void GraphicsKeyboard(BYTE key, int x, int y)
{
// Process keyboard input.
if (key == ESC)
{
ProgramExit();
}
}
void NestedCommandLineApp::doRun(const std::vector<std::string>& args) {
if (programName_.empty()) {
programName_ = guessProgramName();
}
auto parsed = parseNestedCommandLine(args, globalOptions_);
po::variables_map vm;
po::store(parsed.options, vm);
if (vm.count("help")) {
std::vector<std::string> helpArgs;
if (parsed.command) {
helpArgs.push_back(*parsed.command);
}
displayHelp(vm, helpArgs);
return;
}
if (vm.count("version")) {
printf("%s %s\n", programName_.c_str(), version_.c_str());
return;
}
if (!parsed.command) {
throw ProgramExit(
1,
folly::sformat("Command not specified. Run `{} help' for help.",
programName_));
}
auto& p = findCommand(*parsed.command);
auto& cmd = p.first;
auto& info = p.second;
auto cmdOptions =
po::command_line_parser(parsed.rest).options(info.options).run();
po::store(cmdOptions, vm);
po::notify(vm);
auto cmdArgs = po::collect_unrecognized(cmdOptions.options,
po::include_positional);
if (initFunction_) {
initFunction_(cmd, vm, cmdArgs);
}
info.command(vm, cmdArgs);
}
void NestedCommandLineApp::doRun(const std::vector<std::string>& args) {
if (programName_.empty()) {
programName_ = guessProgramName();
}
bool not_clean = false;
std::vector<std::string> cleanArgs;
std::vector<std::string> endArgs;
for (auto& na : args) {
if (na == "--") {
not_clean = true;
} else if (not_clean) {
endArgs.push_back(na);
} else {
cleanArgs.push_back(na);
}
}
auto parsed = parseNestedCommandLine(cleanArgs, globalOptions_);
po::variables_map vm;
po::store(parsed.options, vm);
if (vm.count(kHelpCommand.str())) {
std::vector<std::string> helpArgs;
if (parsed.command) {
helpArgs.push_back(*parsed.command);
}
displayHelp(vm, helpArgs);
return;
}
if (vm.count(kVersionCommand.str())) {
displayVersion();
return;
}
if (!parsed.command) {
throw ProgramExit(
1,
folly::sformat(
"Command not specified. Run '{} {}' for help.",
programName_,
kHelpCommand));
}
auto& p = findCommand(*parsed.command);
auto& cmd = p.first;
auto& info = p.second;
auto cmdOptions =
po::command_line_parser(parsed.rest).options(info.options).run();
po::store(cmdOptions, vm);
po::notify(vm);
auto cmdArgs =
po::collect_unrecognized(cmdOptions.options, po::include_positional);
cmdArgs.insert(cmdArgs.end(), endArgs.begin(), endArgs.end());
if (initFunction_) {
initFunction_(cmd, vm, cmdArgs);
}
info.command(vm, cmdArgs);
}
void StateProcess(void)
{
double d;
// Check that robot is in a safe state.
if (!ROBOT_Safe(ROBOT_ID))
{
printf("Robot not safe.\n");
ProgramExit();
}
// Special processing while a trial is running.
if (TrialRunning)
{
if (!RobotActive())
{
// If robot is not active, abort current trial.
ErrorRobotInactive();
TrialAbort();
MissTrial();
}
else
if (FrameData.Full())
{
// Abort current trail if frame data is full.
ErrorFrameDataFull();
TrialAbort();
MissTrial();
}
}
// Some states are processing in the LoopTask.
if (StateLoopTask[State])
{
return;
}
// State processing.
switch (State)
{
case STATE_INITIALIZE:
// Initialization state.
if (TargetTestFlag)
{
break;
}
ExperimentTimer.Reset();
StateNext(STATE_SETUP);
break;
case STATE_SETUP:
// Setup details of next trial, but only when robot stationary and active.
if (RobotNotMoving() && RobotActive())
{
printf("Dynamic learning: before Trialsetup i am here=====!!!!\n");
TrialSetup();
StateNext(STATE_HOME);
}
break;
case STATE_HOME:
// Start trial when robot in home position (and stationary and active).
if (RobotNotMoving() && RobotHome() && RobotActive())
{
StateNext(STATE_START);
break;
}
break;
case STATE_START:
// Start trial.
TrialStart();
StateNext(STATE_DELAY);
break;
case STATE_DELAY:
// Delay period before go signal.
if (StateTimer.ExpiredSeconds(TrialDelay))
{
StateNext(STATE_GO);
break;
}
if (MovementStarted())
{
ErrorMoveTooSoon();
TrialAbort();
MissTrial();
}
break;
case STATE_GO:
// Wait until graphics state matches.
if (State != StateGraphics)
{
break;
}
StateNext(STATE_TARGETWAIT);
break;
case STATE_TARGETWAIT:
// Wait for estimated target display delay.
if (GraphicsTargetTimer.ExpiredSeconds(GRAPHICS_DisplayDelayTarget(TargetPosition)))
{
// Target should be displayed now (within a few milliseconds).
TriggerOn();
MovementReactionTimer.Reset();
BeepGo();
StateNext(STATE_MOVEWAIT);
}
break;
case STATE_MOVEWAIT:
// Process in the robot forces function (LoopTask)
break;
case STATE_MOVING:
// Process in the robot forces function (LoopTask)
break;
case STATE_FINISH:
// Trial has finished so stop trial.
TrialStop();
// Save the data for this trial.
if (!TrialSave())
{
printf("Cannot save Trial %d.\n", Trial);
StateNext(STATE_EXIT);
break;
}
// Catch too-slow trials.
if (MovementDurationTime >= MovementDurationTimeOut)
{
ErrorMoveTimeOut();
BeepError();
InterTrialDelayTimer.Reset();
}
// Go to next trial, if there is one.
if (TrialNext())
{
StateNext(STATE_INTERTRIAL);
}
else
{
StateNext(STATE_EXIT);
}
break;
case STATE_INTERTRIAL:
// Wait for the intertrial delay to expire.
if (!InterTrialDelayTimer.ExpiredSeconds(InterTrialDelay))
{
break;
}
MessageClear();
// Optional rest between blocks of trials.
if (RestTrials != 0)
{
// Rest every X number of trials.
if ((Trial % RestTrials) == 0)
{
StateNext(STATE_REST);
break;
}
}
StateNext(STATE_SETUP);
break;
case STATE_EXIT:
ProgramExit();
break;
case STATE_TIMEOUT:
switch (StateLast) // Which state had the timeout?
{
case STATE_MOVEWAIT:
ErrorMoveWaitTimeOut();
break;
case STATE_MOVING:
ErrorMoveTimeOut();
break;
default:
ErrorMessage(STR_stringf("%s TimeOut", StateText[StateLast]));
break;
}
TrialAbort(); // Abort the current trial.
MissTrial(); // Generate miss trial.
break;
case STATE_ERROR:
if (StateTimer.ExpiredSeconds(ErrorWait))
{
ErrorResume();
}
break;
case STATE_REST:
if (StateTimer.ExpiredSeconds(RestWait))
{
StateNext(STATE_SETUP);
}
break;
}
}
