//------------------------ GetClosestNodeToPosition ---------------------------
//
// returns the index of the closest visible graph node to the given position
//-----------------------------------------------------------------------------
int Raven_PathPlanner::GetClosestNodeToPosition(Vector2D pos)const
{
double ClosestSoFar = MaxDouble;
int ClosestNode = no_closest_node_found;
//when the cell space is queried this the the range searched for neighboring
//graph nodes. This value is inversely proportional to the density of a
//navigation graph (less dense = bigger values)
const double range = m_pOwner->GetWorld()->GetMap()->GetCellSpaceNeighborhoodRange();
//calculate the graph nodes that are neighboring this position
m_pOwner->GetWorld()->GetMap()->GetCellSpace()->CalculateNeighbors(pos, range);
//iterate through the neighbors and sum up all the position vectors
for (NodeType* pN = m_pOwner->GetWorld()->GetMap()->GetCellSpace()->begin();
!m_pOwner->GetWorld()->GetMap()->GetCellSpace()->end();
pN = m_pOwner->GetWorld()->GetMap()->GetCellSpace()->next())
{
//if the path between this node and pos is unobstructed calculate the
//distance
if (m_pOwner->canWalkBetween(pos, pN->Pos()))
{
double dist = Vec2DDistanceSq(pos, pN->Pos());
//keep a record of the closest so far
if (dist < ClosestSoFar)
{
ClosestSoFar = dist;
ClosestNode = pN->Index();
}
}
}
return ClosestNode;
}
NodeType* visibleNetwork(Algorithm* algo) {
stack<NodeType*> toVisit;
set<NodeType*> visited;
map<Algorithm*, NodeType*> algoNodeMap;
NodeType* networkRoot = new NodeType(algo);
toVisit.push(networkRoot);
E_DEBUG(ENetwork, "building visible network from " << algo->name());
E_DEBUG_INDENT;
while (!toVisit.empty()) {
NodeType* currentNode = toVisit.top();
toVisit.pop();
//E_DEBUG(ENetwork, "visiting: " << currentNode->algorithm()->name());
if (visited.find(currentNode) != visited.end()) continue;
visited.insert(currentNode);
vector<NodeType*> deps = currentNode->addVisibleDependencies(algoNodeMap);
E_DEBUG(ENetwork, currentNode->algorithm()->name() << ":");
for (int i=0; i<(int)deps.size(); i++) {
E_DEBUG(ENetwork, " → " << deps[i]->algorithm()->name());
toVisit.push(deps[i]);
}
}
E_DEBUG_OUTDENT;
E_DEBUG(ENetwork, "building visible network from " << algo->name() << " ok!");
return networkRoot;
}
bool pixelIsAssignedToNode(unsigned int x, unsigned int y,
const NodeType& node) {
auto pixelNodeId = nodeIdImage.getPixelValue(x, y);
auto pixelNodeLevel = internalImage.getPixelValue(x, y);
return pixelNodeId == node.getId() && pixelNodeLevel == node.getLevel();
}
void mitk::FastMarchingTool3D::OnAddPoint()
{
// Add a new seed point for FastMarching algorithm
mitk::Point3D clickInIndex;
m_ReferenceImage->GetGeometry()->WorldToIndex(m_SeedsAsPointSet->GetPoint(m_SeedsAsPointSet->GetSize()-1),
clickInIndex);
itk::Index<3> seedPosition;
seedPosition[0] = clickInIndex[0];
seedPosition[1] = clickInIndex[1];
seedPosition[2] = clickInIndex[2];
NodeType node;
const double seedValue = 0.0;
node.SetValue( seedValue );
node.SetIndex( seedPosition );
this->m_SeedContainer->InsertElement(this->m_SeedContainer->Size(), node);
m_FastMarchingFilter->Modified();
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
m_NeedUpdate = true;
this->Update();
}
void NodeTypesDelegate::showPropertiesDialog()
{
QModelIndex index = focusedIndex();
NodeType *type = qobject_cast<NodeType*>(index.data(NodeTypeModel::DataRole).value<QObject*>());
QPointer<NodeTypeProperties> dialog = new NodeTypeProperties(0);
dialog->setType(type->self());
dialog->exec();
}
void connectPixelsMaybeReplacingParent(const NodeType& firstNode,
const NodeType& secondNode) {
auto& isBefore = levelOrderComparator;
auto firstNodeParentLevel = firstNode.getParent().getLevel();
auto secondNodeLevel = secondNode.getLevel();
if (isBefore(firstNodeParentLevel, secondNodeLevel))
minMaxTree.setNodeParent(firstNode, secondNode);
}
void removeNormalNode(const NodeType& node) {
auto& parent = node.getParent();
auto newColor = parent.getLevel();
auto newId = parent.getId();
updatePixelsIfAssignedToNode(node, newColor, newId);
minMaxTree.removeNode(node.getLevel(), node.getId());
}
void removeRootNode(const NodeType& node) {
minMaxTree.removeNode(node.getLevel(), node.getId());
auto newColor = minMaxTree.getFirstLevel();
auto newId = 0u;
updatePixelsIfOnCollapsedLevel(newColor, newId);
updatePixelsIfAssignedToNode(node, newColor, newId);
}
static NodeType addChild(NodeType node, const std::string& name)
{
XMLCh buffer[256];
xercesc::XMLString::transcode(name.c_str(), buffer, sizeof(buffer));
NodeType child = node->getOwnerDocument()->createElement(buffer);
node->appendChild(child);
return child;
}
bool mitk::FastMarchingTool::OnAddPoint( StateMachineAction*, InteractionEvent* interactionEvent )
{
if ( SegTool2D::CanHandleEvent(interactionEvent) < 1.0 )
return false;
// Add a new seed point for FastMarching algorithm
mitk::InteractionPositionEvent* positionEvent = dynamic_cast<mitk::InteractionPositionEvent*>( interactionEvent );
//const PositionEvent* p = dynamic_cast<const PositionEvent*>(stateEvent->GetEvent());
if ( positionEvent == NULL ) return false;
if ( m_PositionEvent.IsNotNull() )
m_PositionEvent = NULL;
m_PositionEvent = InteractionPositionEvent::New( positionEvent->GetSender(),
positionEvent->GetPointerPositionOnScreen(),
positionEvent->GetPositionInWorld() );
//if click was on another renderwindow or slice then reset pipeline and preview
if( (m_LastEventSender != m_PositionEvent->GetSender()) || (m_LastEventSlice != m_PositionEvent->GetSender()->GetSlice()) )
{
this->BuildITKPipeline();
this->ClearSeeds();
}
m_LastEventSender = m_PositionEvent->GetSender();
m_LastEventSlice = m_LastEventSender->GetSlice();
mitk::Point3D clickInIndex;
m_ReferenceImageSlice->GetGeometry()->WorldToIndex(m_PositionEvent->GetPositionInWorld(), clickInIndex);
itk::Index<2> seedPosition;
seedPosition[0] = clickInIndex[0];
seedPosition[1] = clickInIndex[1];
NodeType node;
const double seedValue = 0.0;
node.SetValue( seedValue );
node.SetIndex( seedPosition );
this->m_SeedContainer->InsertElement(this->m_SeedContainer->Size(), node);
m_FastMarchingFilter->Modified();
m_SeedsAsPointSet->InsertPoint(m_SeedsAsPointSet->GetSize(), m_PositionEvent->GetPositionInWorld());
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
m_NeedUpdate = true;
this->Update();
m_ReadyMessage.Send();
return true;
}
void load_(vector<uint32_t>& indexes)
{
uint32_t idx = indexes.front();
indexes.erase(indexes.begin());
NodeType* n = nodes[idx].pNode_ ;
nodes[idx] = _cache_node_(n);
for (uint32_t i=0; i<n->getSize(); i++)
{
if (n->getDiskAddr(i)==(uint64_t)-1)
continue;
if (n->getDiskAddr(i)%2==0)
continue;
NodeType* t = new NodeType(f_);
t->load(n->getDiskAddr(i));
nodes[count_] = _cache_node_(t);
indexes.push_back(count_);
n->setMemAddr(i, count_);
count_++;
if (count_>=CACHE_SIZE)
{
indexes.clear();
return;
}
}
}
void Algorithm<NodeType, ConfigType>::Apply(NodeType* current_node,
ConfigType& config,
size_t stop_time)
{
NodeType* node = current_node;
while(util::Timer::microtimer() < stop_time)
{
node = current_node;
while(true)
{
config.CurrentNode() = node;
if(node->IsTerminal())
break;
if(!node->IsExpanded())
{
node = node->AddChild();
break;
}
node = node->BestChild();
}
config.NumSimulations()++;
const size_t* goals = node->Simulate();
while(node != NULL)
{
node->Update(goals);
node = node->Parent();
}
}
}
static void setText(NodeType node, const std::string& text)
{
XMLCh buffer[256];
xercesc::XMLString::transcode(text.c_str(), buffer, sizeof(buffer));
node->setTextContent(buffer);
}
static InterpolationType get_image_interpolation(NodeType& b_node)
{
int value = b_node.interpolation();
return (InterpolationType)validate_enum_value(value,
INTERPOLATION_NUM_TYPES,
INTERPOLATION_LINEAR);
}
static ExtensionType get_image_extension(NodeType& b_node)
{
int value = b_node.extension();
return (ExtensionType)validate_enum_value(value,
EXTENSION_NUM_TYPES,
EXTENSION_REPEAT);
}
/// Notify all subscribers.
/// @param arguments the arguments
/// @todo Is perfect forwarding required/desired?
void operator()(ParameterTypes&& ... arguments) {
if (!running) { /// @todo Use ReentrantBarrier (not committed yet).
running = true;
try {
for (NodeType *cur = head; nullptr != cur; cur = cur->next) {
if (!cur->isDead()) {
(*cur)(std::forward<ParameterTypes>(arguments) ...);
}
}
} catch (...) {
running = false;
std::rethrow_exception(std::current_exception());
}
maybeSweep();
running = false;
}
}
bool mitk::FastMarchingTool::OnAddPoint(Action* action, const StateEvent* stateEvent)
{
// Add a new seed point for FastMarching algorithm
const PositionEvent* p = dynamic_cast<const PositionEvent*>(stateEvent->GetEvent());
if (!p) return false;
if (m_PositionEvent != NULL)
delete m_PositionEvent;
m_PositionEvent = new PositionEvent(p->GetSender(), p->GetType(), p->GetButton(), p->GetButtonState(), p->GetKey(), p->GetDisplayPosition(), p->GetWorldPosition() );
//if click was on another renderwindow or slice then reset pipeline and preview
if( (m_LastEventSender != m_PositionEvent->GetSender()) || (m_LastEventSlice != m_PositionEvent->GetSender()->GetSlice()) )
{
this->BuildITKPipeline();
this->ClearSeeds();
}
m_LastEventSender = m_PositionEvent->GetSender();
m_LastEventSlice = m_LastEventSender->GetSlice();
mitk::Point3D clickInIndex;
m_ReferenceImageSlice->GetGeometry()->WorldToIndex(m_PositionEvent->GetWorldPosition(), clickInIndex);
itk::Index<2> seedPosition;
seedPosition[0] = clickInIndex[0];
seedPosition[1] = clickInIndex[1];
NodeType node;
const double seedValue = 0.0;
node.SetValue( seedValue );
node.SetIndex( seedPosition );
this->m_SeedContainer->InsertElement(this->m_SeedContainer->Size(), node);
m_FastMarchingFilter->Modified();
m_SeedsAsPointSet->InsertPoint(m_SeedsAsPointSet->GetSize(), m_PositionEvent->GetWorldPosition());
mitk::RenderingManager::GetInstance()->RequestUpdateAll();
m_NeedUpdate = true;
m_ReadyMessage.Send();
this->Update();
return true;
}
static std::string getText(NodeType node)
{
const XMLCh* text = node->getTextContent();
char buffer[256];
xercesc::XMLString::transcode(text, buffer, sizeof(buffer) - 1);
return buffer;
}
/**
*Load data from disk.
**/
uint32_t load()
{
vector<uint32_t> indexes;
indexes.push_back(0);
NodeType* t = new NodeType(f_);
t->load(rootAddr_);
nodes[count_] = _cache_node_(t);
count_++;
while (indexes.size()>0)
{
load_(indexes);
}
return count_;
}
static NodeType findFirstChild(NodeType node, const std::string& name)
{
XMLCh buffer[256];
xercesc::XMLString::transcode(name.c_str(), buffer, sizeof(buffer));
xercesc::DOMNodeList* children = node->getElementsByTagName(buffer);
if (children && (children->getLength() > 0))
return static_cast<NodeType>(children->item(0));
else
return 0;
}
Node* LdapTools::readNode(const string nodeName) {
Node* retval = NULL;
string base("sstNode=");
base.append(nodeName).append(",ou=nodes,ou=virtualization,ou=services,").append(
Config::getInstance()->getLdapBaseDn());
SYSLOGLOGGER(logDEBUG) << "readNode " << base;
LDAPSearchResults* entries = lc->search(base, LDAPConnection::SEARCH_SUB);
if (entries != 0) {
LDAPEntry* entry = entries->getNext();
if (entry != 0) {
retval = new Node(entry->getDN(), this);
}
while (entry != 0) {
// SYSLOGLOGGER(logINFO) << "dn: " << entry->getDN();
const LDAPAttributeList* attrs = entry->getAttributes();
LDAPAttributeList::const_iterator it = attrs->begin();
for (; it != attrs->end(); it++) {
LDAPAttribute attr = *it;
// SYSLOGLOGGER(logINFO) << attr.getName() << "(";
// SYSLOGLOGGER(logINFO) << attr.getNumValues() << "): ";
StringList values = attr.getValues();
StringList::const_iterator it2 = values.begin();
string value = *it2;
// for (; it2 != values.end(); it2++) {
//
// SYSLOGLOGGER(logINFO) << *it2 << "; ";
// }
// SYSLOGLOGGER(logINFO) << std::endl;
retval->addAttribute(entry->getDN(), attr.getName(), value);
}
delete entry;
entry = entries->getNext();
}
if (NULL != retval) {
NodeType* type = retval->getType(string("VM-Node"));
string nodestate = type->getState();
retval->setMaintenance(0 == nodestate.compare("maintenance"));
}
}
return retval;
}
/*!
*Get a new node in cache which is stroed in position 'diskAddr'.
**/
nodePtr newNode(uint64_t diskAddr)
{
if (count_<CACHE_SIZE)
{
NodeType* t = new NodeType(f_);
t->load(diskAddr);
nodes[count_] = _cache_node_(t);
nodePtr p(nodes[count_]);
count_++;
return p;
}
uint32_t ret = findSwitchOut();
kickOutNodes(ret);
NodeType* t = new NodeType(f_);
t->load(diskAddr);
nodes[ret] = _cache_node_(t);
nodePtr p(nodes[ret]);
return p;
}
static NodeType findNextSibling(NodeType node, const std::string& name)
{
XMLCh buffer[256];
xercesc::XMLString::transcode(name.c_str(), buffer, sizeof(buffer));
xercesc::DOMNode* sibling = node->getNextSibling();
while (sibling)
{
bool same = xercesc::XMLString::compareString(sibling->getNodeName(), buffer) == 0;
if ((sibling->getNodeType() == xercesc::DOMNode::ELEMENT_NODE) && same)
return static_cast<NodeType>(sibling);
sibling = sibling->getNextSibling();
}
return 0;
}
typename BucketKDTree<D, ELEM_TYPE>::NodeType*
BucketKDTree<D, ELEM_TYPE>::findLeafFor(const Point<D, ELEM_TYPE>& p)
{
NodeType* current = m_root;
while (!current->isLeaf())
{
// Ensure non-leaf node has two children (should always be case)
assert(current->leftChild() && current->rightChild());
if (p[current->cuttingDimension()] < current->cuttingValue())
{
current = current->leftChild();
}
else
{
current = current->rightChild();
}
}
return current;
}
/*!
*Load bucket of specific disk address into memory.
**/
nodePtr getNodeByMemAddr(uint32_t& memAddr, uint64_t diskAddr)
{
if (diskAddr%2==1)
return nodePtr();
if (memAddr>=count_ && memAddr!=(uint32_t)-1&&count_!=0)
return nodePtr();
if (memAddr!=(uint32_t)-1)
{
NodeType* t = nodes[memAddr].pNode_;
if (t->getDiskAddr()==diskAddr)
{
return nodePtr(nodes[memAddr], memAddr);
}
}
uint32_t i = findInCache(diskAddr);
if (i != (uint32_t)-1)
{
memAddr = i;
return nodePtr(nodes[i], memAddr);
}
if (count_<CACHE_SIZE)
{
NodeType* t = new NodeType(f_);
t->load(diskAddr);
nodes[count_] = _cache_node_(t);
memAddr = count_;
count_++;
return nodePtr(nodes[memAddr], memAddr);
}
//cout<< "getNodeByMemAddr()\n";
memAddr = findSwitchOut();
//cout<<"\nswitch out-: "<<memAddr<<endl;
kickOutNodes(memAddr);
NodeType* t = new NodeType(f_);
t->load(diskAddr);
nodes[memAddr] = _cache_node_(t);
return nodePtr(nodes[memAddr], memAddr);
}
static NodeType findNextSibling(NodeType node, const std::string& name)
{
return node.nextSiblingElement(name.c_str());
}
result_type operator()(
Stream & stream, bool outer, NodeType const & node
) const
{
// Get the program associated with this stream.
Program const * pgm = manipulators::detail::pgm_data(stream);
char close_char = '\0';
m_delim.push(' ');
// Print the label.
if(pgm)
{
switch(node.tag())
{
case FAIL: stream << "**FAIL**"; break;
case CHOICE:
if(!outer)
{
stream << "(";
close_char = ')';
}
stream << "?_" << node.id() << " ";
break;
case OPER:
if(!outer && node.arity() > 0)
{
stream << "(";
close_char = ')';
}
stream << pgm->oper_label[node.id()] << " ";
break;
case CTOR:
default:
// Handle certain built-in types specially.
if(node.tag() >= CTOR)
{
switch(node.id())
{
case CL_TUPLE2:
case CL_TUPLE3:
case CL_TUPLE4:
case CL_TUPLE5:
case CL_TUPLE6:
case CL_TUPLE7:
case CL_TUPLE8:
case CL_TUPLE9:
stream << "(";
close_char = ')';
m_delim.pop();
m_delim.push(',');
break;
case CL_CONS:
case CL_NIL:
{
stream << "[";
Node const * p = &node;
while(true)
{
visit(
tr1::bind<Stream &>(
*this, tr1::ref(stream), false, _1
)
, *(*p)[0]
);
p = (*p)[1].get();
if(p->id() == CL_NIL) break;
stream << ",";
}
stream << "]";
m_delim.pop();
return stream;
}
default:
if(!outer && node.arity() > 0)
{
stream << "(";
close_char = ')';
}
stream << pgm->ctor_label[node.id()] << " ";
break;
}
break;
}
else throw RuntimeError("mishandled node in operator<<");
}
}
else
{
if(!outer)
{
stream << "(";
close_char = ')';
}
stream << "<unknown-ctor> ";
}
// Print the children.
bool first = true;
BOOST_FOREACH(NodePtr const & child, node.iter())
{
if(!first) stream << m_delim.top();
first = false;
visit(
tr1::bind<Stream &>(*this, tr1::ref(stream), false, _1)
, *child
);
}
m_delim.pop();
if(close_char) stream << close_char;
return stream;
}
static std::string getText(NodeType node)
{
return node.text().toStdString();
}
bool TempNodeType::onLoginMsg_(InfoNodePtr& infoNodePtr, Json::Value& msg,
Timestamp time) {
muduo::net::TcpConnectionPtr& conn = infoNodePtr->getConn();
if (infoNodePtr->getStatus() == LOGIN_STATUS) {
//has logined
LOG_WARN<< conn->peerAddress().toIpPort() << " ID:"
<< infoNodePtr->getId() << " reloading";
ObjectType* objectType = nodeServer_->getObjectType(
infoNodePtr->getNodeType());
NodeType* nodeType = dynamic_cast<NodeType*>(objectType);
return nodeType->onLoginSuccessMsg(infoNodePtr, msg, time);
}
onLoginTypeCheck(infoNodePtr, msg);
ObjectType* objectType = nodeServer_->getObjectType(
infoNodePtr->getNodeType());
//because onLoginTypeCheck will always set as NodeType...
NodeType* nodeType = dynamic_cast<NodeType*>(objectType);
if (nodeType == 0)
return false;
if (!nodeType->onLoginCheckMsg(infoNodePtr, msg, time)) {
LOG_ERROR<< conn->peerAddress().toIpPort() << "tmp ID:"
<<infoNodePtr->getTempId()<< " login failure!";
return true;
}
//set id
uint id = infoNodePtr->getId();
if (id == DEFAULT_ID) {
LOG_INFO << conn->peerAddress().toIpPort()
<< " ID will be set as tmp ID:" << infoNodePtr->getTempId();
id = infoNodePtr->getTempId();
infoNodePtr->setId(id);
}
if (!nodeServer_->getNodePool()->hasNode(id)) {
//the new id has not login,add to nodePool
if (nodeServer_->getNodePool()->setNewNode(id, infoNodePtr)) {
//add to nodePool success,remove from TempNodePool
nodeServer_->getTempNodePool()->remove(infoNodePtr->getTempId());
infoNodePtr->setStatus(LOGIN_STATUS);
LOG_INFO << conn->peerAddress().toIpPort() << " ID:" << id
<< " login success!";
return nodeType->onLoginSuccessMsg(infoNodePtr, msg, time);
} else {
//loading err,can't set id,may other threading is login with the id
LOG_ERROR<< conn->peerAddress().toIpPort() << " ID:" << id
<< " login err!";
bool res = nodeType->onLoginFailureMsg(infoNodePtr, msg, time);
//reset id as DEFAULT_ID
infoNodePtr->setId(DEFAULT_ID);
return res;
}
} else {
//the id has login
LOG_ERROR << conn->peerAddress().toIpPort() << " ID:" << id
<< " Has logined id!";
bool res = nodeType->onLoginFailureMsg(infoNodePtr, msg, time);
//reset id as DEFAULT_ID
infoNodePtr->setId(DEFAULT_ID);
return res;
}
return true;
}
static bool isValid(NodeType node)
{
return !node.isNull();
}
