void cbGraphView::contentsMouseMoveEvent(QMouseEvent *e)
{
double x,y,dist;
int xi,yi;
xi=(int)(e->x()/(simulator->labCanvasWidth/(double)GRIDSIZE));
yi=(int)(e->y()/(simulator->labCanvasHeight/(double)GRIDSIZE));
if(xi>=0 && xi < GRIDSIZE && yi >=0 && yi < GRIDSIZE) {
x=(xi+0.5)*simulator->Lab()->Width()/GRIDSIZE;
y=(GRIDSIZE-yi-0.5)*simulator->Lab()->Height()/GRIDSIZE;
dist = simulator->distGrid[xi][yi];
if(xi<GRIDSIZE/2) {
distLabel->setPos(e->x()+10,e->y());
}
else {
distLabel->setPos(e->x()-200,e->y());
}
distLabel->setText(QString("(%1,%2) -> dist=%3").arg(x).arg(y).arg(dist));
}
else {
distLabel->setText("Out of bounds");
}
scene()->update();
}
/*
* This program accepts the following command line options
* -lab string: name of file with lab description (default, stdin);
* -grid string: name of file with start position grid (default, stdin);
* -log string: name of log file (default, server.log);
* -nc real: compass noise coeficient (default, 0.0);
* -nb real: beacon noise coeficient (default, 0.0);
* -ni real: infrared noise coeficient (default, 0.0);
* -nm real: motors noise coeficient (default, 0.0);
* -st integer: simulation time, in number of cycle time units (default, 3000);
* -ct integer: cycle time, in miliseconds (default, 75).
*/
int main(int argc, char *argv[])
{
/* Copyright and wellcome message */
printf(" CiberRato 2014 Simulator\n Copyright (C) 2001-2014 Universidade de Aveiro\n");
fflush(stdout);
/* extract option values */
char *labFilename = 0;
char *gridFilename = 0;
char *paramFilename = 0;
char *logFilename = 0;
int port = 6000;
unsigned int timeout = 0;
bool nogui = false;
bool showGraph=false;
int showGraphId=0;
//cout << "Parse command line (First Pass) ..."
int p=1;
while (p < argc)
{
if (strcmp(argv[p], "-lab") == 0) {
if (p+1 < argc) {
labFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-grid") == 0) {
if (p+1 < argc) {
gridFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-log") == 0) {
if (p+1 < argc) {
logFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-param") == 0) {
if (p+1 < argc) {
paramFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-port") == 0) {
if (p+1 < argc) {
sscanf(argv[p+1], "%d", &port);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-gps") == 0) {
// wait until second pass of command line parsing
p+=1;
}
else if (strcmp(argv[p], "-showactions") == 0) {
// wait until second pass of command line parsing
p+=1;
}
else if (strcmp(argv[p], "-showgraph") == 0) {
if (p+1 < argc) {
showGraph=true;
sscanf(argv[p+1], "%d", &showGraphId);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-nogui") == 0) {
// wait until second pass of command line parsing
p+=1;
}
else if (strcmp(argv[p], "-sync") == 0) {
// wait until second pass of command line parsing
if (p+1 < argc) {
sscanf(argv[p+1], "%u", &timeout);
p+=2;
} else {
p+=1;
}
}
else {
CommandLineError();
}
}
/* change parameteres object */
if (paramFilename) // a parameters file is given
simulator.changeParameters(paramFilename);
//cout << "Parse command line (Second Pass) ..."
// The second pass of command line arguments overrides
// parameters values that are defined in parameters file
p=1;
while (p < argc)
{
if (strcmp(argv[p], "-lab") == 0) {
if (p+1 < argc) {
labFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-grid") == 0) {
if (p+1 < argc) {
gridFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-log") == 0) {
if (p+1 < argc) {
logFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-param") == 0) {
if (p+1 < argc) {
paramFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-port") == 0) {
if (p+1 < argc) {
sscanf(argv[p+1], "%d", &port);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-gps") == 0) {
cbRobot::GPSOn = true;
simulator.setGPS(true);
p+=1;
}
else if (strcmp(argv[p], "-showactions") == 0) {
cbRobot::showActions=true;
p+=1;
}
else if (strcmp(argv[p], "-showgraph") == 0) {
if (p+1 < argc) {
showGraph=true;
sscanf(argv[p+1], "%d", &showGraphId);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-nogui") == 0) {
nogui = true;
p+=1;
}
else if (strcmp(argv[p], "-sync") == 0) {
if (p+1 < argc) {
// It will read 0 when receives bad input
sscanf(argv[p+1], "%u", &timeout);
p+=2;
simulator.activateSyncMode(timeout);
}
else {
p+=1;
simulator.activateSyncMode();
}
}
else {
CommandLineError();
}
}
//cout << " done.\n";
QApplication app(argc, argv, !nogui);
setlocale(LC_ALL,"C");
QLocale::setDefault(QLocale::c());
/* change lab object */
if (labFilename) // a lab file is given
simulator.changeLab(labFilename);
/* change grid object */
if (gridFilename) // a grid file is given
simulator.changeGrid(gridFilename);
if(logFilename)
simulator.setLogFilename(logFilename);
simulator.setReceptionistAt(port);
simulator.buildGraph();
simulator.setDistMaxFromGridToTarget();
if(showGraph) {
simulator.showGraph(showGraphId);
if(simulator.labView)
simulator.labView->show();
}
/* preparing the random generator */
#ifndef MicWindows
srand(getpid());
#else
srand(_getpid());
#endif
/* THIS WAS A SPECIAL CHANGE FOR ACADEMIA VERAO */
simulator.setCollisions(false);
/* start simulator timer */
simulator.startTimer();
cbSimulatorGUI * gui = NULL;
if (!nogui) {
gui = new cbSimulatorGUI(&simulator);
simulator.setGUI(gui);
//gui.setMaximumSize(gui.size());
//gui.setMinimumSize(gui.size());
gui->show();
}
app.exec();
delete gui;
return 0;
}
/*
* This program accepts the following command line options
* -lab string: name of file with lab description (default, stdin);
* -grid string: name of file with start position grid (default, stdin);
* -log string: name of log file (default, server.log);
* -nc real: compass noise coeficient (default, 0.0);
* -nb real: beacon noise coeficient (default, 0.0);
* -ni real: infrared noise coeficient (default, 0.0);
* -nm real: motors noise coeficient (default, 0.0);
* -st integer: simulation time, in number of cycle time units (default, 3000);
* -ct integer: cycle time, in miliseconds (default, 75).
*/
int main(int argc, char *argv[])
{
/* Copyright and wellcome message */
printf(" CiberRato 2012 Simulator\n Copyright (C) 2001-2012 Universidade de Aveiro\n");
fflush(stdout);
/* extract option values */
char *labFilename = 0;
char *gridFilename = 0;
char *paramFilename = 0;
char *logFilename = 0;
int port = 6000;
bool showGraph=false;
int showGraphId=0;
QApplication app(argc,argv);
//cout << "Parse command line (First Pass) ..."
int p=1;
while (p < argc)
{
if (strcmp(argv[p], "-lab") == 0) {
if (p+1 < argc) {
labFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-grid") == 0) {
if (p+1 < argc) {
gridFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-log") == 0) {
if (p+1 < argc) {
logFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-param") == 0) {
if (p+1 < argc) {
paramFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-port") == 0) {
if (p+1 < argc) {
sscanf(argv[p+1], "%d", &port);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-gps") == 0) {
// wait until second pass of command line parsing
p+=1;
}
else if (strcmp(argv[p], "-showactions") == 0) {
// wait until second pass of command line parsing
p+=1;
}
else if (strcmp(argv[p], "-showgraph") == 0) {
if (p+1 < argc) {
showGraph=true;
sscanf(argv[p+1], "%d", &showGraphId);
p+=2;
}
else CommandLineError();
}
else {
CommandLineError();
}
}
/* change parameteres object */
if (paramFilename) // a parameters file is given
simulator.changeParameters(paramFilename);
//cout << "Parse command line (Second Pass) ..."
// The second pass of command line arguments overrides
// parameters values that are defined in parameters file
p=1;
while (p < argc)
{
if (strcmp(argv[p], "-lab") == 0) {
if (p+1 < argc) {
labFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-grid") == 0) {
if (p+1 < argc) {
gridFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-log") == 0) {
if (p+1 < argc) {
logFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-param") == 0) {
if (p+1 < argc) {
paramFilename = argv[p+1];
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-port") == 0) {
if (p+1 < argc) {
sscanf(argv[p+1], "%d", &port);
p+=2;
}
else CommandLineError();
}
else if (strcmp(argv[p], "-gps") == 0) {
cbRobot::GPSOn = true;
simulator.setGPS(true);
p+=1;
}
else if (strcmp(argv[p], "-showactions") == 0) {
cbRobot::showActions=true;
p+=1;
}
else if (strcmp(argv[p], "-showgraph") == 0) {
if (p+1 < argc) {
showGraph=true;
sscanf(argv[p+1], "%d", &showGraphId);
p+=2;
}
else CommandLineError();
}
else {
CommandLineError();
}
}
//cout << " done.\n";
/* change lab object */
if (labFilename) // a lab file is given
simulator.changeLab(labFilename);
/* change grid object */
if (gridFilename) // a grid file is given
simulator.changeGrid(gridFilename);
if(logFilename)
simulator.setLogFilename(logFilename);
simulator.setReceptionistAt(port);
simulator.buildGraph();
simulator.setDistMaxFromGridToTarget();
if(showGraph) {
simulator.showGraph(showGraphId);
if(simulator.labView)
simulator.labView->show();
}
/* preparing the random generator */
#ifndef MicWindows
srand(getpid());
#else
srand(_getpid());
#endif
/* start simulator timer */
simulator.startTimer();
/* preparing ALARM timer */
cbSimulatorGUI gui(&simulator);
simulator.setGUI(&gui);
//gui.setMaximumSize(gui.size());
//gui.setMinimumSize(gui.size());
gui.show();
app.exec();
return 0;
}
