/*!
* \en Handler line current change signal. \_en
* \ru Обработчик сигнала изменения строки. Генерирует сигналы
* deleteLine и saveLine. \_ru
*/
void
wDBTable::lineUpdate( QSql::Op mode)
{
QSqlRecord *rec = sqlCursor()->editBuffer();//currentRecord();
switch(mode)
{
case QSql::Update:
// rec = currentRecord();
break;
case QSql::Insert:
break;
case QSql::Delete:
//printf("emit del line\n");
emit(deleteLine(rec));
return;
default:
break;
}
//if(!rec) return;
//printf(" emit saveLine\n");
emit(saveLine(rec));
}
void Connection::finishCon(InputTaker* i)
{
in=i;
//must remove line already going into this input, IF it exist
//in->remLine();
if(in->line!=NULL)
removeLine(in->line);
//make the actual Value** connection
in->setInput(out);
inpos = in->getPos();
inpos.x+=inpos.w/2;
inpos.y+=inpos.h/2;
LineData* line = saveLine();
//use this new line(when comps move they update line)
in->setLine(line);
out->setLine(line);
reset();
}
void dataInputHandler1(struct WorkerBuf* pWBuf, uint8_t* data)
{
int sock;
int rvl;
int i;
int len;
uint32_t flag;
uint8_t chanId;
struct DataHeader *pHeader;
struct FrameBuf *frame;
int total_len = FVL_SRIO_DMA_BUFSIZE/FVL_SRIO_CTL_SUBBUF_NUM;
printf("Calling dataInputHandler: total length: %d \n",total_len);
if(0)
{
char strbuf[32];
snprintf(strbuf, 32, "cpu-%02d recv", pWBuf->cpu);
fvl_hex_dump(strbuf, data, 128);
}
LTRACE();
if(pWBuf->line_length != 0) {
char *dest;
dest = pWBuf->last_line.data;
dest += pWBuf->line_length;
memcpy(dest, data, pWBuf->line_restlen);
LTRACE();
pHeader = (void*) pWBuf->last_line.data;
flag = ntohl(pHeader->flag);
if(DATA_HEADER_FLAG != flag) {
printf("Data last line error! Flag = %x\n", flag);
}
frame = saveLine(pWBuf, pHeader);
if(frame == NULL) {
printf("Save last line failed\n");
}
LTRACE();
data += pWBuf->line_restlen;
total_len -= pWBuf->line_restlen;
pWBuf->line_length = 0;
pWBuf->line_restlen = 0;
}
i = 0;
while(total_len > 0) {
pHeader = (void*) data;
chanId = pHeader->chanId;
len = GETLEN_BY_CHANID(chanId);
//LTRACE();
flag = ntohl(pHeader->flag);
if(DATA_HEADER_FLAG != flag) {
printf("Data #%d error! Flag = %x\n", i, flag);
continue;
}
//LTRACE();
frame = saveLine(pWBuf, pHeader);
if(frame == NULL) {
printf("Save line #%d failed\n", pHeader->lineId);
}
//else {
// printf("Save line #%d success\n", pHeader->lineId);
// }
data += len;
total_len -= len;
if((total_len != 0) && (total_len < len)) {
LTRACE();
// fvl_hex_dump("Copylast", data, 128);
pWBuf->line_length = total_len;
pWBuf->line_restlen = len - total_len;
printf("copy to %p, from %p, size %d\n", pWBuf->last_line.data, data, total_len);
memcpy(pWBuf->last_line.data, data, total_len);
pHeader = (void*) pWBuf->last_line.data;
flag = ntohl(pHeader->flag);
if(DATA_HEADER_FLAG != flag) {
printf("Copy data last line error! Flag = %x\n", flag);
}
break;
}
i++;
}
LTRACE();
do{
LTRACE();
frame = getFullFrame(pWBuf);
if(frame == NULL) {
break;
}
LTRACE();
chanId = pHeader->chanId;
sock = getSocket(chanId);
LTRACE();
for(i = 0; i < 256; i++) {
struct DataLine *line;
line = &frame->lines[i];
pHeader = (void*) line->header;
chanId = pHeader->chanId;
len = GETLEN_BY_CHANID(chanId);
// send buffer here
rvl = fvl_tcp_send(sock, (void*)line->data, len);
if(rvl < 0) {
printf("Send failed!\n");
}
}
printf("send frame #%d done\n", pHeader->frameId);
freeFrame(frame);
} while(1);
return;
}
/* ********************************************************************************************* */
void RRT::draw (const RRT* t1, const RRT* t2) {
// Check the size of a data point - we can only visualize 2 or 3
size_t numDofs = t1->dofs.size();
if((numDofs != 2) && (numDofs != 3)) return;
// ====================================================================
// Write the data to a file
// File contains two lines, one for each endpoint of an edge
FILE* data = fopen(".data", "w");
size_t step = numDofs * 7; // 7 characters per double
size_t numEdges1 = (t1->configVector.size() - 1);
size_t numEdges2 = ((t2 == NULL) ? 0 : t2->configVector.size() - 1);
char* line1 = new char[(numEdges1 + numEdges2 + 5) * step];
char* line2 = new char[(numEdges1 + numEdges2 + 5) * step];
// Write each node and its parent in the respective lines
size_t lineIndex = 0;
const RRT* trees [2] = {t1, t2};
for(size_t t = 0; t < 2; t++) {
// Skip the tree if not there
if(trees[t] == NULL) continue;
// Draw the edges
size_t numEdges = trees[t]->configVector.size() - 1;
for(size_t i = 0; i < numEdges; i++, lineIndex += step) {
const VectorXd& node = *trees[t]->configVector[i + 1];
const VectorXd& parent = *trees[t]->configVector[trees[t]->parentVector[i + 1]];
saveLine(line1, line2, lineIndex, node, parent);
}
}
// Print the start to draw with a special color (we draw a 0 length edge)
const VectorXd& goal = *t1->configVector[0];
saveLine(line1, line2, lineIndex, goal, goal);
lineIndex += step;
// Write the lines to the file
fprintf(data, "%s\n", line1);
fprintf(data, "%s\n", line2);
fclose(data);
delete[] line1;
delete[] line2;
// ====================================================================
// Run gnuplot with the pipe call
// Open gnuplot in a shell terminal
FILE* gnuplot;
gnuplot = fopen(".gnuplot", "w");
// Set options
fprintf(gnuplot, "");
fprintf(gnuplot, "set terminal wxt size 600,600;\n");
fprintf(gnuplot, "set xrange [-3.14:3.14];\n");
fprintf(gnuplot, "set yrange [-3.14:3.14];\n");
fprintf(gnuplot, "set size ratio -1;\n");
if(numDofs == 3) {
fprintf(gnuplot, "set zrange [-3.14:3.14];\n");
fprintf(gnuplot, "set xyplane at -3.14;\n");
}
// Draw the edges in the file but leave the last edge to draw a special color for the goal
fprintf(gnuplot, "%s ", ((numDofs == 2) ? "plot" : "splot"));
for(size_t i = 0; i < numEdges1; i++)
drawLine(gnuplot, numDofs, "0000ff", i);
for(size_t i = 0; i < numEdges2; i++)
drawLine(gnuplot, numDofs, "00ffff", i + numEdges1);
// Draw the goal point (fake edge)
drawLine(gnuplot, numDofs, "00ff00", numEdges1 + numEdges2, true);
// Close the pipe
fprintf(gnuplot, "\n");
fprintf(gnuplot, "\n");
fclose(gnuplot);
// Make the system call
int status = system("gnuplot -persist .gnuplot");
assert((status != -1) && "Error in system call in RRT::draw()");
}
