (!user) {
printf ("Telephone number (with '+' sign): ");
if (net_getline (&user, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
set_default_username (user);
}
}
int res = do_auth_check_phone (default_username);
assert (res >= 0);
logprintf ("%s\n", res > 0 ? "phone registered" : "phone not registered");
if (res > 0) {
do_send_code (default_username);
char *code = 0;
size_t size = 0;
printf ("Code from sms: ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (do_send_code_result (code) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
free (code);
}
auth_state = 300;
} else {
printf ("User is not registered. Do you want to register? [Y/n] ");
char *code;
size_t size;
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (!*code || *code == 'y' || *code == 'Y') {
printf ("Ok, starting registartion.\n");
} else {
printf ("Then try again\n");
exit (EXIT_SUCCESS);
}
char *first_name;
printf ("Name: ");
if (net_getline (&first_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
char *last_name;
printf ("Name: ");
if (net_getline (&last_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
int dc_num = do_get_nearest_dc ();
assert (dc_num >= 0 && dc_num <= MAX_DC_NUM && DC_list[dc_num]);
dc_working_num = dc_num;
DC_working = DC_list[dc_working_num];
do_send_code (default_username);
printf ("Code from sms: ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (do_send_code_result_auth (code, first_name, last_name) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
free (code);
}
auth_state = 300;
}
}
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->has_auth) {
do_export_auth (i);
do_import_auth (i);
DC_list[i]->has_auth = 1;
if (binlog_enabled) {
int *ev = alloc_log_event (8);
ev[0] = LOG_DC_SIGNED;
ev[1] = i;
add_log_event (ev, 8);
}
write_auth_file ();
}
write_auth_file ();
fflush (stdin);
fflush (stdout);
fflush (stderr);
read_state_file ();
read_secret_chat_file ();
set_interface_callbacks ();
do_get_difference ();
net_loop (0, dgot);
do_get_dialog_list ();
return main_loop ();
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
ui->starttime->setText("0");
ui->simurate->setText("1");
///create node
//STM32 MCU
Simulator* stm32comm = new Simulator(library, "Sensor_stm32comm", "stm32comm", config, QTime(),1);
stm32comm->setOutputNodesName(QList<QString>()<<"stm32comm_viewer;stm32comm_storage;doordetection;simplecollect;planner");
VisualizationMono* stm32comm_viewer = new VisualizationMono(library, "Sensor_stm32comm", "stm32comm_viewer", config);
stm32comm_viewer->setInputNodesName(QList<QString>()<<"stm32comm");
stm32comm_viewer->connectExternalTrigger(0, DRAINSLOT);
//LCamera
Simulator* l_camera = new Simulator(library, "Sensor_Camera", "l_camera", config, QTime(),1);
l_camera->setOutputNodesName(QList<QString>()<<"l_camera_viewer;l_camera_storage;cameralasercalib");
VisualizationMono* l_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "l_camera_viewer", config);
l_camera_viewer->setInputNodesName(QList<QString>()<<"l_camera");
l_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//RCamera
Simulator* r_camera = new Simulator(library, "Sensor_Camera", "r_camera",config, QTime(),1);
r_camera->setOutputNodesName(QList<QString>()<<"r_camera_viewer");
VisualizationMono*r_camera_viewer = new VisualizationMono(library, "Sensor_Camera", "r_camera_viewer", config);
r_camera_viewer->setInputNodesName(QList<QString>()<<"r_camera");
r_camera_viewer->connectExternalTrigger(0, DRAINSLOT);
//Laser
Simulator* laser = new Simulator(library, "Sensor_Laser", "laser", config, QTime(),1);
laser->setOutputNodesName(QList<QString>()<<"laser_viewer;doordetection;simplecollect;calib;cameralasercalib");
VisualizationMono* laser_viewer = new VisualizationMono(library, "Sensor_Laser", "laser_viewer", config);
laser_viewer->setInputNodesName(QList<QString>()<<"laser");
laser_viewer->connectExternalTrigger(0, DRAINSLOT);
//camera laser calib
ProcessorMulti* cameralasercalib = new ProcessorMulti(library, "Processor_CameraLaser", "cameralasercalib", config);
cameralasercalib->setInputNodesName(QList<QString>()<<"l_camera"<<"laser");
cameralasercalib->setOutputNodesName(QList<QString>()<<"cameralasercalib_viewer");
cameralasercalib->connectExternalTrigger(1,PROCESSORSLOT);
VisualizationMono *cameralasercalib_viewer = new VisualizationMono(library, "Processor_CameraLaser", "cameralasercalib_viewer", config);
cameralasercalib_viewer->setInputNodesName(QList<QString>()<<"cameralasercalib");
cameralasercalib_viewer->connectExternalTrigger(0, DRAINSLOT);
//calibration
VisualizationMono *laserCalib = new VisualizationMono(library, "Calibration_Laser", "calib", config);
laserCalib->setInputNodesName(QList<QString>()<<"laser");
laserCalib->connectExternalTrigger(0, DRAINSLOT);
//Path
ProcessorMono* pathPlanner = new ProcessorMono(library, "Processor_PathGenerator", "planner", config);
pathPlanner->setInputNodesName(QList<QString>() << "stm32comm");
pathPlanner->setOutputNodesName(QList<QString>() << "plannerViewer");
pathPlanner->connectExternalTrigger(0, PROCESSORSLOT);
VisualizationMono* pathPlannerViewer = new VisualizationMono(library, "Processor_PathGenerator", "plannerViewer", config);
pathPlannerViewer->setInputNodesName(QList<QString>() << "planner");
pathPlannerViewer->connectExternalTrigger(0, DRAINSLOT);
//doordetection
ProcessorMulti* doordetection = new ProcessorMulti(library,"Processor_doordetection", "doordetection",config);
doordetection->setInputNodesName(QList<QString>()<<"laser"<<"stm32comm");
doordetection->setOutputNodesName(QList<QString>()<<"doordetection_viewer;simplecollect");
doordetection->connectExternalTrigger(1, PROCESSORSLOT);
VisualizationMono* doordetection_viewer = new VisualizationMono(library,"Processor_doordetection", "doordetection_viewer", config);
doordetection_viewer->setInputNodesName(QList<QString>()<<"doordetection");
doordetection_viewer->connectExternalTrigger(0,DRAINSLOT);
//simple collect
ProcessorMulti* simplecollect = new ProcessorMulti(library,"Processor_SimpleCollect", "simplecollect", config);
simplecollect->setInputNodesName(QList<QString>()<<"joystick"<<"laser"<<"stm32comm"<<"doordetection");
simplecollect->setOutputNodesName(QList<QString>()<<"simplecollect_viewer");
simplecollect->connectExternalTrigger(2, PROCESSORSLOT);
VisualizationMono* simplecollect_viewer = new VisualizationMono(library,"Processor_SimpleCollect", "simplecollect_viewer",config);
simplecollect_viewer->setInputNodesName(QList<QString>()<<"simplecollect");
simplecollect_viewer->connectExternalTrigger(0,DRAINSLOT);
///add node
edge.addNode(stm32comm, 1, MONITOR);
edge.addNode(stm32comm_viewer, 0, 0);
edge.addNode(l_camera, 1, MONITOR);
edge.addNode(l_camera_viewer, 0, 0);
edge.addNode(r_camera, 1, MONITOR);
edge.addNode(r_camera_viewer, 0, 0);
edge.addNode(laser, 1, MONITOR);
edge.addNode(laser_viewer, 0, 0);
edge.addNode(pathPlanner, 1, MONITOR);
edge.addNode(pathPlannerViewer, 0, 0);
edge.addNode(doordetection, 1, MONITOR);
edge.addNode(doordetection_viewer, 0, 0);
edge.addNode(cameralasercalib, 1, MONITOR);
edge.addNode(cameralasercalib_viewer, 0, 0);
// edge.addNode(simplecollect, 1, MONITOR);
// edge.addNode(simplecollect_viewer, 0, 0);
edge.addNode(laserCalib, 0, 0);
edge.connectAll();
connect(ui->open, SIGNAL(clicked()), &edge, SLOT(openAllNodesSlot()));
connect(ui->close, SIGNAL(clicked()), &edge, SLOT(closeAllNodesSlot()));
connect(ui->setvale, SIGNAL(clicked()), this, SLOT(on_setvalue()));
connect(this, SIGNAL(sig_setstarttime(QTime)), stm32comm, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), stm32comm, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), l_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), l_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), r_camera, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), r_camera, SLOT(setSimulateRateSlot(double)));
connect(this, SIGNAL(sig_setstarttime(QTime)), laser, SLOT(setStartTimeSlot(QTime)));
connect(this,SIGNAL(sig_setsimurate(double)), laser, SLOT(setSimulateRateSlot(double)));
connect(ui->sync, SIGNAL(clicked()), this, SLOT(on_sync()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(syncTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(syncTimeTrackSlot()));
connect(ui->start, SIGNAL(clicked()), this, SLOT(on_start()));
connect(this, SIGNAL(sig_start()), stm32comm, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), l_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), r_camera, SLOT(startSimulatorSlot()));
connect(this, SIGNAL(sig_start()), laser, SLOT(startSimulatorSlot()));
connect(ui->stop, SIGNAL(clicked()), this, SLOT(on_stop()));
connect(this, SIGNAL(sig_stop()), stm32comm, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), l_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), r_camera, SLOT(stopSimulatorSlot()));
connect(this, SIGNAL(sig_stop()), laser, SLOT(stopSimulatorSlot()));
connect(ui->reset, SIGNAL(clicked()), this, SLOT(on_reset()));
connect(this, SIGNAL(sig_sync()), stm32comm, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), l_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), r_camera, SLOT(resetTimeTrackSlot()));
connect(this, SIGNAL(sig_sync()), laser, SLOT(resetTimeTrackSlot()));
///visualazition
QList<QWidget *> widgets;
widgets = stm32comm_viewer->getVisualizationWidgets();
ui->scrollArea->setWidget(widgets.front());
widgets = laser_viewer->getVisualizationWidgets();
ui->scrollArea_2->setWidget(widgets.front());
// widgets = laserCalib->getVisualizationWidgets();
// ui->scrollArea_3->setWidget(widgets.front());
widgets =cameralasercalib_viewer->getVisualizationWidgets();
ui->scrollArea_3->setWidget(widgets.front());
widgets = l_camera_viewer->getVisualizationWidgets();
ui->scrollArea_4->setWidget(widgets.front());
widgets = r_camera_viewer->getVisualizationWidgets();
ui->scrollArea_5->setWidget(widgets.front());
widgets = doordetection_viewer->getVisualizationWidgets();
ui->scrollArea_6->setWidget(widgets.front());
widgets = pathPlannerViewer->getVisualizationWidgets();
ui->scrollArea_7->setWidget(widgets.front());
// widgets = simplecollect_viewer->getVisualizationWidgets();
// ui->scrollArea_8->setWidget(widgets.front());
if(MONITOR)
ui->tabWidget->addTab(&edge, "Monitor");
}
int loop (void) {
on_start ();
if (binlog_enabled) {
double t = get_double_time ();
logprintf ("replay log start\n");
replay_log ();
logprintf ("replay log end in %lf seconds\n", get_double_time () - t);
write_binlog ();
#ifdef USE_LUA
lua_binlog_end ();
#endif
} else {
read_auth_file ();
}
update_prompt ();
assert (DC_list[dc_working_num]);
if (!DC_working || !DC_working->auth_key_id) {
// if (auth_state == 0) {
DC_working = DC_list[dc_working_num];
assert (!DC_working->auth_key_id);
dc_authorize (DC_working);
assert (DC_working->auth_key_id);
auth_state = 100;
write_auth_file ();
}
if (verbosity) {
logprintf ("Requesting info about DC...\n");
}
do_help_get_config ();
net_loop (0, mcs);
if (verbosity) {
logprintf ("DC_info: %d new DC got\n", new_dc_num);
}
int i;
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->auth_key_id) {
dc_authorize (DC_list[i]);
assert (DC_list[i]->auth_key_id);
write_auth_file ();
}
if (auth_state == 100 || !(DC_working->has_auth)) {
if (!default_username) {
size_t size = 0;
char *user = 0;
if (!user) {
printf ("Telephone number (with '+' sign): ");
if (net_getline (&user, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
set_default_username (user);
}
}
int res = do_auth_check_phone (default_username);
assert (res >= 0);
logprintf ("%s\n", res > 0 ? "phone registered" : "phone not registered");
if (res > 0 && !register_mode) {
do_send_code (default_username);
char *code = 0;
size_t size = 0;
printf ("Code from sms (if you did not receive an SMS and want to be called, type \"call\"): ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (!strcmp (code, "call")) {
printf ("You typed \"call\", switching to phone system.\n");
do_phone_call (default_username);
printf ("Calling you! Code: ");
continue;
}
if (do_send_code_result (code) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
tfree_str (code);
}
auth_state = 300;
} else {
printf ("User is not registered. Do you want to register? [Y/n] ");
char *code;
size_t size;
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (!*code || *code == 'y' || *code == 'Y') {
printf ("Ok, starting registartion.\n");
} else {
printf ("Then try again\n");
exit (EXIT_SUCCESS);
}
char *first_name;
printf ("First name: ");
if (net_getline (&first_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
char *last_name;
printf ("Last name: ");
if (net_getline (&last_name, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
int dc_num = do_get_nearest_dc ();
assert (dc_num >= 0 && dc_num <= MAX_DC_NUM && DC_list[dc_num]);
dc_working_num = dc_num;
DC_working = DC_list[dc_working_num];
do_send_code (default_username);
printf ("Code from sms (if you did not receive an SMS and want to be called, type \"call\"): ");
while (1) {
if (net_getline (&code, &size) == -1) {
perror ("getline()");
exit (EXIT_FAILURE);
}
if (!strcmp (code, "call")) {
printf ("You typed \"call\", switching to phone system.\n");
do_phone_call (default_username);
printf ("Calling you! Code: ");
continue;
}
if (do_send_code_result_auth (code, first_name, last_name) >= 0) {
break;
}
printf ("Invalid code. Try again: ");
tfree_str (code);
}
auth_state = 300;
}
}
for (i = 0; i <= MAX_DC_NUM; i++) if (DC_list[i] && !DC_list[i]->has_auth) {
do_export_auth (i);
do_import_auth (i);
bl_do_dc_signed (i);
write_auth_file ();
}
write_auth_file ();
fflush (stdout);
fflush (stderr);
read_state_file ();
read_secret_chat_file ();
set_interface_callbacks ();
do_get_difference ();
net_loop (0, dgot);
#ifdef USE_LUA
lua_diff_end ();
#endif
send_all_unsent ();
do_get_dialog_list ();
if (wait_dialog_list) {
dialog_list_got = 0;
net_loop (0, dlgot);
}
return main_loop ();
}
void Chapter::start() {
on_start();
}
void component::trigger_on_start()
{
on_start();
}
