Пример #1
0
ProcessReporter::ProcessReporter(QProcess* process, QString name) :
		mName(name)
{
	CX_ASSERT(process);
	mProcess = process;

	connect(mProcess, SIGNAL(stateChanged(QProcess::ProcessState)), this, SLOT(processStateChanged(QProcess::ProcessState)));
	connect(mProcess, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError)));
	connect(mProcess, SIGNAL(finished(int, QProcess::ExitStatus)), this, SLOT(processFinished(int, QProcess::ExitStatus)));
	connect(mProcess, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
}
Пример #2
0
KegMeterConnection::KegMeterConnection(MainWindow* mainWindow, QObject* parent) :
    QTcpSocket(parent),
    mainWindow(mainWindow) {

    assert(mainWindow != NULL);

    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    QObject::connect(this, SIGNAL(disconnected()), &this->pingTimer, SLOT(stop()));
    QObject::connect(&this->pingTimer, SIGNAL(timeout()), this, SLOT(sendPing()));
    QObject::connect(this, SIGNAL(connected()), this, SLOT(onConnected()));
}
Пример #3
0
Connection::Connection(Identity identity, QObject *parent )
    : QTcpSocket(parent)
{
    m_currentDataType = Undefined;
    m_transferTimerId = 0;
    m_numBytesForCurrentDataType = -1;
    m_identity = identity;
    m_buffer.clear();

    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
Пример #4
0
DkConnection::DkConnection(QObject* parent) : QTcpSocket(parent) {
	
	mNumBytesForCurrentDataType = -1;
	mIsGreetingMessageSent = false;	
	mIsSynchronizeMessageSent = false;
	connectionCreated = false;
	mSynchronizedTimer = new QTimer(this);

	connect(mSynchronizedTimer, SIGNAL(timeout()), this, SLOT(synchronizedTimerTimeout()));
	connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));

	setReadBufferSize(MaxBufferSize);
}
Пример #5
0
Connection::Connection(QObject *parent) :
    QTcpSocket(parent)
{
    m_connectedMessage = tr("Unknow");
    m_userName = tr("Unknown Name");
//    m_localHostName = localHostName();
//    m_localHostAddress = peerAddress().toString();
//    m_localHostPort = QString::number(peerPort());

    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    QObject::connect(this, SIGNAL(disconnected()), this, SLOT(stop()));
    connect(this, SIGNAL(connected()), this, SLOT(connected()));

}
Пример #6
0
Connection::Connection(QObject *parent)
    : QTcpSocket(parent)
{
    greetingMessage = tr("undefined");
    username = tr("unknown");
    state = Waiting;
    currentDataType = Undefined;
    numBytesForCurrentDataType = -1;
    transferTimerId = 0;
    isGreetingMessageSent = false;

    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
    QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
Пример #7
0
// ChatConnection初始化和信号槽连接
ChatConnection::ChatConnection(QObject *parent) :
    QTcpSocket(parent)
{
    this->greetingMessage = QObject::tr("undefined");
    this->userName = QObject::tr("unknown");
    this->state = WaitingForGreeting;
    this->currentDataType = UNDEFINED;
    this->numBytesForCurrentDataType = -1;
    this->transferTimerId = 0;
    this->isGreetingMessageSent = false;

    connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
    connect(this, SIGNAL(disconnected()), this, SLOT(handleDisconnected()));
    connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(handleSocketError(QAbstractSocket::SocketError)));

}
Пример #8
0
Connection::Connection(QObject *parent) :
    QTcpSocket(parent)
{
    greetingMessage = tr("undefined");
    username = tr("unknown");
    state = WaitingForGreeting;
    currentDataType = Undefined;
    numBytesForCurrentDataType = -1;
    transferTimerId = 0;
    isGreetingMessageSent = false;
    pingTimer.setInterval(PingInterval);

    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    QObject::connect(this, SIGNAL(disconnected()), &pingTimer, SLOT(stop()));
    QObject::connect(&pingTimer, SIGNAL(timeout()), this, SLOT(sendPing()));
    QObject::connect(this, SIGNAL(connected()), this, SLOT(sendGreetingMessage()));
}
Пример #9
0
/*!
 * \reimp
 */
void QxtWebCgiService::pageRequestedEvent(QxtWebRequestEvent* event)
{
    // Create the process object and initialize connections
    QProcess* process = new QProcess(this);
    qxt_d().requests[process] = QxtCgiRequestInfo(event);
    qxt_d().processes[event->content] = process;
    QxtCgiRequestInfo& requestInfo = qxt_d().requests[process];
    QObject::connect(process, SIGNAL(readyRead()), &qxt_d(), SLOT(processReadyRead()));
    QObject::connect(process, SIGNAL(finished(int, QProcess::ExitStatus)), &qxt_d(), SLOT(processFinished()));
    QObject::connect(process, SIGNAL(error(QProcess::ProcessError)), &qxt_d(), SLOT(processFinished()));
    requestInfo.timeout = new QTimer(process);
    qxt_d().timeoutMapper.setMapping(requestInfo.timeout, process);
    QObject::connect(requestInfo.timeout, SIGNAL(timeout()), &qxt_d().timeoutMapper, SLOT(map()));

    // Initialize the system environment
    QStringList s_env = process->systemEnvironment();
    QMap<QString, QString> env;
    foreach(const QString& entry, s_env)
    {
        int pos = entry.indexOf('=');
        env[entry.left(pos)] = entry.mid(pos + 1);
    }
SslConnect::SslConnect(QObject *parent) :
    QObject(parent)
{
	pSkt = new QSslSocket(this);
	connect(pSkt, SIGNAL(encrypted()), this, SLOT(ready()));
	connect(pSkt, SIGNAL(sslErrors(const QList<QSslError>&)),this,SLOT(processSslErrors(const QList<QSslError>&) ));
	connect(pSkt, SIGNAL(peerVerifyError(const QSslError&)), this, SLOT(processPeerVerifyError(const QSslError&)));
	connect(pSkt, SIGNAL(modeChanged(QSslSocket::SslMode)), this, SLOT(processModeChanged(QSslSocket::SslMode)));
	connect(pSkt, SIGNAL(readyRead()), this, SLOT(processReadyRead()));


	//char * strNoChecksum = "$PMWLSS,1398447044,1,Quintillus_LSS,,2*";
	//char * strWithChecksum = "$PMWLSS,1398447044,1,Quintillus_LSS,,2*06";

	//char * strNoChecksum = "$PMWTS2,28,1,1398444310,1398446921,2,0,2*";
	//char * strWithChecksum = "$PMWTS2,28,1,1398444310,1398446921,2,0,2*52";

	//char * strNoChecksum = "$PMWLSS,1398444859,4,Quintillus_LSS,eJ4bY7z3,1*";
	//char * strWithChecksum = "$PMWLSS,1398444859,4,Quintillus_LSS,eJ4bY7z3,1*25";

	//char * strNoChecksum = "$PMWLSS,1398452889,4,BNESystems_LSS,uQy73FTw,1*";
	//char * strWithChecksum = "";

    //char * strNoChecksum = "$PMWLSS,1398778321,4,Kordia_LSS,bU3Ezf85,1";
    //char * strWithChecksum = "$PMWLSS,1398778321,4,Kordia_LSS,bU3Ezf85,1*5D";

    //char * strNoChecksum = "$PMWLSS,1398782052,4,OtherCompany,TheirPassword,1*";
    //char * strWithChecksum = "";
    //char * strNoChecksum = "$PMWLSS,1398782048,2,OtherCompany,,2";
    char * strNoChecksum = "$PMWLSS,1401779508153,4,CLS_LSS,Zf92pL7g,1";

    //QByteArray res = computeCheksum(strNoChecksum);
    //qDebug() << res;




}
Пример #11
0
Connection::~Connection ()
{
	qDebug("Connection::~Connection() this=0x%08x", this);

	m_main_window->dockManager().removeActionAble(*this);
	recurse(m_data, UnregisterDockedWidgets(*m_main_window));

	if (m_tcpstream)
	{
		QObject::disconnect(m_tcpstream, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
		QObject::disconnect(m_tcpstream, SIGNAL(disconnected()), this, SLOT(onDisconnected()));
	}
	if (m_tcpstream)
		m_tcpstream->close();
	closeStorage();

	qDebug("destroying docked widgets");
	recurse(m_data, DestroyDockedWidgets(*m_main_window, *this));

	if (m_file_tlv_stream)
	{
		QIODevice * const f = m_file_tlv_stream->device();
		f->close();
		delete m_file_tlv_stream;
		m_file_tlv_stream = 0;
		delete f;
	}

	if (m_file_csv_stream)
	{
		QIODevice * const f = m_file_csv_stream->device();
		f->close();
		delete m_file_csv_stream;
		m_file_csv_stream = 0;
		delete f;
	}
}
Пример #12
0
int main(int argc, char *argv[])
{
	Q_INIT_RESOURCE(asebaqtabout);
	QApplication app(argc, argv);
	QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME);
	QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN);
	app.setApplicationName("Playground");
	
	QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8"));
	QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8"));
	
	// Translation support
	QTranslator qtTranslator;
	qtTranslator.load("qt_" + QLocale::system().name());
	app.installTranslator(&qtTranslator);
	
	QTranslator translator;
	translator.load(QString(":/asebaplayground_") + QLocale::system().name());
	app.installTranslator(&translator);
	
	QTranslator aboutTranslator;
	aboutTranslator.load(QString(":/qtabout_") + QLocale::system().name());
	app.installTranslator(&aboutTranslator);
	
	// create document
	QDomDocument domDocument("aseba-playground");
	QString sceneFileName;
	
	// Get cmd line arguments
	bool ask = true;
	if (argc > 1)
	{
		sceneFileName = argv[1];
		ask = false;
	}
	
	// Try to load xml config file
	do
	{
		if (ask)
		{
			QString lastFileName = QSettings("EPFL-LSRO-Mobots", "Aseba Playground").value("last file").toString();
			sceneFileName = QFileDialog::getOpenFileName(0, app.tr("Open Scenario"), lastFileName, app.tr("playground scenario (*.playground)"));
		}
		ask = true;
		
		if (sceneFileName.isEmpty())
		{
			std::cerr << "You must specify a valid setup scenario on the command line or choose one in the file dialog." << std::endl;
			exit(1);
		}
		
		QFile file(sceneFileName);
		if (file.open(QIODevice::ReadOnly))
		{
			QString errorStr;
			int errorLine, errorColumn;
			if (!domDocument.setContent(&file, false, &errorStr, &errorLine, &errorColumn))
			{
				QMessageBox::information(0, "Aseba Playground",
										app.tr("Parse error at file %1, line %2, column %3:\n%4")
										.arg(sceneFileName)
										.arg(errorLine)
										.arg(errorColumn)
										.arg(errorStr));
			}
			else
			{
				QSettings("EPFL-LSRO-Mobots", "Aseba Playground").setValue("last file", sceneFileName);
				break;
			}
		}
	}
	while (true);
	
	// Scan for colors
	typedef QMap<QString, Enki::Color> ColorsMap;
	ColorsMap colorsMap;
	QDomElement colorE = domDocument.documentElement().firstChildElement("color");
	while (!colorE.isNull())
	{
		colorsMap[colorE.attribute("name")] = Enki::Color(
			colorE.attribute("r").toDouble(),
			colorE.attribute("g").toDouble(),
			colorE.attribute("b").toDouble()
		);
		
		colorE = colorE.nextSiblingElement ("color");
	}
	
	// Scan for areas
	typedef QMap<QString, Enki::Polygon> AreasMap;
	AreasMap areasMap;
	QDomElement areaE = domDocument.documentElement().firstChildElement("area");
	while (!areaE.isNull())
	{
		Enki::Polygon p;
		QDomElement pointE = areaE.firstChildElement("point");
		while (!pointE.isNull())
		{
			p.push_back(Enki::Point(
				pointE.attribute("x").toDouble(),
				pointE.attribute("y").toDouble()
			));
			pointE = pointE.nextSiblingElement ("point");
		}
		areasMap[areaE.attribute("name")] = p;
		areaE = areaE.nextSiblingElement ("area");
	}
	
	// Create the world
	QDomElement worldE = domDocument.documentElement().firstChildElement("world");
	Enki::Color worldColor(Enki::Color::gray);
	if (!colorsMap.contains(worldE.attribute("color")))
		std::cerr << "Warning, world walls color " << worldE.attribute("color").toStdString() << " undefined\n";
	else
		worldColor = colorsMap[worldE.attribute("color")];
	Enki::World::GroundTexture groundTexture;
	if (worldE.hasAttribute("groundTexture"))
	{
		const QString groundTextureFileName(QFileInfo(sceneFileName).absolutePath() + QDir::separator() + worldE.attribute("groundTexture"));
		QImage image(groundTextureFileName);
		if (!image.isNull())
		{
			// flip vertically as y-coordinate is inverted in an image
			image = image.mirrored();
			// convert to a specific format and copy the underlying data to Enki
			image = image.convertToFormat(QImage::Format_ARGB32);
			groundTexture.width = image.width();
			groundTexture.height = image.height();
			const uint32_t* imageData(reinterpret_cast<const uint32_t*>(image.constBits()));
			std::copy(imageData, imageData+image.width()*image.height(), std::back_inserter(groundTexture.data));
			// Note: this works in little endian, in big endian data should be swapped
		}
		else
		{
			qDebug() << "Could not load ground texture file named" << groundTextureFileName;
		}
	}
	Enki::World world(
		worldE.attribute("w").toDouble(),
		worldE.attribute("h").toDouble(),
		worldColor,
		groundTexture
	);
	
	// Create viewer
	Enki::PlaygroundViewer viewer(&world, worldE.attribute("energyScoringSystemEnabled", "false").toLower() == "true");
	if (Enki::simulatorEnvironment)
		qDebug() << "A simulator environment already exists, replacing";
	Enki::simulatorEnvironment.reset(new Enki::PlaygroundSimulatorEnvironment(sceneFileName, viewer));
	
	// Zeroconf support to advertise targets
#ifdef ZEROCONF_SUPPORT
	Aseba::QtZeroconf zeroconf;
#endif // ZEROCONF_SUPPORT
	
	// Scan for camera
	QDomElement cameraE = domDocument.documentElement().firstChildElement("camera");
	if (!cameraE.isNull())
	{
		const double largestDim(qMax(world.h, world.w));
		viewer.setCamera(
			QPointF(
				cameraE.attribute("x", QString::number(world.w / 2)).toDouble(),
				cameraE.attribute("y", QString::number(0)).toDouble()
			),
			cameraE.attribute("altitude", QString::number(0.85 * largestDim)).toDouble(),
			cameraE.attribute("yaw", QString::number(-M_PI/2)).toDouble(),
			cameraE.attribute("pitch", QString::number((3*M_PI)/8)).toDouble()
		);
	}
	
	// Scan for walls
	QDomElement wallE = domDocument.documentElement().firstChildElement("wall");
	while (!wallE.isNull())
	{
		Enki::PhysicalObject* wall = new Enki::PhysicalObject();
		if (!colorsMap.contains(wallE.attribute("color")))
			std::cerr << "Warning, color " << wallE.attribute("color").toStdString() << " undefined\n";
		else
			wall->setColor(colorsMap[wallE.attribute("color")]);
		wall->pos.x = wallE.attribute("x").toDouble();
		wall->pos.y = wallE.attribute("y").toDouble();
		wall->setRectangular(
			wallE.attribute("l1").toDouble(),
			wallE.attribute("l2").toDouble(),
			wallE.attribute("h").toDouble(),
			!wallE.attribute("mass").isNull() ? wallE.attribute("mass").toDouble() : -1 // normally -1 because immobile
		);
		if (! wallE.attribute("angle").isNull())
			wall->angle = wallE.attribute("angle").toDouble(); // radians
		world.addObject(wall);
		
		wallE  = wallE.nextSiblingElement ("wall");
	}
	
	// Scan for cylinders
	QDomElement cylinderE = domDocument.documentElement().firstChildElement("cylinder");
	while (!cylinderE.isNull())
	{
		Enki::PhysicalObject* cylinder = new Enki::PhysicalObject();
		if (!colorsMap.contains(cylinderE.attribute("color")))
			std::cerr << "Warning, color " << cylinderE.attribute("color").toStdString() << " undefined\n";
		else
			cylinder->setColor(colorsMap[cylinderE.attribute("color")]);
		cylinder->pos.x = cylinderE.attribute("x").toDouble();
		cylinder->pos.y = cylinderE.attribute("y").toDouble();
		cylinder->setCylindric(
			cylinderE.attribute("r").toDouble(), 
			cylinderE.attribute("h").toDouble(),
			!cylinderE.attribute("mass").isNull() ? cylinderE.attribute("mass").toDouble() : -1 // normally -1 because immobile
		);
		world.addObject(cylinder);
		
		cylinderE = cylinderE.nextSiblingElement("cylinder");
	}
	
	// Scan for feeders
	QDomElement feederE = domDocument.documentElement().firstChildElement("feeder");
	while (!feederE.isNull())
	{
		Enki::EPuckFeeder* feeder = new Enki::EPuckFeeder;
		feeder->pos.x = feederE.attribute("x").toDouble();
		feeder->pos.y = feederE.attribute("y").toDouble();
		world.addObject(feeder);
	
		feederE = feederE.nextSiblingElement ("feeder");
	}
	// TODO: if needed, custom color to feeder
	
	// Scan for doors
	typedef QMap<QString, Enki::SlidingDoor*> DoorsMap;
	DoorsMap doorsMap;
	QDomElement doorE = domDocument.documentElement().firstChildElement("door");
	while (!doorE.isNull())
	{
		Enki::SlidingDoor *door = new Enki::SlidingDoor(
			Enki::Point(
				doorE.attribute("closedX").toDouble(),
				doorE.attribute("closedY").toDouble()
			),
			Enki::Point(
				doorE.attribute("openedX").toDouble(),
				doorE.attribute("openedY").toDouble()
			),
			Enki::Point(
				doorE.attribute("l1").toDouble(),
				doorE.attribute("l2").toDouble()
			),
			doorE.attribute("h").toDouble(),
			doorE.attribute("moveDuration").toDouble()
		);
		if (!colorsMap.contains(doorE.attribute("color")))
			std::cerr << "Warning, door color " << doorE.attribute("color").toStdString() << " undefined\n";
		else
			door->setColor(colorsMap[doorE.attribute("color")]);
		doorsMap[doorE.attribute("name")] = door;
		world.addObject(door);
		
		doorE = doorE.nextSiblingElement ("door");
	}
	
	// Scan for activation, and link them with areas and doors
	QDomElement activationE = domDocument.documentElement().firstChildElement("activation");
	while (!activationE.isNull())
	{
		if (areasMap.find(activationE.attribute("area")) == areasMap.end())
		{
			std::cerr << "Warning, area " << activationE.attribute("area").toStdString() << " undefined\n";
			activationE = activationE.nextSiblingElement ("activation");
			continue;
		}
		
		if (doorsMap.find(activationE.attribute("door")) == doorsMap.end())
		{
			std::cerr << "Warning, door " << activationE.attribute("door").toStdString() << " undefined\n";
			activationE = activationE.nextSiblingElement ("activation");
			continue;
		}
		
		const Enki::Polygon& area = *areasMap.find(activationE.attribute("area"));
		Enki::Door* door = *doorsMap.find(activationE.attribute("door"));
		
		Enki::DoorButton* activation = new Enki::DoorButton(
			Enki::Point(
				activationE.attribute("x").toDouble(),
				activationE.attribute("y").toDouble()
			),
			Enki::Point(
				activationE.attribute("l1").toDouble(),
				activationE.attribute("l2").toDouble()
			),
			area,
			door
		);
		
		world.addObject(activation);
		
		activationE = activationE.nextSiblingElement ("activation");
	}
	
	// load all robots in one loop
	std::map<std::string, RobotType> robotTypes {
		{ "thymio2", { "Thymio II", createRobotSingleVMNode<Enki::DashelAsebaThymio2> } },
		{ "e-puck", { "E-Puck", createRobotSingleVMNode<Enki::DashelAsebaFeedableEPuck> } },
	};
	QDomElement robotE = domDocument.documentElement().firstChildElement("robot");
	unsigned asebaServerCount(0);
	while (!robotE.isNull())
	{
		const auto type(robotE.attribute("type", "thymio2"));
		auto typeIt(robotTypes.find(type.toStdString()));
		if (typeIt != robotTypes.end())
		{
			// retrieve informations
			const auto& cppTypeName(typeIt->second.prettyName);
			const auto qTypeName(QString::fromStdString(cppTypeName));
			auto& countOfThisType(typeIt->second.number);
			const auto qRobotNameRaw(robotE.attribute("name", QString("%1 %2").arg(qTypeName).arg(countOfThisType)));
			const auto qRobotNameFull(QObject::tr("%2 on %3").arg(qRobotNameRaw).arg(QHostInfo::localHostName()));
			const auto cppRobotName(qRobotNameFull.toStdString());
			const unsigned port(robotE.attribute("port", QString("%1").arg(ASEBA_DEFAULT_PORT+asebaServerCount)).toUInt());
			const int16_t nodeId(robotE.attribute("nodeId", "1").toInt());
			
			// create
			const auto& creator(typeIt->second.factory);
#ifdef ZEROCONF_SUPPORT
			auto robot(creator(zeroconf, port, cppRobotName, cppTypeName, nodeId));
#else // ZEROCONF_SUPPORT
			auto robot(creator(port, cppRobotName, cppTypeName, nodeId));
#endif // ZEROCONF_SUPPORT
			asebaServerCount++;
			countOfThisType++;
			
			// setup in the world
			robot->pos.x = robotE.attribute("x").toDouble();
			robot->pos.y = robotE.attribute("y").toDouble();
			robot->angle = robotE.attribute("angle").toDouble();
			world.addObject(robot);
			
			// log
			viewer.log(app.tr("New robot %0 of type %1 on port %2").arg(qRobotNameRaw).arg(qTypeName).arg(port), Qt::white);
		}
		else
			viewer.log("Error, unknown robot type " + type, Qt::red);
		
		robotE = robotE.nextSiblingElement ("robot");
	}
	
	// Scan for external processes
	QList<QProcess*> processes;
	QDomElement procssE(domDocument.documentElement().firstChildElement("process"));
	while (!procssE.isNull())
	{
		QString command(procssE.attribute("command"));
		// create process
		processes.push_back(new QProcess());
		processes.back()->setProcessChannelMode(QProcess::MergedChannels);
		// make sure it is killed when we close the window
		QObject::connect(processes.back(), SIGNAL(started()), &viewer, SLOT(processStarted()));
		QObject::connect(processes.back(), SIGNAL(error(QProcess::ProcessError)), &viewer, SLOT(processError(QProcess::ProcessError)));
		QObject::connect(processes.back(), SIGNAL(readyReadStandardOutput()), &viewer, SLOT(processReadyRead()));
		QObject::connect(processes.back(), SIGNAL(finished(int, QProcess::ExitStatus)), &viewer, SLOT(processFinished(int, QProcess::ExitStatus)));
		// check whether it is a relative command
		bool isRelative(false);
		if (!command.isEmpty() && command[0] == ':')
		{
			isRelative = true;
			command = command.mid(1);
		}
		// process the command into its components
		QStringList args(command.split(" ", QString::SkipEmptyParts));
		if (args.size() == 0)
		{
			viewer.log(app.tr("Missing program in command"), Qt::red);
		}
		else
		{
			const QString program(QDir::toNativeSeparators(args[0]));
			args.pop_front();
			if (isRelative)
				processes.back()->start(QCoreApplication::applicationDirPath() + QDir::separator() + program, args, QIODevice::ReadOnly);
			else
				processes.back()->start(program, args, QIODevice::ReadOnly);
		}
		procssE = procssE.nextSiblingElement("process");
	}
	
	// Show and run
	viewer.setWindowTitle(app.tr("Aseba Playground - Simulate your robots!"));
	viewer.show();
	
	// If D-Bus is used, register the viewer object
	#ifdef HAVE_DBUS
	new Enki::EnkiWorldInterface(&viewer);
	QDBusConnection::sessionBus().registerObject("/world", &viewer);
	QDBusConnection::sessionBus().registerService("ch.epfl.mobots.AsebaPlayground");
	#endif // HAVE_DBUS
	
	// Run the application
	const int exitValue(app.exec());
	
	// Stop and delete ongoing processes
	foreach(QProcess*process,processes)
	{
		process->terminate();
		if (!process->waitForFinished(1000))
			process->kill();
		delete process;
	}
Пример #13
0
Connection::Connection(QObject *parent)
    : QTcpSocket(parent)
{
    QObject::connect(this, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
}
Пример #14
0
cUpdater::cUpdater(QObject *parent) : QObject(parent)
{
    connect(&m_Socket, SIGNAL(disconnected()), this, SLOT(processDisconnected()));
    connect(&m_Socket, SIGNAL(readyRead()), this, SLOT(processReadyRead()));
    connect(&m_Socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(processError(QAbstractSocket::SocketError)));
}
Пример #15
0
bool FGSimulator::setupProcess()
{
    QMutexLocker locker(&lock);

    // Copy FlightGear generic protocol configuration file to the FG protocol directory
    // NOTE: Not working on Windows 7, if FG is installed in the "Program Files",
    // likelly due to permissions. The file should be manually copied to data/Protocol/opfgprotocol.xml
    // QFile xmlFile(":/flightgear/genericprotocol/opfgprotocol.xml");
    // xmlFile.open(QIODevice::ReadOnly | QIODevice::Text);
    // QString xml = xmlFile.readAll();
    // xmlFile.close();
    // QFile xmlFileOut(pathData + "/Protocol/opfgprotocol.xml");
    // xmlFileOut.open(QIODevice::WriteOnly | QIODevice::Text);
    // xmlFileOut.write(xml.toAscii());
    // xmlFileOut.close();

    Qt::HANDLE mainThread = QThread::currentThreadId();

    qDebug() << "setupProcess Thread: " << mainThread;

    simProcess = new QProcess();
    simProcess->setReadChannelMode(QProcess::MergedChannels);
    connect(simProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(processReadyRead()));
    // Note: Only tested on windows 7
#if defined(Q_WS_WIN)
    QString cmdShell("c:/windows/system32/cmd.exe");
#else
    QString cmdShell("bash");
#endif

    // Start shell (Note: Could not start FG directly on Windows, only through terminal!)
    simProcess->start(cmdShell);
    if (simProcess->waitForStarted() == false) {
        emit processOutput("Error:" + simProcess->errorString());
        return false;
    }

    // Setup arguments
    // Note: The input generic protocol is set to update at a much higher rate than the actual updates are sent by the GCS.
    // If this is not done then a lag will be introduced by FlightGear, likelly because the receive socket buffer builds up during startup.
    QString args("--fg-root=\"" + settings.dataPath + "\" " +
                 "--timeofday=noon " +
                 "--httpd=5400 " +
                 "--enable-hud " +
                 "--in-air " +
                 "--altitude=3000 " +
                 "--vc=100 " +
                 "--log-level=alert " +
                 "--generic=socket,out,20," + settings.hostAddress + "," + QString::number(settings.inPort) + ",udp,opfgprotocol");
    if (settings.manualControlEnabled) { // <--[BCH] What does this do? Why does it depend on ManualControl?
        args.append(" --generic=socket,in,400," + settings.remoteAddress + "," + QString::number(settings.outPort) + ",udp,opfgprotocol");
    }

    // Start FlightGear - only if checkbox is selected in HITL options page
    if (settings.startSim) {
        QString cmd("\"" + settings.binPath + "\" " + args + "\n");
        simProcess->write(cmd.toAscii());
    } else {
        emit processOutput("Start Flightgear from the command line with the following arguments: \n\n" + args + "\n\n" +
                           "You can optionally run Flightgear from a networked computer.\n" +
                           "Make sure the computer running Flightgear can can ping your local interface adapter. ie." + settings.hostAddress + "\n"
                           "Remote computer must have the correct OpenPilot protocol installed.");
    }

    udpCounterGCSsend = 0;

    return true;
}
Пример #16
0
FGSimulator::~FGSimulator()
{
    disconnect(simProcess, SIGNAL(readyReadStandardOutput()), this, SLOT(processReadyRead()));
}