void Debugger::beforeExitingState(Interpreter& interpreter, const XERCESC_NS::DOMElement* state) {
handleState(interpreter, state, Breakpoint::BEFORE, Breakpoint::EXIT);
}
/** The method sets all actuators. */
void setActuators()
{
// set all actuator values according to the values in the shared memory block
try
{
dcmTime = proxy->getTime(0);
data->readingActuators = data->newestActuators;
if(data->readingActuators == lastReadingActuators)
{
if(actuatorDrops == 0)
fprintf(stderr, "libbhuman: missed actuator request.\n");
++actuatorDrops;
}
else
actuatorDrops = 0;
lastReadingActuators = data->readingActuators;
float* readingActuators = data->actuators[data->readingActuators];
float* actuators = handleState(readingActuators);
if(state != standing)
{
if(frameDrops > 0 || state == shuttingDown)
setEyeLeds(actuators);
else
copyNonServos(readingActuators, actuators);
}
setBatteryLeds(actuators);
// set position actuators
positionRequest[4][0] = dcmTime; // 0 delay!
for(int i = 0; i < lbhNumOfPositionActuatorIds; ++i)
positionRequest[5][i][0] = actuators[i];
proxy->setAlias(positionRequest);
// set hardness actuators
bool requestedHardness = false;
for(int i = headYawHardnessActuator; i < headYawHardnessActuator + lbhNumOfHardnessActuatorIds; ++i)
if(actuators[i] != requestedActuators[i])
{
hardnessRequest[4][0] = dcmTime; // 0 delay!
for(int j = 0; j < lbhNumOfHardnessActuatorIds; ++j)
hardnessRequest[5][j][0] = requestedActuators[headYawHardnessActuator + j] = actuators[headYawHardnessActuator + j];
proxy->setAlias(hardnessRequest);
requestedHardness = true;
break;
}
// set us actuator
bool requestedUs = false;
if(requestedActuators[usActuator] != actuators[usActuator])
{
requestedActuators[usActuator] = actuators[usActuator];
if(actuators[usActuator] >= 0.f)
{
resetUsMeasurements();
usRequest[4][0] = dcmTime;
usRequest[5][0][0] = actuators[usActuator];
proxy->setAlias(usRequest);
requestedUs = true;
}
}
// set led
if(!requestedHardness && !requestedUs)
for(int i = 0; i < lbhNumOfLedActuatorIds; ++i)
{
int index = faceLedRedLeft0DegActuator + ledIndex;
if(++ledIndex == lbhNumOfLedActuatorIds)
ledIndex = 0;
if(actuators[index] != requestedActuators[index])
{
ledRequest[0] = std::string(actuatorNames[index]);
ledRequest[2][0][0] = requestedActuators[index] = actuators[index];
ledRequest[2][0][1] = dcmTime;
proxy->set(ledRequest);
break;
}
}
// set team info
// since this should very rarely, we don't use a proxy here
if(data->bhumanStartTime != lastBHumanStartTime)
{
for(int i = 0; i < lbhNumOfTeamInfoIds; ++i)
memory->insertData(teamInfoNames[i], data->teamInfo[i]);
lastBHumanStartTime = data->bhumanStartTime;
}
}
catch(AL::ALError& e)
{
fprintf(stderr, "libbhuman: %s\n", e.toString().c_str());
}
}
void Debugger::afterEnteringState(Interpreter interpreter, const Arabica::DOM::Element<std::string>& state, bool moreComing) {
handleState(interpreter, state, Breakpoint::AFTER, Breakpoint::ENTER);
}
void Debugger::beforeExitingState(Interpreter interpreter, const Arabica::DOM::Element<std::string>& state, bool moreComing) {
handleState(interpreter, state, Breakpoint::BEFORE, Breakpoint::EXIT);
}
LRESULT AutoSearchFrame::onContextMenu(UINT /*uMsg*/, WPARAM wParam, LPARAM lParam, BOOL& bHandled) {
if(reinterpret_cast<HWND>(wParam) == ctrlAutoSearch) {
POINT pt = { GET_X_LPARAM(lParam), GET_Y_LPARAM(lParam) };
OMenu asMenu;
asMenu.CreatePopupMenu();
CRect rc;
ctrlAutoSearch.GetHeader().GetWindowRect(&rc);
if (PtInRect(&rc, pt)) {
return 0;
}
if(pt.x == -1 && pt.y == -1) {
WinUtil::getContextMenuPos(ctrlAutoSearch, pt);
}
int enable = ctrlAutoSearch.GetSelectedCount() == 1 ? MFS_ENABLED : MFS_DISABLED;
auto index = WinUtil::getFirstSelectedIndex(ctrlAutoSearch);
if(ctrlAutoSearch.GetSelectedCount() > 1) {
asMenu.appendItem(TSTRING(ENABLE_AUTOSEARCH), [=] { handleState(false); });
asMenu.appendItem(TSTRING(DISABLE_AUTOSEARCH), [=] { handleState(true); });
asMenu.appendSeparator();
} else if(ctrlAutoSearch.GetSelectedCount() == 1) {
asMenu.appendItem(TSTRING(SEARCH), [=] { handleSearch(true); });
asMenu.appendItem(TSTRING(SEARCH_FOREGROUND), [=] { handleSearch(false); });
asMenu.appendSeparator();
if(ctrlAutoSearch.GetCheckState(index) == 1) {
asMenu.appendItem(TSTRING(DISABLE_AUTOSEARCH), [=] { handleState(true); });
} else {
asMenu.appendItem(TSTRING(ENABLE_AUTOSEARCH), [=] { handleState(false); });
}
asMenu.appendSeparator();
}
if (ctrlAutoSearch.GetSelectedCount() > 0) {
auto groups = AutoSearchManager::getInstance()->getGroups();
if (!groups.empty()) {
OMenu* groupsMenu = asMenu.createSubMenu(_T("Move to group"));
groupsMenu->appendItem(_T("---"), [=] { handleMoveToGroup(Util::emptyString); });
for (auto grp : groups) {
groupsMenu->appendItem(Text::toT(grp), [=] { handleMoveToGroup(grp); });
}
asMenu.appendSeparator();
}
}
asMenu.AppendMenu(MF_STRING, IDC_ADD, CTSTRING(ADD));
asMenu.AppendMenu(MF_STRING, IDC_CHANGE, CTSTRING(SETTINGS_CHANGE));
asMenu.AppendMenu(MF_STRING, IDC_DUPLICATE, CTSTRING(DUPLICATE));
tstring title;
if (ctrlAutoSearch.GetSelectedCount() == 1) {
BundleList bundles;
AutoSearch::FinishedPathMap fpl;
auto as = ctrlAutoSearch.getItemData(index)->asItem;
title = Text::toT(as->getDisplayName());
if (as->usingIncrementation()) {
asMenu.appendSeparator();
asMenu.appendItem(TSTRING(INCREASE_NUM), [=] {
AutoSearchManager::getInstance()->changeNumber(as, true);
}, (as->getMaxNumber() > 0 && as->getCurNumber() >= as->getMaxNumber()) ? OMenu::FLAG_DISABLED : 0);
asMenu.appendItem(TSTRING(DECREASE_NUM), [=] {
AutoSearchManager::getInstance()->changeNumber(as, false);
}, as->getCurNumber() == 0 ? OMenu::FLAG_DISABLED : 0);
}
AutoSearchManager::getInstance()->getMenuInfo(as, bundles, fpl);
if (!bundles.empty() || !fpl.empty()) {
asMenu.appendSeparator();
if (!bundles.empty()) {
auto bundleMenu = asMenu.createSubMenu(CTSTRING(REMOVE_BUNDLE), true);
for(auto& b: bundles) {
auto token = b->getToken();
bundleMenu->appendItem(Text::toT(b->getName()), [=] { WinUtil::removeBundle(token); });
}
}
auto pathMenu = asMenu.createSubMenu(CTSTRING(OPEN_FOLDER), false);
if (!bundles.empty()) {
pathMenu->InsertSeparatorFirst(CTSTRING(QUEUED_BUNDLES));
for(auto& b: bundles) {
string path = b->getTarget();
pathMenu->appendItem(Text::toT(path), [=] { WinUtil::openFolder(Text::toT(path)); });
}
}
if (!fpl.empty()) {
pathMenu->InsertSeparatorLast(CTSTRING(FINISHED_BUNDLES));
for(auto j=fpl.begin(); j != fpl.end(); j++) {
string path = j->first;
pathMenu->appendItem(Text::toT(path) + (j->second > 0 ? _T(" (") + Text::toT(Util::formatTime("%Y-%m-%d %H:%M", j->second)) + _T(")") : Util::emptyStringT), [=] { WinUtil::openFolder(Text::toT(path)); });
}
pathMenu->appendSeparator();
pathMenu->appendItem(CTSTRING(CLEAR_FINISHED_PATHS), [=] { AutoSearchManager::getInstance()->clearPaths(as); });
}
}
if (!as->getLastError().empty()) {
asMenu.appendSeparator();
asMenu.appendItem(TSTRING(CLEAR_ERROR), [=] {
as->setLastError(Util::emptyString);
updateItem(as);
});
}
}
asMenu.AppendMenu(MF_SEPARATOR);
asMenu.AppendMenu(MF_STRING, IDC_REMOVE, CTSTRING(REMOVE));
asMenu.EnableMenuItem(IDC_CHANGE, enable);
asMenu.EnableMenuItem(IDC_DUPLICATE, enable);
asMenu.SetMenuDefaultItem(IDC_CHANGE);
//make a menu title from the search string, its probobly too long to fit but atleast it shows something.
if (!title.empty())
asMenu.InsertSeparatorFirst(title);
asMenu.open(m_hWnd, TPM_LEFTALIGN | TPM_RIGHTBUTTON, pt);
if (!title.empty())
asMenu.RemoveFirstItem();
return TRUE;
}
bHandled = FALSE;
return FALSE;
}
