void ModeTwo::loop()
{
lcd->clear();
processActions();
displayData();
delay(200);
*btn = btn_none;
}
void Bubble::updateContent()
{
m_body->setTitle(m_entity->summary());
m_body->setText(m_entity->body());
processIconData();
processActions();
}
String SumoRobot::go(){
if (!processActions()){
getLineSensorReadings();
//check if robot is on the white ring
if (m_lineSensorReadings[0] && m_lineSensorReadings[1]){
m_actionBack = COUNTS_FOR_BACKING_UP; //go back for 10 counts
m_actionSharpLeft = COUNTS_FOR_TURN; //turn sharp left for 5 counts
return "Both line sensors are active, will back up and turn";
} else if (m_lineSensorReadings[0]){
m_actionBack = COUNTS_FOR_BACKING_UP/2;
m_actionSharpLeft = COUNTS_FOR_TURN;
return "Left line sensor is active, will back up and turn";
} else if (m_lineSensorReadings[1]){
m_actionBack = COUNTS_FOR_BACKING_UP/2;
m_actionSharpRight = COUNTS_FOR_TURN;
return "Right line sensor is active, will back up and turn";
} else if (m_lineSensorReadings[2]){
//we are being pushed back, push forward and then turn
m_actionForward = COUNTS_FOR_BACKING_UP;
m_actionSharpRight = COUNTS_FOR_TURN;
return "Back line sensor is active, will go forward and turn";
}
//check if we see the other robot
getDistanceSensorReadings();
if (m_distanceSensorReadings[0] >= DISTANCE_SENSOR_THRESHOLD &&
m_distanceSensorReadings[1] >= DISTANCE_SENSOR_THRESHOLD){
//we see the other robot in front of us, attack!
go(255, 255);
return "Both distance sensors detect the other robot, attack full speed forward";
} else if (m_distanceSensorReadings[0] >= DISTANCE_SENSOR_THRESHOLD){
//we see the other robot on our left, sharp turn left
go(-255, 255);
return "Left distance sensors detects the other robot, sharp left";
} else if (m_distanceSensorReadings[1] >= DISTANCE_SENSOR_THRESHOLD){
//we see the other robot on our right, sharp turn right
go(255, -255);
return "Right distance sensors detects the other robot, sharp right";
} else if (m_distanceSensorReadings[2] >= DISTANCE_SENSOR_THRESHOLD){
//we see the other robot behind us, turn around
m_actionSharpLeft = COUNTS_FOR_FULL_TURN;
return "Back distance sensors detects the other robot, turn around";
}
//let's look for the other robot
go(100, 125);
return "Find the other robot";
} else {
return "Executing previously issued action: " + m_currAction;
}
}
int processSelectedActionsAndConditions(struct crealNodeStruct nodes[], creal_t properties[], creal_t returnVector[], uint rangePointer[], uint rangeSize)
{
//this is the main function to process the creal nodes... through a selection!
uint i, k, *actionTruFalseArray; //make vars
i = k = 0; //set to zero
//~ memset(trueFalseArray, 0, sizeof(uint) * rangeSize);
for (i = 0; i < rangeSize; i++)
{
actionTruFalseArray = (uint *) alloca(sizeof(uint) * nodes[rangePointer[i]].numberOfActions);
memset(actionTruFalseArray, 0, sizeof(uint) * nodes[rangePointer[i]].numberOfActions);
//~ #pragma omp parallel for //openMP parallel for loop
for (k = 0; k < nodes[rangePointer[i]].numberOfActions; k++)
{
actionTruFalseArray[k] = evaluateConditions(&nodes[rangePointer[i]], properties, k);
}//end of inner for iiteration
//~ #pragma omp parallel for //openMP parallel for loop
for (k = 0; k < nodes[rangePointer[i]].numberOfActions; k++)
{
if(actionTruFalseArray[k])
{
processActions(&nodes[rangePointer[i]], properties, returnVector, k);
}
}//end of inner for iiteration
}//end of outer for iteration
//end the function right here
return 0; // everything was good
}
int TestCFSM::runScenario(const int num)
{
int result = -1;
QString scenarioFilename =
QString("scenario-%1.txt").arg(num, 2, 10, QChar('0'));
QFile inputFile(scenarioFilename);
if(inputFile.open(QIODevice::ReadOnly))
{
QTextStream in(&inputFile);
processActions(in);
result = processResults(in);
if(result != 0)
{
// Test failed!
QTextStream console(stdout);
console << "--" << endl
<< "Test failed: " << scenarioFilename << endl;
if(result == 1)
{
console << "Model internal state does not match "
<< "desired state. Model data:" << endl;
printModel();
}
console << "--" << endl << endl;
}
}
else
{
QTextStream console(stdout);
console << "ERROR: could not read file: " << scenarioFilename << endl;
// Don't try to recover.
QApplication::exit(1);
}
inputFile.close();
return (result);
}
void TabManagerWidget::customContextMenuRequested(const QPoint &pos)
{
QMenu menu;
QAction* action;
QMenu groupTypeSubmenu(tr("Group by"));
action = groupTypeSubmenu.addAction(tr("&Window"), this, SLOT(changeGroupType()));
action->setData(GroupByWindow);
action->setCheckable(true);
action->setChecked(m_groupType == GroupByWindow);
action = groupTypeSubmenu.addAction(tr("&Domain"), this, SLOT(changeGroupType()));
action->setData(GroupByDomain);
action->setCheckable(true);
action->setChecked(m_groupType == GroupByDomain);
action = groupTypeSubmenu.addAction(tr("&Host"), this, SLOT(changeGroupType()));
action->setData(GroupByHost);
action->setCheckable(true);
action->setChecked(m_groupType == GroupByHost);
menu.addMenu(&groupTypeSubmenu);
if (m_isDefaultWidget) {
menu.addAction(QIcon(":/tabmanager/data/side-by-side.png"), tr("&Show side by side"), this, SIGNAL(showSideBySide()))->setObjectName("sideBySide");
}
menu.addSeparator();
if (isTabSelected()) {
menu.addAction(QIcon(":/tabmanager/data/tab-detach.png"), tr("&Detach checked tabs"), this, SLOT(processActions()))->setObjectName("detachSelection");
menu.addAction(QIcon(":/tabmanager/data/tab-bookmark.png"), tr("Book&mark checked tabs"), this, SLOT(processActions()))->setObjectName("bookmarkSelection");
menu.addAction(QIcon(":/tabmanager/data/tab-close.png"), tr("&Close checked tabs"), this, SLOT(processActions()))->setObjectName("closeSelection");
}
menu.exec(ui->treeWidget->viewport()->mapToGlobal(pos));
}
void ControllerThread::Main() {
PTime tBase; // base time for tStep multiplier
PTimeInterval tStep(1); // 1ms, loop step (1Hz); up to 14 bytes per step for 115200 serial line
PTime tNow; // current time
PTime tThen; // expected execution time
unsigned short i = 0; // multiplier for tStep
// initialize
PTRACE(1, "Arduino initialization");
char buffer[256];
PINDEX iRead = 0;
PINDEX len = 0;
// reset serial port
pserial->ClearDTR();
pserial->ClearRTS();
pserial->ClearBreak();
pserial->SetDTR();
pserial->SetRTS();
// drop junk from serial port
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256); // flush serial data
} while (pserial->GetLastReadCount());
memset(buffer, 0, 256);
// waiting for 3 heat beat
do {
if (shutdown.Wait(0)) {
return;
};
pserial->Read(buffer, 256);
iRead = pserial->GetLastReadCount();
if (iRead == 2 && buffer[0] == 0 && buffer[1] == 0) {
len += iRead;
PTRACE(1, "HeatBeat from Arduino #" << len/2);
};
} while(len < 6);
PTRACE(1, "Arduino initialization done");
fReady = PTrue;
// reset Arduino
pushAction(0xFF, CMD_RESET);
pushAction(0xFF, CMD_SETBASE0); // X1
pushAction(0xFF, calibrationTable[0]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE1); // Y1
pushAction(0xFF, calibrationTable[1]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE2); // X2
pushAction(0xFF, calibrationTable[2]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE3); // Y2
pushAction(0xFF, calibrationTable[3]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE4); // LT
pushAction(0xFF, calibrationTable[4]->GetAt(10000));
pushAction(0xFF, CMD_SETBASE5); // RT
pushAction(0xFF, calibrationTable[5]->GetAt(10000));
pushAction(0xFF, CMD_RESET);
// main loop
do {
bool fNewActions = false;
BYTE naction;
PInt32l value;
/*
* get x, y, button and other events
*/
PTRACE(6, "Main\t" << dumpAction("actions before population: "));
while(popAction(&naction, &value)) {
PIntArray *actionQueue = actionQueuePool[naction];
fNewActions = true;
PTRACE(6, "Main\tadd new value to actionQueuePool[" << (int)naction << "] with queue size " << actionQueue->GetSize());
actionQueue->SetAt(actionQueue->GetSize(), value);
};
if (fNewActions) {
PTRACE(6, "Main\t" << dumpAction("actions after population: "));
summarizeActions(); // summarize action events by type
PTRACE(6, "Main\t" << dumpAction("actions after summarization: "));
};
/*
* process actions:
* send current state to arduino
* then receive state from arduino
* and update actions after sucsessful transmit
*/
processActions();
/*
* wait next tStep ms
*/
i++;
tThen = tBase + tStep * i;
tNow = PTime();
// reset multiplier
if (i >= 255) {
i = 0;
tBase = tThen;
};
// step was too long (tThen less than tNow)
if (tNow.Compare(tThen) != LessThan) {
PTRACE(6, "Main\tnow: " << tNow.AsString("h:m:s.uuuu") << " then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i << " diff: " << (tNow - tThen).GetMilliSeconds() << "ms");
i += (tNow - tThen).GetMilliSeconds() / tStep.GetMilliSeconds() + 1; // number of steps + 1 step
tThen = tBase + tStep * i;
PTRACE(6, "Main\tcorrected then: " << tThen.AsString("h:m:s.uuuu") << " i: " << (int)i);
};
PTRACE(7, "Main\tstep " << (tThen - tNow).GetMilliSeconds() << "ms");
} while(!shutdown.Wait((tThen - tNow).GetMilliSeconds()));
}
