void MotionCore::init() {
if (type_ == CORE_INIT) {
FrameInfoBlock *frame_info;
memory_.getBlockByName(frame_info,"frame_info");
if (frame_info->source == MEMORY_SIM) {
std::cout << "MOTION CORE: SIM" << std::endl;
type_ = CORE_SIM;
} else if (frame_info->source == MEMORY_ROBOT) {
std::cout << "MOTION CORE: ROBOT" << std::endl;
type_ = CORE_ROBOT;
} else {
std::cerr << "Unknown memory type when init vision core" << std::endl;
exit(1);
}
}
inst_ = this;
setMemoryVariables();
initMemory();
initModules();
fps_time_ = frame_info_->seconds_since_start;
time_motion_started_ = frame_info_->seconds_since_start;
}
RobotinoLaserRangeFinderNode::RobotinoLaserRangeFinderNode()
: nh_("~")
{
nh_.param<std::string>("hostname", hostname_, "127.0.0.1" );
nh_.param<int>("laserRangeFinderNumber", laserRangeFinderNumber_, 0 );
std::ostringstream os;
os << "LaserRangeFinder" << laserRangeFinderNumber_;
com_.setName( os.str() );
initModules();
}
BOSS_Synthesis::BOSS_Synthesis(BOSS::Config & c): cl(c), scheduler(NULL)
{
cerr << "BOSS_Synthesis constructor" << endl;
BOSS::t_SVector inventories = c.listInv();
for (unsigned i=0;i<inventories.size();i++) {
string inv = inventories[i];
cerr << "Setting up configuration for inventory \"" << inv << "\":" << endl;
if (cl.setInv(inv))
initModules(inv);
else {
cerr << "No configuration options defined for inventory - exiting!"
<< endl;
exit(EXIT_FAILURE);
}
}
}
RobotinoNode::RobotinoNode()
: nh_("~")
{
nh_.param<std::string>("hostname", hostname_, "172.26.1.1" );
nh_.param<double>("max_linear_vel", max_linear_vel_, 0.2 );
nh_.param<double>("min_linear_vel", min_linear_vel_, 0.05 );
nh_.param<double>("max_angular_vel", max_angular_vel_, 1.0 );
nh_.param<double>("min_angular_vel", min_angular_vel_, 0.1 );
distances_clearing_pub_ = nh_.advertise<sensor_msgs::PointCloud>("/distance_sensors_clearing", 1, true);
joint_states_pub_= nh_.advertise<sensor_msgs::JointState>("/robotino_joint_states", 1, false);
com_.setName( "RobotinoNode" );
initModules();
initMsgs();
}
BaseGame::BaseGame(Vector2 windowSize, ScreenType screenType, string screenTitle, double fps) : fps(fps),
windowSize(windowSize), running(true)
{
initScreen(screenType, screenTitle);
initModules();
al_get_keyboard_state(&keyState);
al_get_mouse_state(&mouseState);
eventQueue = al_create_event_queue();
timer = al_create_timer(1/this->fps);
//Events to read
al_register_event_source(eventQueue, al_get_keyboard_event_source());
al_register_event_source(eventQueue, al_get_timer_event_source(timer));
al_register_event_source(eventQueue, al_get_display_event_source(display));
al_register_event_source(eventQueue, al_get_mouse_event_source());
}
/**
* @fn Reportabug
*/
Reportabug::Reportabug(QWidget *parent, bool debugCmd, QMap<QString, QString> params)
: QMainWindow(parent),
debug(debugCmd),
dynamic(params),
ui(new Ui::Reportabug)
{
// read settings
// main
if (!dynamic.contains(QString("OWNER")))
dynamic[QString("OWNER")] = QString(OWNER);
if (!dynamic.contains(QString("PROJECT")))
dynamic[QString("PROJECT")] = QString(PROJECT);
if (!dynamic.contains(QString("TAG_ASSIGNEE")))
dynamic[QString("TAG_ASSIGNEE")] = QString(TAG_ASSIGNEE);
if (!dynamic.contains(QString("TAG_BODY")))
dynamic[QString("TAG_BODY")] = QString(TAG_BODY);
if (!dynamic.contains(QString("TAG_LABELS")))
dynamic[QString("TAG_LABELS")] = QString(TAG_LABELS);
if (!dynamic.contains(QString("TAG_MILESTONE")))
dynamic[QString("TAG_MILESTONE")] = QString(TAG_MILESTONE);
if (!dynamic.contains(QString("TAG_TITLE")))
dynamic[QString("TAG_TITLE")] = QString(TAG_TITLE);
// github module
if (!dynamic.contains(QString("GITHUB_COMBOBOX")))
dynamic[QString("GITHUB_COMBOBOX")] = QString(GITHUB_COMBOBOX);
if (!dynamic.contains(QString("ISSUES_URL")))
dynamic[QString("ISSUES_URL")] = QString(ISSUES_URL);
// gitreport module
if (!dynamic.contains(QString("CAPTCHA_URL")))
dynamic[QString("CAPTCHA_URL")] = QString(CAPTCHA_URL);
if (!dynamic.contains(QString("GITREPORT_COMBOBOX")))
dynamic[QString("GITREPORT_COMBOBOX")] = QString(GITREPORT_COMBOBOX);
if (!dynamic.contains(QString("PUBLIC_URL")))
dynamic[QString("PUBLIC_URL")] = QString(PUBLIC_URL);
ui->setupUi(this);
initModules();
createComboBox();
createActions();
}
int main(int argc, char **argv)
{
unsigned long valuemask; /* mask for create windows */
XSetWindowAttributes attributes; /* attributes for create windows */
void InternUsefulAtoms(void);
void InitVariables(void);
int i, len;
extern int x_fd;
char *display_string;
char message[255];
Bool single = False;
Bool option_error = FALSE;
MenuRoot *mr;
g_argv = argv;
g_argc = argc;
OpenConsole();
DBUG("main", "Entered, about to parse args");
for (i = 1; i < argc; i++) {
if (strncasecmp(argv[i], "-debug", 6) == 0) {
debugging = True;
} else if (strncasecmp(argv[i], "-s", 2) == 0) {
single = True;
} else if (strncasecmp(argv[i], "-d", 2) == 0) {
if (++i >= argc)
usage();
display_name = argv[i];
} else if (strncasecmp(argv[i], "-f", 2) == 0) {
if (++i >= argc)
usage();
config_command = (char *) malloc(6 + strlen(argv[i]));
strcpy(config_command, "Read ");
strcat(config_command, argv[i]);
free_config_command = True;
} else if (strncasecmp(argv[i], "-cmd", 4) == 0) {
if (++i >= argc)
usage();
config_command = argv[i];
} else if (strncasecmp(argv[i], "-file", 5) == 0) {
if (++i >= argc)
usage();
output_file = argv[i];
} else if (strncasecmp(argv[i], "-h", 2) == 0) {
usage();
exit(0);
} else if (strncasecmp(argv[i], "-blackout", 9) == 0) {
Blackout = True;
} else if (strncasecmp(argv[i], "-version", 8) == 0) {
fvwm_msg(INFO, "main", "Fvwm95 Version %s compiled on %s at %s\n",
VERSION, __DATE__, __TIME__);
} else {
fvwm_msg(ERR, "main", "Unknown option: `%s'\n", argv[i]);
option_error = TRUE;
}
}
DBUG("main", "Done parsing args");
if (option_error) {
usage();
}
DBUG("main", "Installing signal handlers");
newhandler(SIGINT);
newhandler(SIGHUP);
newhandler(SIGQUIT);
newhandler(SIGTERM);
signal(SIGUSR1, Restart);
signal(SIGPIPE, DeadPipe);
ReapChildren();
if (!(dpy = XOpenDisplay(display_name))) {
fvwm_msg(ERR, "main", "can't open display %s",
XDisplayName(display_name));
exit(1);
}
Scr.screen = DefaultScreen(dpy);
Scr.NumberOfScreens = ScreenCount(dpy);
master_pid = getpid();
if (!single) {
int myscreen = 0;
char *cp;
strcpy(message, XDisplayString(dpy));
XCloseDisplay(dpy);
for (i = 1; i < Scr.NumberOfScreens; i++) {
if (fork() == 0) {
myscreen = i;
break;
}
}
/*
* Truncate the string 'whatever:n.n' to 'whatever:n',
* and then append the screen number.
*/
cp = strchr(message, ':');
if (cp != NULL) {
cp = strchr(cp, '.');
if (cp != NULL)
*cp = '\0'; /* truncate at display part */
}
sprintf(message + strlen(message), ".%d", myscreen);
dpy = XOpenDisplay(message);
Scr.screen = myscreen;
Scr.NumberOfScreens = ScreenCount(dpy);
}
x_fd = XConnectionNumber(dpy);
fd_width = GetFdWidth();
if (fcntl(x_fd, F_SETFD, 1) == -1) {
fvwm_msg(ERR, "main", "close-on-exec failed");
exit(1);
}
/* Add a DISPLAY entry to the environment, in case we were started
* with fvwm -display term:0.0
*/
len = strlen(XDisplayString(dpy));
display_string = safemalloc(len + 10);
sprintf(display_string, "DISPLAY=%s", XDisplayString(dpy));
putenv(display_string);
/* Add a HOSTDISPLAY environment variable, which is the same as
* DISPLAY, unless display = :0.0 or unix:0.0, in which case the full
* host name will be used for ease in networking . */
/* Note: Can't free the rdisplay_string after putenv, because it
* becomes part of the environment! */
if (strncmp(display_string, "DISPLAY=:", 9) == 0) {
char client[MAXHOSTNAME], *rdisplay_string;
mygethostname(client, MAXHOSTNAME);
rdisplay_string = safemalloc(len + 14 + strlen(client));
sprintf(rdisplay_string, "HOSTDISPLAY=%s:%s", client,
&display_string[9]);
putenv(rdisplay_string);
} else if (strncmp(display_string, "DISPLAY=unix:", 13) == 0) {
char client[MAXHOSTNAME], *rdisplay_string;
mygethostname(client, MAXHOSTNAME);
rdisplay_string = safemalloc(len + 14 + strlen(client));
sprintf(rdisplay_string, "HOSTDISPLAY=%s:%s", client,
&display_string[13]);
putenv(rdisplay_string);
} else {
char *rdisplay_string;
rdisplay_string = safemalloc(len + 14);
sprintf(rdisplay_string, "HOSTDISPLAY=%s", XDisplayString(dpy));
putenv(rdisplay_string);
}
Scr.Root = RootWindow(dpy, Scr.screen);
if (Scr.Root == None) {
fvwm_msg(ERR, "main", "Screen %d is not a valid screen",
(char *) Scr.screen);
exit(1);
}
#ifdef SHAPE
ShapesSupported =
XShapeQueryExtension(dpy, &ShapeEventBase, &ShapeErrorBase);
#endif /* SHAPE */
InternUsefulAtoms();
/* Make sure property priority colors is empty */
XChangeProperty(dpy, Scr.Root, _XA_MIT_PRIORITY_COLORS,
XA_CARDINAL, 32, PropModeReplace, NULL, 0);
XSetErrorHandler((XErrorHandler) CatchRedirectError);
XSetIOErrorHandler((XIOErrorHandler) CatchFatal);
XSelectInput(dpy, Scr.Root,
LeaveWindowMask | EnterWindowMask | PropertyChangeMask |
SubstructureRedirectMask | KeyPressMask |
SubstructureNotifyMask |
ButtonPressMask | ButtonReleaseMask);
XSync(dpy, 0);
XSetErrorHandler((XErrorHandler) FvwmErrorHandler);
BlackoutScreen();
CreateCursors();
InitVariables();
InitEventHandlerJumpTable();
initModules();
InitPictureCMap(dpy, Scr.Root); /* for the pixmap cache... */
Scr.gray_bitmap =
XCreateBitmapFromData(dpy, Scr.Root, g_bits, g_width, g_height);
DBUG("main", "Setting up rc file defaults...");
SetRCDefaults();
DBUG("main", "Running config_command...");
ExecuteFunction(config_command, NULL, &Event, C_ROOT, -1);
DBUG("main", "Done running config_command");
/*
CaptureAllWindows();
MakeMenus();
*/
#if 0 /* this seems to cause problems for FvwmCpp/M4 startup actually */
/* if not a direct 'Read', we'll capture all windows here, in case cmd
fails we'll still have defaults */
if (strncasecmp(config_command, "Read", 4) != 0 &&
strncasecmp(config_command, "PipeRead", 8) != 0) {
/* so if cmd (FvwmM4/Cpp most likely) fails, we can still have
borders & stuff... */
StartupStuff();
}
#endif /* 0 */
if (free_config_command) {
free(config_command);
}
if (Scr.d_depth < 2) {
Scr.gray_pixmap =
XCreatePixmapFromBitmapData(dpy, Scr.Root, g_bits, g_width,
g_height, Scr.WinColors.fore,
Scr.WinColors.back, Scr.d_depth);
Scr.light_gray_pixmap =
XCreatePixmapFromBitmapData(dpy, Scr.Root, l_g_bits, l_g_width,
l_g_height, Scr.WinColors.fore,
Scr.WinColors.back, Scr.d_depth);
}
/* create a window which will accept the keyboard focus when no other
windows have it */
attributes.event_mask = KeyPressMask | FocusChangeMask;
attributes.override_redirect = True;
Scr.NoFocusWin = XCreateWindow(dpy, Scr.Root, -10, -10, 10, 10, 0, 0,
InputOnly, CopyFromParent,
CWEventMask | CWOverrideRedirect,
&attributes);
XMapWindow(dpy, Scr.NoFocusWin);
SetMWM_INFO(Scr.NoFocusWin);
XSetInputFocus(dpy, Scr.NoFocusWin, RevertToParent, CurrentTime);
XSync(dpy, 0);
if (debugging)
XSynchronize(dpy, 1);
Scr.SizeStringWidth = XTextWidth(Scr.StdFont.font,
" +8888 x +8888 ", 15);
attributes.border_pixel = Scr.WinColors.fore;
attributes.background_pixel = Scr.WinColors.back;
attributes.bit_gravity = NorthWestGravity;
attributes.save_under = True;
valuemask = (CWBorderPixel | CWBackPixel | CWBitGravity | CWSaveUnder);
/* create the window for coordinates */
Scr.SizeWindow = XCreateWindow(dpy, Scr.Root,
Scr.MyDisplayWidth / 2 -
(Scr.SizeStringWidth +
SIZE_HINDENT * 2) / 2,
Scr.MyDisplayHeight / 2 -
(Scr.StdFont.height +
SIZE_VINDENT * 2) / 2,
(unsigned int) (Scr.SizeStringWidth +
SIZE_HINDENT * 2),
(unsigned int) (Scr.StdFont.height +
SIZE_VINDENT * 2),
(unsigned int) 0, 0,
(unsigned int) CopyFromParent,
(Visual *) CopyFromParent,
valuemask, &attributes);
#ifndef NON_VIRTUAL
initPanFrames();
#endif
XGrabServer(dpy);
#ifndef NON_VIRTUAL
checkPanFrames();
#endif
XUngrabServer(dpy);
UnBlackoutScreen();
DBUG("main", "Entering HandleEvents loop...");
HandleEvents();
DBUG("main", "Back from HandleEvents loop? Exiting...");
return 0;
}
void ofApp::setup() {
ofSetLogLevel(OF_LOG_NOTICE);
ofLogNotice() << "setup()";
if (ofApp::isSemibreve()) ofLogNotice() << "Going to run Semibreve version";
if (ofApp::isOsx()) ofLogNotice() << "OSX detected";
if (ofApp::isIos()) ofLogNotice() << "iOS detected";
if (ofApp::isAndroid()) ofLogNotice() << "Android detected";
if (ofApp::isPhone()) ofLogNotice() << "Phone detected";
if (ofApp::isTablet()) ofLogNotice() << "Tablet detected";
// if (ofApp::isIphone()) ofLogNotice() << "iPhone detected";
// if (ofApp::isIpad()) ofLogNotice() << "iPad detected";
// if (ofApp::isAndroidPhone()) ofLogNotice() << "Android phone detected";
// if (ofApp::isAndroidTablet()) ofLogNotice() << "Android tablet detected";
#if defined TARGET_OSX
ofLogNotice() << "Running OSX version";
ofSetDataPathRoot("../Resources/data/");
#endif
#if defined TARGET_SEMIBREVE
ofLogNotice() << "Running SEMIBREVE version";
oscReceiver.setup(RECEIVE_PORT);
oscSender.setup(HOST, SEND_PORT);
#endif
#if defined TARGET_OF_IOS
if (ofApp::isTablet()) {
ofSetOrientation(OF_ORIENTATION_90_LEFT);
swiper.setup();
ofAddListener(swiper.swipeRecognized, this, &ofApp::onSwipe);
swiping = false;
} else {
swiper.setup();
ofAddListener(swiper.swipeRecognized, this, &ofApp::onSwipe);
swiping = false;
}
#endif
#ifndef TARGET_OSX
if (isAndroid() || isIos()) {
ofxAccelerometer.setup();
accelCount = 0;
crop = 0;
}
#endif
if (!ofApp::isIos()) {
ofLogNotice() << "Registering for touch events if not ios";
ofRegisterTouchEvents(this);
}
ofSetFrameRate(FRAME_RATE);
ofSetCircleResolution(CIRCLE_RESOLUTION);
if (multitouch) ofHideCursor();
ofApp::language = ofApp::getSystemLanguage();
ofLogNotice() << "Language is " << ofApp::language;
initTranslations();
initModules();
setupModules();
loadModuleSounds();
initImages();
appState = ABOUT;
inactivityState = ACTIVE;
// init global vars
aboutY = 0;
splashAlpha = 255;
arrowDownY = ofGetHeight()/3*2;
arrowDownYBase = arrowDownY;
arrowDownDir = 1;
showSwipeInfo = true;
ofApp::maxParticleY = round(ofGetHeight() * (1-LIMIT_PARTICLE));
uint swipeFontSize;
if (isTablet()) swipeFontSize = 26;
else swipeFontSize = 20;
swipeFont.load(UI_FONT_FACE, swipeFontSize);
}
