//! Check to see if an object has an ID that is valid.
void TestSuiteBasic::testObject(int id, QString name) {
if (id >= 0) {
emit sendOutput("Creating... " + name + " O.K.");
} else {
emit sendOutput("Creating... " + name + " FAIL!");
}
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model <SNetwork::outputFunction( const InternalMessage &msg )
{
if ( !EvQ.empty() ) // if we have messages to dequeue
{
if(VERBOSE) cout<<"LTS: output coming...\n";
long message = buildMessage(EvQ.top().id, EvQ.top().peerid, EvQ.top().TTL);
if(EvQ.top().connectEvent) //distinguish the three types of events
if (EvQ.top().TTL==1)
sendOutput( msg.time(), out_connect, message); //connect notification
else
sendOutput( msg.time(), out_disconnect, message); // disconnect notification
else
sendOutput( msg.time(), route_out, message); // message routing
EvQ.pop(); //remove val from queue
}
/* if ( !ConnectionQueue.empty() ) // if we have connect messages to dequeue
{
sendOutput( msg.time(), out_connect, ConnectionQueue.front());
ConnectionQueue.pop(); //remove val from queue
}
if ( !DisconnectionQueue.empty() ) // if we have disconnect messages to dequeue
{
sendOutput( msg.time(), out_disconnect, DisconnectionQueue.front());
DisconnectionQueue.pop(); //remove val from queue
}*/
return *this;
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model <SNetwork::outputFunction( const InternalMessage &msg )
{
if(VERBOSE) cout<<"LTS: output coming...\n";
if ( !EvQ.empty() ) // if we have messages to dequeue
{
long message = buildMessage(EvQ.front().id, EvQ.front().peerid, EvQ.front().TTL);
sendOutput( msg.time(), route_out, message);
EvQ.pop(); //remove val from queue
}
if ( !ConnectionQueue.empty() ) // if we have connect messages to dequeue
{
sendOutput( msg.time(), out_connect, ConnectionQueue.front());
ConnectionQueue.pop(); //remove val from queue
}
if ( !DisconnectionQueue.empty() ) // if we have disconnect messages to dequeue
{
sendOutput( msg.time(), out_disconnect, DisconnectionQueue.front());
DisconnectionQueue.pop(); //remove val from queue
}
return *this;
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model &Dispatcher::outputFunction( const InternalMessage &msg )
{
sendOutput( msg.time(), peer_id, nextOutput_p);
sendOutput( msg.time(), query_id, nextOutput_q);
return *this;
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model &Server::outputFunction( const InternalMessage &msg )
{
if (!QueryhitQ.empty()) { // if we were or now are in the process of routing messages
if(VERBOSE) cout<<"output coming...\n";
long message = QueryhitQ.front();
sendOutput( msg.time(), queryhit, message);
QueryhitQ.pop(); // remove latest output message !
sendOutput(msg.time(), queryhit, message);
}
return *this;
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model &Transducer2::outputFunction( const CollectMessage &msg )
{
float time( msg.time().asMsecs() / timeUnit().asMsecs() ) ;
sendOutput( msg.time(), throughput, procCount() / time ) ;
cpuLoad ( cpuLoad() + static_cast< long >( ( msg.time() - lastChange() ).asMsecs() * unsolved().size() )) ;
sendOutput( msg.time(), cpuUsage , cpuLoad() / msg.time().asMsecs() ) ;
sendOutput( msg.time(), responsetime, (cpuLoad() / msg.time().asMsecs() ) / (procCount() / time) );
return *this ;
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model &Gnutella::outputFunction( const InternalMessage &msg )
{
if (routing) // if we have something to output
{
sendOutput( msg.time(), out_n, nextOutputR); //nextOutput contains the next value to output
if(VERBOSE) cout<<"Gnutella : routing to LTS ..."<<nextOutputR<<endl;
}
if(hitting)
{
sendOutput( msg.time(), route_out, nextOutputDB); //nextOutput contains the next value to output
}
return *this;
}
void sendCurrentOutputIfReady() {
if (m_InputsReceived.isFull()) {
m_InputsReceived.resetAll();
double output = OP(m_Input1, m_Input2);
sendOutput( output );
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
this->setFixedWidth(400);
processingDialog = new ProcessingDialog;
output = new Output;
about = new About;
help = new Help;
connect(this, SIGNAL(sendOutput(QString,QByteArray)), output, SLOT(receiveOutput(QString,QByteArray)));
QFile prop("prop.fbxgui");
if(prop.exists())
{
prop.open(QIODevice::ReadOnly);
QTextStream in(&prop);
ui->input_folder->setText(in.readLine());
ui->output_folder->setText(in.readLine());
ui->flipV->setChecked(stob(in.readLine()));
ui->packC->setChecked(stob(in.readLine()));
ui->showLog->setChecked(stob(in.readLine()));
ui->maxM->setValue(in.readLine().toInt());
ui->maxB->setValue(in.readLine().toInt());
ui->maxW->setValue(in.readLine().toInt());
ui->fbx->setChecked(stob(in.readLine()));
ui->g3db->setChecked(stob(in.readLine()));
ui->g3dj->setChecked(stob(in.readLine()));
ui->sinput_folder->setText(in.readLine());
ui->soutput_folder->setText(in.readLine());
ui->sflipV->setChecked(stob(in.readLine()));
ui->spackC->setChecked(stob(in.readLine()));
ui->sshowLog->setChecked(stob(in.readLine()));
ui->smaxM->setValue(in.readLine().toInt());
ui->smaxB->setValue(in.readLine().toInt());
ui->smaxW->setValue(in.readLine().toInt());
ui->sfbx->setChecked(stob(in.readLine()));
ui->sg3db->setChecked(stob(in.readLine()));
ui->sg3dj->setChecked(stob(in.readLine()));
prop.close();
}
}
void RunPackage::takeControl( )
{
if ( freeARCs() > 0 ){
bool arcerStatus = true;
bool finished = arcer->takeControl();
sendOutput();
if( finished ) {
adminTerminate();
return;
}
else
usedOneARC();
}
}
/*******************************************************************
* Function Name: outputFunction
********************************************************************/
Model <SNetwork::outputFunction( const InternalMessage &msg )
{
//if(VERBOSE) cout<<"output coming...\n";
if ( !EvQ.empty() ) // if we have messages to dequeue
{
long message = buildMessage(EvQ.front().id, EvQ.front().peerid, EvQ.front().TTL);
//if(VERBOSE) cout<<"outpupu\n";
sendOutput( msg.time(), route_out, message);
// if(VERBOSE) cout<<"outpopu\n";
// if(VERBOSE) cout<<"output done !! "<<message<<endl;
EvQ.pop(); //remove val from queue
}
else
{
// sendOutput( msg.time(), route_out, 999 );
//(no output for graph construction)
}
return *this;
}
void doubleTouchThread::run()
{
skinContactList *skinContacts = skinPort -> read(false);
sendOutput();
if (checkMotionDone())
{
switch (step)
{
case 0:
steerArmsHome();
yInfo("[doubleTouch] WAITING FOR CONTACT...\n");
step++;
break;
case 1:
if(skinContacts)
{
printMessage(2,"Waiting for contact..\n");
if (detectContact(skinContacts))
{
yInfo("[doubleTouch] CONTACT!!! skinPart: %s Link: %i Position: %s NormDir: %s",
SkinPart_s[cntctSkinPart].c_str(), cntctLinkNum,cntctPosLink.toString(3,3).c_str(),
cntctNormDir.toString(3,3).c_str());
printMessage(1,"Switching to impedance position mode..\n");
imodeS -> setInteractionMode(2,VOCAB_IM_COMPLIANT);
imodeS -> setInteractionMode(3,VOCAB_IM_COMPLIANT);
step++;
}
}
break;
case 2:
solveIK();
yInfo("[doubleTouch] Going to taxel... Desired EE: %s\n",(sol->ee).toString(3,3).c_str());
printMessage(1,"Desired joint configuration: %s\n",(sol->joints*iCub::ctrl::CTRL_RAD2DEG).toString(3,3).c_str());
step++;
recFlag = 1;
break;
case 3:
configureHands();
if (record != 0)
{
Time::delay(2.0);
}
if (curTaskType == "LHtoR" || curTaskType == "RHtoL")
{
goToTaxelMaster();
}
else
{
goToTaxelSlave();
}
step++;
break;
case 4:
Time::delay(2.0);
step++;
break;
case 5:
if (curTaskType == "LHtoR" || curTaskType == "RHtoL")
{
goToTaxelSlave();
}
else
{
goToTaxelMaster();
}
step++;
break;
case 6:
recFlag = 0;
bool flag;
if (record == 0)
{
Time::delay(3.0);
flag=1;
if (flag == 1)
{
testAchievement();
step += 2;
}
}
else
{
testAchievement();
printMessage(0,"Waiting for the event to go back.\n");
step++;
}
break;
case 7:
if(skinContacts)
{
if (record == 1)
{
if (testAchievement2(skinContacts))
step++;
else if (robot == "icub" && exitFromDeadlock(skinContacts))
step++;
}
else if (record == 2)
{
if (exitFromDeadlock(skinContacts))
step++;
else
testAchievement2(skinContacts);
}
}
break;
case 8:
if (!dontgoback)
{
printMessage(0,"Going to rest...\n");
clearTask();
steerArmsHomeMasterSlave();
step++;
}
break;
case 9:
printMessage(1,"Switching to position mode..\n");
imodeS -> setInteractionMode(2,VOCAB_IM_STIFF);
imodeS -> setInteractionMode(3,VOCAB_IM_STIFF);
yInfo("[doubleTouch] WAITING FOR CONTACT...\n");
step = 1;
break;
default:
yError("[doubleTouch] doubleTouchThread should never be here!!!\nStep: %d",step);
Time::delay(2.0);
break;
}
}
}
static RCCResult
run(RCCWorker *self, RCCBoolean timedOut, RCCBoolean *newRunCondition) {
(void)timedOut;(void)newRunCondition;
MyState *s = self->memories[0];
Cic_hpfilter_complexProperties *p = self->properties;
RCCPort
*in = &self->ports[CIC_HPFILTER_COMPLEX_IN],
*out = &self->ports[CIC_HPFILTER_COMPLEX_OUT];
Cic_hpfilter_complexInIq
*inData = in->current.data,
*outData = out->current.data;
out->output.u.operation = in->input.u.operation;
out->output.length = in->input.length;
switch( in->input.u.operation ) {
case CIC_HPFILTER_COMPLEX_IN_IQ:
{
unsigned out_idx = 0;
unsigned len = byteLen2Complex(in->input.length);
unsigned i, samp;
#ifndef NDEBUG
printf("%s got %zu bytes of data\n", __FILE__, in->input.length);
#endif
// We may need to generate more output data from the last input
unsigned max_out = byteLen2Complex(out->current.maxLength);
if ( s->remainder ) {
for ( i=0; (i<s->remainder) && (out_idx<max_out); i++, out_idx++ ) {
outData->data[out_idx].I = s->fast_acc[II][STAGES];
outData->data[out_idx].Q = s->fast_acc[QQ][STAGES];
}
s->remainder -= i;
if ( out_idx >= max_out ) {
return sendOutput( self, s, out, s->input_idx, byteLen2Complex(in->input.length));
}
}
len = min(len,max_out);
for ( samp=s->input_idx; samp<len; samp++ ) {
// I
s->slow_acc[II][0] = inData->data[samp].I;
s->fast_acc[II][0] = s->fast_acc[II][0] + s->slow_acc[II][STAGES];
for ( i=0; i<STAGES; i++ ) {
s->slow_acc[II][i+1] = s->slow_acc[II][i] - s->slow_del[II][i];
s->slow_del[II][i] = s->slow_acc[II][i];
}
for ( i=1; i<=STAGES; i++ ) {
s->fast_acc[II][i] = s->fast_acc[II][i] + s->fast_acc[II][i-1];
}
// Q
s->slow_acc[QQ][0] = inData->data[samp].Q;
s->fast_acc[QQ][0] = s->fast_acc[QQ][0] + s->slow_acc[QQ][STAGES];
for ( i=0; i<STAGES; i++ ) {
s->slow_acc[QQ][i+1] = s->slow_acc[QQ][i] - s->slow_del[QQ][i];
s->slow_del[QQ][i] = s->slow_acc[QQ][i];
}
for ( i=1; i<=STAGES; i++ ) {
s->fast_acc[QQ][i] = s->fast_acc[QQ][i] + s->fast_acc[QQ][i-1];
}
// Generate the interpolated output
// We are not really interpolating here, just copying the last calculated value
for ( i=0; i<p->M; i++, out_idx++ ) {
if ( out_idx >= max_out ) {
s->remainder = p->M-i;
return sendOutput( self, s, out, samp, byteLen2Complex(in->input.length));
}
double gain = Gain( p->gain);
outData->data[out_idx].I = Scale( Uscale(s->fast_acc[II][STAGES]) * gain);
outData->data[out_idx].Q = Scale( Uscale(s->fast_acc[QQ][STAGES]) * gain);
double v = scabs( outData->data[out_idx].I, outData->data[out_idx].Q );
if ( v > Uscale( p->peakDetect ) ) {
p->peakDetect = Scale( v );
}
}
}
return sendOutput( self, s, out, samp, byteLen2Complex(in->input.length));
}
break;
case CIC_HPFILTER_COMPLEX_IN_SYNC:
sync( self );
case CIC_HPFILTER_COMPLEX_IN_TIME:
self->container.send( out, &in->current, in->input.u.operation, in->input.length);
break;
}
return RCC_OK;
}
void MainWindow::on_pushButton_3_clicked()
{
if(!QDir(ui->input_folder->text()).exists() || ui->input_folder->text().isEmpty())
{
msgBox = new QMessageBox(this);
msgBox->setText("Input directory doesn't exists!");
msgBox->show();
}else if(!QDir(ui->output_folder->text()).exists() || ui->output_folder->text().isEmpty())
{
msgBox = new QMessageBox(this);
msgBox->setText("Output directory doesn't exists!");
msgBox->show();
}else if(!ui->fbx->isChecked() && !ui->g3db->isChecked() && !ui->g3dj->isChecked())
{
msgBox = new QMessageBox(this);
msgBox->setText("Please select a file output type!");
msgBox->show();
}else
{
QFileInfoList list = QDir(ui->input_folder->text()).entryInfoList();
vector<QFileInfo> files;
for(QFileInfo fileInfo : list)
if(fileInfo.suffix().toLower() == "fbx" || fileInfo.suffix().toLower() == "dae" || fileInfo.suffix().toLower() == "obj")
files.push_back(fileInfo);
if(files.empty())
{
msgBox = new QMessageBox(this);
msgBox->setText("No file with .fbx , .dae , .obj extension found!");
msgBox->show();
}else
{
// START CONVERSION
processingDialog->show();
if(ui->flipV->isChecked()) arguments << "-f";
if(ui->packC->isChecked()) arguments << "-p";
if(ui->showLog->isChecked()) arguments << "-v";
arguments << "-m" << QString::number(ui->maxM->value());
arguments << "-b" << QString::number(ui->maxB->value());
arguments << "-w" << QString::number(ui->maxW->value());
arguments << "-o";
if(ui->fbx->isChecked())
{
arguments << "fbx";
for(QFileInfo file : files)
{
arguments << file.filePath();
arguments << (ui->output_folder->text()+"\\")+(file.baseName()+".fbx");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(file.baseName()+".fbx", process->readAll());
arguments.removeLast();arguments.removeLast();
}
arguments.removeLast();
}
if(ui->g3db->isChecked())
{
arguments << "g3db";
for(QFileInfo file : files)
{
arguments << file.filePath();
arguments << (ui->output_folder->text()+"\\")+(file.baseName()+".g3db");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(file.baseName()+".g3db", process->readAll());
arguments.removeLast();arguments.removeLast();
}
arguments.removeLast();
}
if(ui->g3dj->isChecked())
{
arguments << "g3dj";
for(QFileInfo file : files)
{
arguments << file.filePath();
arguments << (ui->output_folder->text()+"\\")+(file.baseName()+".g3dj");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(file.baseName()+".g3dj", process->readAll());
arguments.removeLast();arguments.removeLast();
}
arguments.removeLast();
}
if(output->isHidden())
output->show();
processingDialog->hide();
}
arguments.clear();
}
}
void TestSuiteBasic::changeImage() {
if (m_2DPlane >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlane));
if (!ptObj) {
emit sendOutput("Could Not Get 2D Plane Object! FAIL!");
} else {
emit sendOutput("Change 2D Plane Info...");
vtkImageSinusoidSource* sinSrc = vtkImageSinusoidSource::New();
vtkImageShiftScale *shift = vtkImageShiftScale::New();
sinSrc->SetWholeExtent(0,255, 0, 255, 0, 0);
sinSrc->SetDirection(1, 2, 3);
sinSrc->SetPeriod(m_imgPeriod);
sinSrc->SetPhase(1);
sinSrc->SetAmplitude(10);
sinSrc->Update();
shift->SetInput(sinSrc->GetOutput());
shift->SetOutputScalarType(VTK_UNSIGNED_CHAR);
shift->SetShift(+20);
shift->Update();
m_imgPeriod = m_imgPeriod + 1;
if (m_imgPeriod > 100) m_imgPeriod = 10;
vtkTransform *temp;
vtkMatrix4x4 *matCopy;
vtkTransform *tempCopy = vtkTransform::New();
ptObj->lock();
temp = ptObj->getTransform();
matCopy = temp->GetMatrix();
tempCopy->SetMatrix(matCopy);
tempCopy->RotateX(2);
ptObj->setVtkMatrix(tempCopy->GetMatrix());
ptObj->copyImageData2D(shift->GetOutput());
ptObj->Modified();
ptObj->unlock();
tempCopy->Delete();
shift->Delete();
sinSrc->Delete();
}
}
/*
if (m_2DPlaneColor >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlaneColor));
if (!ptObj) {
emit sendOutput("Could Not Get 2D Color Plane Object! FAIL!");
} else {
emit sendOutput("Change 2D Plane Color Info...");
vtkTransform *temp;
vtkMatrix4x4 *matCopy;
vtkTransform *tempCopy = vtkTransform::New();
ptObj->lock();
temp = ptObj->getTransform();
matCopy = temp->GetMatrix();
tempCopy->SetMatrix(matCopy);
tempCopy->RotateX(2);
ptObj->setVtkMatrix(tempCopy->GetMatrix());
ptObj->Modified();
ptObj->unlock();
tempCopy->Delete();
}
}
if (m_2DPlane16 >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlane16));
if (!ptObj) {
emit sendOutput("Could Not Get 2D 16-bit Plane Object! FAIL!");
} else {
emit sendOutput("Change 2D 16-bit Plane Info...");
vtkTransform *temp;
vtkMatrix4x4 *matCopy;
vtkTransform *tempCopy = vtkTransform::New();
ptObj->lock();
temp = ptObj->getTransform();
matCopy = temp->GetMatrix();
tempCopy->SetMatrix(matCopy);
tempCopy->RotateX(2);
ptObj->setVtkMatrix(tempCopy->GetMatrix());
ptObj->Modified();
ptObj->unlock();
tempCopy->Delete();
}
}
*/
static int count = 0;
count++;
if (((count % 50) == 0) && m_cath[0]) {
rtCathDataObject* ptObj = static_cast<rtCathDataObject*>(rtBaseHandle::instance().getObjectWithID(m_cath[0]));
if (!ptObj) {
emit sendOutput("Could Not Get 1 Coil Catheter Object! FAIL!");
} else {
emit sendOutput("Moving Catheter...");
ptObj->lock();
double pos[3];
ptObj->getPositionAtLocation(0, pos);
pos[0] += 25*((rand()%32767)/32767.0 - 0.5);
pos[1] += 25*((rand()%32767)/32767.0 - 0.5);
pos[2] += 25*((rand()%32767)/32767.0 - 0.5);
ptObj->setCoilCoords(0, pos[0], pos[1], pos[2]);
ptObj->Modified();
ptObj->unlock();
}
}
}
void TestSuiteBasic::run() {
emit sendOutput("--------- Basic Test ----------");
basicTestCreateObjects();
if (m_3DPoints >= 0) {
rt3DPointBufferDataObject* ptObj = static_cast<rt3DPointBufferDataObject*>(rtBaseHandle::instance().getObjectWithID(m_3DPoints));
if (!ptObj) {
emit sendOutput("Could Not Get 3D Sphere Object! FAIL!");
} else {
emit sendOutput("Setting Data for 3D Spheres...");
rtBasic3DPointData pp[10][10];
rtBasic3DPointData p[4];
p[0].setX(0.0);
p[0].setY(0.0);
p[0].setZ(0.0);
p[0].setPointSize(0.25);
p[0].getProperty()->SetColor(1, 0, 0); //Red
p[0].getProperty()->SetOpacity(0.2);
p[1].setX(1.0);
p[1].setY(0.0);
p[1].setZ(0.0);
p[1].setPointSize(0.25);
p[1].getProperty()->SetColor(1, 0, 0);
p[2].setX(0.0);
p[2].setY(1.0);
p[2].setZ(0.0);
p[2].setPointSize(0.25);
p[2].getProperty()->SetColor(0, 1, 0);
p[3].setX(0.0);
p[3].setY(0.0);
p[3].setZ(1.0);
p[3].setPointSize(0.25);
p[3].getProperty()->SetColor(0, 0, 1);
ptObj->lock();
for (int ix1=0; ix1<4; ix1++) {
ptObj->addPoint(p[ix1]);
}
// Add 100 semi-transparent spheres.
for (int ix1=2; ix1<12; ix1++) {
for (int ix2=2; ix2<12; ix2++) {
pp[ix1-2][ix2-2].setX(ix1);
pp[ix1-2][ix2-2].setY(ix2);
pp[ix1-2][ix2-2].setZ(2);
pp[ix1-2][ix2-2].setPointSize(0.25);
pp[ix1-2][ix2-2].getProperty()->SetColor(0,1,0);
pp[ix1-2][ix2-2].getProperty()->SetOpacity(0.2);
ptObj->addPoint(pp[ix1-2][ix2-2]);
}
}
ptObj->Modified();
ptObj->unlock();
}
m_lookupTable->SetHueRange(0.5, 1.0);
m_lookupTable->SetSaturationRange(0.5, 1.0);
m_lookupTable->SetValueRange(0.5, 1.0);
m_imgMapToColors->SetOutputFormatToRGB();
m_imgMapToColors->SetLookupTable(m_lookupTable);
}
if (m_cath[0]) {
rtCathDataObject* ptObj = static_cast<rtCathDataObject*>(rtBaseHandle::instance().getObjectWithID(m_cath[0]));
if (!ptObj) {
emit sendOutput("Could Not Get 1 Coil Catheter Object! FAIL!");
} else {
emit sendOutput("Setting Cath Data...");
ptObj->lock();
int c1 = ptObj->addCoil(0);
ptObj->setCoilCoords(c1, 1.5, 1.5, 1.5);
ptObj->addCathProperty("SNR");
ptObj->setCoilPropValue(c1,"SNR",50);
ptObj->Modified();
ptObj->unlock();
}
}
if (m_cath[1]) {
rtCathDataObject* ptObj = static_cast<rtCathDataObject*>(rtBaseHandle::instance().getObjectWithID(m_cath[1]));
if (!ptObj) {
emit sendOutput("Could Not Get 2 Coil Catheter Object! FAIL!");
} else {
emit sendOutput("Setting Cath Data...");
ptObj->lock();
int c1 = ptObj->addCoil(0);
int c2 = ptObj->addCoil(1);
ptObj->setCoilCoords(c1, 1.5, 1.5, 1.5);
ptObj->addCathProperty("SNR");
ptObj->setCoilPropValue(c1,"SNR",50);
ptObj->setCoilCoords(c2, 13.2, 7.5, 2.5);
ptObj->setCoilPropValue(c2,"SNR",25);
ptObj->Modified();
ptObj->unlock();
}
}
if (m_cath[2]) {
rtCathDataObject* ptObj = static_cast<rtCathDataObject*>(rtBaseHandle::instance().getObjectWithID(m_cath[2]));
if (!ptObj) {
emit sendOutput("Could Not Get 5 Coil Catheter Object! FAIL!");
} else {
emit sendOutput("Setting Cath Data...");
ptObj->lock();
int c1 = ptObj->addCoil(0);
int c2 = ptObj->addCoil(0);
int c3 = ptObj->addCoil(1);
int c4 = ptObj->addCoil(2);
int c5 = ptObj->addCoil(3);
ptObj->addCathProperty("SNR");
ptObj->setCoilCoords(c1, 1.5, 1.5, 1.5);
ptObj->setCoilPropValue(c1,"SNR",50);
ptObj->setCoilCoords(c2, 1.6, 1.4, 1.3);
ptObj->setCoilPropValue(c2,"SNR",25);
ptObj->setCoilCoords(c3, 13.2, 7.5, 2.5);
ptObj->setCoilPropValue(c3,"SNR",80);
ptObj->setCoilCoords(c4, 22.5, 9.0, 7.0);
ptObj->setCoilPropValue(c4,"SNR",30);
ptObj->setCoilCoords(c5, 27.3, 11.2, 9.1);
ptObj->setCoilPropValue(c5,"SNR",10);
ptObj->Modified();
ptObj->unlock();
}
}
if (m_smallVol >= 0) {
rt3DVolumeDataObject* ptObj = static_cast<rt3DVolumeDataObject*>(rtBaseHandle::instance().getObjectWithID(m_smallVol));
if (!ptObj) {
emit sendOutput("Could Not Get Small Volume Object! FAIL!");
} else {
emit sendOutput("Load Small Volume Data...");
vtkImageSinusoidSource* sinSrc = vtkImageSinusoidSource::New();
sinSrc->SetWholeExtent(0,127, 0, 127, 0, 127);
sinSrc->SetDirection(1, 2, 3);
sinSrc->SetPeriod(25);
sinSrc->SetPhase(1);
sinSrc->SetAmplitude(10);
sinSrc->Update();
ptObj->lock();
ptObj->copyNewImageData(sinSrc->GetOutput());
ptObj->translateData(200, 20, 2);
ptObj->getTransform()->RotateX(25); // Rotate around X 25 degrees
ptObj->Modified();
ptObj->unlock();
sinSrc->Delete();
}
}
if (m_2DPlane >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlane));
if (!ptObj) {
emit sendOutput("Could Not Get 2D Plane Object! FAIL!");
} else {
emit sendOutput("Load 2D Plane Data...");
vtkImageSinusoidSource* sinSrc = vtkImageSinusoidSource::New();
vtkImageShiftScale *shift = vtkImageShiftScale::New();
sinSrc->SetWholeExtent(0,255, 0, 255, 0, 0);
sinSrc->SetDirection(1, 2, 3);
sinSrc->SetPeriod(30);
sinSrc->SetPhase(1);
sinSrc->SetAmplitude(10);
sinSrc->Update();
shift->SetInput(sinSrc->GetOutput());
shift->SetOutputScalarType(VTK_UNSIGNED_CHAR);
shift->SetShift(20);
shift->Update();
ptObj->lock();
ptObj->getTransform()->Translate(20, 200, 2);
ptObj->getTransform()->RotateX(25);
ptObj->getTransform()->RotateY(25);
ptObj->getTransform()->RotateZ(25);
ptObj->copyImageData2D(shift->GetOutput());
ptObj->Modified();
ptObj->unlock();
sinSrc->Delete();
}
}
if (m_2DPlaneColor >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlaneColor));
if (!ptObj) {
emit sendOutput("Could Not Get 2D Color Plane Object! FAIL!");
} else {
emit sendOutput("Load 2D Color Plane Data...");
vtkImageSinusoidSource* sinSrc = vtkImageSinusoidSource::New();
vtkPNGReader *pngReader = vtkPNGReader::New();
pngReader->SetFileName( m_pngFileName.toStdString().c_str() );
pngReader->SetNumberOfScalarComponents(3);
pngReader->SetDataScalarType(VTK_UNSIGNED_CHAR);
pngReader->Update();
ptObj->lock();
ptObj->getTransform()->Translate(100, 300, 2);
ptObj->getTransform()->RotateX(25);
ptObj->getTransform()->RotateY(25);
ptObj->getTransform()->RotateZ(25);
ptObj->copyImageData2D(pngReader->GetOutput());
ptObj->Modified();
ptObj->unlock();
sinSrc->Delete();
}
}
if (m_2DPlane16 >= 0) {
rt2DSliceDataObject* ptObj = static_cast<rt2DSliceDataObject*>(rtBaseHandle::instance().getObjectWithID(m_2DPlane16));
if (!ptObj) {
emit sendOutput("Could Not Get 2D 16-bit Plane Object! FAIL!");
} else {
emit sendOutput("Load 2D 16-bit Plane Data...");
vtkDICOMImageReader *dcmReader = vtkDICOMImageReader::New();
dcmReader->SetFileName( m_dicomFileName.toStdString().c_str() );
dcmReader->SetNumberOfScalarComponents(1);
dcmReader->SetDataScalarType(VTK_UNSIGNED_SHORT);
dcmReader->Update();
ptObj->lock();
ptObj->getTransform()->Translate(100, 300, 2);
ptObj->getTransform()->RotateX(25);
ptObj->getTransform()->RotateY(25);
ptObj->getTransform()->RotateZ(25);
ptObj->copyImageData2D(dcmReader->GetOutput());
ptObj->Modified();
ptObj->unlock();
}
}
if (m_matrix >= 0) {
rtMatrixDataObject* ptObj = static_cast<rtMatrixDataObject*>(rtBaseHandle::instance().getObjectWithID(m_matrix));
if (!ptObj) {
emit sendOutput("Could Not Get Matrix Object! FAIL!");
} else {
emit sendOutput("Load Matrix Orientation...");
ptObj->lock();
ptObj->getTransform()->RotateX(25);
ptObj->getTransform()->RotateY(25);
ptObj->getTransform()->RotateZ(25);
ptObj->Modified();
ptObj->unlock();
}
}
if (m_polyObj>=0) {
rtPolyDataObject* ptObj = static_cast<rtPolyDataObject*>(rtBaseHandle::instance().getObjectWithID(m_polyObj));
if (!ptObj) {
emit sendOutput("Could Not Get Poly Object! FAIL!");
} else {
emit sendOutput("Load Poly Object Surfaces...");
rtBasic3DPointData tempPt;
rtPolyDataObject::PolyPointLink tempLink;
QList<rtBasic3DPointData> ptList;
QList<rtPolyDataObject::PolyPointLink> linkList;
tempPt.setX(0.0);
tempPt.setY(0.0);
tempPt.setZ(0.0);
tempPt.setColor(1.0, 0.0, 0.0);
ptList.push_back(tempPt);
tempPt.setX(10.0);
tempPt.setY(0.0);
tempPt.setZ(0.0);
tempPt.setColor(0.0, 1.0, 0.0);
ptList.push_back(tempPt);
tempPt.setX(0.0);
tempPt.setY(10.0);
tempPt.setZ(0.0);
tempPt.setColor(0.0, 0.0, 1.0);
ptList.push_back(tempPt);
tempPt.setX(15.0);
tempPt.setY(15.0);
tempPt.setZ(-10.0);
tempPt.setColor(1.0, 0.0, 0.0);
ptList.push_back(tempPt);
tempPt.setX(0.0);
tempPt.setY(0.0);
tempPt.setZ(-10.0);
tempPt.setColor(0.5, 0.5, 0.5);
ptList.push_back(tempPt);
tempLink.threeVertex[0] = 0;
tempLink.threeVertex[1] = 1;
tempLink.threeVertex[2] = 2;
linkList.push_back(tempLink);
tempLink.threeVertex[0] = 3;
tempLink.threeVertex[1] = 1;
tempLink.threeVertex[2] = 2;
linkList.push_back(tempLink);
tempLink.threeVertex[0] = 1;
tempLink.threeVertex[1] = 0;
tempLink.threeVertex[2] = 4;
linkList.push_back(tempLink);
tempLink.threeVertex[0] = 2;
tempLink.threeVertex[1] = 0;
tempLink.threeVertex[2] = 4;
linkList.push_back(tempLink);
ptObj->lock();
emit sendOutput("Load Poly Object Geometry...");
ptObj->setNewGeometry(&ptList, &linkList);
emit sendOutput("Done Loading Poly Object Geometry...");
ptObj->Modified();
ptObj->unlock();
}
}
if (m_ctf>=0) {
rtColorFuncDataObject* ptObj = static_cast<rtColorFuncDataObject*>(rtBaseHandle::instance().getObjectWithID(m_ctf));
if (!ptObj) {
emit sendOutput("Could Not Get Color Transfer Function! FAIL!");
} else {
emit sendOutput("Load Color Function Points...");
vtkColorTransferFunction* temp = vtkColorTransferFunction::New();
temp->SetColorSpaceToRGB();
temp->RemoveAllPoints();
temp->AddRGBPoint(0.0, 0.0, 0.0, 0.0);
temp->AddRGBPoint(255.0, 1.0, 1.0, 1.0);
// Send the color function to the object.
ptObj->lock();
ptObj->setColorFunction(temp);
ptObj->Modified();
ptObj->unlock();
temp->Delete();
}
}
if (m_ctfGreen>=0) {
rtColorFuncDataObject* ptObj = static_cast<rtColorFuncDataObject*>(rtBaseHandle::instance().getObjectWithID(m_ctfGreen));
if (!ptObj) {
emit sendOutput("Could Not Get Color Transfer Function! FAIL!");
} else {
emit sendOutput("Load Color Function Points...");
vtkColorTransferFunction* temp = vtkColorTransferFunction::New();
temp->SetColorSpaceToRGB();
temp->RemoveAllPoints();
temp->AddRGBPoint(0.0, 0.0, 0.0, 0.0);
temp->AddRGBPoint(255.0, 0.1, 1.0, 0.1);
// Send the color function to the object.
ptObj->lock();
ptObj->setColorFunction(temp);
ptObj->Modified();
ptObj->unlock();
temp->Delete();
}
}
if (m_ctfTraffic >= 0)
{
rtColorFuncDataObject* ptObj = static_cast<rtColorFuncDataObject*>(rtBaseHandle::instance().getObjectWithID(m_ctfTraffic));
if (!ptObj) {
emit sendOutput("Could Not Get Color Transfer Function! FAIL!");
} else {
emit sendOutput("Load Color Function Points...");
vtkColorTransferFunction* temp = vtkColorTransferFunction::New();
temp->SetColorSpaceToRGB();
temp->RemoveAllPoints();
temp->AddRGBPoint(0.0,1.0,0.0,0.0,0.5,1.0);
temp->AddRGBPoint(30.0,1.0,1.0,0.0,0.5,1.0);
temp->AddRGBPoint(60.0,0.0,1.0,0.0,0.5,1.0);
// Send the color function to the object.
ptObj->lock();
ptObj->setColorFunction(temp);
ptObj->Modified();
ptObj->unlock();
temp->Delete();
}
if (m_piece>=0) {
rtPieceFuncDataObject* ptObj = static_cast<rtPieceFuncDataObject*>(rtBaseHandle::instance().getObjectWithID(m_piece));
if (!ptObj) {
emit sendOutput("Could Not Get Color Transfer Function! FAIL!");
} else {
emit sendOutput("Load Color Function Points...");
vtkPiecewiseFunction* temp = vtkPiecewiseFunction::New();
temp->RemoveAllPoints();
temp->AddPoint(0.0, 0.0);
temp->AddPoint(255.0, 1.0);
// Send the color function to the object.
ptObj->lock();
ptObj->setPiecewiseFunction(temp);
ptObj->Modified();
ptObj->unlock();
temp->Delete();
}
}
m_imgChange.start();
// Start the event loop.
exec();
m_imgChange.stop();
emit sendOutput("-------- End Basic Test ---------");
}
}
void go() {
if (0 != m_Period) {
sendOutput( ((m_Counter++) % m_Period) < (m_Period/2) ? m_Amplitude : 0.0 );
}
}
int main(void) {
static uint8_t buffer[BufferSize + 1];
int8_t i;
uint8_t message[4] = { 0, 0, CID, P2CID };
uint16_t received;
snesIO port0 = 0xffff, port1 = 0xffff;
// Initialise basic I/O.
initLed();
initInput();
initOutput();
// Switched mode: B + Y.
port0 = recvInput();
if (port0 == 0xfffc) {
switchedMode = Enabled;
ledSignal(5);
}
ledOnRed();
// Initialise network interface.
enc28j60Init(mymac);
_delay_ms(100);
// Magjack leds configuration, see enc28j60 datasheet, page 11
// LEDB=yellow LEDA=green
// 0x476 is PHLCON LEDA=links status, LEDB=receive/transmit
// enc28j60PhyWrite(PHLCON,0b0000 0100 0111 01 10);
enc28j60PhyWrite(PHLCON, 0x476);
_delay_ms(100);
// Get the initial IP via DHCP and configure network.
init_mac(mymac);
while (i != 1) {
received = enc28j60PacketReceive(BufferSize, buffer);
buffer[BufferSize] = '\0';
i = packetloop_dhcp_initial_ip_assignment(buffer, received, mymac[5]);
}
dhcp_get_my_ip(myip, netmask, gwip);
client_ifconfig(myip, netmask);
// Resolve MAC address from server IP.
if (route_via_gw(serverip)) // Must be routed via gateway.
get_mac_with_arp(gwip, TransNumGwmac, &arpresolverResultCallback);
else // Server is on local network.
get_mac_with_arp(serverip, TransNumGwmac, &arpresolverResultCallback);
while (get_mac_with_arp_wait()) {
received = enc28j60PacketReceive(BufferSize, buffer);
// Call packetloop to process ARP reply.
packetloop_arp_icmp_tcp(buffer, received);
}
// Lookup DNS of the server hostname.
while (dnslkup_haveanswer() != 1) {
uint16_t tmp;
received = enc28j60PacketReceive(BufferSize, buffer);
tmp = packetloop_arp_icmp_tcp(buffer, received);
if (received == 0) {
if (!enc28j60linkup()) continue;
dnslkup_request(buffer, ServerVHost, gwmac);
_delay_ms(100);
continue;
}
if (tmp == 0)
udp_client_check_for_dns_answer(buffer, received);
}
dnslkup_get_ip(serverip);
ledOnGreen(); // Connected.
while (1) { // Main loop start.
received = enc28j60PacketReceive(BufferSize, buffer);
// Software reset: L + R + Select + Start.
if (port0 == 0xf3f3) reset();
// Do something while no packet in queue.
if (received == 0) {
port0 = recvInput();
// Prepare message and send it to the server.
for (i = 0; i < 8; i++) { // Lo-Byte.
char *c = message;
*c = port0 & (1 << i)
? *c | (1 << i)
: *c & ~(1 << i);
}
for (i = 0; i < 8; i++) { // Hi-Byte.
char *c = message + 1;
*c = port0 & (1 << i + 8)
? *c | (1 << i)
: *c & ~(1 << i);
}
send_udp(buffer, message, sizeof(message), 57351, serverip, 57350, gwmac);
// Send controller data to SNES.
if (switchedMode == Disabled)
sendOutput(port0, port1);
else
sendOutput(port1, port0);
continue;
}
// Answer to ARP requests.
if (eth_type_is_arp_and_my_ip(buffer, received)) {
make_arp_answer_from_request(buffer, received);
continue;
}
// Check if IP packets (ICMP or UDP) are for us.
if (eth_type_is_ip_and_my_ip(buffer, received) == 0)
continue;
// Answer ping with pong.
if (
buffer[IP_PROTO_P] == IP_PROTO_ICMP_V &&
buffer[ICMP_TYPE_P] == ICMP_TYPE_ECHOREQUEST_V) {
make_echo_reply_from_request(buffer, received);
continue;
}
// Listen for UDP packets on port 57351 (0xe007) and process
// received data.
if (
buffer[IP_PROTO_P] == IP_PROTO_UDP_V &&
buffer[UDP_DST_PORT_H_P] == 0xe0 &&
buffer[UDP_DST_PORT_L_P] == 0x07) {
for (i = 0; i < 8; i++) {
uint16_t *c = &port1;
*c = buffer[UDP_DATA_P] & (1 << i)
? *c | (1 << i)
: *c & ~(1 << i);
}
for (i = 0; i < 8; i++) {
uint16_t *c = &port1;
*c = buffer[UDP_DATA_P + 1] & (1 << i)
? *c | (1 << i + 8)
: *c & ~(1 << i + 8);
}
}
} // Main loop end.
return (0);
}
void receive(double input) {
m_Output = m_Alpha * input + (1.0 - m_Alpha) * m_Output;
sendOutput( m_Ampli * m_Output );
}
void AudioAnalyzer::update(){
if ( cinder::app::getElapsedSeconds() < 0.5 ) {
return;
}
// Get buffer
mBuffer = mInput.getPcmBuffer();
//mBuffer = mTrack->getPcmBuffer();
if(mBuffer && mBuffer->getInterleavedData()){
// Get sample count
uint32_t sampleCount = mBuffer->getInterleavedData()->mSampleCount;
if(sampleCount > 0){
// Kiss is not initialized
if(!mFft){
// Initialize analyzer
mFft = Kiss::create( sampleCount );
// Set filter on FFT to calculate tempo based on beats
mFft->setFilter( range, Kiss::Filter::LOW_PASS );
}
// Analyze data
if(mBuffer->getInterleavedData()->mData != 0){
// Set FFT data
mInputData = mBuffer->getInterleavedData()->mData;
mInputSize = mBuffer->getInterleavedData()->mSampleCount;
mFft->setData( mInputData );
// Get data
mTimeData = mFft->getData();
mDataSize = mFft->getBinSize();
// Iterate through amplitude data
for ( int32_t i = 0; i < mDataSize; i++, mSampleDistance++ ) {
// Check value against threshold
if ( mTimeData[ i ] >= mThreshold ) {
// Determine neighbor range
int32_t start = math<int32_t>::max( i - mNeighbors, 0 );
int32_t end = math<int32_t>::min( i + mNeighbors, mDataSize - 1 );
// Compare this value with neighbors to find peak
bool peak = true;
for ( int32_t j = start; j < end; j++ ) {
if ( j != i && mTimeData[ i ] <= mTimeData[ j ] ) {
peak = false;
break;
}
}
// This is a peak
if ( peak ) {
// Add distance between this peak and last into the
// list. Just note position if this is the first peak.
if ( mFirstPeak >= 0 ) {
mPeakDistances.push_back( mSampleDistance );
} else {
mFirstPeak = mSampleDistance;
}
// Reset distance counter
mSampleDistance = 0;
sendOutput(TTAudioInputType_Peak, 1.0);
}else{
sendOutput(TTAudioInputType_Peak, 0.0);
}
}
}
}
}
// We have multiple peaks to compare
if(mPeakDistances.size() > 1){
// Add distances
int32_t total = 0;
uint32_t peakCount = mPeakDistances.size();
for ( uint32_t i = 0; i < peakCount; i++ ) {
total += mPeakDistances[ i ];
}
// Determine tempo based on average peak distance
mTempo = total > 0 ? ( 44100.0f / ( (float)total / (float)mPeakDistances.size() ) ) * 60.0f / 1000.0f : 0.0f;
}
// Add up values, combine input and filtered values
// to emphasize bass
float total = 0.0f;
for ( int32_t i = 0; i < mDataSize; i++ ) {
if ( i * 8 < mInputSize ) {
total += mTimeData[ i ] * 2.0f * mInputData[ i * 8 ];
}
}
// Add average to drawing line
mWaveform.push_back( total / (float)mDataSize );
sendOutput(TTAudioInputType_Wave, total / (float)mDataSize);
// Remove points when vector is getting large
while ( mWaveform.size() >= maxDataPoints ) {
mWaveform.erase( mWaveform.begin() );
}
if(mFft){
std::vector<float> fftvalues;
float *data = mFft->getAmplitude();
int sampleSize = mFft->getBinSize();
for ( int32_t n = 0; n < sampleSize && n < 128; ++n ){
fftvalues.push_back(data[n]);
}
for ( int32_t i = 0; i < mDataSize && i < 256; i++ ) {
fftvalues.push_back(mInputData[i]);
}
sendFFt(fftvalues);
}
}
}
void MainWindow::on_pushButtons_3_clicked()
{
if(!QFile(ui->input_folder->text()).exists() || ui->input_folder->text().isEmpty())
{
msgBox = new QMessageBox(this);
msgBox->setText("Input file doesn't exists!");
msgBox->show();
}else if(!QDir(ui->output_folder->text()).exists())
{
msgBox = new QMessageBox(this);
msgBox->setText("Output directory doesn't exists!");
msgBox->show();
}else if(!ui->sfbx->isChecked() && !ui->sg3db->isChecked() && !ui->sg3dj->isChecked())
{
msgBox = new QMessageBox(this);
msgBox->setText("Please select a file output type!");
msgBox->show();
}else
{
//START PROCESSING
processingDialog->show();
if(ui->sflipV->isChecked()) arguments << "-f";
if(ui->spackC->isChecked()) arguments << "-p";
if(ui->sshowLog->isChecked()) arguments << "-v";
arguments << "-m" << QString::number(ui->smaxM->value());
arguments << "-b" << QString::number(ui->smaxB->value());
arguments << "-w" << QString::number(ui->smaxW->value());
arguments << "-o";
if(ui->sfbx->isChecked())
{
arguments<<"fbx";
arguments<<ui->sinput_folder->text();
arguments<<(ui->soutput_folder->text()+"\\")+(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".fbx");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".fbx", process->readAll());
arguments.removeLast();arguments.removeLast();arguments.removeLast();
}
if(ui->sg3db)
{
arguments<<"g3db";
arguments<<ui->sinput_folder->text();
arguments<<(ui->soutput_folder->text()+"\\")+(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".g3db");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".g3db", process->readAll());
arguments.removeLast();arguments.removeLast();arguments.removeLast();
}
if(ui->g3dj)
{
arguments<<"g3dj";
arguments<<ui->sinput_folder->text();
arguments<<(ui->soutput_folder->text()+"\\")+(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".g3dj");
process = new QProcess(this);
process->start(QDir::currentPath()+"\\fbx-conv-win32-win32.exe", arguments);
process->waitForFinished(-1);
emit sendOutput(QFileInfo(QFile(ui->sinput_folder->text())).baseName()+".g3dj", process->readAll());
arguments.removeLast();arguments.removeLast();arguments.removeLast();
}
arguments.clear();
processingDialog->hide();
if(output->isHidden())
output->show();
}
}
