void
scrollable_widget_rep::handle_get_coord4 (get_coord4_event ev) {
if (ev->which == "visible") {
ev->c1= scx - get_dx (grav, w);
ev->c2= scy - get_dy (grav, h) - h;
ev->c3= scx - get_dx (grav, w) + w;
ev->c4= scy - get_dy (grav, h);
}
else if (ev->which == "extents") {
ev->c1= ex1; ev->c2= ey1;
ev->c3= ex2; ev->c4= ey2;
}
else attribute_widget_rep::handle_get_coord4 (ev);
}
int setup(void)
{
#ifdef PS2
evfd = open("/dev/ps2event", O_RDONLY);
if (evfd < 0) { perror("/dev/ps2event: open"); return 1; }
ioctl(evfd, PS2IOC_ENABLEEVENT, PS2EV_VSYNC);
dx = get_dx();
dy = get_dy();
#endif /* PS2 */
SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO | SDL_INIT_JOYSTICK);
cleaned_up = 0;
atexit(cleanup);
/*
* Set the video mode up.
*/
screen = SDL_SetVideoMode(SCR_WIDTH*XMULT, SCR_HEIGHT*YMULT,
8, SDL_SWSURFACE);
if (!screen) {
printf("SDL screen initialisation error: %s\n", SDL_GetError());
return 1;
}
SDL_ShowCursor(SDL_DISABLE);
}
void callback_ir(const ir_converter::DistanceConstPtr& distances)
{
if (_correct_theta)
{
_ir_dist += pack_matrix(distances);
++_iteration_theta;
if (_iteration_theta >= _max_iterations()) {
_ir_dist /= _iteration_theta;
double dx = robot::ir::offset_front_left_forward + robot::ir::offset_rear_left_forward;
double dy = get_dy(_ir_dist);
if(isnan(dy))
return;
double angle = atan(dy/dx);
double new_theta = (_heading*M_PI_2) + angle;
ROS_INFO("corrected theta %.3lf -> %.3lf", RAD2DEG(_theta), RAD2DEG(new_theta));
_theta = new_theta;
_correct_theta = false;
_iteration_theta = 0;
}
}
else
{
_ir_dist = pack_matrix(distances);
}
}
float AbstractFormConfigurationTuple::get_absolute_area_improvement()
{
float sum_of_areas_of_boxes_of_contained_forns = 0;
for (int i=0; i<abstract_form_configs.size(); ++i)
{
sum_of_areas_of_boxes_of_contained_forns += abstract_form_configs[i].get_dx() * abstract_form_configs[i].get_dy();
}
return sum_of_areas_of_boxes_of_contained_forns - get_dx() * get_dy();
}
void view::rtransform(int& x, int& y) {
int dx = - get_dx();
int dy = - get_dy();
double scale = 1.0 / get_scale();
x += dx;
y += dy;
x *= scale;
y *= scale;
}
void view::transform(int& x, int& y) {
int dx = get_dx();
int dy = get_dy();
double scale = get_scale();
x *= scale;
y *= scale;
x += dx;
y += dy;
}
void view::transform(int& x, int& y, int& w, int& h, int& r) {
int dx = get_dx();
int dy = get_dy();
double scale = get_scale();
x *= scale;
y *= scale;
w *= scale;
h *= scale;
r *= scale;
x += dx;
y += dy;
}
void callback_turn_done(const std_msgs::BoolConstPtr& done)
{
double dx = robot::ir::offset_front_left_forward + robot::ir::offset_rear_left_forward;
double dy = get_dy(_ir_dist);
if(isnan(dy))
return;
double angle = atan(dy/dx);
if (RAD2DEG(std::abs(angle)) < 10.0 && std::abs(_turn_accum) < 20.0) {
ROS_INFO("Attempt to correct theta by using ir sensors");
_correct_theta = _enable_theta_correction();
_correct_lateral = _enable_lateral_correction();
}
}
/**
* @brief Recursive function to generate a maze.
*
* @param[in] cx Starting x-coordinate.
* @param[in] cy Starting y-coordinate.
*/
void RecursiveBacktracker::carve_passages_from(int cx, int cy)
{
int i, nx, ny, directions[] = {N, S, E, W};
shuffle_array(directions, NUM_DIRECTIONS);
for (i = 0; i < NUM_DIRECTIONS; i++)
{
nx = cx + get_dx(directions[i]);
ny = cy + get_dy(directions[i]);
if ((nx >= 0 && nx < WIDTH) && (ny >= 0 && ny < HEIGHT)
&& maze->grid[nx][ny] == 0)
{
maze->grid[cx][cy] |= directions[i];
maze->grid[nx][ny] |= get_opposite(directions[i]);
carve_passages_from(nx, ny);
}
}
}
int main(int argc, char **argv)
{
SDL_Surface *screen;
SDL_AudioSpec audio_wanted;
int frame;
int evfd;
int x, y;
evfd = open("/dev/ps2event", O_RDONLY);
if (evfd < 0) { perror("/dev/ps2event: open"); return 1; }
ioctl(evfd, PS2IOC_ENABLEEVENT, PS2EV_VSYNC);
dx = get_dx();
dy = get_dy();
SDL_Init(SDL_INIT_VIDEO | SDL_INIT_AUDIO | SDL_INIT_JOYSTICK);
atexit(cleanup);
if (argc > 1 && !strcmp(argv[1], "-j")) {
int i;
SDL_Event event;
SDL_Joystick *joystick;
printf("%d joysticks were found.\n\n", SDL_NumJoysticks() );
printf("The names of the joysticks are:\n");
for (i=0; i < SDL_NumJoysticks(); i++) {
printf(" %s\n", SDL_JoystickName(i));
}
joystick = SDL_JoystickOpen(0);
printf("Joystick 0 has %d axes\n", SDL_JoystickNumAxes(joystick));
printf("Joystick 0 has %d buttons\n", SDL_JoystickNumButtons(joystick));
printf("Joystick 0 has %d balls\n", SDL_JoystickNumBalls(joystick));
printf("Joystick 0 has %d hats\n", SDL_JoystickNumHats(joystick));
while(SDL_WaitEvent(&event)) {
switch(event.type) {
case SDL_JOYAXISMOTION:
printf("Axis %d %d\n", event.jaxis.axis, event.jaxis.value);
break;
case SDL_JOYBUTTONDOWN:
printf("Button %d down\n", event.jbutton.button);
break;
case SDL_JOYBUTTONUP:
printf("Button %d up\n", event.jbutton.button);
break;
case SDL_KEYDOWN:
goto done;
break;
}
}
done:
return 0;
}
/*
* Set the audio device up.
*/
audio_wanted.freq = 22050;
audio_wanted.format = AUDIO_S8;
audio_wanted.channels = 1; /* 1 = mono, 2 = stereo */
audio_wanted.samples = 1024; /* Good low-latency value for callback */
audio_wanted.callback = fill_audio;
audio_wanted.userdata = NULL;
if ( SDL_OpenAudio(&audio_wanted, NULL) < 0 ) {
fprintf(stderr, "Couldn't open audio: %s\n", SDL_GetError());
return 1;
}
/*
* Set the video mode up.
*/
screen = SDL_SetVideoMode(SCR_WIDTH*XMULT, SCR_HEIGHT*YMULT,
8, SDL_SWSURFACE);
if (!screen) {
printf("SDL screen initialisation error: %s\n", SDL_GetError());
return 1;
}
SDL_ShowCursor(SDL_DISABLE);
if (SDL_MUSTLOCK(screen))
SDL_LockSurface(screen);
for (x = 0; x < SCR_WIDTH*XMULT; x++) {
for (y = 0; y < SCR_HEIGHT*YMULT; y++) {
putpixel(screen, x, y,
SDL_MapRGB(screen->format, (x*10)&255,
(y*10)&255, ((x+y+frame)*10)&255));
}
}
if (SDL_MUSTLOCK(screen))
SDL_UnlockSurface(screen);
SDL_PauseAudio(0);
for (frame = 1; frame < 256; frame++) {
SDL_Rect r1 = { 0, 0, SCR_WIDTH*XMULT-1, SCR_HEIGHT*YMULT };
SDL_Rect r2 = { 1, 0, SCR_WIDTH*XMULT-1, SCR_HEIGHT*YMULT };
if (SDL_MUSTLOCK(screen))
SDL_LockSurface(screen);
// for (x = 0; x < SCR_WIDTH*XMULT; x++) {
for (y = 0; y < SCR_HEIGHT*YMULT; y++) {
memmove(screen->pixels + y * screen->pitch,
screen->pixels + y * screen->pitch + screen->format->BytesPerPixel,
(SCR_WIDTH*XMULT-1) * screen->format->BytesPerPixel);
putpixel(screen, SCR_WIDTH*XMULT-1, y, 0);
//putpixel(screen, x, y, (x==SCR_WIDTH*XMULT-1 ? 0 :
// getpixel(screen, x+1, y)));
}
// }
if (SDL_MUSTLOCK(screen))
SDL_UnlockSurface(screen);
//SDL_UpdateRect(screen, frame*2, 0, 2, SCR_HEIGHT*YMULT);
SDL_Flip(screen);
{
long long t = bigclock();
ioctl(evfd, PS2IOC_WAITEVENT, PS2EV_VSYNC);
sparetime += bigclock() - t;
}
}
return 0;
}
void sprite_move(sprite_t *p_sprite, dir_t dir)
{
p_sprite->pt.x += get_dx(dir)*TILE_W;
p_sprite->pt.y += get_dy(dir)*TILE_H;
}