void ThemeMenu::SetupMainButtons()
{
ThemeList.clear();
DirList ThemeDir(Settings.theme_path, ".them", DirList::Files);
if (ThemeDir.GetFilecount() == 0)
{
WindowPrompt(tr( "No themes found." ), 0, "OK");
}
for(int i = 0; i < ThemeDir.GetFilecount(); ++i)
{
u8 *buffer = NULL;
u32 filesize;
debughelper_printf("%i %s\n", i, ThemeDir.GetFilepath(i));
LoadFileToMem(ThemeDir.GetFilepath(i), &buffer, &filesize);
if(!buffer) continue;
buffer[filesize-1] = '\0';
int size = ThemeList.size();
ThemeList.resize(size+1);
ThemeList[size].Filepath = ThemeDir.GetFilepath(i);
GetNodeText(buffer, "Theme-Title:", ThemeList[size].Title);
GetNodeText(buffer, "Theme-Team:", ThemeList[size].Team);
GetNodeText(buffer, "Theme-Version:", ThemeList[size].Version);
GetNodeText(buffer, "Image-Folder:", ThemeList[size].ImageFolder);
if(ThemeList[size].Title.size() == 0 && ThemeDir.GetFilename(i))
{
ThemeList[size].Title = ThemeDir.GetFilename(i);
size_t pos = ThemeList[size].Title.rfind('.');
if(pos != std::string::npos)
ThemeList[size].Title.erase(pos);
}
if(ThemeList[size].ImageFolder.size() == 0)
{
ThemeList[size].ImageFolder = ThemeDir.GetFilepath(i);
size_t pos = ThemeList[size].ImageFolder.rfind('.');
if(pos != std::string::npos)
ThemeList[size].ImageFolder.erase(pos);
ThemeList[size].ImageFolder += '/';
}
else
{
std::string tempString = ThemeList[size].ImageFolder;
ThemeList[size].ImageFolder = Settings.theme_path;
ThemeList[size].ImageFolder += tempString;
ThemeList[size].ImageFolder += '/';
}
SetMainButton(size, ThemeList[size].Title.c_str(), MainButtonImgData, NULL);
free(buffer);
}
}
wxObject *wxCheckListBoxXmlHandler::DoCreateResource()
{
if (m_class == wxT("wxCheckListBox"))
{
// need to build the list of strings from children
m_insideBox = true;
CreateChildrenPrivately(NULL, GetParamNode(wxT("content")));
XRC_MAKE_INSTANCE(control, wxCheckListBox)
control->Create(m_parentAsWindow,
GetID(),
GetPosition(), GetSize(),
strList,
GetStyle(),
wxDefaultValidator,
GetName());
// step through children myself (again.)
wxXmlNode *n = GetParamNode(wxT("content"));
if (n)
n = n->GetChildren();
int i = 0;
while (n)
{
if (n->GetType() != wxXML_ELEMENT_NODE ||
n->GetName() != wxT("item"))
{ n = n->GetNext(); continue; }
// checking boolean is a bit ugly here (see GetBool() )
wxString v = n->GetAttribute(wxT("checked"), wxEmptyString);
v.MakeLower();
if (v == wxT("1"))
control->Check( i, true );
i++;
n = n->GetNext();
}
SetupWindow(control);
strList.Clear(); // dump the strings
return control;
}
else
{
// on the inside now.
// handle <item checked="boolean">Label</item>
// add to the list
strList.Add(GetNodeText(m_node, wxXRC_TEXT_NO_ESCAPE));
return NULL;
}
}
wxObject *wxComboBoxXmlHandler::DoCreateResource()
{
if( m_class == wxT("wxComboBox"))
{
// find the selection
long selection = GetLong( wxT("selection"), -1 );
// need to build the list of strings from children
m_insideBox = true;
CreateChildrenPrivately(NULL, GetParamNode(wxT("content")));
XRC_MAKE_INSTANCE(control, wxComboBox)
control->Create(m_parentAsWindow,
GetID(),
GetText(wxT("value")),
GetPosition(), GetSize(),
strList,
GetStyle(),
wxDefaultValidator,
GetName());
if (selection != -1)
control->SetSelection(selection);
SetupWindow(control);
const wxString hint = GetText(wxS("hint"));
if ( !hint.empty() )
control->SetHint(hint);
strList.Clear(); // dump the strings
return control;
}
else
{
// on the inside now.
// handle <item>Label</item>
// add to the list
strList.Add(GetNodeText(m_node, wxXRC_TEXT_NO_ESCAPE));
return NULL;
}
}
HRESULT CSkin::Create(CHAR* szXmlFile)
{
if (CXmlDocument::Load(szXmlFile)<0)
{
OutputDebugString("\nUnable to load xml file.\n");
return E_FAIL;
}
XmlNode xnNode = GetNextNode(XML_ROOT_NODE);
while (xnNode>0)
{
CHAR* szCurrentTag = GetNodeTag(xnNode);
if ( !strcmpi(szCurrentTag,"mode") )
{
CMode* pNewMode = new CMode;
if (SUCCEEDED(pNewMode->Create(this,xnNode)))
{
OutputDebugString("Enumerated mode: ");
OutputDebugString(pNewMode->ToString().c_str());
OutputDebugString("\n");
m_modes[pNewMode->ToString()] = pNewMode;
XmlNode xnDefaultMode;
if (xnDefaultMode = GetChildNode(xnNode,"default"))
{
if ( !strcmpi(GetNodeText(xnDefaultMode),"true") )
m_pDefaultMode = pNewMode;
}
}
else
{
delete pNewMode;
}
}
xnNode = GetNextNode(xnNode);
}
return S_OK;
}
/**
* Check if there's a DOM word separator before aBeforeOffset in this node.
* Always returns PR_TRUE if it's a BR element.
* aSeparatorOffset is set to the index of the last separator if any is found
* (0 for BR elements).
*/
static PRBool
ContainsDOMWordSeparator(nsIDOMNode* aNode, PRInt32 aBeforeOffset,
PRInt32* aSeparatorOffset)
{
if (IsBRElement(aNode)) {
*aSeparatorOffset = 0;
return PR_TRUE;
}
if (!IsTextNode(aNode))
return PR_FALSE;
nsAutoString str;
GetNodeText(aNode, str);
for (PRInt32 i = PR_MIN(aBeforeOffset, PRInt32(str.Length())) - 1; i >= 0; --i) {
if (IsDOMWordSeparator(str.CharAt(i))) {
*aSeparatorOffset = i;
return PR_TRUE;
}
}
return PR_FALSE;
}
/* boolean IsLinkNotInCal (in nsIDOMNode node); */
NS_IMETHODIMP nsDomAttUtil::IsLinkNotInCal(nsIDOMNode *node, PRBool *_retval )
{
PRBool bisLink=false;
IsLink(node, &bisLink);
if(bisLink)
{
nsCString content;
GetNodeText(node, content);
int date=atoi(content.get());
if(content.Length()<3&&date>0&&date<31)
*_retval=PR_FALSE;
else
*_retval=PR_TRUE;
}else
{
*_retval=PR_FALSE;
}
return NS_OK;
}
void
mozInlineSpellWordUtil::BuildSoftText()
{
// First we have to work backwards from mSoftStart to find a text node
// containing a DOM word separator, a non-inline-element
// boundary, or the hard start node. That's where we'll start building the
// soft string from.
nsIDOMNode* node = mSoftBegin.mNode;
PRInt32 firstOffsetInNode = 0;
PRInt32 checkBeforeOffset = mSoftBegin.mOffset;
while (node) {
if (ContainsDOMWordSeparator(node, checkBeforeOffset, &firstOffsetInNode))
break;
checkBeforeOffset = PR_INT32_MAX;
if (IsBreakElement(mCSSView, node)) {
// Since FindPrevNode follows tree *preorder*, we're about to traverse
// up out of 'node'. Since node induces breaks (e.g., it's a block),
// don't bother trying to look outside it, just stop now.
break;
}
node = FindPrevNode(node, mRootNode);
}
// Now build up the string moving forward through the DOM until we reach
// the soft end and *then* see a DOM word separator, a non-inline-element
// boundary, or the hard end node.
mSoftText.Truncate();
mSoftTextDOMMapping.Clear();
PRBool seenSoftEnd = PR_FALSE;
// Leave this outside the loop so large heap string allocations can be reused
// across iterations
nsAutoString str;
while (node) {
if (node == mSoftEnd.mNode) {
seenSoftEnd = PR_TRUE;
}
PRBool exit = PR_FALSE;
if (IsTextNode(node)) {
GetNodeText(node, str);
PRInt32 lastOffsetInNode = str.Length();
if (seenSoftEnd) {
// check whether we can stop after this
for (PRInt32 i = node == mSoftEnd.mNode ? mSoftEnd.mOffset : 0;
i < PRInt32(str.Length()); ++i) {
if (IsDOMWordSeparator(str.CharAt(i))) {
exit = PR_TRUE;
// stop at the first separator after the soft end point
lastOffsetInNode = i;
break;
}
}
}
if (firstOffsetInNode < lastOffsetInNode) {
PRInt32 len = lastOffsetInNode - firstOffsetInNode;
mSoftTextDOMMapping.AppendElement(
DOMTextMapping(NodeOffset(node, firstOffsetInNode), mSoftText.Length(), len));
mSoftText.Append(Substring(str, firstOffsetInNode, len));
}
firstOffsetInNode = 0;
}
if (exit)
break;
CheckLeavingBreakElementClosure closure = { mCSSView, PR_FALSE };
node = FindNextNode(node, mRootNode, CheckLeavingBreakElement, &closure);
if (closure.mLeftBreakElement || (node && IsBreakElement(mCSSView, node))) {
// We left, or are entering, a break element (e.g., block). Maybe we can
// stop now.
if (seenSoftEnd)
break;
// Record the break
mSoftText.Append(' ');
}
}
#ifdef DEBUG_SPELLCHECK
printf("Got DOM string: %s\n", NS_ConvertUTF16toUTF8(mSoftText).get());
#endif
}
wxObject *wxRadioBoxXmlHandler::DoCreateResource()
{
if ( m_class == wxT("wxRadioBox"))
{
// find the selection
long selection = GetLong( wxT("selection"), -1 );
// need to build the list of strings from children
m_insideBox = true;
CreateChildrenPrivately( NULL, GetParamNode(wxT("content")));
XRC_MAKE_INSTANCE(control, wxRadioBox)
control->Create(m_parentAsWindow,
GetID(),
GetText(wxT("label")),
GetPosition(), GetSize(),
m_labels,
GetLong(wxT("dimension"), 1),
GetStyle(),
wxDefaultValidator,
GetName());
if (selection != -1)
control->SetSelection(selection);
SetupWindow(control);
const unsigned count = m_labels.size();
for( unsigned i = 0; i < count; i++ )
{
#if wxUSE_TOOLTIPS
if ( !m_tooltips[i].empty() )
control->SetItemToolTip(i, m_tooltips[i]);
#endif // wxUSE_TOOLTIPS
#if wxUSE_HELP
if ( m_helptextSpecified[i] )
control->SetItemHelpText(i, m_helptexts[i]);
#endif // wxUSE_HELP
if ( !m_isShown[i] )
control->Show(i, false);
if ( !m_isEnabled[i] )
control->Enable(i, false);
}
// forget information about the items of this radiobox, we should start
// afresh for the next one
m_labels.clear();
#if wxUSE_TOOLTIPS
m_tooltips.clear();
#endif // wxUSE_TOOLTIPS
#if wxUSE_HELP
m_helptexts.clear();
m_helptextSpecified.clear();
#endif // wxUSE_HELP
m_isShown.clear();
m_isEnabled.clear();
return control;
}
else // inside the radiobox element
{
// we handle handle <item>Label</item> constructs here, and the item
// tag can have tooltip, helptext, enabled and hidden attributes
// For compatibility, labels are not escaped in XRC by default and
// label="1" attribute needs to be explicitly specified to handle them
// consistently with the other labels.
m_labels.push_back(GetNodeText(m_node,
GetBoolAttr("label", 0)
? 0
: wxXRC_TEXT_NO_ESCAPE));
#if wxUSE_TOOLTIPS
m_tooltips.push_back(GetNodeText(GetParamNode(wxT("tooltip")),
wxXRC_TEXT_NO_ESCAPE));
#endif // wxUSE_TOOLTIPS
#if wxUSE_HELP
const wxXmlNode* const nodeHelp = GetParamNode(wxT("helptext"));
m_helptexts.push_back(GetNodeText(nodeHelp, wxXRC_TEXT_NO_ESCAPE));
m_helptextSpecified.push_back(nodeHelp != NULL);
#endif // wxUSE_HELP
m_isEnabled.push_back(GetBoolAttr("enabled", 1));
m_isShown.push_back(!GetBoolAttr("hidden", 0));
return NULL;
}
}
void CFootBotUN::Init(TConfigurationNode& t_node) {
/*
* Get sensor/actuator handles
*
* The passed string (ex. "footbot_wheels") corresponds to the XML tag of the device
* whose handle we want to have. For a list of allowed values, type at the command
* prompt:
*
* $ launch_argos -q actuators
*
* to have a list of all the possible actuators, or
*
* $ launch_argos -q sensors
*
* to have a list of all the possible sensors.
*
* NOTE: ARGoS creates and initializes actuators and sensors internally, on the basis of
* the lists provided the XML file at the <controllers><footbot_diffusion><actuators>
* and <controllers><footbot_diffusion><sensors> sections. If you forgot to
* list a device in the XML and then you request it here, an error occurs.
*/
m_pcWheels = dynamic_cast<CCI_FootBotWheelsActuator*>(GetRobot().GetActuator("footbot_wheels"));
m_pcLEDs = dynamic_cast<CCI_FootBotLedsActuator*>(GetRobot().GetActuator("footbot_leds"));
m_pcProximity = dynamic_cast<CCI_FootBotProximitySensor*>(GetRobot().GetSensor("footbot_proximity"));
//Min distance to the current position to the target point to determine it this is reached (meters)
//GetNodeAttributeOrDefault(t_node, "targetMinPointDistance", m_targetMinPointDistance, m_targetMinPointDistance);
std::string text;
if (NodeExists(t_node, "targetMinPointDistance")) {
GetNodeText(GetNode(t_node, "targetMinPointDistance"), text);
sscanf(text.c_str(), "%f", &m_targetMinPointDistance);
//m_targetMinPointDistance = fmin(MAX_RESOLUTION, m_targetMinPointDistance);
}
printf("Min distance to target point %f in robot %s\n", m_targetMinPointDistance, GetRobot().GetRobotId().c_str());
//////////////////////////////////////////////////////////////
// Initialize things required by the communications
//////////////////////////////////////////////////////////////
m_pcWifiSensor = dynamic_cast<CCI_WiFiSensor*>(GetRobot().GetSensor("wifi"));
m_pcWifiActuator = dynamic_cast<CCI_WiFiActuator*>(GetRobot().GetActuator("wifi"));
str_Me = GetRobot().GetRobotId();
m_iSendOrNotSend = 0;
// How many robots are there ?
CSpace::TAnyEntityMap& tEntityMap = m_cSpace.GetEntitiesByType("wifi_equipped_entity");
numberOfRobots = tEntityMap.size();
printf("%s: There are %d robots [RMAGAN]\n", str_Me.c_str(), numberOfRobots);
// Am I a generator?
amIaGenerator = false;
skipFirstSend = true;
int numGenerators = m_numberOfGenerators * numberOfRobots;
int myID = atoi(str_Me.c_str() + 3);
if (myID < numGenerators)
amIaGenerator = true;
if (amIaGenerator)
printf("%s: There are %d generators, I am on of them\n", str_Me.c_str(), numGenerators);
else
printf("%s: There are %d generators, but not me :-(\n", str_Me.c_str(), numGenerators);
if (amIaGenerator) {
UInt32 id = CSimulator::GetInstance().GetRNG()->Uniform(CRange<UInt32>(numGenerators, numberOfRobots));
//UInt32 id = myID + numGenerators;
std::ostringstream str_tmp(ostringstream::out);
str_tmp << "fb_" << id;
str_Dest = str_tmp.str();
printf(" (dest=%s).\n", str_Dest.c_str());
}
//////////////////////////////////////////////////////////////
// end of communications things here
//////////////////////////////////////////////////////////////
/** LCM engine */
// LCM Thread
lcmThreadCommand.setLCMEngine("udpm://239.255.76.67:7667?ttl=1", "TARGET");
lcmThreadCommand.startInternalThread();
lcmThread.setLCMEngine("udpm://239.255.76.67:7667?ttl=1", "TRACK");
lcmThread.startInternalThread();
/** NAVIGATION AND AVOIDING COLLISION */
/* Additional sensors */
encoderSensor = dynamic_cast<CCI_FootBotEncoderSensor*>(GetRobot().GetSensor("footbot_encoder"));
/* Init navigation methods */
initOdometry();
initLocalNavigation(t_node);
}
bool RecursiveGladeImport(nuiXMLNode* pFrom, nuiXMLNode* pTo)
{
bool havechildren = true;
nglString Name;
if (! pFrom || !pTo)
return false;
Name = pFrom->GetName();
if (Name == _T("widget"))
{
nuiXMLNode* pNode = pFrom->GetChild(nglString(_T("class")));
if (pNode)
{
nuiXMLNode* pTextNode = pNode->GetChild(nglString(_T("##text")));
if (pTextNode)
{
if (pTextNode->GetValue() == nglString(_T("GtkWindow")) )
{
pTo->SetName( nglString(_T("nuiWindow")) );
pTo->SetAttribute( _T("Visible"), _T("true"));
NodeToAttribute(pFrom, pTo, (nglChar*)_T("Title"));
havechildren = true;
}
else if (pTextNode->GetValue() == nglString(_T("GtkFixed")) )
{
pTo->SetName( nglString(_T("nuiFixed")) );
havechildren = true;
}
else if (pTextNode->GetValue() == nglString(_T("GtkList")) )
{
pTo->SetName( nglString(_T("nuiList")) );
havechildren = true;
}
else if (pTextNode->GetValue() == nglString(_T("GtkVBox")) )
{
pTo->SetName( nglString(_T("nuiVBox")) );
havechildren = true;
}
else if (pTextNode->GetValue() == nglString(_T("GtkHBox")) )
{
pTo->SetName( nglString(_T("nuiHBox")) );
havechildren = true;
}
else if (pTextNode->GetValue() == nglString(_T("GtkButton")) )
{
pTo->SetName( nglString(_T("nuiButton")) );
nglString label = GetNodeText(pFrom, (nglChar*)_T("label"));
if (label!= _T(""))
{
nuiXMLNode* pLabel = new nuiXMLNode(nglString(_T("nuiLabel")),pTo);
nuiXMLNode* pText = new nuiXMLNode(nglString(_T("##text")),pLabel);
pText->SetValue(label);
}
havechildren = false;
}
else if (pTextNode->GetValue() == nglString(_T("GtkLabel")) )
{
pTo->SetName( nglString(_T("nuiLabel")) );
nuiXMLNode* pText = new nuiXMLNode(nglString(_T("##text")),pTo);
pText->SetValue(GetNodeText(pFrom, (nglChar*)_T("label")));
havechildren = false;
}
else if (pTextNode->GetValue() == nglString(_T("GtkText")) )
{
if (GetNodeText(pFrom, (nglChar*)_T("editable")) == nglString(_T("True")))
pTo->SetName( nglString(_T("nuiEditText")) );
else
pTo->SetName( nglString(_T("nuiText")) );
nglString text = GetNodeText(pFrom, (nglChar*)_T("text"));
if (text!= _T(""))
{
nuiXMLNode* pText = new nuiXMLNode(nglString(_T("##text")),pTo);
pText->SetValue(text);
}
havechildren = false;
}
else
return false;
}
else
return false;
}
else
return false;
if (!NodeToAttribute(pFrom, pTo, (nglChar*)_T("name")))
return false;
NodeToAttribute(pFrom, pTo, (nglChar*)_T("x"),(nglChar*) _T("X"));
NodeToAttribute(pFrom, pTo, (nglChar*)_T("y"), (nglChar*)_T("Y"));
NodeToAttribute(pFrom, pTo, (nglChar*)_T("width"), (nglChar*)_T("Width"));
NodeToAttribute(pFrom, pTo, (nglChar*)_T("height"), (nglChar*)_T("Height"));
if (havechildren)
{
uint i, count = pFrom->GetChildrenCount();
for (i=0; i<count; i++)
{
nuiXMLNode* pFromNode = pFrom->GetChild(i);
if (pFromNode->GetName() == nglString(_T("widget")))
{
nuiXMLNode* pToNode = new nuiXMLNode(nglString(_T("importing")), pTo);
if (!RecursiveGladeImport(pFromNode,pToNode))
{
// If there was an error just kill the new node...
pTo->DelChild(pToNode);
delete pToNode;
}
}
}
}
}
return true;
}
int CPlaneText::to_mathml__getTag_n_Text(
std::vector<QString>& v_tag, std::vector<QString>& v_text, std::vector<QString>& v_attr, long /*level*/ )
{
if( to_mathml_data.value.length() && to_mathml_data.type.length() )
{
v_tag.push_back( to_mathml_data.type );
v_text.push_back( to_mathml_data.value );
}
else
{
QString bodytext( GetNodeText() );
if( isUnicode() )
{
if( to_mathml_data.name.length() )
v_tag.push_back( to_mathml_data.name );
else
v_tag.push_back( QString(FBL_TAG_mi) );
v_text.push_back( bodytext );
}
else
{
int ret = 0;
long cb, i;
LMMLChar mmlsl( getFStyle() == FSTYLE_GREEK, getFStyle() == FSTYLE_NUMBER, getFStyle() == FSTYLE_VARIABLE || getFStyle() == FSTYLE_FUNCTION, getFStyle() == FSTYLE_TEXT );
for(cb = 0;;)
{
ret = mmlsl.Analisys( bodytext.midRef(cb) );
if( !ret ) break;
if( mmlsl.GetRead() > 0 && !mmlsl.getTag().isEmpty() && !mmlsl.getText().isEmpty() )
{
v_tag.push_back( mmlsl.getTag() );
v_text.push_back( mmlsl.getText() );
}
cb += mmlsl.GetRead();
mmlsl.reset();
}
if( getFStyle() == FSTYLE_TEXT )
{
QString s_tag = FBL_TAG_mtext, s_text = _T("");
for( i = 0; i < (long) v_text.size(); i++ )
s_text += v_text[ i ];
v_tag.erase( v_tag.begin(), v_tag.end() );
v_tag.push_back( s_tag );
v_text.erase( v_text.begin(), v_text.end() );
v_text.push_back( s_text );
}
else if( getFStyle() == FSTYLE_OP )
{
QString s_tag = FBL_TAG_mo, s_text = _T("");
for( i = 0; i < (long) v_text.size(); i++ )
s_text += v_text[ i ];
v_tag.erase( v_tag.begin(), v_tag.end() );
v_tag.push_back( s_tag );
v_text.erase( v_text.begin(), v_text.end() );
v_text.push_back( s_text );
}
}
}
int isDefaultMMLChanged = 0, nTmp = 0;
long j;
for( long i = 0; i < (long) v_tag.size(); i++ )
{
if( v_text[ i ].length() )
{
QString& topr = v_text[ i ];
if( topr[ 0 ] == _T(' ') )
{
topr[ 0 ] = _T('&');
topr.insert(1, _T("nbsp;") );
}
if( topr.length() > 1 && topr[ topr.length() - 1 ] == ' ' )
{
topr[ topr.length() - 1 ] = _T('&');
topr.append( _T("nbsp;") );
}
for( j = 0; j < (long) topr.length() - 1; j++ )
{
if( topr.at(j) == ' ' && topr.at(j + 1) == ' ' )
{
topr[ (int) (j + 1) ] = '&';
topr.insert( j + 2, "nbsp;" );
j += 6;
}
}
}
v_attr.push_back( to_mathml__get_attribute_str( v_tag[ i ], v_text[ i ], &nTmp ) );
isDefaultMMLChanged = isDefaultMMLChanged || nTmp;
}
return isDefaultMMLChanged;
}
void Agent::Init(TConfigurationNode& t_tree) {
maxSpeed = MAX_SPEED;
leftWheelSpeed = 0.0;
rightWheelSpeed = 0.0;
linearSpeedIsContinuos = DEFAULT_LINEAR_SPEED_CONTINUOUS;
maxRotationSpeed = DEFAULT_MAX_ANGULAR_SPEED;
radius = RADIUS;
optimalSpeed = DEFAULT_OPTIMAL_SPEED;
rotationTau = DEFAULT_ROTATION_TAU;
socialRadius[HUMAN] = DEFAULT_HUMAN_SOCIAL_RADIUS;
socialRadius[FOOTBOT] = DEFAULT_FOOTBOT_SOCIAL_RADIUS;
socialRadius[OBSTACLE] = DEFAULT_OBSTACLE_SOCIAL_RADIUS;
safetyMargin = 0.1;
socialMargin = 0.1;
ratioOfSocialRadiusForSensing = DEFAULT_SOCIAL_SENSING_RATIO;
horizon = DEFAULT_HORIZON;
if (NodeExists(t_tree, "mobility")) {
TConfigurationNode node = GetNode(t_tree, "mobility");
if (node.HasAttribute("continuous"))
GetNodeAttribute(node, "continuous", linearSpeedIsContinuos);
if (node.HasAttribute("rotation_max_speed"))
GetNodeAttribute(node, "rotation_max_speed", maxRotationSpeed);
}
std::string text;
if (NodeExists(t_tree, "horizon")) {
GetNodeText(GetNode(t_tree, "horizon"), text);
sscanf(text.c_str(), "%f", &horizon);
}
if (NodeExists(t_tree, "optimalSpeed")) {
GetNodeText(GetNode(t_tree, "optimalSpeed"), text);
sscanf(text.c_str(), "%f", &optimalSpeed);
}
if (NodeExists(t_tree, "maxSpeed")) {
GetNodeText(GetNode(t_tree, "maxSpeed"), text);
sscanf(text.c_str(), "%f", &maxSpeed);
}
if (NodeExists(t_tree, "safetyMargin")) {
GetNodeText(GetNode(t_tree, "safetyMargin"), text);
sscanf(text.c_str(), "%f", &safetyMargin);
safetyMargin = fmax(0.01, safetyMargin);
}
if (NodeExists(t_tree, "socialMargin")) {
GetNodeText(GetNode(t_tree, "socialMargin"), text);
sscanf(text.c_str(), "%f", &socialMargin);
//safetyMargin=fmax(safetyMargin,socialMargin);
}
if (NodeExists(t_tree, "socialRadius")) {
TConfigurationNode node = GetNode(t_tree, "socialRadius");
std::string text = "";
if (node.HasAttribute("footbot")) {
GetNodeAttribute(node, "foobot", text);
Real d;
scanf(text.c_str(), "%f", &d);
socialRadius[FOOTBOT] = d;
}
if (node.HasAttribute("human")) {
GetNodeAttribute(node, "human", text);
Real d;
scanf(text.c_str(), "%f", &d);
socialRadius[HUMAN] = d;
}
if (node.HasAttribute("obstacle")) {
GetNodeAttribute(node, "obstacle", text);
Real d;
scanf(text.c_str(), "%f", &d);
socialRadius[OBSTACLE] = d;
}
}
if (NodeExists(t_tree, "rotationTau")) {
GetNodeText(GetNode(t_tree, "rotationTau"), text);
sscanf(text.c_str(), "%f", &rotationTau);
rotationTau = fmax(0.1, rotationTau);
}
printf("Agent Init: sM %.2f, SM %.2f, horizon %.2f optimal speed %.2f max speed %.2f rotation tau %.2f max rotation speed %.2f\n",
safetyMargin,
socialMargin,
horizon,
optimalSpeed,
maxSpeed,
rotationTau,
maxRotationSpeed);
//DEBUG_CONTROLLER("Mobility Settings: maxRotationSpeed %.2f, linearSpeedIsContinuos %d \r\n",maxRotationSpeed,linearSpeedIsContinuos);
}
