bool EpicNavigationNodeHarmonic::srvSetCells(epic::SetCells::Request &req, epic::SetCells::Response &res)
{
if (!init_alg) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::srvSetCells]: Algorithm was not initialized.");
res.success = false;
return false;
}
std::vector<unsigned int> v;
std::vector<unsigned int> types;
for (unsigned int i = 0; i < req.types.size(); i++) {
// Note: For the SetCells service, these are assigning the raw cells, not picking world coordinates.
// Thus, no worldToMap translation is required.
unsigned int x = req.v[2 * i + 0];
unsigned int y = req.v[2 * i + 1];
if (x >= width || y >= height) {
continue;
}
v.push_back((unsigned int)req.v[2 * i + 0]);
v.push_back((unsigned int)req.v[2 * i + 1]);
types.push_back((unsigned int)req.types[i]);
}
setCells(v, types);
v.clear();
types.clear();
res.success = true;
return true;
}
bool EpicNavigationNodeHarmonic::srvResetFreeCells(epic::ResetFreeCells::Request &req, epic::ResetFreeCells::Response &res)
{
if (!init_alg) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::srvResetFreeCells]: Algorithm was not initialized.");
res.success = false;
return false;
}
std::vector<unsigned int> v;
std::vector<unsigned int> types;
for (unsigned int y = 1; y < height - 1; y++) {
for (unsigned int x = 1; x < width - 1; x++) {
if (harmonic.locked[y * width + x] == 0) {
v.push_back(x);
v.push_back(y);
types.push_back(EPIC_CELL_TYPE_FREE);
}
}
}
setCells(v, types);
v.clear();
types.clear();
res.success = true;
return true;
}
/**
* Initialize SDL
*
* @param int rows the number of rows that will be displayed
* @param int cols the number of columns that will be displayed
* @param int i the time interval in milliseconds after which the next
* generation is drawn
* @param ConwaysGameOfLife *cgol pointer to the object that encapsulates the
* game's actual logic
* @param positions_t positions the first generation of cells to be displayed
*
* @throws SDLException if SDL coudn't be initialized
*
* @see{
* game::getWindowSize
* }
*
* TODO: allow the user to draw his own pattern using the mouse at the start
* A nice feature for this would be to highlight the cell under the and only
* set it if the user clicks on it
*/
Game::Game(int rows, int cols, unsigned int i, SDL_Color acolor,
SDL_Color dcolor, ConwaysGameOfLife *cgol, positions_t pos)
: no_rows(rows), no_columns(cols), interval(i), life(cgol){
if(SDL_Init(SDL_INIT_VIDEO) < 0){
throw SDLException("Couldn't initialize SDL!");
}
const SDL_VideoInfo* vinfo = SDL_GetVideoInfo();
unsigned int length = std::min(vinfo->current_w, vinfo->current_h) - 50;
setCellSideLength(length);
SDL_Rect size = getWindowSize(length);
screen = SDL_SetVideoMode(size.w, size.h, vinfo->vfmt->BitsPerPixel, flags);
if(screen == nullptr){
throw SDLException("Couldn't set SDL video mode!");
}
alive_color = SDL_MapRGB(vinfo->vfmt, acolor.r, acolor.g, acolor.b);
dead_color = SDL_MapRGB(vinfo->vfmt, dcolor.r, dcolor.g, dcolor.b);
std::vector<SDL_Rect> rects = setCells(pos, alive_color);
SDL_UpdateRects(screen, rects.size(), rects.data());
running = true;
}
bool EpicNavigationNodeHarmonic::srvRemoveGoals(epic::ModifyGoals::Request &req, epic::ModifyGoals::Response &res)
{
if (!init_alg) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::srvRemoveGoals]: Algorithm was not initialized.");
res.success = false;
return false;
}
std::vector<unsigned int> v;
std::vector<unsigned int> types;
// Note: Removing goals turns them into free space. Recall, however, that goals can
// only be added on free space (above).
for (unsigned int i = 0; i < req.goals.size(); i++) {
float x = 0.0f;
float y = 0.0f;
if (!worldToMap(req.goals[i].pose.position.x, req.goals[i].pose.position.y, x, y)) {
continue;
}
v.push_back((unsigned int) x);
v.push_back((unsigned int) y);
types.push_back(EPIC_CELL_TYPE_FREE);
}
setCells(v, types);
v.clear();
types.clear();
res.success = true;
return true;
}
void MeshPartition::setRemainder(const MeshPartition& part)
{
setGrid(part.getGrid());
QVector<vtkIdType> rcells;
getRestCells(m_Grid, part.m_Cells, rcells);
setCells(rcells);
}
void MeshPartition::setVolume(QString volume_name)
{
m_Grid = GuiMainWindow::pointer()->getGrid();
resetOrientation(m_Grid);
VolumeDefinition V = GuiMainWindow::pointer()->getVol(volume_name);
QList<vtkIdType> cls;
EG_VTKDCC(vtkIntArray, cell_code, m_Grid, "cell_code");
EG_VTKDCC(vtkIntArray, cell_orgdir, m_Grid, "cell_orgdir");
EG_VTKDCC(vtkIntArray, cell_curdir, m_Grid, "cell_curdir");
EG_VTKDCC(vtkIntArray, cell_voldir, m_Grid, "cell_voldir");
for (vtkIdType id_cell = 0; id_cell < m_Grid->GetNumberOfCells(); ++id_cell) {
if (isSurface(id_cell, m_Grid)) {
int bc = cell_code->GetValue(id_cell);
cell_voldir->SetValue(id_cell, 0);
if (V.getSign(bc) != 0) {
cls.append(id_cell);
if (V.getSign(bc) == -1) {
cell_voldir->SetValue(id_cell, 1);
}
}
} else {
if (cell_code->GetValue(id_cell) == V.getVC()) {
cls.append(id_cell);
}
}
}
setCells(cls);
}
void HTMLTable::addCell( HTMLTableCell *cell )
{
while ( col < totalCols && cells[row][col] != 0L )
col++;
setCells( row, col, cell );
col++;
}
SpriteSheet::SpriteSheet(const std::string& filename, unsigned int rows, unsigned int columns) :
Picture{filename}
{
m_callback.widgetType = "SpriteSheet";
setCells(rows, columns);
if ((rows > 1) || (columns > 1))
setSize(m_texture.getImageSize().x / columns, m_texture.getImageSize().y / rows);
}
void CellsMover::undoMoveCells(const TPoint &pos) const {
TXsheet *xsh = getXsheet();
int r = pos.y;
int c = pos.x;
if (m_qualifiers & eInsertCells) {
for (int i = 0; i < m_colCount; i++) xsh->removeCells(r, c + i, m_rowCount);
} else {
for (int i = 0; i < m_colCount; i++) xsh->clearCells(r, c + i, m_rowCount);
if (m_qualifiers & eOverwriteCells) setCells(m_oldCells, r, c);
}
}
/******************************************************************************
* Class AccountPage :: AccountPage - Constructor for the account page *
* *
* Define yourself as an IMultiCellCanvas *
* Create generic page buttons *
* Create generic page container buttons *
* Create static text for the user ID *
* Create static text for the node *
* Create entryfield for the user ID *
* Create entryfield for the node *
* Define a null container pointer *
* Define a null container object pointer *
* Define a null container column pointer *
* Define a null container column pointer *
* Create an account data object given the key *
* Create a empty account data object *
* Set the key in your private data *
* Set the isQuery in your private data *
* Create the notebook page settings *
* Create a select handler and later attach to the container *
******************************************************************************/
AccountPage::AccountPage( IWindow* pParent,
const IString& aKey )
:IMultiCellCanvas ( ID_ACCOUNT_PAGE, pParent, pParent ),
pageButtons ( ID_ACCOUNT_PAGE_BUTTONS, this, this, false ),
pageCnrButtons ( ID_ACCOUNT_PAGE_CNRBUTTONS,
this, this, false ),
userIdText ( ID_NO_ITEM, this, this ),
nodeSysText ( ID_NO_ITEM, this, this ),
userId ( ID_ACC_USERID_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle
| IControl::tabStop),
nodeSys ( ID_ACC_NODESYS_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle
| IControl::tabStop ),
pCnr ( (IContainerControl*) NULL ),
pAcctCnrObj ( (AcctCnrObj*) NULL ),
pColUserID ( (IContainerColumn*) NULL ),
pColNodeSys ( (IContainerColumn*) NULL ),
acctData ( aKey ),
origAcctData (),
Key ( aKey ),
isAquery ( false ),
thePageSettings ( IApplication::current().userResourceLibrary().
loadString( STR_ACC_ACCOUNT_TAB ), NULL,
INotebook::PageSettings::autoPageSize
| INotebook::PageSettings::majorTab ),
cnrSelHandler ( this )
{
/*-----------------------------------------------------------------------------
| Save the account data to another object in case the user wishes to |
| undo any changes. |
| Label the static text objects. |
| Set the limit for the entryfields. |
-----------------------------------------------------------------------------*/
origAcctData = acctData;
userIdText.setText( STR_ACC_USERID );
nodeSysText.setText( STR_ACC_NODESYS );
userId.setLimit( DISPLAY_LARGE );
nodeSys.setLimit( DISPLAY_LARGE );
/*-----------------------------------------------------------------------------
| Fill the container from the database. |
| Set the objects on yourself (IMultiCellCanvas). |
| Start handling the events. |
-----------------------------------------------------------------------------*/
fillCnr();
setCells();
handleIt();
};
void MeshPartition::setGrid(vtkUnstructuredGrid *grid, bool use_all_cells)
{
m_TrackGrid = false;
resetTimeStamps();
m_Grid = grid;
if (use_all_cells) {
QVector<vtkIdType> cls(grid->GetNumberOfCells());
for (vtkIdType id_cell = 0; id_cell < cls.size(); ++id_cell) {
cls[id_cell] = id_cell;
}
setCells(cls);
}
}
/**
* Actually run the game:
* process events, advance through generations and draw the cells
*
* @see{
* Game::setCell
* Game::setCells
* Game::processEvent
* }
*/
void Game::run(){
SDL_Event event;
while(running){
while(SDL_PollEvent(&event)){
processEvent(&event);
}
std::pair<positions_t, positions_t> positions = life->evolve();
std::vector<SDL_Rect> cell_rects(setCells(positions.first, alive_color));
std::vector<SDL_Rect> dead_cell_rects(
setCells(positions.second, dead_color));
cell_rects.insert(cell_rects.end(), dead_cell_rects.begin(),
dead_cell_rects.end());
SDL_UpdateRects(screen, cell_rects.size(), cell_rects.data());
SDL_Delay(interval);
}
}
//
// xsheet <- m_cells; insert cells if qualifiers contain eInsertCells
//
void CellsMover::moveCells(const TPoint &pos) const {
int r = pos.y;
int c = pos.x;
TXsheet *xsh = getXsheet();
if (m_qualifiers & eInsertCells) {
for (int i = 0; i < m_colCount; i++) {
TXshColumn *column = xsh->getColumn(c + i);
if (column) {
if (column->getCellColumn() == 0 || column->isLocked()) continue;
xsh->insertCells(r, c + i, m_rowCount);
}
}
}
setCells(m_cells, r, c);
}
void EpicNavigationNodeHarmonic::subOccupancyGrid(const nav_msgs::OccupancyGrid::ConstPtr &msg)
{
// If the size changed, then free everything and start over.
// Note we don't care if the resolution or offsets change.
if (msg->info.width != width || msg->info.height != height) {
uninitAlg();
initAlg(msg->info.width, msg->info.height);
}
if (!init_alg) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::subOccupancyGrid]: Algorithm was not initialized.");
return;
}
// These only affect the final path, not the path computation.
x_origin = msg->info.origin.position.x;
y_origin = msg->info.origin.position.y;
resolution = msg->info.resolution;
// Copy the data to the Harmonic object.
std::vector<unsigned int> v;
std::vector<unsigned int> types;
for (unsigned int y = 1; y < height - 1; y++) {
for (unsigned int x = 1; x < width - 1; x++) {
if (msg->data[y * width + x] == EPIC_OCCUPANCY_GRID_NO_CHANGE || isCellGoal(x, y)) {
// Do nothing.
} else if (msg->data[y * width + x] >= EPIC_OCCUPANCY_GRID_OBSTACLE_THRESHOLD) {
v.push_back(x);
v.push_back(y);
types.push_back(EPIC_CELL_TYPE_OBSTACLE);
} else {
v.push_back(x);
v.push_back(y);
types.push_back(EPIC_CELL_TYPE_FREE);
}
}
}
setCells(v, types);
v.clear();
types.clear();
}
bool EpicNavigationNodeHarmonic::srvAddGoals(epic::ModifyGoals::Request &req, epic::ModifyGoals::Response &res)
{
if (!init_alg) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::srvAddGoals]: Algorithm was not initialized.");
res.success = false;
return false;
}
std::vector<unsigned int> v;
std::vector<unsigned int> types;
for (unsigned int i = 0; i < req.goals.size(); i++) {
float x = 0.0f;
float y = 0.0f;
worldToMap(req.goals[i].pose.position.x, req.goals[i].pose.position.y, x, y);
// If the goal location is an obstacle, then do not let it add a goal here.
if (isCellObstacle((unsigned int)(x + 0.5f), (unsigned int)(y + 0.5f))) {
continue;
}
v.push_back((unsigned int) x);
v.push_back((unsigned int) y);
types.push_back(EPIC_CELL_TYPE_GOAL);
}
if (v.size() == 0) {
ROS_WARN("Warning[EpicNavigationNodeHarmonic::srvAddGoals]: Attempted to add goal(s) inside obstacles. No goals added.");
res.success = false;
return false;
}
setCells(v, types);
v.clear();
types.clear();
res.success = true;
return true;
}
//*****************************************************************************
// CLASS GeneralPage - Contructor
//*****************************************************************************
GeneralPage :: GeneralPage(IWindow* pParent,
const IString empNum)
: IMultiCellCanvas(ID_GENERAL_PAGE, pParent, pParent),
employeeData(empNum ),
pageButtons(ID_GENERAL_PAGE_BUTTONS,
this,this, false),
employeeIdText (ID_NO_ITEM, this, this ),
lastNameText (ID_NO_ITEM, this, this ),
firstNameText (ID_NO_ITEM, this, this ),
middleNameText (ID_NO_ITEM, this, this ),
intPhoneText (ID_NO_ITEM, this, this ),
extPhoneText (ID_NO_ITEM, this, this ),
roomText (ID_NO_ITEM, this, this ),
deptText (ID_NO_ITEM, this, this ),
bldgText (ID_NO_ITEM, this, this ),
divText (ID_NO_ITEM, this, this ),
mgrEmpNumText (ID_NO_ITEM, this, this ),
mgrEmpNameText (ID_NO_ITEM, this, this ),
employeeId (ID_GEN_EMPLOYEE_ID_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
lastName (ID_GEN_LAST_NAME_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
firstName (ID_GEN_FIRST_NAME_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
middleInitial (ID_GEN_MIDDLE_INITIAL_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
intPhone (ID_GEN_INT_PHONE_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
extPhone (ID_GEN_EXT_PHONE_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
room (ID_GEN_ROOM_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
building (ID_GEN_BUILDING_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
deptName (ID_GEN_DEPT_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
division (ID_GEN_DIVISION_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
employeeType (this),
mgrEmpId (ID_GEN_MGR_EMP_ID_EF, this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
mgrName (ID_GEN_MGR_NAME_EF , this, this,
IRectangle(),
IEntryField::classDefaultStyle |
IControl::tabStop),
Key(empNum),
thePageSettings( IApplication::current().userResourceLibrary().loadString(
STR_GEN_GENERAL_TAB), NULL,
INotebook::PageSettings::autoPageSize
| INotebook::PageSettings::majorTab ),
isAquery(false)
{
// set up the fields
setUp();
if ( employeeId.text().length() )
employeeId.disableDataUpdate();
// set up the page
setCells();
// populate the page from any database info
displayData();
handleIt();
}
void SpriteSheet::setColumns(unsigned int columns)
{
setCells(m_Rows, columns);
}
AbstractGrid::AbstractGrid(int nbCells) {
setNbCells(nbCells);
setCells();
}
void SpriteSheet::setRows(unsigned int rows)
{
setCells(rows, m_Columns);
}