int main() { pthread_t hOutput; int msqid; if (InitializeConnections(&hOutput, &msqid)) { perror("Error in initialization"); return 1; } if (master) { pthread_mutex_lock(&count_mutex); pthread_cond_wait(&count_threshold_cv, &count_mutex); pthread_mutex_unlock(&count_mutex); HandleMasterInput(hOutput, msqid); } else { HandleSlaveInput(msqid); } // cleaning up if (master) { pthread_join(hOutput, NULL); msgctl(msqid, IPC_RMID, NULL); pthread_mutex_destroy(&count_mutex); pthread_cond_destroy(&count_threshold_cv); } return 0; }
void TerrainWeightEditor::Initialize() { if (fw_->IsHeadless()) return; QUiLoader loader; loader.setLanguageChangeEnabled(true); QString str("./data/ui/terrainwtex_editor.ui"); QFile file(str); if(!file.exists()) { EnvironmentModule::LogError("Cannot find " +str.toStdString()+ " file"); return; } editor_widget_ = loader.load(&file, this); if (editor_widget_ == 0) return; // UiProxyWidget *editor_proxy = fw_->Ui()->AddWidgetToScene(this); // if (editor_proxy == 0) // return; // ui->AddWidgetToMenu(this, tr("Terrain Texture Weightmap Editor")); // ui->RegisterUniversalWidget("Weights", editor_proxy); QSpinBox *box = editor_widget_->findChild<QSpinBox*>("brush_size"); if(box) { brush_size_max_ = box->maximum(); brush_size_ = box->value(); } box = editor_widget_->findChild<QSpinBox*>("brush_modifier"); if(box) brush_modifier_ = box->maximum(); QDoubleSpinBox *dbox = editor_widget_->findChild<QDoubleSpinBox*>("brush_falloff"); if(dbox) falloff_percentage_ = dbox->value(); InitializeCanvases(); InitializeConnections(); emit BrushValueChanged(); }
/// Controller initialization in non-realtime bool PR2JointController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &nh) { m_node = nh; //Initialize connections to other nodes through topics/services if (!InitializeConnections()) { ROS_ERROR("PR2JointController could not connect to topics"); return false; } if (!ConnectArmJoints(robot)) { ROS_ERROR("PR2JointController could not initialize joint states"); return false; } m_dblRUpperArmRollJointEffort = 0; m_dblRShoulderPanJointEffort = 0; m_dblRShoulderLiftJointEffort = 0; m_dblRForearmRollJointEffort = 0; m_dblRElbowFlexJointEffort = 0; m_dblRWristFlexJointEffort = 0; m_dblRWristRollJointEffort = 0; m_dblLUpperArmRollJointEffort = 0; m_dblLShoulderPanJointEffort = 0; m_dblLShoulderLiftJointEffort = 0; m_dblLForearmRollJointEffort = 0; m_dblLElbowFlexJointEffort = 0; m_dblLWristFlexJointEffort = 0; m_dblLWristRollJointEffort = 0; m_dblHeadPanJointEffort = 0; m_dblHeadTiltJointEffort = 0; return true; }