void MainWindow::ConnectNewDomain(Domain *newDomain)
{
if (testDomain)
{
disconnect(testDomain, SIGNAL(Message(QString)), this, SLOT(displayOutput(QString)));
disconnect(testDomain, SIGNAL(Instructions(QString)), ui->statusBar, SLOT(showMessage(QString)));
disconnect(testDomain, SIGNAL(ToolFinishedDrawing()), ui->statusBar, SLOT(clearMessage()));
disconnect(testDomain, SIGNAL(MouseX(float)), this, SLOT(showMouseX(float)));
disconnect(testDomain, SIGNAL(MouseY(float)), this, SLOT(showMouseY(float)));
disconnect(testDomain, SIGNAL(CircleToolStatsSet(float,float,float)), this, SLOT(showCircleStats(float,float,float)));
disconnect(testDomain, SIGNAL(NumNodesDomain(int)), this, SLOT(showNumNodes(int)));
disconnect(testDomain, SIGNAL(NumElementsDomain(int)), this, SLOT(showNumElements(int)));
disconnect(testDomain, SIGNAL(NumNodesSelected(int)), this, SLOT(showNumSelectedNodes(int)));
disconnect(testDomain, SIGNAL(NumElementsSelected(int)), this, SLOT(showNumSelectedElements(int)));
disconnect(testDomain, SIGNAL(ToolFinishedDrawing()), glStatusBar, SLOT(clearMessage()));
disconnect(testDomain, SIGNAL(EmitMessage(QString)), this, SLOT(displayOutput(QString)));
disconnect(testDomain, SIGNAL(UndoAvailable(bool)), ui->undoButton, SLOT(setEnabled(bool)));
disconnect(testDomain, SIGNAL(RedoAvailable(bool)), ui->redoButton, SLOT(setEnabled(bool)));
}
connect(newDomain, SIGNAL(Message(QString)), this, SLOT(displayOutput(QString)));
connect(newDomain, SIGNAL(Instructions(QString)), ui->statusBar, SLOT(showMessage(QString)));
connect(newDomain, SIGNAL(ToolFinishedDrawing()), ui->statusBar, SLOT(clearMessage()));
connect(newDomain, SIGNAL(MouseX(float)), this, SLOT(showMouseX(float)));
connect(newDomain, SIGNAL(MouseY(float)), this, SLOT(showMouseY(float)));
connect(newDomain, SIGNAL(CircleToolStatsSet(float,float,float)), this, SLOT(showCircleStats(float,float,float)));
connect(newDomain, SIGNAL(NumNodesDomain(int)), this, SLOT(showNumNodes(int)));
connect(newDomain, SIGNAL(NumElementsDomain(int)), this, SLOT(showNumElements(int)));
connect(newDomain, SIGNAL(NumNodesSelected(int)), this, SLOT(showNumSelectedNodes(int)));
connect(newDomain, SIGNAL(NumElementsSelected(int)), this, SLOT(showNumSelectedElements(int)));
connect(newDomain, SIGNAL(ToolFinishedDrawing()), glStatusBar, SLOT(clearMessage()));
connect(newDomain, SIGNAL(EmitMessage(QString)), this, SLOT(displayOutput(QString)));
connect(newDomain, SIGNAL(UndoAvailable(bool)), ui->undoButton, SLOT(setEnabled(bool)));
connect(newDomain, SIGNAL(RedoAvailable(bool)), ui->redoButton, SLOT(setEnabled(bool)));
}
/**
* Entry point of program.
*/
int main(int argc, char ** argv)
{
init();
while(true) // Keep app running
{
setupGame();
while(game.lives) // New Round
{
setupRound();
while(!game.gameover) // Neither player missed the ball
{
getInput();
processAI();
moveBall();
displayOutput();
// Sleep
PA_CheckLid();
PA_WaitForVBL();
}
postRound();
}
postGame();
}
return 0;
}
void SFNetworkView::updateView()
{
if ( !PNetwork )
return;
if ( !UpdateDisplay )
return;
SFRetina& Retina = PNetwork->getRetina();
UINT32 RetinaWidth = Retina.getWidth();
HDC DC = GetDC( Handle);
HDC BackBufferDC = CreateCompatibleDC( DC);
SelectObject( BackBufferDC , BackBuffer);
PatBlt( BackBufferDC, 0,0, ClientRect.right , ClientRect.bottom, WHITENESS);
HDC RetinaDC = Retina.startDraw(DC);
BitBlt( BackBufferDC , 0, 0, Retina.getWidth() , Retina.getWidth() , RetinaDC , 0, 0, SRCCOPY);
Retina.endDraw();
std::vector<SFLayer>& Layers = PNetwork->getLayers();
UINT32 OffsetX = RetinaWidth + 2 ;
UINT32 OffsetY = RetinaWidth + 2;
for ( UINT32 I = 0 ; I < Layers.size() ; I++ )
{
displayOutput(BackBufferDC , Layers[I].getWidth() , Layers[I].getOutput(), Layers[I].getTargetOutput() == NULL ? Layers[I].getSnapshot():Layers[I].getTargetOutput() , OffsetX, 0 );
OffsetX += Layers[I].getWidth() + 2 ;
}
OffsetX *= 2;
if ( SelectedLayer == -1 )
displayReconstruction(BackBufferDC, Layers[0] , Layers[0].getOutput() , 0 , OffsetY);
else
displayWeights( BackBufferDC , Layers[SelectedLayer], 0, OffsetY);
OffsetY += RetinaWidth + 2;
char Buf[256];
sprintf_s( Buf , 256 , "%d" , PNetwork->getTrainingCount() );
TextOutA( BackBufferDC , RetinaWidth + 4 , RetinaWidth + 5 , Buf, strlen(Buf) );
StretchBlt( DC , 0, 0, ClientRect.right , (OffsetY * ClientRect.right) / OffsetX , BackBufferDC, 0, 0, OffsetX , OffsetY ,SRCCOPY);
DeleteDC(BackBufferDC);
ReleaseDC(Handle,DC);
Scale = (float)ClientRect.right / (float)OffsetX;
}
int readInput(FILE *input_file, char file_name[], int values[], int desired_number) {
int count = 0;
int value = 0;
int array_size;
input_file = fopen(file_name, "r");
if (feof(input_file) != 0)
{
printf("Error: can't open file\n");
return -1;
}
else
{
printf("File opened successfully\n");
}
//Get the first line of the file, which gives the size of the array
while (fscanf(input_file, "%d", &value) != EOF) {
if (count == 0)//The first value is being read
{
array_size = value - 1;//So that the later ones start at the correct index
}
else {
values[count - 1] = value;
}
count++;
}
fclose(input_file);
int delta;
clock_t t1, t2;
t1 = clock();
int recursive_result = recursiveBinarySearch(values, desired_number, 0, array_size);
t2 = clock();
delta = t2 - t1;
int delta1;
clock_t t3, t4;
t3 = clock();
int iterative_result = iterativeBinarySearch(values, desired_number, array_size);
t4 = clock();
delta1 = t3 - t4;
displayOutput(values, array_size, recursive_result, delta, delta1, iterative_result);
return 0;
}
void TransliteratorAPITest::keyboardAux(Transliterator *t, UnicodeString DATA[], UnicodeString& s, int32_t begin, int32_t end) {
UTransPosition index={0, 0, 0, 0};
UErrorCode status=U_ZERO_ERROR;
for (int32_t i=begin; i<end; i=i+5) {
UnicodeString log;
if (DATA[i+0] != "") {
log = s + " + " + DATA[i] + " -> ";
index.contextStart=getInt(DATA[i+2]);
index.contextLimit=index.limit=getInt(DATA[i+3]);
index.start=getInt(DATA[i+4]);
t->transliterate(s, index, DATA[i+0], status);
if(U_FAILURE(status)){
errln("FAIL: " + t->getID()+ ".transliterate(Replaceable, int32_t[], UnicodeString, UErrorCode)-->" + (UnicodeString)u_errorName(status));
continue;
}
log = s + " => ";
t->finishTransliteration(s, index);
}
// Show the start index '{' and the cursor '|'
displayOutput(s, DATA[i+1], log, index);
}
}
void TransliteratorAPITest::TestKeyboardTransliterator3(){
UnicodeString s="This is the main string";
UnicodeString Data[] = {
"0", "0", "0", "This is the main string",
"1", "3", "2", UnicodeString("Th\\u0069s is the main string", ""),
"20", "21", "20", UnicodeString("Th\\u0069s is the mai\\u006E string", "")
};
UErrorCode status=U_ZERO_ERROR;
UParseError parseError;
UTransPosition index={0, 0, 0, 0};
logln("Testing transliterate(Replaceable, int32_t, UErrorCode)");
Transliterator *t=Transliterator::createInstance("Any-Hex", UTRANS_FORWARD, parseError, status);
if(t == 0 || U_FAILURE(status)) {
errln("Error creating transliterator %s", u_errorName(status));
delete t;
return;
}
for(uint32_t i=0; i<sizeof(Data)/sizeof(Data[0]); i=i+4){
UnicodeString log;
index.contextStart=getInt(Data[i+0]);
index.contextLimit=index.limit=getInt(Data[i+1]);
index.start=getInt(Data[i+2]);
t->transliterate(s, index, status);
if(U_FAILURE(status)){
errln("FAIL: " + t->getID()+ ".transliterate(Replaceable, int32_t[], UErrorCode)-->" + (UnicodeString)u_errorName(status));
continue;
}
t->finishTransliteration(s, index);
log = s + " => ";
// Show the start index '{' and the cursor '|'
displayOutput(s, Data[i+3], log, index);
}
delete t;
}
void MainWindow::timeout(){
ui->progressBar->setMaximum( ui->spinBoxSampleCount->value());
ui->progressBar->setValue(vision->getSampleCount());
if(!camera.ready){
trace("Connecting to cameras...");
if(RESULT_OK != camera.setup(cvSize(176,144))){
trace("-FAILED");
}else{
trace("+OK");
on_pushButtonLoad_clicked();
cvNamedWindow( "left");
cvNamedWindow( "right");
cvNamedWindow( "rectified", 1 );
cvNamedWindow( "depth", 1 );
ui->pushButtonCalibrate->setEnabled(true);
};
}else{
if(RESULT_OK == camera.capture()){
cvShowImage("left",camera.frames[0]);
cvShowImage("right",camera.frames[1]);
};
ui->pushButtonSave->setEnabled(vision->getCalibrationDone());
if(vision->getCalibrationStarted()){
if(sampleTimeout < 0){
sampleTimeout = ui->spinBoxInterval->value()*1000;
trace(tr("Processing sample %1 of %2 Finding chessboard corners ...").arg(vision->getSampleCount()+1).arg(ui->spinBoxSampleCount->value()));
int result = vision->calibrationAddSample(camera.getFramesGray(0),camera.getFramesGray(1));
if(RESULT_OK == result){
trace("+OK");
if(vision->getSampleCount() >= ui->spinBoxSampleCount->value()){
vision->calibrationEnd();
ui->pushButtonCalibrate->setEnabled(true);
trace("Calibration Done !");
}
}else{
trace("-FAIL Try a different position. Chessboard should be visible on both cameras.");
}
}else{
ui->lcdNumber->display(sampleTimeout/1000);
sampleTimeout -= timer.interval();
}
}else{
if(vision->getCalibrationDone()) displayOutput();
}
}
}
void new_displayOutput(void *ptr)
{
displayOutput(ptr);
}
int
main (int argc, char **argv, char **environ)
{
char *queue = NULL, *host = NULL, *jobName = NULL, *user = NULL;
LS_LONG_INT jobId;
int options;
struct jobInfoEnt *jInfo;
char *outFile;
char fflag = FALSE;
int cc;
int rc;
rc = _i18n_init (I18N_CAT_MIN);
if (lsb_init (argv[0]) < 0)
{
lsb_perror ("lsb_init");
exit (-1);
}
while ((cc = getopt (argc, argv, "Vhfq:m:J:")) != EOF)
{
switch (cc)
{
case 'q':
if (queue || host || jobName)
oneOf (argv[0]);
queue = optarg;
break;
case 'm':
if (queue || host || jobName)
oneOf (argv[0]);
host = optarg;
break;
case 'J':
if (queue || host || jobName)
oneOf (argv[0]);
jobName = optarg;
break;
case 'V':
fputs (_LS_VERSION_, stderr);
exit (0);
case 'f':
fflag = TRUE;
break;
case 'h':
default:
usage (argv[0]);
}
}
jobId = 0;
options = LAST_JOB;
if (argc >= optind + 1)
{
if (queue || host || jobName)
{
oneOf (argv[0]);
}
else if ((argc > 2 && !fflag) || (argc > 3 && fflag))
usage (argv[0]);
if (getOneJobId (argv[optind], &jobId, 0))
{
usage (argv[0]);
}
options = 0;
}
if (lsb_openjobinfo (jobId, jobName, NULL, queue, host, options) < 0
|| (jInfo = lsb_readjobinfo (NULL)) == NULL)
{
if (jobId != 0 || jobName != NULL)
{
user = ALL_USERS;
if (lsb_openjobinfo (jobId, jobName, user, queue, host, options) < 0
|| (jInfo = lsb_readjobinfo (NULL)) == NULL)
{
jobInfoErr (jobId, jobName, NULL, queue, host, options);
exit (-1);
}
}
else
{
jobInfoErr (jobId, jobName, NULL, queue, host, options);
exit (-1);
}
}
lsb_closejobinfo ();
if (jobId && jInfo->jobId != jobId)
{
lsberrno = LSBE_JOB_ARRAY;
lsb_perror ("bpeek");
exit (-1);
}
if ((jInfo->submit.options & SUB_INTERACTIVE) &&
!(jInfo->submit.options & (SUB_OUT_FILE | SUB_ERR_FILE)))
{
fprintf (stderr, _i18n_msg_get (ls_catd, NL_SETN, 2456, "Job <%s> : Cannot bpeek an interactive job.\n"), /* catgets 2456 */
lsb_jobid2str (jInfo->jobId));
exit (-1);
}
if (IS_PEND (jInfo->status) || jInfo->execUsername[0] == '\0')
{
fprintf (stderr, _i18n_msg_get (ls_catd, NL_SETN, 2454, "Job <%s> : Not yet started.\n"), /* catgets 2454 */
lsb_jobid2str (jInfo->jobId));
exit (-1);
}
if (IS_FINISH (jInfo->status))
{
fprintf (stderr, _i18n_msg_get (ls_catd, NL_SETN, 2455, "Job <%s> : Already finished.\n"), /* catgets 2455 */
lsb_jobid2str (jInfo->jobId));
exit (-1);
}
if ((outFile = lsb_peekjob (jInfo->jobId)) == NULL)
{
char msg[50];
sprintf (msg, "%s <%s>", I18N_Job, lsb_jobid2str (jInfo->jobId));
lsb_perror (msg);
exit (-1);
}
displayOutput (outFile, jInfo, fflag, environ);
_i18n_end (ls_catd);
exit (0);
}
void TransliteratorAPITest::TestKeyboardTransliterator1(){
UnicodeString Data[]={
//insertion, buffer
"a", UnicodeString("\\u0061", "") ,
"bbb", UnicodeString("\\u0061\\u0062\\u0062\\u0062", "") ,
"ca", UnicodeString("\\u0061\\u0062\\u0062\\u0062\\u0063\\u0061", "") ,
" ", UnicodeString("\\u0061\\u0062\\u0062\\u0062\\u0063\\u0061\\u0020", "") ,
"", UnicodeString("\\u0061\\u0062\\u0062\\u0062\\u0063\\u0061\\u0020", "") ,
"a", UnicodeString("\\u0061", "") ,
"b", UnicodeString("\\u0061\\u0062", "") ,
"z", UnicodeString("\\u0061\\u0062\\u007A", "") ,
"", UnicodeString("\\u0061\\u0062\\u007A", "")
};
UParseError parseError;
UErrorCode status = U_ZERO_ERROR;
Transliterator* t=Transliterator::createInstance("Any-Hex", UTRANS_FORWARD, parseError, status);
if(U_FAILURE(status)) {
errln("Error creating transliterator %s", u_errorName(status));
delete t;
return;
}
//keyboardAux(t, Data);
UTransPosition index={0, 0, 0, 0};
UnicodeString s;
uint32_t i;
logln("Testing transliterate(Replaceable, int32_t, UnicodeString, UErrorCode)");
for (i=0; i<10; i=i+2) {
UnicodeString log;
if (Data[i+0] != "") {
log = s + " + " + Data[i+0] + " -> ";
t->transliterate(s, index, Data[i+0], status);
if(U_FAILURE(status)){
errln("FAIL: " + t->getID()+ ".transliterate(Replaceable, int32_t[], UnicodeString, UErrorCode)-->" + (UnicodeString)u_errorName(status));
continue;
}
}else {
log = s + " => ";
t->finishTransliteration(s, index);
}
// Show the start index '{' and the cursor '|'
displayOutput(s, Data[i+1], log, index);
}
s="";
status=U_ZERO_ERROR;
index.contextStart = index.contextLimit = index.start = index.limit = 0;
logln("Testing transliterate(Replaceable, int32_t, UChar, UErrorCode)");
for(i=10; i<sizeof(Data)/sizeof(Data[0]); i=i+2){
UnicodeString log;
if (Data[i+0] != "") {
log = s + " + " + Data[i+0] + " -> ";
UChar c=Data[i+0].charAt(0);
t->transliterate(s, index, c, status);
if(U_FAILURE(status))
errln("FAIL: " + t->getID()+ ".transliterate(Replaceable, int32_t[], UChar, UErrorCode)-->" + (UnicodeString)u_errorName(status));
continue;
}else {
log = s + " => ";
t->finishTransliteration(s, index);
}
// Show the start index '{' and the cursor '|'
displayOutput(s, Data[i+1], log, index);
}
delete t;
}
/*
telemetryCallback
This is called whenever a new telemetry message is received. We should store this any waypoint info received
and perform analysis on it once all planes have received new data.
*/
void telemetryCallback(const AU_UAV_ROS::TelemetryUpdate::ConstPtr& msg)
{
//make sure the sim isn't lagging somehow and still reporting dead planes
if(isDead[msg->planeID]) return;
//store the telemetry information received
previousUpdatesMap[msg->planeID] = latestUpdatesMap[msg->planeID];
latestUpdatesMap[msg->planeID] = *msg;
//if all UAVs have an update, run some analysis on this timestep
if(msg->planeID == maxAlivePlane)
{
//get the current time
delta = ros::Time::now() - startTime;
struct AU_UAV_ROS::waypoint current, other;
//perform calculations on each plane
for(int id = 0; id <= lastPlaneID; id++)
{
//nothing to do... WHEN YOU'RE DEAD!
if(isDead[id]) continue;
//change to waypoint format
other.latitude = previousUpdatesMap[id].currentLatitude;
other.longitude = previousUpdatesMap[id].currentLongitude;
other.altitude = previousUpdatesMap[id].currentAltitude;
current.latitude = latestUpdatesMap[id].currentLatitude;
current.longitude = latestUpdatesMap[id].currentLongitude;
current.altitude = latestUpdatesMap[id].currentAltitude;
//add the distance traveled
double d = distanceBetween(current, other);
distanceTraveled[id] = distanceTraveled[id] + d;
//totalDistTraveled = totalDistTraveled + d;
distSinceLastWP[id] = distSinceLastWP[id] + d;
//empty any items from the queue we've reached
while(!waypointQueues[id].empty() && distanceBetween(waypointQueues[id].front(), current) < COLLISION_THRESHOLD)
{
//the front item is reached, pop it and increase our waypoints reached
struct AU_UAV_ROS::waypoint temp = waypointQueues[id].front();
waypointQueues[id].pop();
if(waypointQueues[id].empty())
{
//we ran out of points x_x
}
else
{
//add the last waypoint to our minimum distance
minimumTravelDistance[id] = minimumTravelDistance[id] + waypointMinTravelDist[id];
totalMinDist = totalMinDist + waypointMinTravelDist[id];
waypointMinTravelDist[id] = distanceBetween(temp, waypointQueues[id].front());
}
//modify scoring values
waypointsAchieved[id]++;
waypointsTotal++;
score += WAYPOINT_SCORE;
//set our distance traveled for waypoints
waypointDistTraveled[id] = waypointDistTraveled[id] + distSinceLastWP[id];
totalDistTraveled = totalDistTraveled + distSinceLastWP[id];
distSinceLastWP[id] = 0;
}
//time to check for collisions with any other UAVs
for(int otherID = 0; otherID < id; otherID++)
{
//we assume the wreckage disapates very quickly... lol
if(isDead[otherID]) continue;
other.latitude = latestUpdatesMap[otherID].currentLatitude;
other.longitude = latestUpdatesMap[otherID].currentLongitude;
other.altitude = latestUpdatesMap[otherID].currentAltitude;
//check for a conflict
double d = distanceBetween(current, other);
if(d < CONFLICT_THRESHOLD)
{
//we detected a conflict, increase counter and subtract some points
numConflicts++;
score = score + CONFLICT_SCORE;
}
//check for collisions
if(d < COLLISION_THRESHOLD)
{
//fire & death awaits these two planes...
planesToDelete.push(id);
planesToDelete.push(otherID);
//increment our collision counter
numCollisions++;
//no score penalty, losing a couple planes will be bad enough
}
}
}
//we've parsed everything, delete some planes and display a new output to screen
while(!planesToDelete.empty())
{
int id = planesToDelete.front();
planesToDelete.pop();
//we're already dead, nothing to do about it
if(isDead[id]) continue;
else
{
//delete the simulated plane
//construct the service request
AU_UAV_ROS::DeleteSimulatedPlane srv;
srv.request.planeID = id;
//send the request
printf("\nRequesting to delete plane...\n");
if(deleteSimulatedPlaneClient.call(srv))
{
//printf("Plane with ID #%d has been deleted!\n", planeID);
}
else
{
ROS_ERROR("Did not receive a response from simulator");
}
//mark us dead
timeOfDeath[id] = delta;
isDead[id] = true;
deadPlaneCount++;
}
//if our max plane ID is a dead plane, we no longer receive updates, so we need
//to be waiting on a new max for updating the screen
while(maxAlivePlane >= 0 && isDead[maxAlivePlane])
{
//decrement our valu
maxAlivePlane--;
}
//check to make sure not all planes are dead
if(maxAlivePlane < 0)
{
displayOutput();
endEvaluation();
}
}
//dump our info
displayOutput();
//check for the end of times
if((delta).toSec() > TIME_LIMIT)
{
//our time is up, time to write to files and wrap everything up
endEvaluation();
}
}
}
