ClsEPuckDisp::ClsEPuckDisp( const char *caption) {
int iFontSize;
setWindowTitle(caption);
aiProximitySensorPos[0] = 180;
aiProximitySensorPos[1] = 230;
aiProximitySensorPos[2] = 270;
aiProximitySensorPos[3] = 270;
aiProximitySensorPos[4] = 310;
aiProximitySensorPos[5] = 0;
aiProximitySensorPos[6] = 90;
aiProximitySensorPos[7] = 90;
// parameters
iSomaDiameter = 110;
iAmbientSensorDiameter = 10;
iWhiskersMaxLength = 50;
iWheelHeight = 30;
iWheelWidth = 8;
iWheelSpeedbarHeight = 15;
iWheelSpeedbarWidth = 4;
//////////////////////
iFontSize = 8;
fontPlot = new QFont( "helvetica", iFontSize , QFont::Normal);
//ZZZ setBackgroundMode ( Qt::NoBackground);
paintWidget = new QPainter();
_buffer = new QPixmap(width(), height());
_buffer->fill( Qt::black );
paintBuffer = new QPainter();
vaAmbient.resize(8);
vaProximity.resize(8);
int ii;
for (ii = 0; ii<8 ; ii++){
vaAmbient[ii] =1;
vaProximity[ii] =ii;
}
afMotor[0] = 10;
afMotor[1] = 10;
iInhibit = 10; // ranges from 0 to 10
defineColors();
DrawStatus( );
}
///
/// run GammaComboEngine, main steering function
///
void GammaComboEngine::run()
{
if ( arg->usage ) usage(); // print usage and exit
checkCombinationArg();
checkColorArg();
checkAsimovArg();
//scaleDownErrors();
if ( arg->nosyst ) disableSystematics();
makeAddDelCombinations();
if ( arg->nbatchjobs>0 ) writebatchscripts();
defineColors();
customizeCombinerTitles();
setUpPlot();
scan();
if (!arg->isAction("pluginbatch")) savePlot();
cout << endl;
t.Stop();
t.Print();
runApplication();
}
void MainWindow::evtVision(){
if(!vi.get_vision_reception()){
if(checkUseCamera->isChecked()){
vi.set_device(CAMERA);
vi.set_id_camera(0);
}else
if(checkUseImage->isChecked()){
vi.set_device(IMAGE);
}else
if(checkUseVideo->isChecked()){
vi.set_device(VIDEO);
}
btnRunVision->setText("Pause");
cmbColors->setDisabled(true);
checkUseCamera->setDisabled(true);
checkUseImage->setDisabled(true);
cmbCameraIds->setDisabled(true);
cmbSavedImages->setDisabled(true);
vi.set_vision_reception(true);
defineColors();
btnDoColorCalib->setDisabled(true);
initPlotValues();
}else{
btnRunVision->setText("Run");
cmbColors->setDisabled(false);
checkUseCamera->setDisabled(false);
checkUseImage->setDisabled(false);
cmbCameraIds->setDisabled(false);
cmbSavedImages->setDisabled(false);
btnDoColorCalib->setDisabled(false);
vi.set_vision_reception(false);
finishPlotValues();
}
}
