void D()
{
if(M == 0)
{
printf("STOP\n");
return;
}
if(M * 20 >= P)
{
if(M && angle < 5 && angle > -5)//???????????
{
fire(P);
return;
}
else
{
backward(X);
return;
}
}
else G();
return;
}
int main()
{
double t1, t2;
const int dim = 2000;
Chronometer chrono;
t1 = chrono.click();
Vector x(dim);
Matrix A(dim);
t2 = chrono.click();
std::cout << "Time to create matrix: " << t2 - t1 << " sec.\n";
t1 = chrono.click();
matrixAssembly(A);
t2 = chrono.click();
std::cout << "Time to compute coefficients of the matrix: " << t2 - t1 << " sec.\n";
t1 = chrono.click();
assemblyRhs(A, x);
t2 = chrono.click();
std::cout << "Time to compute coefficients of the right hand side: " << t2 - t1 << " sec.\n";
t1 = chrono.click();
factorize(A);
t2 = chrono.click();
std::cout << "Time to factorize the matrix: " << t2 - t1 << " sec.\n";
t1 = chrono.click();
forward(A, x);
backward(A, x);
t2 = chrono.click();
std::cout << "Time to solve the linear system: " << t2 - t1 << " sec.\n";
verifySolution(x);
return EXIT_SUCCESS;
}
void MainWindow::initButtons(){
QPixmap rotateLeft(":images/rotate_left.png");
QIcon rotateLeftIcon(rotateLeft);
this->ui->angZL->setIcon(rotateLeftIcon);
QPixmap rotateRight(":images/rotate_right.png");
QIcon rotateRightIcon(rotateRight);
this->ui->angZR->setIcon(rotateRightIcon);
QPixmap up(":images/up.png");
QIcon upIcon(up);
this->ui->linZU->setIcon(upIcon);
QPixmap down(":images/down.png");
QIcon downIcon(down);
this->ui->linZD->setIcon(downIcon);
QPixmap toggle(":images/toggle_cam.png");
QIcon toggleIcon(toggle);
this->ui->toggleCam->setIcon(toggleIcon);
QPixmap forward(":images/forward.png");
QIcon forwardIcon(forward);
this->ui->linXF->setIcon(forwardIcon);
QPixmap backward(":images/backward.png");
QIcon backwardIcon(backward);
this->ui->linXB->setIcon(backwardIcon);
QPixmap left(":images/left.png");
QIcon leftIcon(left);
this->ui->linYL->setIcon(leftIcon);
QPixmap right(":images/right.png");
QIcon rightIcon(right);
this->ui->linYR->setIcon(rightIcon);
}
int candy(vector<int>& ratings) {
if (ratings.empty()) {
return 0;
}
vector<int> forward(ratings.size(), 1);
vector<int> backward(ratings.size(), 1);
for (int i = 1; i < ratings.size(); i++) {
if (ratings[i] > ratings[i-1]) {
forward[i] = forward[i-1] + 1;
}
}
for (int i = ratings.size()-2; i >= 0; i--) {
if (ratings[i] > ratings[i+1]) {
backward[i] = backward[i+1] + 1;
}
}
int candy = 0;
for (int i = 0; i < ratings.size(); i++) {
candy += max(forward[i], backward[i]);
}
return candy;
}
void terminalCheck1()
{
if (ct != ot)
{
if (dir == 1 || dir == 3)
{
if (ct == 3 || ct == 0)
turnRight();
else turnLeft();
front();
}
if (((ct == 0 || ct == 1) && dir == 2) || ((ct == 2 || ct == 3) && dir == 0))
backward();
ot = ct;
}
if (((ct == 0 || ct == 1) && dir == 0) || ((ct == 2 || ct == 3) && dir == 2))
turnRight();
else turnLeft();
//..printf("Enter term[%d][%d]\n", ct, 0);
//..scanf("%d", &term[ct][0]);
term[ct][0]=scan();
if (term[ct][0] == -1 || term[ct][0] == color[ct])
total--;
}
/* used primarily for taking contents of macro file */
void move_tank(char direc[], int time)
{
if (!strcmp(direc, "ff")) {
forward(time);
}
else if (!strcmp(direc, "bb")) {
backward(time);
}
else if (!strcmp(direc, "fr")) {
foright(time);
}
else if (!strcmp(direc, "fl")) {
foleft(time);
}
else if (!strcmp(direc, "br")) {
baright(time);
}
else if (!strcmp(direc, "bl")) {
baleft(time);
}
else if (!strcmp(direc, "ss")) {
stop(time);
}
else {
printf("ERROR: cannot move tank in that direction\n");
safe_exit(1);
}
} /* end move_tank function */
void FFT::convolve(VolumeList &vols, Volume &mask) {
if (vols.size() > 0 &&
vols[0].width == mask.width &&
vols[0].height == mask.height &&
vols[0].depth == mask.depth) {
forward(vols);
forward(mask);
vols *= mask;
size_t i = 0;
for (size_t x = 0; x < vols[0].width; ++x) {
for (size_t y = 0; y < vols[0].height; ++y) {
for (size_t z = 0; z < vols[0].complex_depth; ++z) {
if ((x+y+z) % 2) {
for (size_t j = 0; j < vols.size(); ++j) {
vols[j].complex_data[i] *= -1.0;
}
}
++i;
}
}
}
backward(vols);
}
}
/// PUBLIC
HelpBrowser::HelpBrowser(QString strPath,
QString strFileName,
QWidget *parent):
QWidget(parent)
{
pButtonBack = new QPushButton("<<");
pButtonHome = new QPushButton("Home");
pButtonForward = new QPushButton(">>");
textBrowser = new QTextBrowser();
connect(pButtonBack, SIGNAL(clicked()),
textBrowser, SLOT(backward()));
connect(pButtonHome, SIGNAL(clicked()),
textBrowser, SLOT(home()));
connect(pButtonForward, SIGNAL(clicked()),
textBrowser, SLOT(forward()));
connect(textBrowser, SIGNAL(backwardAvailable(bool)),
pButtonBack, SLOT(setEnabled(bool)));
connect(textBrowser, SIGNAL(forwardAvailable(bool)),
pButtonForward, SLOT(setEnabled(bool)));
textBrowser->setSource(QUrl::fromLocalFile(QString(strPath + strFileName)));
hBoxLayoutCommandButton = new QHBoxLayout;
hBoxLayoutCommandButton->addWidget(pButtonBack);
hBoxLayoutCommandButton->addWidget(pButtonHome);
hBoxLayoutCommandButton->addWidget(pButtonForward);
vBoxLayoutMain = new QVBoxLayout;
vBoxLayoutMain->addLayout(hBoxLayoutCommandButton);
vBoxLayoutMain->addWidget(textBrowser);
setLayout(vBoxLayoutMain);
}
/* More robust, but expensive, bbox transform
* in the face of proj4 out of bounds conditions.
* Can result in 20 -> 10 r/s performance hit.
* Alternative is to provide proper clipping box
* in the target srs by setting map 'maximum-extent'
*/
bool proj_transform::backward(box2d<double>& env, int points) const
{
if (is_source_equal_dest_)
return true;
std::vector<coord<double,2> > coords;
envelope_points(coords, env, points);
double z;
for (std::vector<coord<double,2> >::iterator it = coords.begin(); it!=coords.end(); ++it) {
z = 0;
if (!backward(it->x, it->y, z)) {
return false;
}
}
box2d<double> result = calculate_bbox(coords);
env.re_center(result.center().x, result.center().y);
env.height(result.height());
env.width(result.width());
return true;
}
void A()
{
scanf("%d%d", &N, &NP);
if(M == 0)
{
front(X);
return;
}
if((N*NP > M*MP*3))
{
if(M && angle <= 10 && angle >= -10)//???????????
{
fire(P);
return;
}
else
{
front(X);
return;
}
}
else
{
if(M && angle <= 5 && angle >= -5)//???????????
{
fire(P);
return;
}
else
{
backward(X);
return;
}
}
//return 0;
}
// real backward
int check_rb(int n, int mode, int veclen, int sizeOfVect) {
int i,j;
DFT *p = DFT_init(mode, n, DFT_FLAG_REAL);
REAL *sx = SIMDBase_alignedMalloc(sizeOfVect*n);
//
double complex fs[veclen][n], ts[veclen][n];
for(j=0;j<veclen;j++) {
for(i=0;i<n/2;i++) {
if (i == 0) {
fs[j][0 ] = (random() / (double)RAND_MAX);
fs[j][n/2] = (random() / (double)RAND_MAX);
} else {
fs[j][i ] = (random() / (double)RAND_MAX) + (random() / (double)RAND_MAX) * _Complex_I;
fs[j][n-i] = conj(fs[j][i]);
}
}
}
for(j=0;j<veclen;j++) {
for(i=0;i<n/2;i++) {
if (i == 0) {
sx[(2*0+0) * veclen + j] = creal(fs[j][0 ]);
sx[(2*0+1) * veclen + j] = creal(fs[j][n/2]);
} else {
sx[(2*i+0) * veclen + j] = creal(fs[j][i]);
sx[(2*i+1) * veclen + j] = cimag(fs[j][i]);
}
}
}
//
for(j=0;j<veclen;j++) {
backward(fs[j], ts[j], n);
}
DFT_execute(p, mode, sx, 1);
//
int success = 1;
for(j=0;j<veclen;j++) {
for(i=0;i<n;i++) {
if (fabs(cimag(ts[j][i])) > THRES) {
success = 0;
}
if ((fabs(sx[i * veclen + j]*2 - creal(ts[j][i])) > THRES)) {
success = 0;
}
}
}
//
SIMDBase_alignedFree(sx);
DFT_dispose(p, mode);
//
return success;
}
/*
* Main command processor.
* Accept and execute commands until a quit command, then return.
*/
void
commands(void)
{
int c, action;
last_mca = 0;
nscroll = (sc_height + 1) / 2;
for (;;) {
mca = 0;
number = 0;
/*
* See if any signals need processing.
*/
if (sigs) {
psignals();
if (quitting)
quit();
}
/*
* Display prompt and accept a character.
*/
CMD_RESET;
if (!prompt()) {
next_file(1);
continue;
}
noprefix();
c = getcc();
again: if (sigs)
continue;
/*
* If we are in a multicharacter command, call mca_char.
* Otherwise we call cmd_decode to determine the
* action to be performed.
*/
if (mca)
switch (mca_char(c)) {
case MCA_MORE:
/*
* Need another character.
*/
c = getcc();
goto again;
case MCA_DONE:
/*
* Command has been handled by mca_char.
* Start clean with a prompt.
*/
continue;
case NO_MCA:
/*
* Not a multi-char command
* (at least, not anymore).
*/
break;
}
/* decode the command character and decide what to do. */
switch (action = cmd_decode(c)) {
case A_DIGIT: /* first digit of a number */
start_mca(A_DIGIT, ":");
goto again;
case A_F_SCREEN: /* forward one screen */
CMD_EXEC;
if (number <= 0 && (number = sc_window) <= 0)
number = sc_height - 1;
forward(number, 1);
break;
case A_B_SCREEN: /* backward one screen */
CMD_EXEC;
if (number <= 0 && (number = sc_window) <= 0)
number = sc_height - 1;
backward(number, 1);
break;
case A_F_LINE: /* forward N (default 1) line */
CMD_EXEC;
forward(number <= 0 ? 1 : number, 0);
break;
case A_B_LINE: /* backward N (default 1) line */
CMD_EXEC;
backward(number <= 0 ? 1 : number, 0);
break;
case A_F_SCROLL: /* forward N lines */
CMD_EXEC;
if (number > 0)
nscroll = number;
forward(nscroll, 0);
break;
case A_B_SCROLL: /* backward N lines */
CMD_EXEC;
if (number > 0)
nscroll = number;
backward(nscroll, 0);
break;
case A_FREPAINT: /* flush buffers and repaint */
if (!ispipe) {
ch_init(0, 0);
clr_linenum();
}
/* FALLTHROUGH */
case A_REPAINT: /* repaint the screen */
CMD_EXEC;
repaint();
break;
case A_GOLINE: /* go to line N, default 1 */
CMD_EXEC;
if (number <= 0)
number = 1;
jump_back(number);
break;
case A_PERCENT: /* go to percent of file */
CMD_EXEC;
if (number < 0)
number = 0;
else if (number > 100)
number = 100;
jump_percent(number);
break;
case A_GOEND: /* go to line N, default end */
CMD_EXEC;
if (number <= 0)
jump_forw();
else
jump_back(number);
break;
case A_STAT: /* print file name, etc. */
longprompt = 1;
continue;
case A_QUIT: /* exit */
quit();
case A_F_SEARCH: /* search for a pattern */
case A_B_SEARCH:
if (number <= 0)
number = 1;
start_mca(action, (action==A_F_SEARCH) ? "/" : "?");
last_mca = mca;
wsearch = 1;
c = getcc();
if (c == '!') {
/*
* Invert the sense of the search; set wsearch
* to 0 and get a new character for the start
* of the pattern.
*/
start_mca(action,
(action == A_F_SEARCH) ? "!/" : "!?");
wsearch = 0;
c = getcc();
}
goto again;
case A_AGAIN_SEARCH: /* repeat previous search */
if (number <= 0)
number = 1;
if (wsearch)
start_mca(last_mca,
(last_mca == A_F_SEARCH) ? "/" : "?");
else
start_mca(last_mca,
(last_mca == A_F_SEARCH) ? "!/" : "!?");
CMD_EXEC;
(void)search(mca == A_F_SEARCH, (char *)NULL,
number, wsearch);
break;
case A_HELP: /* help */
lower_left();
clear_eol();
fputs("help", stdout);
CMD_EXEC;
help();
break;
case A_TAGFILE: /* tag a new file */
CMD_RESET;
start_mca(A_TAGFILE, "Tag: ");
c = getcc();
goto again;
case A_FILE_LIST: /* show list of file names */
CMD_EXEC;
showlist();
repaint();
break;
case A_EXAMINE: /* edit a new file */
CMD_RESET;
start_mca(A_EXAMINE, "Examine: ");
c = getcc();
goto again;
case A_VISUAL: /* invoke the editor */
if (ispipe) {
error("Cannot edit standard input");
break;
}
CMD_EXEC;
editfile();
ch_init(0, 0);
clr_linenum();
break;
case A_NEXT_FILE: /* examine next file */
if (number <= 0)
number = 1;
next_file(number);
break;
case A_PREV_FILE: /* examine previous file */
if (number <= 0)
number = 1;
prev_file(number);
break;
case A_SETMARK: /* set a mark */
lower_left();
clear_eol();
start_mca(A_SETMARK, "mark: ");
c = getcc();
if (c == erase_char || c == kill_char)
break;
setmark(c);
break;
case A_GOMARK: /* go to mark */
lower_left();
clear_eol();
start_mca(A_GOMARK, "goto mark: ");
c = getcc();
if (c == erase_char || c == kill_char)
break;
gomark(c);
break;
case A_PREFIX:
/*
* The command is incomplete (more chars are needed).
* Display the current char so the user knows what's
* going on and get another character.
*/
if (mca != A_PREFIX)
start_mca(A_PREFIX, "");
if (CONTROL_CHAR(c)) {
putchar('^');
c = CARAT_CHAR(c);
}
putchar(c);
c = getcc();
goto again;
default:
putchar('\7');
break;
}
}
}
void makeLine(int count){
int i;
for (i=0; i<count;i++)
makePattern();
backward(count*5);
}
task main()
{
initializeRobot();
waitForStart();
while(true)
{
switch(sm)
{
case DELAY_1:
count++;
if (count>=300)
{
sm=FORWARD_2;
}
break;
case DELAY_2:
count++;
if (count>=300)
{
sm=POSITION_2_PH_2;
}
break;
case DELAY_3:
count++;
if (count>=300)
{
sm=POSITION_3_PH_2;
}
break;
case FORWARD:
servo[score]=230;
writeDebugStreamLine("%d",SensorValue[IR]);
if (forward(50,4000)==true)
{
wait1Msec(1000);
sm=IR;
}
break;
case IR:
writeDebugStreamLine("%d",SensorValue[IR]);
if (SensorValue[IR]==3)
{
sm=POSITION_1;
}
if (SensorValue[IR]==5||SensorValue[IR]==4)
{
sm=POSITION_2;
}
if (SensorValue[IR]==7||SensorValue[IR]==6)
{
sm=POSITION_3;
}
break;
case POSITION_1:
if(forward(25,250)==true)
{
sm=POSITION_1_PH_1;
}
break;
case POSITION_1_PH_1:
if(Turnright(25,65)==true)
{
sm=DELAY_1;
}
break;
case POSITION_2:
if (backward(25,500)==true)
{
sm=POSITION_2_PH_1;
}
break;
case POSITION_3:
if (backward(25,500)==true)
{
sm=POSITION_3_PH_1;
}
break;
case FORWARD_2:
if(forward(25,3000)==true)
{
sm=STOP;
}
break;
case STOP:
motor[rtWheelMotor]=0;
motor[ltWheelMotor]=0;
break;
case POSITION_2_PH_1:
if(Turnright(25,80)==true)
{
sm=DELAY_2;
}
break;
case POSITION_2_PH_2:
if(forward(25,1000)==true)
{
sm=POSITION_2_PH_3;
}
break;
case POSITION_2_PH_3:
if(Turnleft(25,55)==true)
{
sm=POSITION_2_PH_4;
}
break;
case POSITION_2_PH_4:
if(forward(25,4000)==true)
{
sm=STOP;
}
break;
case POSITION_3_PH_1:
if(Turnright(25,70)==true)
{
sm=DELAY_3;
}
break;
case POSITION_3_PH_2:
if(forward(25,2850)==true)
{
sm=POSITION_3_PH_3;
}
break;
case POSITION_3_PH_3:
if(Turnleft(25,80)==true)
{
sm=POSITION_3_PH_4;
}
break;
case POSITION_3_PH_4:
if(forward(50,4000)==true)
{
sm=STOP;
}
break;
}
wait1Msec(50);
}
}
void
play(void)
{
MWEvent event;
MW244BPacket incoming;
event.eventDetail = &incoming;
while (TRUE) {
NextEvent(&event, M->theSocket());
if (!M->peeking())
switch(event.eventType) {
case EVENT_A:
aboutFace();
break;
case EVENT_S:
leftTurn();
break;
case EVENT_D:
forward();
break;
case EVENT_F:
rightTurn();
break;
case EVENT_BAR:
backward();
break;
case EVENT_LEFT_D:
peekLeft();
break;
case EVENT_MIDDLE_D:
shoot();
break;
case EVENT_RIGHT_D:
peekRight();
break;
case EVENT_NETWORK:
processPacket(&event);
break;
case EVENT_INT:
quit(0);
break;
}
else
switch (event.eventType) {
case EVENT_RIGHT_U:
case EVENT_LEFT_U:
peekStop();
break;
case EVENT_NETWORK:
processPacket(&event);
break;
}
ratStates(); /* clean house */
manageMissiles();
DoViewUpdate();
mws_update(M->state);
/* Any info to send over network? */
}
}
void NeighbourGenerator::makeNeighbour(){
vector<Node*> bottleneck;
Graph g(m_solution,m_SettingTable);
g.setLongestPath();
int L=g.getMakespan();
for(int i=0;i<g.size();i++){
if(g[i]->m_R+g[i]->m_Q-g[i]->m_Jobpair->time==L){
bottleneck.push_back(g[i]);
}
}
m_CriticalPathList=pair<vector<Node*>,int>(vector<Node*>(),-1);
vector<Node*> criticalPath;
findCriticalPath(g[0],g[g.size()-1],bottleneck,criticalPath,0);
criticalPath.clear();
criticalPath=m_CriticalPathList.first;
for(int j=0;j<criticalPath.size()-1;j++){
for(int k=j+1;k<criticalPath.size()-1;k++){
if(criticalPath[j]->m_Jobpair->machine!=
criticalPath[k]->m_Jobpair->machine)
continue;
JobPair *I=criticalPath[j]->m_Jobpair;
JobPair *J=criticalPath[k]->m_Jobpair;
JobPair *alphaI=findJobFromSetting(I,PREV);
JobPair *gammaI=findJobFromSetting(I,NEXT);
JobPair *alphaJ=findJobFromSetting(J,PREV);
JobPair *gammaJ=findJobFromSetting(J,NEXT);
for(int l=0;l<criticalPath.size();l++){
// gammaJがCriticalPathに含まれていればforwardchangeする
if(gammaJ!=NULL && gammaI!=NULL && gammaJ->index==criticalPath[l]->m_Jobpair->index &&
g.getNodeByIndex(J->index)->m_Q-J->time>=g.getNodeByIndex(gammaI->index)->m_Q-gammaI->time){
vector<vector<JobPair> > forwardSolution;
forwardSolution=changeForward(m_solution,criticalPath[j]->m_Jobpair,criticalPath[k]->m_Jobpair);
m_NeighbourList.push_back(forwardSolution);
Graph forward(forwardSolution,m_SettingTable);
forward.setLongestPath();
if(g.getMakespan()>forward.getMakespan()){
}else{
if(forward.getNodeByIndex(J->index)->m_R-J->time<=g.getNodeByIndex(J->index)->m_R-J->time-I->time){
}
if(forward.getNodeByIndex(J->index)->m_Q<=g.getNodeByIndex(J->index)->m_Q+I->time){
}
}
}
// alphaIがCriticalPathに含まれていればbackwardchangeする
if(alphaI!=NULL && alphaJ!=NULL && alphaI->index==criticalPath[l]->m_Jobpair->index &&
g.getNodeByIndex(I->index)->m_R>=g.getNodeByIndex(alphaJ->index)->m_R){
vector<vector<JobPair> > backwardSolution;
backwardSolution=changeBackward(m_solution,criticalPath[j]->m_Jobpair,criticalPath[k]->m_Jobpair);
m_NeighbourList.push_back(backwardSolution);
Graph backward(backwardSolution,m_SettingTable);
backward.setLongestPath();
if(g.getMakespan()>backward.getMakespan()){
}else{
if(backward.getNodeByIndex(I->index)->m_Q<=g.getNodeByIndex(I->index)->m_Q-J->time){
}
if(backward.getNodeByIndex(I->index)->m_R-I->time<=g.getNodeByIndex(I->index)->m_R-I->time+J->time){
}
}
}
}
}
}
}
DocumentBrowser::DocumentBrowser(LiteApi::IApplication *app, QObject *parent) :
LiteApi::IDocumentBrowser(parent),
m_liteApp(app),
m_extension(new Extension)
{
m_widget = new QWidget;
m_htmlWidget = app->htmlWidgetManager()->createByName(this,"QTextBrowser");
m_toolBar = new QToolBar;
m_toolBar->setIconSize(LiteApi::getToolBarIconSize());
m_backwardAct = new QAction(QIcon("icon:images/backward.png"),tr("Back"),this);
m_forwardAct = new QAction(QIcon("icon:images/forward.png"),tr("Forward"),this);
m_reloadUrlAct = new QAction(QIcon("icon:images/reload.png"),tr("Reload"),this);
m_toolBar->addAction(m_backwardAct);
m_toolBar->addAction(m_forwardAct);
LiteApi::IActionContext *actionContext = m_liteApp->actionManager()->getActionContext(this,"Document");
m_increaseFontSize = new QAction(tr("Increase Font Size"),this);
actionContext->regAction(m_increaseFontSize,"IncreaseFontSize","Ctrl++;Ctrl+=");
m_decreaseFontSize = new QAction(tr("Decrease Font Size"),this);
actionContext->regAction(m_decreaseFontSize,"DecreaseFontSize","Ctrl+-");
m_resetFontSize = new QAction(tr("Reset Font Size"),this);
actionContext->regAction(m_resetFontSize,"ResizeFontSize","Ctrl+0");
m_urlComboBox = new QComboBox;
m_urlComboBox->setEditable(true);
m_urlComboBox->setSizePolicy(QSizePolicy::Expanding,QSizePolicy::Preferred);
m_toolBar->addSeparator();
m_toolBar->addWidget(m_urlComboBox);
m_toolBar->addAction(m_reloadUrlAct);
QVBoxLayout *mainLayout = new QVBoxLayout;
mainLayout->setMargin(0);
mainLayout->setSpacing(0);
mainLayout->addWidget(m_toolBar);
mainLayout->addWidget(m_htmlWidget->widget());
m_widget->setLayout(mainLayout);
m_widget->addAction(m_increaseFontSize);
m_widget->addAction(m_decreaseFontSize);
m_widget->addAction(m_resetFontSize);
connect(m_increaseFontSize,SIGNAL(triggered()),this,SLOT(increaseFontSize()));
connect(m_decreaseFontSize,SIGNAL(triggered()),this,SLOT(decreaseFontSize()));
connect(m_resetFontSize,SIGNAL(triggered()),this,SLOT(resetFontSize()));
connect(m_htmlWidget,SIGNAL(linkHovered(QUrl)),this,SIGNAL(linkHovered(QUrl)));
connect(m_htmlWidget,SIGNAL(linkClicked(QUrl)),this,SLOT(linkClicked(QUrl)));
connect(m_htmlWidget,SIGNAL(loadFinished(bool)),this,SIGNAL(documentLoaded()));
connect(m_backwardAct,SIGNAL(triggered()),this,SLOT(backward()));
connect(m_forwardAct,SIGNAL(triggered()),this,SLOT(forward()));
connect(m_reloadUrlAct,SIGNAL(triggered()),this,SLOT(reloadUrl()));
connect(m_urlComboBox,SIGNAL(activated(QString)),this,SLOT(activatedUrl(QString)));
connect(this,SIGNAL(backwardAvailable(bool)),m_backwardAct,SLOT(setEnabled(bool)));
connect(this,SIGNAL(forwardAvailable(bool)),m_forwardAct,SLOT(setEnabled(bool)));
m_extension->addObject("LiteApi.IDocumentBrowser",this);
m_extension->addObject("LiteApi.IHtmlWidget",m_htmlWidget);
m_extension->addObject("LiteApi.QTextBrowser",m_htmlWidget->widget());
m_htmlWidget->installEventFilter(m_liteApp->editorManager());
requestFontZoom(0);
QPalette p = m_htmlWidget->widget()->palette();
p.setBrush(QPalette::Highlight,Qt::yellow);
p.setColor(QPalette::HighlightedText,Qt::black);
m_htmlWidget->widget()->setPalette(p);
emit backwardAvailable(false);
emit forwardAvailable(false);
}
void QHTMLView::init()
{
QString qs;
QString qs2;
mpTextBrowser = new QTextBrowser(this);
mpTextBrowser->setTextFormat(Qt::RichText);
setCentralWidget(mpTextBrowser);
qs = xmlConfig->stringValue("HELP_INDEX");
qs2 = xmlConfig->stringValue("HELP_LAST_PAGE");
QFile qf1(qs);
if(qf1.exists()) mpTextBrowser->setSource(qs);
if(qs != qs2 )
{
QFile qf2(qs2);
if(qf2.exists()) mpTextBrowser->setSource(qs2);
}
QPopupMenu* file = new QPopupMenu( this );
file->insertItem( tr("&Open File"), this, SLOT( openFile() ), ALT | Key_O );
file->insertSeparator();
file->insertItem( tr("&Quit"), this, SLOT( close() ), ALT | Key_Q );
QPopupMenu* go = new QPopupMenu( this );
mIdBackward = go->insertItem(tr("&Backward"),mpTextBrowser,
SLOT( backward() ),ALT | Key_Left );
mIdForward = go->insertItem(tr("&Forward"),mpTextBrowser,
SLOT( forward() ),ALT | Key_Right );
go->insertItem(tr("&Home"),mpTextBrowser, SLOT( home() ) );
QPopupMenu* help = new QPopupMenu( this );
help->insertItem(tr("&About ..."),this,SLOT(about()));
#ifdef KDEAPP
KMenuBar* mb = new KMenuBar(this);
#else
QMenuBar* mb = new QMenuBar(this);
#endif
mb->insertItem(tr("&File"),file);
mb->insertItem(tr("&Go"),go);
mb->insertSeparator();
mb->insertItem(tr("&Help"),help );
mb->setItemEnabled( mIdForward, false);
mb->setItemEnabled( mIdBackward, false);
connect(mpTextBrowser, SIGNAL( backwardAvailable( bool ) ),
this, SLOT( setBackwardAvailable( bool ) ) );
connect(mpTextBrowser, SIGNAL( forwardAvailable( bool ) ),
this, SLOT( setForwardAvailable( bool ) ) );
connect(mpTextBrowser,SIGNAL(textChanged() ),this,
SLOT( slotTextChanged() ) );
QToolBar* toolbar = new QToolBar( this );
addToolBar( toolbar);
QToolButton* tb1;
mPixForward = QPixmap((const char **)forward_xpm);
mPixBackward = QPixmap((const char **)backward_xpm);
mPixHome = QPixmap((const char **)home_xpm);
tb1 = new QToolButton(mPixBackward, tr("Backward"), "", mpTextBrowser,
SLOT(backward()), toolbar );
connect(mpTextBrowser, SIGNAL( backwardAvailable(bool) ),tb1,
SLOT( setEnabled(bool) ) );
tb1->setEnabled( false );
tb1 = new QToolButton(mPixForward, tr("Forward"), "",mpTextBrowser,
SLOT(forward()), toolbar );
connect(mpTextBrowser,SIGNAL(forwardAvailable(bool) ),tb1,
SLOT( setEnabled(bool) ) );
tb1->setEnabled( false );
tb1 = new QToolButton(mPixHome, tr("Home"), "",this,
SLOT(home()), toolbar );
QWidget* dummy = new QWidget(toolbar);
toolbar->setStretchableWidget(dummy);
setRightJustification(true);
}
int main()
{
// INITIALIZE
int x, y, color=0, pink=1; // set up for color channel 0 (green)
int xvalue, yvalue;
int greencentered = 0;
int loop = 0;
int centerx=77; // calibrate these number and enter manually
int centery=63;
int margin=8;
int deltax = 0;
int deltay = 0;
int stepsizex;
int stepsizey;
int currpos;
int s_time;
light_start(L_SENSOR); // light start
shut_down_in(119);
camera_open(LOW_RES);
enable_servos(); // enable servos
set_servo_position(S_CATCHER,S_DOWN);
msleep(500);
set_servo_position(S_GATE,S_OPEN);
msleep(500);
// TRIBBLE PILE 1
//set_servo_position(S_GATE,S_OPEN); // open gate
msleep(5000);
set_servo_position(S_CATCHER,CATCHER_UP);
right(28,ks/2); // right
f_until_black(TOPHAT_RIGHT/*,TOPHAT_LEFT*/); // forward until right sensor sees black]
forward(2);
//printf("see black! time to close the gate\n");
set_servo_position(S_GATE,S_GAP); // close gate
//f_until_white(TOPHAT_RIGHT);
set_servo_position(CATCHERARM, CATCHER_UP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14)
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
while (analog10(2)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT,-100);
}
// SCORE PILE 1
left(5,0);
//backward(50);
touch_back(TOUCH_SEN);
forward(10);
backward(10);
forward(20);
right(55,0);
forward(35);
backward(4);
right(45,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
msleep(10);
backward(24);
left(42,0);
backward(10);
left(50,0);
//backward(35);
touch_back(TOUCH_SEN);
forward(120.00);
// TRIBBLE PILE 2
set_servo_position(S_GATE,S_OPEN);
forward(40.00);
set_servo_position(S_GATE,S_GAP);
// camera sort
s_time = curr_time();
while((curr_time()-s_time) < 14) //timer
{
while (greencentered == 0)
{
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
camera_update(); // process the most recent image
loop = loop + 1;
printf("Update camera, loop %d\n", loop);
//msleep(10);
if (get_object_count(color) > 0)
{
xvalue = get_object_center(color,0).x;
yvalue = get_object_center(color,0).y;
deltax = abs(xvalue-centerx);
deltay = abs(yvalue-centery);
stepsizex = (deltax>10) ? 50: 20;
stepsizey = (deltay>10) ? 50: 20;
printf("x is %d, y is %d\n", xvalue, yvalue);
greencentered = ((xvalue >= centerx-margin) & (xvalue <= centerx+margin)) && ((yvalue >= centery-margin) & (yvalue <= centery+margin));
if(greencentered == 1)//get x, y for the biggest blob the channel sees
{
printf("Biggest blob at (%d,%d)\n",xvalue,yvalue);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_MIDWAY);
msleep(300);
set_servo_position(CATCHERARM, CATCHER_DOWN);
//slow_servo(CATCHERARM,20,40,CATCHER_UP,CATCHER_DOWN);
msleep(300);
currpos=get_servo_position(CATCHERARM);
printf("%d\n",currpos);
/*if(CATCHER_MIDWAY>=currpos>CATCHER_DOWN)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos-INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}
if(currpos<CATCHER_MIDWAY)
{
currpos=get_servo_position(CATCHERARM);
set_servo_position(CATCHERARM, currpos+INCREMENT);
msleep(SLEEP_INCREMENT);
currpos=get_servo_position(CATCHERARM);
}*/
set_servo_position(CATCHERARM,CATCHER_UP);
msleep(500);
}
else
{
if(xvalue <= centerx+margin) //moves right if senses value greater than 80
{
motor(MOT_RIGHT,70);
motor(MOT_LEFT,-70);
msleep(stepsizex);
motor(MOT_RIGHT,0);
motor(MOT_LEFT,0);
//msleep(10);
printf("blob is too right\n");
}
if(xvalue >= centerx-margin) // moves left if senses value less than 70
{
motor(MOT_LEFT,70);
motor(MOT_RIGHT,-70);
msleep(stepsizex);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too left\n");
}
if ((xvalue > 67 /*centerx-margin*/) && (xvalue < 87 /*centerx+margin*/))
{
if(yvalue > centery+margin) //moves forward if senses value greater than 43
{
motor(MOT_LEFT,-50);
motor(MOT_RIGHT,-50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too close\n");
}
if(yvalue < centery-margin) // moves backwar if senses value less than 38
{
motor(MOT_LEFT,50);
motor(MOT_RIGHT,50);
msleep(stepsizey);
motor(MOT_LEFT,0);
motor(MOT_RIGHT,0);
//msleep(10);
printf("blob is too far\n");
}
}
}
}
}
}
set_servo_position(S_GATE,S_CLOSE);
// SCORE PILE 2
right(55,0);
forward(28);
backward(12);
right(55,0);
touch_back(TOUCH_SEN);
forward(200);
right(50,0);
touch_back(TOUCH_SEN);
forward(15);
left(50,0);
while (analog10(3)<BLACK_SEN_THRESH)
{
motor(MOT_LEFT, 100);
motor(MOT_RIGHT, 100);
}
backward(4);
right(50,0);
msleep(10);
forward(24);
right(42,0);
touch_back(TOUCH_SEN);
backward(4);
// END
ao();
disable_servos();
printf("done!");
}
FLHelpWindow::FLHelpWindow(const QString &home_,
const QString &_path,
QWidget *parent,
const char *name) :
QMainWindow(parent, name, WDestructiveClose),
pathCombo(0), selectedURL()
{
readHistory();
readBookmarks();
browser = new QTextBrowser(this);
browser->mimeSourceFactory() ->setFilePath(_path);
browser->setFrameStyle(QFrame::Panel | QFrame::Sunken);
connect(browser, SIGNAL(textChanged()), this, SLOT(textChanged()));
setCentralWidget(browser);
if (!home_.isEmpty())
browser->setSource(home_);
connect(browser, SIGNAL(highlighted(const QString &)), statusBar(),
SLOT(message(const QString &)));
resize(640, 700);
QPopupMenu *file = new QPopupMenu(this);
file->insertItem(tr("&Imprimir"), this, SLOT(print()), CTRL + Key_I);
file->insertSeparator();
file->insertItem(tr("&Cerrar"), this, SLOT(close()), Key_Escape);
// The same three icons are used twice each.
QIconSet icon_back(QPixmap::fromMimeSource("previous.png"));
QIconSet icon_forward(QPixmap::fromMimeSource("next.png"));
QIconSet icon_home(QPixmap::fromMimeSource("home.png"));
QPopupMenu *go = new QPopupMenu(this);
backwardId =
go->insertItem(icon_back, tr("&Atrás"), browser, SLOT(backward()),
CTRL + Key_Left);
forwardId =
go->insertItem(icon_forward, tr("&Adelante"), browser,
SLOT(forward()), CTRL + Key_Right);
go->insertItem(icon_home, tr("&Inicio"), browser, SLOT(home()));
QPopupMenu *help = new QPopupMenu(this);
help->insertItem(tr("&Acerca ..."), this, SLOT(about()));
help->insertItem(tr("Acerca de &Qt ..."), this, SLOT(aboutQt()));
hist = new QPopupMenu(this);
QStringList::Iterator it = history.begin();
for (; it != history.end(); ++it)
mHistory[ hist->insertItem(*it)] = *it;
connect(hist, SIGNAL(activated(int)), this, SLOT(histChosen(int)));
bookm = new QPopupMenu(this);
bookm->insertItem(tr("Agregar Favorito"), this, SLOT(addBookmark()));
bookm->insertSeparator();
QStringList::Iterator it2 = bookmarks.begin();
for (; it2 != bookmarks.end(); ++it2)
mBookmarks[ bookm->insertItem(*it2)] = *it2;
connect(bookm, SIGNAL(activated(int)), this, SLOT(bookmChosen(int)));
menuBar() ->insertItem(tr("&Archivo"), file);
menuBar() ->insertItem(tr("&Ir"), go);
menuBar() ->insertItem(tr("Historial"), hist);
menuBar() ->insertItem(tr("Favoritos"), bookm);
menuBar() ->insertSeparator();
menuBar() ->insertItem(tr("&Ayuda"), help);
menuBar() ->setItemEnabled(forwardId, FALSE);
menuBar() ->setItemEnabled(backwardId, FALSE);
connect(browser, SIGNAL(backwardAvailable(bool)), this,
SLOT(setBackwardAvailable(bool)));
connect(browser, SIGNAL(forwardAvailable(bool)), this,
SLOT(setForwardAvailable(bool)));
QToolBar *toolbar = new QToolBar(this);
addToolBar(toolbar, "Toolbar");
QToolButton *button;
button =
new QToolButton(icon_back, tr("Atrás"), "", browser, SLOT(backward()),
toolbar);
connect(browser, SIGNAL(backwardAvailable(bool)), button,
SLOT(setEnabled(bool)));
button->setEnabled(FALSE);
button =
new QToolButton(icon_forward, tr("Adelante"), "", browser,
SLOT(forward()), toolbar);
connect(browser, SIGNAL(forwardAvailable(bool)), button,
SLOT(setEnabled(bool)));
button->setEnabled(FALSE);
button =
new QToolButton(icon_home, tr("Inicio"), "", browser, SLOT(home()),
toolbar);
toolbar->addSeparator();
pathCombo = new QComboBox(TRUE, toolbar);
connect(pathCombo, SIGNAL(activated(const QString &)), this,
SLOT(pathSelected(const QString &)));
toolbar->setStretchableWidget(pathCombo);
setRightJustification(TRUE);
setDockEnabled(DockLeft, FALSE);
setDockEnabled(DockRight, FALSE);
pathCombo->insertItem(home_);
browser->setFocus();
}
CKJVBrowser::CKJVBrowser(CVerseListModel *pModel, CBibleDatabasePtr pBibleDatabase, QWidget *parent) :
QWidget(parent),
m_pBibleDatabase(pBibleDatabase),
m_ndxCurrent(0),
m_SearchResultsHighlighter(pModel, false),
m_ExcludedSearchResultsHighlighter(pModel, true),
m_bShowExcludedSearchResults(CPersistentSettings::instance()->showExcludedSearchResultsInBrowser()),
m_bDoingUpdate(false),
#ifndef PLASTIQUE_STATIC
m_pPlastiqueStyle(NULL),
#endif
m_bDoingPassageReference(false),
m_pScriptureBrowser(NULL)
{
assert(!m_pBibleDatabase.isNull());
assert(!g_pUserNotesDatabase.isNull());
ui.setupUi(this);
#ifndef PLASTIQUE_STATIC
m_pPlastiqueStyle = new QProxyStyle(QStyleFactory::create("plastique"));
#endif
initialize();
assert(m_pScriptureBrowser != NULL);
ui.lblBibleDatabaseName->setText(m_pBibleDatabase->description());
setNavigationActivationDelay(CPersistentSettings::instance()->navigationActivationDelay());
setPassageReferenceActivationDelay(CPersistentSettings::instance()->passageReferenceActivationDelay());
setBrowserNavigationPaneMode(CPersistentSettings::instance()->browserNavigationPaneMode());
connect(CPersistentSettings::instance(), SIGNAL(changedNavigationActivationDelay(int)), this, SLOT(setNavigationActivationDelay(int)));
connect(CPersistentSettings::instance(), SIGNAL(changedPassageReferenceActivationDelay(int)), this, SLOT(setPassageReferenceActivationDelay(int)));
connect(CPersistentSettings::instance(), SIGNAL(changedChapterScrollbarMode(CHAPTER_SCROLLBAR_MODE_ENUM)), this, SLOT(en_changedChapterScrollbarMode()));
connect(CPersistentSettings::instance(), SIGNAL(changedBrowserNavigationPaneMode(BROWSER_NAVIGATION_PANE_MODE_ENUM)), this, SLOT(setBrowserNavigationPaneMode(BROWSER_NAVIGATION_PANE_MODE_ENUM)));
// Data Connections:
connect(pModel, SIGNAL(verseListAboutToChange()), this, SLOT(en_SearchResultsVerseListAboutToChange()));
connect(pModel, SIGNAL(verseListChanged()), this, SLOT(en_SearchResultsVerseListChanged()));
// UI Connections:
connect(m_pScriptureBrowser, SIGNAL(gotoIndex(const TPhraseTag &)), &m_dlyGotoIndex, SLOT(trigger(const TPhraseTag &)));
connect(&m_dlyGotoIndex, SIGNAL(triggered(const TPhraseTag &)), this, SLOT(gotoIndex(const TPhraseTag &)));
connect(this, SIGNAL(en_gotoIndex(const TPhraseTag &)), m_pScriptureBrowser, SLOT(en_gotoIndex(const TPhraseTag &)));
connect(m_pScriptureBrowser, SIGNAL(sourceChanged(const QUrl &)), this, SLOT(en_sourceChanged(const QUrl &)));
connect(m_pScriptureBrowser, SIGNAL(cursorPositionChanged()), this, SLOT(en_selectionChanged()));
connect(ui.btnHideNavigation, SIGNAL(clicked()), this, SLOT(en_clickedHideNavigationPane()));
connect(ui.comboBk, SIGNAL(currentIndexChanged(int)), this, SLOT(delayBkComboIndexChanged(int)));
connect(ui.comboBkChp, SIGNAL(currentIndexChanged(int)), this, SLOT(delayBkChpComboIndexChanged(int)));
connect(ui.comboTstBk, SIGNAL(currentIndexChanged(int)), this, SLOT(delayTstBkComboIndexChanged(int)));
connect(ui.comboTstChp, SIGNAL(currentIndexChanged(int)), this, SLOT(delayTstChpComboIndexChanged(int)));
connect(ui.comboBibleBk, SIGNAL(currentIndexChanged(int)), this, SLOT(delayBibleBkComboIndexChanged(int)));
connect(ui.comboBibleChp, SIGNAL(currentIndexChanged(int)), this, SLOT(delayBibleChpComboIndexChanged(int)));
connect(ui.widgetPassageReference, SIGNAL(passageReferenceChanged(const TPhraseTag &)), this, SLOT(delayPassageReference(const TPhraseTag &)));
connect(ui.widgetPassageReference, SIGNAL(enterPressed()), this, SLOT(PassageReferenceEnterPressed()));
connect(&m_dlyBkCombo, SIGNAL(triggered(int)), this, SLOT(BkComboIndexChanged(int)));
connect(&m_dlyBkChpCombo, SIGNAL(triggered(int)), this, SLOT(BkChpComboIndexChanged(int)));
connect(&m_dlyTstBkCombo, SIGNAL(triggered(int)), this, SLOT(TstBkComboIndexChanged(int)));
connect(&m_dlyTstChpCombo, SIGNAL(triggered(int)), this, SLOT(TstChpComboIndexChanged(int)));
connect(&m_dlyBibleBkCombo, SIGNAL(triggered(int)), this, SLOT(BibleBkComboIndexChanged(int)));
connect(&m_dlyBibleChpCombo, SIGNAL(triggered(int)), this, SLOT(BibleChpComboIndexChanged(int)));
connect(&m_dlyPassageReference, SIGNAL(triggered(const TPhraseTag &)), this, SLOT(PassageReferenceChanged(const TPhraseTag &)));
connect(m_pScriptureBrowser, SIGNAL(activatedScriptureText()), this, SLOT(en_activatedScriptureText()));
connect(ui.widgetPassageReference, SIGNAL(activatedPassageReference()), this, SLOT(en_activatedPassageReference()));
// Set Outgoing Pass-Through Signals:
connect(m_pScriptureBrowser, SIGNAL(backwardAvailable(bool)), this, SIGNAL(backwardAvailable(bool)));
connect(m_pScriptureBrowser, SIGNAL(forwardAvailable(bool)), this, SIGNAL(forwardAvailable(bool)));
connect(m_pScriptureBrowser, SIGNAL(historyChanged()), this, SIGNAL(historyChanged()));
// Set Incoming Pass-Through Signals:
connect(this, SIGNAL(backward()), m_pScriptureBrowser, SLOT(backward()));
connect(this, SIGNAL(forward()), m_pScriptureBrowser, SLOT(forward()));
connect(this, SIGNAL(home()), m_pScriptureBrowser, SLOT(home()));
connect(this, SIGNAL(reload()), m_pScriptureBrowser, SLOT(reload()));
connect(this, SIGNAL(rerender()), m_pScriptureBrowser, SLOT(rerender()));
// Highlighting colors changing:
connect(CPersistentSettings::instance(), SIGNAL(changedColorSearchResults(const QColor &)), this, SLOT(en_SearchResultsColorChanged(const QColor &)));
connect(CPersistentSettings::instance(), SIGNAL(changedColorWordsOfJesus(const QColor &)), this, SLOT(en_WordsOfJesusColorChanged(const QColor &)));
connect(CPersistentSettings::instance(), SIGNAL(changedShowExcludedSearchResultsInBrowser(bool)), this, SLOT(en_ShowExcludedSearchResultsChanged(bool)));
connect(g_pUserNotesDatabase.data(), SIGNAL(highlighterTagsAboutToChange(CBibleDatabasePtr, const QString &)), this, SLOT(en_highlighterTagsAboutToChange(CBibleDatabasePtr, const QString &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(highlighterTagsChanged(CBibleDatabasePtr, const QString &)), this, SLOT(en_highlighterTagsChanged(CBibleDatabasePtr, const QString &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(aboutToChangeHighlighters()), this, SLOT(en_highlightersAboutToChange()));
connect(g_pUserNotesDatabase.data(), SIGNAL(changedHighlighters()), this, SLOT(en_highlightersChanged()));
// User Notes changing:
connect(g_pUserNotesDatabase.data(), SIGNAL(addedUserNote(const CRelIndex &)), this, SLOT(en_userNoteEvent(const CRelIndex &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(changedUserNote(const CRelIndex &)), this, SLOT(en_userNoteEvent(const CRelIndex &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(removedUserNote(const CRelIndex &)), this, SLOT(en_userNoteEvent(const CRelIndex &)));
// Cross Refs changing:
connect(g_pUserNotesDatabase.data(), SIGNAL(addedCrossRef(const CRelIndex &, const CRelIndex &)), this, SLOT(en_crossRefsEvent(const CRelIndex &, const CRelIndex &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(removedCrossRef(const CRelIndex &, const CRelIndex &)), this, SLOT(en_crossRefsEvent(const CRelIndex &, const CRelIndex &)));
connect(g_pUserNotesDatabase.data(), SIGNAL(changedAllCrossRefs()), this, SLOT(en_allCrossRefsChanged()));
}
void HelpBrowser::setupLocalUI()
{
setWindowIcon(IconManager::instance()->loadIcon("AppIcon.png"));
//Add Menus
fileMenu=menuBar()->addMenu("");
editMenu=menuBar()->addMenu("");
bookMenu=menuBar()->addMenu("");
histMenu=new QMenu(this);
//Add Menu items
filePrint=fileMenu->addAction(IconManager::instance()->loadIcon("16/document-print.png"), "", this, SLOT(print()), Qt::CTRL+Qt::Key_P);
fileMenu->addSeparator();
fileExit=fileMenu->addAction(IconManager::instance()->loadIcon("exit.png"), "", this, SLOT(close()), Qt::CTRL+Qt::Key_W);
editFind=editMenu->addAction(IconManager::instance()->loadIcon("find.png"), "", this, SLOT(find()), Qt::CTRL+Qt::Key_F);
editFindNext=editMenu->addAction( "", this, SLOT(findNext()), Qt::Key_F3);
editFindPrev=editMenu->addAction( "", this, SLOT(findPrevious()), Qt::SHIFT+Qt::Key_F3);
bookAdd=bookMenu->addAction( "", this, SLOT(bookmarkButton_clicked()), Qt::CTRL+Qt::Key_D);
bookDel=bookMenu->addAction( "", this, SLOT(deleteBookmarkButton_clicked()));
bookDelAll=bookMenu->addAction( "", this, SLOT(deleteAllBookmarkButton_clicked()));
//Add Toolbar items
goHome=toolBar->addAction(IconManager::instance()->loadIcon("16/go-home.png"), "", textBrowser, SLOT(home()));
goBack=toolBar->addAction(IconManager::instance()->loadIcon("16/go-previous.png"), "", textBrowser, SLOT(backward()));
goFwd=toolBar->addAction(IconManager::instance()->loadIcon("16/go-next.png"), "", textBrowser, SLOT(forward()));
goBack->setMenu(histMenu);
helpNav->listView->header()->hide();
helpNav->searchingView->header()->hide();
helpNav->bookmarksView->header()->hide();
// splitter->setStretchFactor(splitter->indexOf(tabWidget), 0);
// splitter->setStretchFactor(splitter->indexOf(textBrowser), 1);
// reset previous size
prefs = PrefsManager::instance()->prefsFile->getPluginContext("helpbrowser");
int xsize = prefs->getUInt("xsize", 640);
int ysize = prefs->getUInt("ysize", 480);
resize(QSize(xsize, ysize).expandedTo(minimumSizeHint()) );
//basic ui
connect(histMenu, SIGNAL(triggered(QAction*)), this, SLOT(histChosen(QAction*)));
// searching
connect(helpNav->searchingEdit, SIGNAL(returnPressed()), this, SLOT(searchingButton_clicked()));
connect(helpNav->searchingButton, SIGNAL(clicked()), this, SLOT(searchingButton_clicked()));
connect(helpNav->searchingView, SIGNAL(itemClicked( QTreeWidgetItem *, int)), this, SLOT(itemSearchSelected(QTreeWidgetItem *, int)));
// bookmarks
connect(helpNav->bookmarkButton, SIGNAL(clicked()), this, SLOT(bookmarkButton_clicked()));
connect(helpNav->deleteBookmarkButton, SIGNAL(clicked()), this, SLOT(deleteBookmarkButton_clicked()));
connect(helpNav->deleteAllBookmarkButton, SIGNAL(clicked()), this, SLOT(deleteAllBookmarkButton_clicked()));
connect(helpNav->bookmarksView, SIGNAL(itemClicked( QTreeWidgetItem *, int)), this, SLOT(itemBookmarkSelected(QTreeWidgetItem *, int)));
// links hoover
// connect(textBrowser, SIGNAL(overLink(const QString &)), this, SLOT(showLinkContents(const QString &)));
// status bar
// connect(textBrowser,SIGNAL(statusBarMessage(QString)), this->statusBar(), SLOT(showMessage(QString)));
languageChange();
}
HelpWindow::HelpWindow( const QString& home_, const QString& _path,
QWidget* parent, const char *name )
: QMainWindow( parent, name, WDestructiveClose ),
pathCombo( 0 ), selectedURL()
{
readHistory();
readBookmarks();
browser = new QTextBrowser( this );
browser->mimeSourceFactory()->setFilePath( _path );
browser->setFrameStyle( QFrame::Panel | QFrame::Sunken );
connect( browser, SIGNAL( textChanged() ),
this, SLOT( textChanged() ) );
setCentralWidget( browser );
if ( !home_.isEmpty() )
browser->setSource( home_ );
connect( browser, SIGNAL( highlighted( const QString&) ),
statusBar(), SLOT( message( const QString&)) );
resize( 640,700 );
QPopupMenu* file = new QPopupMenu( this );
file->insertItem( tr("&New Window"), this, SLOT( newWindow() ), ALT | Key_N );
file->insertItem( tr("&Open File"), this, SLOT( openFile() ), ALT | Key_O );
file->insertItem( tr("&Print"), this, SLOT( print() ), ALT | Key_P );
// The same three icons are used twice each.
QIconSet icon_back( QPixmap("textdrawing/previous.png") );
QIconSet icon_forward( QPixmap("textdrawing/next.png") );
QIconSet icon_home( QPixmap("textdrawing/home.png") );
QPopupMenu* go = new QPopupMenu( this );
backwardId = go->insertItem( icon_back,
tr("&Backward"), browser, SLOT( backward() ),
ALT | Key_Left );
forwardId = go->insertItem( icon_forward,
tr("&Forward"), browser, SLOT( forward() ),
ALT | Key_Right );
go->insertItem( icon_home, tr("&Home"), browser, SLOT( home() ) );
hist = new QPopupMenu( this );
QStringList::Iterator it = history.begin();
for ( ; it != history.end(); ++it )
mHistory[ hist->insertItem( *it ) ] = *it;
connect( hist, SIGNAL( activated( int ) ),
this, SLOT( histChosen( int ) ) );
bookm = new QPopupMenu( this );
bookm->insertItem( tr( "Add Bookmark" ), this, SLOT( addBookmark() ) );
bookm->insertSeparator();
QStringList::Iterator it2 = bookmarks.begin();
for ( ; it2 != bookmarks.end(); ++it2 )
mBookmarks[ bookm->insertItem( *it2 ) ] = *it2;
connect( bookm, SIGNAL( activated( int ) ),
this, SLOT( bookmChosen( int ) ) );
menuBar()->insertItem( tr("&File"), file );
menuBar()->insertItem( tr("&Go"), go );
menuBar()->insertItem( tr( "History" ), hist );
menuBar()->insertItem( tr( "Bookmarks" ), bookm );
menuBar()->setItemEnabled( forwardId, FALSE);
menuBar()->setItemEnabled( backwardId, FALSE);
connect( browser, SIGNAL( backwardAvailable( bool ) ),
this, SLOT( setBackwardAvailable( bool ) ) );
connect( browser, SIGNAL( forwardAvailable( bool ) ),
this, SLOT( setForwardAvailable( bool ) ) );
QToolBar* toolbar = new QToolBar( this );
addToolBar( toolbar, "Toolbar");
QToolButton* button;
button = new QToolButton( icon_back, tr("Backward"), "", browser, SLOT(backward()), toolbar );
connect( browser, SIGNAL( backwardAvailable(bool) ), button, SLOT( setEnabled(bool) ) );
button->setEnabled( FALSE );
button = new QToolButton( icon_forward, tr("Forward"), "", browser, SLOT(forward()), toolbar );
connect( browser, SIGNAL( forwardAvailable(bool) ), button, SLOT( setEnabled(bool) ) );
button->setEnabled( FALSE );
button = new QToolButton( icon_home, tr("Home"), "", browser, SLOT(home()), toolbar );
toolbar->addSeparator();
pathCombo = new QComboBox( TRUE, toolbar );
connect( pathCombo, SIGNAL( activated( const QString & ) ),
this, SLOT( pathSelected( const QString & ) ) );
toolbar->setStretchableWidget( pathCombo );
setRightJustification( TRUE );
setDockEnabled( DockLeft, FALSE );
setDockEnabled( DockRight, FALSE );
pathCombo->insertItem( home_ );
browser->setFocus();
}
void LineFollower::turnLeft()
{
int turnCounter=0;
_motor2.setSpeed(200);
_motor1.setSpeed(200);
int i=1;
int flag=0;
while(digitalRead(sensorFL)==LOW)
{
_motor2.run(BACKWARD);
}
pause();
_motor1.run(FORWARD);
while(i==1)
{
if(digitalRead(sensorFR)==LOW && flag==0)
flag=1;
if(digitalRead(sensorFR)==HIGH && flag==1)
{
turnCounter++;
Serial.println(turnCounter);
}
if(digitalRead(sensorFR)==LOW && flag==2)
{
pause();
break;
}
if(turnCounter==50)
flag=2;
}
i=1;
int MIDflag=0;
int MIDcounter=0;
while(i==1)
{
//Rover Reacts Based on the Reading of Each Sensor
//These Conditions Were Placed Like Below Based On Their Priority
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH && digitalRead(sensorFR)==HIGH && digitalRead(sensorFL)==HIGH)
forward();
else if(digitalRead(sensorBL)==LOW && digitalRead(sensorBR)==LOW)
forward();
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorFL)==LOW)
{
backward();
pause();
//Count The Number of Grids & Print on Serial Monitor
gridCounter++;
Serial.print("GRID#: ");
Serial.println(gridCounter);
break;
}
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorBR)==LOW)
{
_motor1.run(RELEASE); // turn it on go right
_motor2.run(FORWARD);
}
else if(digitalRead(sensorFL)==LOW && digitalRead(sensorBL)==LOW)
{
_motor1.run(FORWARD); // turn it on go left
_motor2.run(RELEASE);
}
else if(digitalRead(sensorBL)==LOW)
right();
else if(digitalRead(sensorBR)==LOW)
left();
else if(digitalRead(sensorFR)==LOW)
right();
else if(digitalRead(sensorFL)==LOW)
left();
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH)
forward();
if(digitalRead(sensorFL)==HIGH && digitalRead(sensorFR)==HIGH)
forward();
}
delay(500);
}
inline double apply (IteratorIn in, IteratorOut out) const {
if(I) return backward(in,out);
else return forward (in,out);
}
void LineFollower::turnAround()
{
int turning=1;
_motor1.setSpeed(200);
_motor2.setSpeed(200);
int i=1;
int flag=0;
while(i==1)
{
left();
if(digitalRead(sensorBR)==HIGH && flag==0)
flag=1;
if(digitalRead(sensorBR)==LOW && flag==1)
flag=2;
if(digitalRead(sensorBL)==LOW && flag==2)
flag=3;
if(((digitalRead(sensorBR)==HIGH && digitalRead(sensorBL)==HIGH) || (digitalRead(sensorFR)==HIGH && digitalRead(sensorFL)==HIGH)) && flag==3)
{
pause();
turning=0;
break;
}
}
delay(300);
int MIDflag=0;
int MIDcounter=0;
while(turning==0)
{
//Rover Reacts Based on the Reading of Each Sensor
//These Conditions Were Placed Like Below Based On Their Priority
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH && digitalRead(sensorFR)==HIGH && digitalRead(sensorFL)==HIGH)
backward();
else if(digitalRead(sensorBL)==LOW && digitalRead(sensorBR)==LOW)
backward();
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorFL)==LOW && MIDflag==0)
backward();
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorBR)==LOW)
{
_motor1.run(RELEASE); // turn it on go right
_motor2.run(BACKWARD);
}
else if(digitalRead(sensorFL)==LOW && digitalRead(sensorBL)==LOW)
{
_motor1.run(BACKWARD); // turn it on go left
_motor2.run(RELEASE);
}
else if(digitalRead(sensorBL)==LOW)
right();
else if(digitalRead(sensorBR)==LOW)
left();
else if(digitalRead(sensorFR)==LOW)
right();
else if(digitalRead(sensorFL)==LOW)
left();
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH)
backward();
if(digitalRead(sensorFL)==HIGH && digitalRead(sensorFR)==HIGH)
backward();
if(digitalRead(sensorBR)==LOW && digitalRead(sensorBL)==LOW && MIDflag==0)
{
backward();
MIDflag=1;
}
if((digitalRead(sensorFR)==HIGH || digitalRead(sensorFL)==HIGH) && MIDflag==2)
MIDcounter++;
if(digitalRead(sensorFR)==LOW && digitalRead(sensorFL)==LOW && MIDflag==1)
{
backward();
MIDcounter++;
}
if(MIDcounter==20 && MIDflag==1)
{
MIDflag=2;
MIDcounter=0;
}
if(MIDcounter==150 && MIDflag==2)
{
forward();
pause();
MIDflag=3;
MIDcounter=0;
break;
}
}
while(MIDflag==3)
{
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH && digitalRead(sensorFR)==HIGH && digitalRead(sensorFL)==HIGH)
forward();
else if(digitalRead(sensorBL)==LOW && digitalRead(sensorBR)==LOW)
forward();
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorFL)==LOW)
MIDcounter++;
else if(digitalRead(sensorFR)==LOW && digitalRead(sensorBR)==LOW)
{
_motor1.run(RELEASE); // turn it on go right
_motor2.run(FORWARD);
}
else if(digitalRead(sensorFL)==LOW && digitalRead(sensorBL)==LOW)
{
_motor1.run(FORWARD); // turn it on go left
_motor2.run(RELEASE);
}
else if(digitalRead(sensorBL)==LOW)
right();
else if(digitalRead(sensorBR)==LOW)
left();
else if(digitalRead(sensorFR)==LOW)
right();
else if(digitalRead(sensorFL)==LOW)
left();
if(digitalRead(sensorBL)==HIGH && digitalRead(sensorBR)==HIGH)
forward();
//if(digitalRead(sensorFL)==HIGH && digitalRead(sensorFR)==HIGH)
// forward();
if(MIDcounter==10)
{
backward();
pause();
//Count The Number of Grids & Print on Serial Monitor
gridCounter++;
Serial.print("GRID#: ");
Serial.println(gridCounter);
break;
}
}
}
GlobalActions::GlobalActions(QObject *parent) : QObject(parent)
{
TRACE_OBJ
// TODO: Put resource path in misc class
QString resourcePath = QLatin1String(":/trolltech/assistant/images/");
#ifdef Q_OS_MAC
resourcePath.append(QLatin1String("mac"));
#else
resourcePath.append(QLatin1String("win"));
#endif
CentralWidget *centralWidget = CentralWidget::instance();
m_backAction = new QAction(tr("&Back"), parent);
m_backAction->setEnabled(false);
m_backAction->setShortcuts(QKeySequence::Back);
m_backAction->setIcon(QIcon(resourcePath + QLatin1String("/previous.png")));
connect(m_backAction, SIGNAL(triggered()), centralWidget, SLOT(backward()));
m_actionList << m_backAction;
m_nextAction = new QAction(tr("&Forward"), parent);
m_nextAction->setPriority(QAction::LowPriority);
m_nextAction->setEnabled(false);
m_nextAction->setShortcuts(QKeySequence::Forward);
m_nextAction->setIcon(QIcon(resourcePath + QLatin1String("/next.png")));
connect(m_nextAction, SIGNAL(triggered()), centralWidget, SLOT(forward()));
m_actionList << m_nextAction;
setupNavigationMenus(m_backAction, m_nextAction, centralWidget);
m_homeAction = new QAction(tr("&Home"), parent);
m_homeAction->setShortcut(tr("ALT+Home"));
m_homeAction->setIcon(QIcon(resourcePath + QLatin1String("/home.png")));
connect(m_homeAction, SIGNAL(triggered()), centralWidget, SLOT(home()));
m_actionList << m_homeAction;
QAction *separator = new QAction(parent);
separator->setSeparator(true);
m_actionList << separator;
m_zoomInAction = new QAction(tr("Zoom &in"), parent);
m_zoomInAction->setPriority(QAction::LowPriority);
m_zoomInAction->setIcon(QIcon(resourcePath + QLatin1String("/zoomin.png")));
m_zoomInAction->setShortcut(QKeySequence::ZoomIn);
connect(m_zoomInAction, SIGNAL(triggered()), centralWidget, SLOT(zoomIn()));
m_actionList << m_zoomInAction;
m_zoomOutAction = new QAction(tr("Zoom &out"), parent);
m_zoomOutAction->setPriority(QAction::LowPriority);
m_zoomOutAction->setIcon(QIcon(resourcePath + QLatin1String("/zoomout.png")));
m_zoomOutAction->setShortcut(QKeySequence::ZoomOut);
connect(m_zoomOutAction, SIGNAL(triggered()), centralWidget, SLOT(zoomOut()));
m_actionList << m_zoomOutAction;
separator = new QAction(parent);
separator->setSeparator(true);
m_actionList << separator;
m_copyAction = new QAction(tr("&Copy selected Text"), parent);
m_copyAction->setPriority(QAction::LowPriority);
m_copyAction->setIconText("&Copy");
m_copyAction->setIcon(QIcon(resourcePath + QLatin1String("/editcopy.png")));
m_copyAction->setShortcuts(QKeySequence::Copy);
m_copyAction->setEnabled(false);
connect(m_copyAction, SIGNAL(triggered()), centralWidget, SLOT(copy()));
m_actionList << m_copyAction;
m_printAction = new QAction(tr("&Print..."), parent);
m_printAction->setPriority(QAction::LowPriority);
m_printAction->setIcon(QIcon(resourcePath + QLatin1String("/print.png")));
m_printAction->setShortcut(QKeySequence::Print);
connect(m_printAction, SIGNAL(triggered()), centralWidget, SLOT(print()));
m_actionList << m_printAction;
m_findAction = new QAction(tr("&Find in Text..."), parent);
m_findAction->setIconText(tr("&Find"));
m_findAction->setIcon(QIcon(resourcePath + QLatin1String("/find.png")));
m_findAction->setShortcuts(QKeySequence::Find);
connect(m_findAction, SIGNAL(triggered()), centralWidget, SLOT(showTextSearch()));
m_actionList << m_findAction;
#ifdef Q_WS_X11
m_backAction->setIcon(QIcon::fromTheme("go-previous" , m_backAction->icon()));
m_nextAction->setIcon(QIcon::fromTheme("go-next" , m_nextAction->icon()));
m_zoomInAction->setIcon(QIcon::fromTheme("zoom-in" , m_zoomInAction->icon()));
m_zoomOutAction->setIcon(QIcon::fromTheme("zoom-out" , m_zoomOutAction->icon()));
m_copyAction->setIcon(QIcon::fromTheme("edit-copy" , m_copyAction->icon()));
m_findAction->setIcon(QIcon::fromTheme("edit-find" , m_findAction->icon()));
m_homeAction->setIcon(QIcon::fromTheme("go-home" , m_homeAction->icon()));
m_printAction->setIcon(QIcon::fromTheme("document-print" , m_printAction->icon()));
#endif
}
int main() {
printf("Online%\n\r");
wait_ms(500);
/*inturupts*/
w1_cha.fall(&count_w1_a);
w1_chb.fall(&count_w1_b);
w2_cha.fall(&count_w2_a);
w2_chb.fall(&count_w2_b);
c_forward(); //sets the robot to go forward
while(1) {
s1_check = s1;
s2_check = s2;
s3_check = s3;
//s4_check = s4;
if(s1_check != 1)
{
printf("S1 Hit \n\r");
}
if(s2_check != 1)
{
printf("S2 Hit \n\r");
}
if(s3_check != 1)
{
printf("S3 Hit \n\r");
}
// if(s4_check != 1)
//{
//printf("S4 Hit \n\r");
//}
if (w1_count_a != w1_dif_a){
w1_dif_a = w1_count_a;
printf("w1 count a = %d\n\r", w1_dif_a);
}
if (w1_count_b != w1_dif_b){
w1_dif_b = w1_count_b;
printf("w1 count b = %d\n\r", w1_dif_b);
}
if (w2_count_a != w2_dif_a){
w2_dif_a = w2_count_a;
printf("w2 count a = %d\n\r", w2_dif_a);
}
if (w2_count_b != w2_dif_b){
w2_dif_b = w2_count_b;
printf("w2 count b = %d\n\r", w2_dif_b);
}
/*goes backwards if it hits a detects a wall*/
if (s1 != 1 && s2 !=1)
{
backward();//to correct when aligning
c_backward();
}
/*goes forwards when detecting the wall*/
if (s3 != 1){
c_forward();
}
/*tries to aligin with the wall*/
if (s1 != 1 && s2 != 0)
{
while(s1 != 1 && s2 != 0){
c_right();
}
backward();
//dir = 0;
//c_backward();
}
/*tries to aligin with the wall*/
if (s1 != 0 && s2 != 1)
{
while(s1 != 0 && s2 != 1){
c_left();
}
backward();
//dir = 0;
//c_backward();
}
/*if all sensors triggured tries to turn to escape*/
if (s1 != 1 && s2 != 1 && s3 != 1)
{
turnl();
}
/*if no senors triggred tries to contiue on*/
if (s1 != 0 && s2 != 0 && s3 != 0)
{
if (dir == 0){
c_backward();
}
else{
c_forward();
}
}
}
}
void backwards(char **argv, int left, int right){
int i = left;
for(i;i<=right;i++){
backward(argv[i],strlen(argv[i]));
}
}
cube_p<real> backward( cube_p<complex>&& in )
{
cube_p<real> ret = get_cube<real>(sz);
backward( *in, *ret );
return ret;
}