_sub_production_ast handle_sub_production(string& input, Production& p, Chart& chart)
{
int64_t setIndex;
size_t stateIndex;
Production production;
_sub_production_ast out;
_symbol_ast symbol;
switch(p.number()){
case 0: //symbol ws sub_production
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
symbol = handle_symbol(input, production, chart);
//Skip ws
tie(setIndex, stateIndex) = p.symbolInfo(2);
production = chart.getState(setIndex, stateIndex).first;
out = handle_sub_production(input, production, chart);
out.insert(out.begin(), symbol);
return out;
case 1: //symbol
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
symbol = handle_symbol(input, production, chart);
out.push_back(symbol);
return out;
default:;
}
return out;
}
void ChartEditorWindow::onActionFetchLayersFromDBTriggered(){
Chart chart;
QString qSqlDriverStr;
LayerSelectionItem* selItem;
QString layerId;
QStringList layerIdList;
layerSelectionVector.clear();
if(settingsManager->getDBDriver() == "MySQL")
qSqlDriverStr = "QMYSQL";
else if (settingsManager->getDBDriver() == "PostgreSQL")
qSqlDriverStr = "QPSQL";
chart.setOGRDriverQt(qSqlDriverStr);
layerIdList << chart.getSimplifiedLayers();
QStringListIterator layerIdListIt(layerIdList);
while(layerIdListIt.hasNext()){
layerId = layerIdListIt.next();
selItem = new LayerSelectionItem(layerId, true);
layerSelectionVector << selItem;
}
showLayers();
}
_file_ast handle_file(string& input, Production& p, Chart& chart)
{
int64_t setIndex;
size_t stateIndex;
Production production;
_production_ast p_ast;
_file_ast out;
switch (p.number()){
case 0: //production ws ";" ws file
//production
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
p_ast = handle_production(input, production, chart);
//We don't care about whitespace or the symbol in this case
tie(setIndex, stateIndex) = p.symbolInfo(4);
production = chart.getState(setIndex, stateIndex).first;
out = handle_file(input, production, chart);
out.push_back(p_ast);
return out;
case 1: // production ws ";" ws
//This is the terminal file make a new
//production
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
p_ast = handle_production(input, production, chart);
out = _file_ast({p_ast});
return out;
default:
break;
}
return _file_ast{};
}
void ParserCKYBest::process_internal_rules(Chart& chart) const
{
unsigned sent_size=chart.get_size();
for (unsigned span = 2; span <= sent_size; ++span) {
unsigned end_of_begin=sent_size-span;
for (unsigned begin=0; begin <= end_of_begin; ++begin) {
unsigned end = begin + span -1;
// std::cout << "begin: " << begin << ", end: " << end << std::endl;
Cell& result_cell = chart.access(begin,end);
if(!result_cell.is_closed()) {
// look for all possible new edges
for (unsigned m = begin; m < end; ++m) {
const Cell& left_cell = chart.access(begin,m);
if(!left_cell.is_closed()) {
const Cell& right_cell = chart.access(m+1,end);
if( !right_cell.is_closed())
get_candidates(left_cell,right_cell,result_cell);
}
}
// std::cout << result_cell << std::endl;
add_unary(result_cell, span == sent_size);
// result_cell.apply_beam();
}
// std::cout << result_cell << std::endl;
}
}
}
void Run()
{
int i;
Chart a;
ifstream input("input.txt");
input>>i;
for(int j=0; j<i;j++)
{
string s;
input>>s;
if(s=="VOTE")
{
string s1;
int q;
input>>s1>>q;
a.VoteRecord(s1,q);
}
if(s=="TOP")
{
string s1;
int q;
input>>s1>>q;
vector<int> b;
b=a.GetTop(s1,q);
cout<<"Топ для "<<s1<<":\n";
for(int i=0;i<b.size();i++)
cout<<b[i]<<" ";
cout<<"\n";
}
_rhs_ast handle_rhs(string& input, Production& p, Chart& chart)
{
int64_t setIndex;
size_t stateIndex;
Production production;
_rhs_ast out;
_sub_production_ast subProd;
switch(p.number()){
case 0: //sub_production ws "|" ws rhs | sub_production
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
subProd = handle_sub_production(input, production, chart);
tie(setIndex, stateIndex) = p.symbolInfo(4);
production = chart.getState(setIndex, stateIndex).first;
out = handle_rhs(input, production, chart);
out.push_back(subProd);
return out;
case 1:
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
subProd = handle_sub_production(input, production, chart);
out.push_back(subProd);
return out;
default:;
}
return out;
}
_production_ast handle_production(string& input, Production& p, Chart& chart)
{
int64_t setIndex;
size_t stateIndex;
Production production;
_production_ast out = _production_ast();
//No cases so no switch
//non_terminal option ws ":=" ws rhs
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
_non_terminal_ast name = handle_non_terminal(input, production, chart);
out.name_ = name;
tie(setIndex, stateIndex) = p.symbolInfo(1);
if(setIndex > 0) { //If it has a negative setIndex it was skipped
production = chart.getState(setIndex, stateIndex).first;
_option_ast option = handle_option(input, production, chart);
if (option == "nullable") {
out.nullable_ = true;
} else {
out.nullable_ = false;
}
}
tie(setIndex, stateIndex) = p.symbolInfo(5);
production = chart.getState(setIndex, stateIndex).first;
_rhs_ast rhs = handle_rhs(input, production, chart);
out.sub_productions_ = rhs;
return out;
}
void Atlas::extractCharts()
{
const uint faceCount = m_mesh->faceCount();
int first = 0;
Array<uint> queue(faceCount);
BitArray bitFlags(faceCount);
bitFlags.clearAll();
for (uint f = 0; f < faceCount; f++)
{
if (bitFlags.bitAt(f) == false)
{
// Start new patch. Reset queue.
first = 0;
queue.clear();
queue.append(f);
bitFlags.setBitAt(f);
while (first != queue.count())
{
const HalfEdge::Face * face = m_mesh->faceAt(queue[first]);
// Visit face neighbors of queue[first]
for (HalfEdge::Face::ConstEdgeIterator it(face->edges()); !it.isDone(); it.advance())
{
const HalfEdge::Edge * edge = it.current();
nvDebugCheck(edge->pair != NULL);
if (!edge->isBoundary() && /*!edge->isSeam()*/
//!(edge->from()->tex() != edge->pair()->to()->tex() || edge->to()->tex() != edge->pair()->from()->tex()))
!(edge->from() != edge->pair->to() || edge->to() != edge->pair->from())) // Preserve existing seams (not just texture seams).
{
const HalfEdge::Face * neighborFace = edge->pair->face;
nvDebugCheck(neighborFace != NULL);
if (bitFlags.bitAt(neighborFace->id) == false)
{
queue.append(neighborFace->id);
bitFlags.setBitAt(neighborFace->id);
}
}
}
first++;
}
Chart * chart = new Chart();
chart->build(m_mesh, queue);
m_chartArray.append(chart);
}
}
}
void ParserCKYBest::parse(Chart& chart) const
{
bool isroot = chart.get_size() == 1;
for(unsigned i = 0; i < chart.get_size(); ++i) {
// std::cout << "initialising position: " << i << std::endl;
add_unary_init(chart.access(i,i),isroot);
// std::cout << chart.access(i,i) << std::endl;
}
process_internal_rules(chart);
}
void
CrossSectionWindow::PaintGrid(Canvas &canvas, Chart &chart)
{
canvas.SetTextColor(look.text_color);
chart.DrawXGrid(Units::ToSysDistance(fixed(5)), fixed_zero,
look.grid_pen, fixed(5), true);
chart.DrawYGrid(Units::ToSysAltitude(fixed(1000)), fixed_zero,
look.grid_pen, fixed(1000), true);
chart.DrawXLabel(_T("D"));
chart.DrawYLabel(_T("h"));
}
/**
* \brief create a branch marker between two nodes and store it into marker array
*/
virtual void createBranchMarker(const Chart &child, const Chart &parent)
{
if (!markers){
ROS_WARN_THROTTLE(30,"[ExplorerBase::%s]\tNo marker array to update is provided, visualization is disabled.",__func__);
return;
}
geometry_msgs::Point e;
geometry_msgs::Point s;
visualization_msgs::Marker branch;
branch.header.frame_id = mark_frame;
branch.header.stamp = ros::Time();
branch.lifetime = ros::Duration(0.5);
branch.ns = "Atlas Branches";
//need to know the branch id, too bad branches don't have it.
//Lets use Cantor pairing function: 0.5(a+b)(a+b+1)+b
branch.id = 0.5*(child.getId() + parent.getId())*(child.getId()+parent.getId()+1) + parent.getId();
branch.type = visualization_msgs::Marker::LINE_STRIP;
branch.action = visualization_msgs::Marker::ADD;
s.x = child.getCenter()[0];
s.y = child.getCenter()[1];
s.z = child.getCenter()[2];
branch.points.push_back(s);
e.x = parent.getCenter()[0];
e.y = parent.getCenter()[1];
e.z = parent.getCenter()[2];
branch.points.push_back(e);
branch.scale.x = 0.005;
branch.color.a = 1.0;
branch.color.r = 0.0;
branch.color.g = 0.0;
branch.color.b = 0.9;
std::lock_guard<std::mutex> guard(*mtx_ptr);
markers->markers.push_back(branch);
}
int CmdBurndownMonthly::execute (std::string& output)
{
int rc = 0;
// Scan the pending tasks, applying any filter.
handleRecurrence ();
std::vector <Task> filtered;
filter (filtered);
context.tdb2.commit ();
// Create a chart, scan the tasks, then render.
Chart chart ('M');
chart.scan (filtered);
output = chart.render ();
return rc;
}
//
// Note: Called from both Apply and OK on New Chart dialog
// Must only called when the changes are definately going to
// be applied, so all input validation must be done by now.
//
Chart *PmChart::acceptNewChart()
{
bool yAutoScale;
double yMin, yMax;
QString scheme;
int sequence;
Chart *cp = new Chart(activeTab(), activeTab()->splitter());
activeGroup->addGadget(cp);
activeTab()->addGadget(cp);
QString newTitle = my.newchart->title().trimmed();
if (newTitle.isEmpty() == false)
cp->changeTitle(newTitle, true);
cp->setLegendVisible(my.newchart->legend());
cp->setAntiAliasing(my.newchart->antiAliasing());
cp->setRateConvert(my.newchart->rateConvert());
my.newchart->updateChartPlots(cp);
my.newchart->scale(&yAutoScale, &yMin, &yMax);
cp->setScale(yAutoScale, yMin, yMax);
my.newchart->scheme(&scheme, &sequence);
cp->setScheme(scheme, sequence);
activeGroup->setupWorldView();
activeTab()->showGadgets();
enableUi();
return cp;
}
void
CrossSectionWindow::PaintAircraft(Canvas &canvas, const Chart &chart,
const PixelRect rc)
{
canvas.Select(look.aircraft_brush);
canvas.SelectNullPen();
RasterPoint line[4];
line[0].x = chart.screenX(fixed_zero);
line[0].y = chart.screenY(gps_info.nav_altitude);
line[1].x = rc.left;
line[1].y = line[0].y;
line[2].x = line[1].x;
line[2].y = line[0].y - (line[0].x - line[1].x) / 2;
line[3].x = (line[1].x + line[0].x) / 2;
line[3].y = line[0].y;
canvas.DrawTriangleFan(line, 4);
}
void
CrossSectionWindow::PaintGlide(Chart &chart)
{
if (gps_info.GroundSpeed > fixed(10)) {
fixed t = vec.Distance / gps_info.GroundSpeed;
chart.DrawLine(fixed_zero, gps_info.NavAltitude, vec.Distance,
gps_info.NavAltitude + calculated_info.Average30s * t,
Chart::STYLE_BLUETHIN);
}
}
void
CrossSectionWindow::PaintGlide(Chart &chart)
{
if (gps_info.ground_speed > fixed(10)) {
fixed t = vec.distance / gps_info.ground_speed;
chart.DrawLine(fixed_zero, gps_info.nav_altitude, vec.distance,
gps_info.nav_altitude + calculated_info.average * t,
ChartLook::STYLE_BLUETHIN);
}
}
void
CrossSectionWindow::PaintAircraft(Canvas &canvas, const Chart &chart,
const PixelRect rc)
{
Brush brush(text_color);
canvas.select(brush);
Pen pen(1, text_color);
canvas.select(pen);
RasterPoint line[4];
line[0].x = chart.screenX(fixed_zero);
line[0].y = chart.screenY(gps_info.NavAltitude);
line[1].x = rc.left;
line[1].y = line[0].y;
line[2].x = line[1].x;
line[2].y = line[0].y - (line[0].x - line[1].x) / 2;
line[3].x = (line[1].x + line[0].x) / 2;
line[3].y = line[0].y;
canvas.polygon(line, 4);
}
void PmChart::acceptEditChart()
{
bool yAutoScale;
double yMin, yMax;
QString scheme;
int sequence;
Chart *cp = my.newchart->chart();
QString editTitle = my.newchart->title().trimmed();
if (editTitle.isEmpty() == false && editTitle != cp->title())
cp->changeTitle(editTitle, true);
cp->setLegendVisible(my.newchart->legend());
cp->setAntiAliasing(my.newchart->antiAliasing());
cp->setRateConvert(my.newchart->rateConvert());
my.newchart->scale(&yAutoScale, &yMin, &yMax);
cp->setScale(yAutoScale, yMin, yMax);
my.newchart->updateChartPlots(cp);
my.newchart->scheme(&scheme, &sequence);
cp->setScheme(scheme, sequence);
cp->replot();
cp->show();
enableUi();
}
//Handle symbols
_symbol_ast handle_symbol(string& input, Production& p, Chart& chart)
{
int64_t setIndex;
size_t stateIndex;
Production production;
_symbol_ast out;
tie(setIndex, stateIndex) = p.symbolInfo(0);
production = chart.getState(setIndex, stateIndex).first;
out.value_ = handle_non_terminal(input, production, chart);
switch(p.number()){
case 0:
out.type_ = _symbol_ast::type::NON_TERMINAL;
break;
case 1:
out.type_ = _symbol_ast::type::TERMINAL;
break;
case 2:
out.type_ = _symbol_ast::type::REGEX;
break;
default:;
}
return out;
}
void
CrossSectionWindow::PaintTerrain(Canvas &canvas, Chart &chart)
{
if (terrain == NULL)
return;
const GeoPoint p_diff = vec.EndPoint(start) - start;
RasterTerrain::Lease map(*terrain);
RasterPoint points[2 + AIRSPACE_SCANSIZE_X];
points[0].x = chart.screenX(vec.distance);
points[0].y = chart.screenY(fixed_zero);
points[1].x = chart.screenX(fixed_zero);
points[1].y = chart.screenY(fixed_zero);
unsigned i = 2;
for (unsigned j = 0; j < AIRSPACE_SCANSIZE_X; ++j) {
const fixed t_this = fixed(j) / (AIRSPACE_SCANSIZE_X - 1);
const GeoPoint p_this = start + p_diff * t_this;
short h = map->GetHeight(p_this);
if (RasterBuffer::is_special(h)) {
if (RasterBuffer::is_water(h))
/* water is at 0m MSL */
/* XXX paint in blue? */
h = 0;
else
/* skip "unknown" values */
continue;
}
points[i].x = chart.screenX(t_this * vec.distance);
points[i].y = chart.screenY(fixed(h));
i++;
}
if (i >= 4) {
canvas.SelectNullPen();
canvas.Select(look.terrain_brush);
canvas.polygon(&points[0], i);
}
}
/**
* \brief create a marker from a chart and stores it into markers array
*/
virtual void createNodeMarker(const Chart &c)
{
if (!markers){
ROS_WARN_THROTTLE(30,"[ExplorerBase::%s]\tNo marker array to update is provided, visualization is disabled.",__func__);
return;
}
visualization_msgs::Marker disc;
disc.header.frame_id = mark_frame;
disc.header.stamp = ros::Time();
disc.lifetime = ros::Duration(0.5);
disc.ns = "Atlas Nodes";
disc.id = c.getId();
disc.type = visualization_msgs::Marker::CYLINDER;
disc.action = visualization_msgs::Marker::ADD;
disc.scale.x = c.getRadius()*2;
disc.scale.y = c.getRadius()*2;
disc.scale.z = 0.001;
disc.color.a = 0.75;
disc.color.r = 0.3;
disc.color.b = 0.35;
disc.color.g = 0.5;
Eigen::Matrix3d rot;
rot.col(0) = c.getTanBasisOne();
rot.col(1) = c.getTanBasisTwo();
rot.col(2) = c.getNormal();
Eigen::Quaterniond q(rot);
q.normalize();
disc.pose.orientation.x = q.x();
disc.pose.orientation.y = q.y();
disc.pose.orientation.z = q.z();
disc.pose.orientation.w = q.w();
disc.pose.position.x = c.getCenter()[0];
disc.pose.position.y = c.getCenter()[1];
disc.pose.position.z = c.getCenter()[2];
std::lock_guard<std::mutex> guard(*mtx_ptr);
markers->markers.push_back(disc);
}
void Atlas::parameterizeCharts()
{
ParameterizationQuality globalParameterizationQuality;
// Paramterize the charts.
uint diskCount = 0;
const uint chartCount = m_chartArray.count();
for (uint i = 0; i < chartCount; i++)\
{
Chart * chart = m_chartArray[i];
bool isValid = false;
if (chart->isDisk())
{
diskCount++;
ParameterizationQuality chartParameterizationQuality;
if (chart->faceCount() == 1) {
computeSingleFaceMap(chart->unifiedMesh());
chartParameterizationQuality = ParameterizationQuality(chart->unifiedMesh());
}
else {
computeOrthogonalProjectionMap(chart->unifiedMesh());
ParameterizationQuality orthogonalQuality(chart->unifiedMesh());
computeLeastSquaresConformalMap(chart->unifiedMesh());
ParameterizationQuality lscmQuality(chart->unifiedMesh());
// If the orthogonal projection produces better results, just use that. @@ Make sure the orthogonal map is valid has no overlaps.
/*if (orthogonalQuality.rmsStretchMetric() < lscmQuality.rmsStretchMetric()) {
computeOrthogonalProjectionMap(chart->unifiedMesh());
chartParameterizationQuality = orthogonalQuality;
}
else*/ {
chartParameterizationQuality = lscmQuality;
}
// If conformal map failed,
// @@ Experiment with other parameterization methods.
//computeCircularBoundaryMap(chart->unifiedMesh());
//computeConformalMap(chart->unifiedMesh());
//computeNaturalConformalMap(chart->unifiedMesh());
//computeGuidanceGradientMap(chart->unifiedMesh());
}
//ParameterizationQuality chartParameterizationQuality(chart->unifiedMesh());
isValid = chartParameterizationQuality.isValid();
if (!isValid)
{
nvDebug("*** Invalid parameterization.\n");
#if 0
// Dump mesh to inspect problem:
static int pieceCount = 0;
StringBuilder fileName;
fileName.format("invalid_chart_%d.obj", pieceCount++);
exportMesh(chart->unifiedMesh(), fileName.str());
#endif
}
// @@ Check that parameterization quality is above a certain threshold.
// @@ Detect boundary self-intersections.
globalParameterizationQuality += chartParameterizationQuality;
}
if (!isValid)
{
//nvDebugBreak();
// @@ Run the builder again, but only on this chart.
//AtlasBuilder builder(chart->chartMesh());
}
// Transfer parameterization from unified mesh to chart mesh.
chart->transferParameterization();
}
nvDebug(" Parameterized %d/%d charts.\n", diskCount, chartCount);
nvDebug(" RMS stretch metric: %f\n", globalParameterizationQuality.rmsStretchMetric());
nvDebug(" MAX stretch metric: %f\n", globalParameterizationQuality.maxStretchMetric());
nvDebug(" RMS conformal metric: %f\n", globalParameterizationQuality.rmsConformalMetric());
nvDebug(" RMS authalic metric: %f\n", globalParameterizationQuality.maxAuthalicMetric());
}
void Atlas::computeCharts(const SegmentationSettings & settings)
{
AtlasBuilder builder(m_mesh);
// Tweak these values:
const float maxThreshold = 2;
const uint growFaceCount = 32;
const uint maxIterations = 4;
builder.settings = settings;
//builder.settings.proxyFitMetricWeight *= 0.75; // relax proxy fit weight during initial seed placement.
//builder.settings.roundnessMetricWeight = 0;
//builder.settings.straightnessMetricWeight = 0;
// This seems a reasonable estimate.
uint maxSeedCount = max(6U, m_mesh->faceCount());
// Create initial charts greedely.
nvDebug("### Placing seeds\n");
builder.placeSeeds(maxThreshold, maxSeedCount);
nvDebug("### Placed %d seeds (max = %d)\n", builder.chartCount(), maxSeedCount);
builder.updateProxies();
builder.mergeCharts();
#if 1
nvDebug("### Relocating seeds\n");
builder.relocateSeeds();
nvDebug("### Reset charts\n");
builder.resetCharts();
builder.settings = settings;
nvDebug("### Growing charts\n");
// Restart process growing charts in parallel.
uint iteration = 0;
while (true)
{
if (!builder.growCharts(maxThreshold, growFaceCount))
{
nvDebug("### Can't grow anymore\n");
// If charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration.
nvDebug("### Filling holes\n");
builder.fillHoles(maxThreshold);
nvDebug("### Using %d charts now\n", builder.chartCount());
builder.updateProxies();
nvDebug("### Merging charts\n");
builder.mergeCharts();
nvDebug("### Using %d charts now\n", builder.chartCount());
nvDebug("### Reseeding\n");
if (!builder.relocateSeeds())
{
nvDebug("### Cannot relocate seeds anymore\n");
// Done!
break;
}
if (iteration == maxIterations)
{
nvDebug("### Reached iteration limit\n");
break;
}
iteration++;
nvDebug("### Reset charts\n");
builder.resetCharts();
nvDebug("### Growing charts\n");
}
};
#endif
// Make sure no holes are left!
nvDebugCheck(builder.facesLeft == 0);
const uint chartCount = builder.chartArray.count();
for (uint i = 0; i < chartCount; i++)
{
Chart * chart = new Chart();
m_chartArray.append(chart);
chart->build(m_mesh, builder.chartFaces(i));
}
// Build face indices.
m_faceChart.resize(m_mesh->faceCount());
m_faceIndex.resize(m_mesh->faceCount());
for (uint i = 0; i < chartCount; i++)
{
const Chart * chart = m_chartArray[i];
const uint faceCount = chart->faceCount();
for (uint f = 0; f < faceCount; f++)
{
uint idx = chart->faceAt(f);
m_faceChart[idx] = i;
m_faceIndex[idx] = f;
}
}
// Build an exclusive prefix sum of the chart vertex counts.
m_chartVertexCountPrefixSum.resize(chartCount);
if (chartCount > 0)
{
m_chartVertexCountPrefixSum[0] = 0;
for (uint i = 1; i < chartCount; i++)
{
const Chart * chart = m_chartArray[i-1];
m_chartVertexCountPrefixSum[i] = m_chartVertexCountPrefixSum[i-1] + chart->vertexCount();
}
m_totalVertexCount = m_chartVertexCountPrefixSum[chartCount - 1] + m_chartArray[chartCount-1]->vertexCount();
}
else
{
m_totalVertexCount = 0;
}
}
virtual void createSamplesMarker(const Chart &c, const Eigen::Vector3d &projected)
{
if (c.samp_chosen < 0 || no_sample_markers)
return;
for (size_t i=0; i<c.samples.rows(); ++i)
{
visualization_msgs::Marker samp;
samp.header.frame_id = mark_frame;
samp.header.stamp = ros::Time();
samp.lifetime = ros::Duration(0.5);
samp.ns = "Atlas Node(" + std::to_string(c.getId()) + ") Samples";
samp.id = i;
samp.type = visualization_msgs::Marker::SPHERE;
samp.action = visualization_msgs::Marker::ADD;
samp.scale.x = 0.01;
samp.scale.y = 0.01;
samp.scale.z = 0.01;
samp.color.a = 0.8;
if (i==c.samp_chosen){
//is winner
samp.color.r = 0.6;
samp.color.b = 0.0;
samp.color.g = 0.0;
}
else{
samp.color.r = 0.6;
samp.color.b = 0.0;
samp.color.g = 0.6;
}
samp.pose.position.x = c.samples(i,0);
samp.pose.position.y = c.samples(i,1);
samp.pose.position.z = c.samples(i,2);
std::lock_guard<std::mutex> guard(*mtx_ptr);
markers->markers.push_back(samp);
}
geometry_msgs::Point e;
geometry_msgs::Point s;
visualization_msgs::Marker proj;
proj.header.frame_id = mark_frame;
proj.header.stamp = ros::Time();
proj.lifetime = ros::Duration(0.5);
proj.ns = "Atlas Node(" + std::to_string(c.getId()) + ") Samples";
proj.id = c.samples.rows();
proj.type = visualization_msgs::Marker::ARROW;
proj.action = visualization_msgs::Marker::ADD;
s.x = c.samples(0,0);
s.y = c.samples(0,1);
s.z = c.samples(0,2);
proj.points.push_back(s);
e.x = projected[0];
e.y = projected[1];
e.z = projected[2];
proj.points.push_back(e);
proj.scale.x = 0.001;
proj.scale.y = 0.01;
proj.scale.z = 0.01;
proj.color.a = 0.4;
proj.color.r = 0.0;
proj.color.g = 0.2;
proj.color.b = 0.8;
std::lock_guard<std::mutex> guard(*mtx_ptr);
markers->markers.push_back(proj);
}
int main()
{
initscr();
noecho();
printw("Kolko i krzyzyk");
try{
//wiadomość z serwera
boost::asio::io_service io_service;
tcp::socket socket(io_service);
tcp::resolver resolver(io_service);
tcp::resolver::query query(tcp::v4(), "localhost", "2020");
tcp::resolver::iterator iterator = resolver.resolve(query);
boost::asio::connect(socket,iterator);
boost::array<char, 10> buf;
boost::system::error_code error;
Chart chart;
printw("\nCzy chcesz wczytac stan gry[t/n]?");
refresh();
char choice = getch();
if(choice == 'T' || choice =='t'){
printw("\nCzekaj na rywala...");
refresh();
Frame f;
f.setType(f.LOAD);
boost::asio::write(socket,boost::asio::buffer(f.getFrame(),10));
}else{
Frame f;
f.setType(f.BEGIN);
boost::asio::write(socket,boost::asio::buffer(f.getFrame(),10));
printw("\nCzekaj na rywala...");
refresh();
}
boost::asio::read(socket,boost::asio::buffer(buf,10));
Frame f(buf);
char p_char;
if(f.getType()==f.LOAD){
chart.loadChart(f.getChart());
boost::asio::read(socket,boost::asio::buffer(buf,10));
Frame f1(buf);
p_char = f1.getChar();
chart.setChar(p_char);
}else{
p_char = f.getChar();
chart.setChar(p_char);
chart.redraw();
}
move(1,0);
clrtoeol();
move(1,0);
printw("Grasz %c.",p_char);
move(8,0);
printw("Naciskajac odpowiedni klawisz wybierasz pole. Naciskajac 's' zapisujesz stan gry.");
refresh();
int c = '0';
while(c){
chart.printInfo("Czekaj na swoj ruch");
boost::asio::read(socket,boost::asio::buffer(buf,10),error);
//cout << error.message() <<endl;
chart.printInfo(error.message().c_str());
chart.printInfo("Twoj ruch");
refresh();
Frame f(buf);
if(f.getChar()!='1')
chart.markField(f.getChar(),f.getPos());
switch(f.getType()){
case f.END:
chart.printEnd(f.getWinner());
refresh();
getch();
//because of some errors
endwin();
exit(1);
c = 0;
break;
case f.TURN:
while(1){
c = getch();
if(c >= '1' && c <= '9' && chart.checkField(c-49)){
chart.markField(c,p_char);
Frame f;
f.setMove(f.MOVE,p_char,c);
//Wysłanie do serwera informacji o wybranym polu
boost::asio::write(socket,boost::asio::buffer(f.getFrame(),10));
chart.markField(p_char,c);
refresh();
break;
}else{
if(c == 's'){
Frame f;
f.setType(f.SAVE);
boost::asio::write(socket,boost::asio::buffer(f.getFrame(),10));
chart.printInfo("Gra zapisana - Twoj ruch");
}else
chart.printInfo("Zly klawisz ");
}
}
break;
}
}
getch();
}catch (std::exception& e){
std::cerr << "Exception: " << e.what() << "\n";
}
endwin();
return 0;
}