void MotionCore::init() { if (type_ == CORE_INIT) { FrameInfoBlock *frame_info; memory_.getBlockByName(frame_info,"frame_info"); if (frame_info->source == MEMORY_SIM) { std::cout << "MOTION CORE: SIM" << std::endl; type_ = CORE_SIM; } else if (frame_info->source == MEMORY_ROBOT) { std::cout << "MOTION CORE: ROBOT" << std::endl; type_ = CORE_ROBOT; } else { std::cerr << "Unknown memory type when init vision core" << std::endl; exit(1); } } inst_ = this; setMemoryVariables(); initMemory(); initModules(); fps_time_ = frame_info_->seconds_since_start; time_motion_started_ = frame_info_->seconds_since_start; }
RobotinoLaserRangeFinderNode::RobotinoLaserRangeFinderNode() : nh_("~") { nh_.param<std::string>("hostname", hostname_, "127.0.0.1" ); nh_.param<int>("laserRangeFinderNumber", laserRangeFinderNumber_, 0 ); std::ostringstream os; os << "LaserRangeFinder" << laserRangeFinderNumber_; com_.setName( os.str() ); initModules(); }
BOSS_Synthesis::BOSS_Synthesis(BOSS::Config & c): cl(c), scheduler(NULL) { cerr << "BOSS_Synthesis constructor" << endl; BOSS::t_SVector inventories = c.listInv(); for (unsigned i=0;i<inventories.size();i++) { string inv = inventories[i]; cerr << "Setting up configuration for inventory \"" << inv << "\":" << endl; if (cl.setInv(inv)) initModules(inv); else { cerr << "No configuration options defined for inventory - exiting!" << endl; exit(EXIT_FAILURE); } } }
RobotinoNode::RobotinoNode() : nh_("~") { nh_.param<std::string>("hostname", hostname_, "172.26.1.1" ); nh_.param<double>("max_linear_vel", max_linear_vel_, 0.2 ); nh_.param<double>("min_linear_vel", min_linear_vel_, 0.05 ); nh_.param<double>("max_angular_vel", max_angular_vel_, 1.0 ); nh_.param<double>("min_angular_vel", min_angular_vel_, 0.1 ); distances_clearing_pub_ = nh_.advertise<sensor_msgs::PointCloud>("/distance_sensors_clearing", 1, true); joint_states_pub_= nh_.advertise<sensor_msgs::JointState>("/robotino_joint_states", 1, false); com_.setName( "RobotinoNode" ); initModules(); initMsgs(); }
BaseGame::BaseGame(Vector2 windowSize, ScreenType screenType, string screenTitle, double fps) : fps(fps), windowSize(windowSize), running(true) { initScreen(screenType, screenTitle); initModules(); al_get_keyboard_state(&keyState); al_get_mouse_state(&mouseState); eventQueue = al_create_event_queue(); timer = al_create_timer(1/this->fps); //Events to read al_register_event_source(eventQueue, al_get_keyboard_event_source()); al_register_event_source(eventQueue, al_get_timer_event_source(timer)); al_register_event_source(eventQueue, al_get_display_event_source(display)); al_register_event_source(eventQueue, al_get_mouse_event_source()); }
/** * @fn Reportabug */ Reportabug::Reportabug(QWidget *parent, bool debugCmd, QMap<QString, QString> params) : QMainWindow(parent), debug(debugCmd), dynamic(params), ui(new Ui::Reportabug) { // read settings // main if (!dynamic.contains(QString("OWNER"))) dynamic[QString("OWNER")] = QString(OWNER); if (!dynamic.contains(QString("PROJECT"))) dynamic[QString("PROJECT")] = QString(PROJECT); if (!dynamic.contains(QString("TAG_ASSIGNEE"))) dynamic[QString("TAG_ASSIGNEE")] = QString(TAG_ASSIGNEE); if (!dynamic.contains(QString("TAG_BODY"))) dynamic[QString("TAG_BODY")] = QString(TAG_BODY); if (!dynamic.contains(QString("TAG_LABELS"))) dynamic[QString("TAG_LABELS")] = QString(TAG_LABELS); if (!dynamic.contains(QString("TAG_MILESTONE"))) dynamic[QString("TAG_MILESTONE")] = QString(TAG_MILESTONE); if (!dynamic.contains(QString("TAG_TITLE"))) dynamic[QString("TAG_TITLE")] = QString(TAG_TITLE); // github module if (!dynamic.contains(QString("GITHUB_COMBOBOX"))) dynamic[QString("GITHUB_COMBOBOX")] = QString(GITHUB_COMBOBOX); if (!dynamic.contains(QString("ISSUES_URL"))) dynamic[QString("ISSUES_URL")] = QString(ISSUES_URL); // gitreport module if (!dynamic.contains(QString("CAPTCHA_URL"))) dynamic[QString("CAPTCHA_URL")] = QString(CAPTCHA_URL); if (!dynamic.contains(QString("GITREPORT_COMBOBOX"))) dynamic[QString("GITREPORT_COMBOBOX")] = QString(GITREPORT_COMBOBOX); if (!dynamic.contains(QString("PUBLIC_URL"))) dynamic[QString("PUBLIC_URL")] = QString(PUBLIC_URL); ui->setupUi(this); initModules(); createComboBox(); createActions(); }
int main(int argc, char **argv) { unsigned long valuemask; /* mask for create windows */ XSetWindowAttributes attributes; /* attributes for create windows */ void InternUsefulAtoms(void); void InitVariables(void); int i, len; extern int x_fd; char *display_string; char message[255]; Bool single = False; Bool option_error = FALSE; MenuRoot *mr; g_argv = argv; g_argc = argc; OpenConsole(); DBUG("main", "Entered, about to parse args"); for (i = 1; i < argc; i++) { if (strncasecmp(argv[i], "-debug", 6) == 0) { debugging = True; } else if (strncasecmp(argv[i], "-s", 2) == 0) { single = True; } else if (strncasecmp(argv[i], "-d", 2) == 0) { if (++i >= argc) usage(); display_name = argv[i]; } else if (strncasecmp(argv[i], "-f", 2) == 0) { if (++i >= argc) usage(); config_command = (char *) malloc(6 + strlen(argv[i])); strcpy(config_command, "Read "); strcat(config_command, argv[i]); free_config_command = True; } else if (strncasecmp(argv[i], "-cmd", 4) == 0) { if (++i >= argc) usage(); config_command = argv[i]; } else if (strncasecmp(argv[i], "-file", 5) == 0) { if (++i >= argc) usage(); output_file = argv[i]; } else if (strncasecmp(argv[i], "-h", 2) == 0) { usage(); exit(0); } else if (strncasecmp(argv[i], "-blackout", 9) == 0) { Blackout = True; } else if (strncasecmp(argv[i], "-version", 8) == 0) { fvwm_msg(INFO, "main", "Fvwm95 Version %s compiled on %s at %s\n", VERSION, __DATE__, __TIME__); } else { fvwm_msg(ERR, "main", "Unknown option: `%s'\n", argv[i]); option_error = TRUE; } } DBUG("main", "Done parsing args"); if (option_error) { usage(); } DBUG("main", "Installing signal handlers"); newhandler(SIGINT); newhandler(SIGHUP); newhandler(SIGQUIT); newhandler(SIGTERM); signal(SIGUSR1, Restart); signal(SIGPIPE, DeadPipe); ReapChildren(); if (!(dpy = XOpenDisplay(display_name))) { fvwm_msg(ERR, "main", "can't open display %s", XDisplayName(display_name)); exit(1); } Scr.screen = DefaultScreen(dpy); Scr.NumberOfScreens = ScreenCount(dpy); master_pid = getpid(); if (!single) { int myscreen = 0; char *cp; strcpy(message, XDisplayString(dpy)); XCloseDisplay(dpy); for (i = 1; i < Scr.NumberOfScreens; i++) { if (fork() == 0) { myscreen = i; break; } } /* * Truncate the string 'whatever:n.n' to 'whatever:n', * and then append the screen number. */ cp = strchr(message, ':'); if (cp != NULL) { cp = strchr(cp, '.'); if (cp != NULL) *cp = '\0'; /* truncate at display part */ } sprintf(message + strlen(message), ".%d", myscreen); dpy = XOpenDisplay(message); Scr.screen = myscreen; Scr.NumberOfScreens = ScreenCount(dpy); } x_fd = XConnectionNumber(dpy); fd_width = GetFdWidth(); if (fcntl(x_fd, F_SETFD, 1) == -1) { fvwm_msg(ERR, "main", "close-on-exec failed"); exit(1); } /* Add a DISPLAY entry to the environment, in case we were started * with fvwm -display term:0.0 */ len = strlen(XDisplayString(dpy)); display_string = safemalloc(len + 10); sprintf(display_string, "DISPLAY=%s", XDisplayString(dpy)); putenv(display_string); /* Add a HOSTDISPLAY environment variable, which is the same as * DISPLAY, unless display = :0.0 or unix:0.0, in which case the full * host name will be used for ease in networking . */ /* Note: Can't free the rdisplay_string after putenv, because it * becomes part of the environment! */ if (strncmp(display_string, "DISPLAY=:", 9) == 0) { char client[MAXHOSTNAME], *rdisplay_string; mygethostname(client, MAXHOSTNAME); rdisplay_string = safemalloc(len + 14 + strlen(client)); sprintf(rdisplay_string, "HOSTDISPLAY=%s:%s", client, &display_string[9]); putenv(rdisplay_string); } else if (strncmp(display_string, "DISPLAY=unix:", 13) == 0) { char client[MAXHOSTNAME], *rdisplay_string; mygethostname(client, MAXHOSTNAME); rdisplay_string = safemalloc(len + 14 + strlen(client)); sprintf(rdisplay_string, "HOSTDISPLAY=%s:%s", client, &display_string[13]); putenv(rdisplay_string); } else { char *rdisplay_string; rdisplay_string = safemalloc(len + 14); sprintf(rdisplay_string, "HOSTDISPLAY=%s", XDisplayString(dpy)); putenv(rdisplay_string); } Scr.Root = RootWindow(dpy, Scr.screen); if (Scr.Root == None) { fvwm_msg(ERR, "main", "Screen %d is not a valid screen", (char *) Scr.screen); exit(1); } #ifdef SHAPE ShapesSupported = XShapeQueryExtension(dpy, &ShapeEventBase, &ShapeErrorBase); #endif /* SHAPE */ InternUsefulAtoms(); /* Make sure property priority colors is empty */ XChangeProperty(dpy, Scr.Root, _XA_MIT_PRIORITY_COLORS, XA_CARDINAL, 32, PropModeReplace, NULL, 0); XSetErrorHandler((XErrorHandler) CatchRedirectError); XSetIOErrorHandler((XIOErrorHandler) CatchFatal); XSelectInput(dpy, Scr.Root, LeaveWindowMask | EnterWindowMask | PropertyChangeMask | SubstructureRedirectMask | KeyPressMask | SubstructureNotifyMask | ButtonPressMask | ButtonReleaseMask); XSync(dpy, 0); XSetErrorHandler((XErrorHandler) FvwmErrorHandler); BlackoutScreen(); CreateCursors(); InitVariables(); InitEventHandlerJumpTable(); initModules(); InitPictureCMap(dpy, Scr.Root); /* for the pixmap cache... */ Scr.gray_bitmap = XCreateBitmapFromData(dpy, Scr.Root, g_bits, g_width, g_height); DBUG("main", "Setting up rc file defaults..."); SetRCDefaults(); DBUG("main", "Running config_command..."); ExecuteFunction(config_command, NULL, &Event, C_ROOT, -1); DBUG("main", "Done running config_command"); /* CaptureAllWindows(); MakeMenus(); */ #if 0 /* this seems to cause problems for FvwmCpp/M4 startup actually */ /* if not a direct 'Read', we'll capture all windows here, in case cmd fails we'll still have defaults */ if (strncasecmp(config_command, "Read", 4) != 0 && strncasecmp(config_command, "PipeRead", 8) != 0) { /* so if cmd (FvwmM4/Cpp most likely) fails, we can still have borders & stuff... */ StartupStuff(); } #endif /* 0 */ if (free_config_command) { free(config_command); } if (Scr.d_depth < 2) { Scr.gray_pixmap = XCreatePixmapFromBitmapData(dpy, Scr.Root, g_bits, g_width, g_height, Scr.WinColors.fore, Scr.WinColors.back, Scr.d_depth); Scr.light_gray_pixmap = XCreatePixmapFromBitmapData(dpy, Scr.Root, l_g_bits, l_g_width, l_g_height, Scr.WinColors.fore, Scr.WinColors.back, Scr.d_depth); } /* create a window which will accept the keyboard focus when no other windows have it */ attributes.event_mask = KeyPressMask | FocusChangeMask; attributes.override_redirect = True; Scr.NoFocusWin = XCreateWindow(dpy, Scr.Root, -10, -10, 10, 10, 0, 0, InputOnly, CopyFromParent, CWEventMask | CWOverrideRedirect, &attributes); XMapWindow(dpy, Scr.NoFocusWin); SetMWM_INFO(Scr.NoFocusWin); XSetInputFocus(dpy, Scr.NoFocusWin, RevertToParent, CurrentTime); XSync(dpy, 0); if (debugging) XSynchronize(dpy, 1); Scr.SizeStringWidth = XTextWidth(Scr.StdFont.font, " +8888 x +8888 ", 15); attributes.border_pixel = Scr.WinColors.fore; attributes.background_pixel = Scr.WinColors.back; attributes.bit_gravity = NorthWestGravity; attributes.save_under = True; valuemask = (CWBorderPixel | CWBackPixel | CWBitGravity | CWSaveUnder); /* create the window for coordinates */ Scr.SizeWindow = XCreateWindow(dpy, Scr.Root, Scr.MyDisplayWidth / 2 - (Scr.SizeStringWidth + SIZE_HINDENT * 2) / 2, Scr.MyDisplayHeight / 2 - (Scr.StdFont.height + SIZE_VINDENT * 2) / 2, (unsigned int) (Scr.SizeStringWidth + SIZE_HINDENT * 2), (unsigned int) (Scr.StdFont.height + SIZE_VINDENT * 2), (unsigned int) 0, 0, (unsigned int) CopyFromParent, (Visual *) CopyFromParent, valuemask, &attributes); #ifndef NON_VIRTUAL initPanFrames(); #endif XGrabServer(dpy); #ifndef NON_VIRTUAL checkPanFrames(); #endif XUngrabServer(dpy); UnBlackoutScreen(); DBUG("main", "Entering HandleEvents loop..."); HandleEvents(); DBUG("main", "Back from HandleEvents loop? Exiting..."); return 0; }
void ofApp::setup() { ofSetLogLevel(OF_LOG_NOTICE); ofLogNotice() << "setup()"; if (ofApp::isSemibreve()) ofLogNotice() << "Going to run Semibreve version"; if (ofApp::isOsx()) ofLogNotice() << "OSX detected"; if (ofApp::isIos()) ofLogNotice() << "iOS detected"; if (ofApp::isAndroid()) ofLogNotice() << "Android detected"; if (ofApp::isPhone()) ofLogNotice() << "Phone detected"; if (ofApp::isTablet()) ofLogNotice() << "Tablet detected"; // if (ofApp::isIphone()) ofLogNotice() << "iPhone detected"; // if (ofApp::isIpad()) ofLogNotice() << "iPad detected"; // if (ofApp::isAndroidPhone()) ofLogNotice() << "Android phone detected"; // if (ofApp::isAndroidTablet()) ofLogNotice() << "Android tablet detected"; #if defined TARGET_OSX ofLogNotice() << "Running OSX version"; ofSetDataPathRoot("../Resources/data/"); #endif #if defined TARGET_SEMIBREVE ofLogNotice() << "Running SEMIBREVE version"; oscReceiver.setup(RECEIVE_PORT); oscSender.setup(HOST, SEND_PORT); #endif #if defined TARGET_OF_IOS if (ofApp::isTablet()) { ofSetOrientation(OF_ORIENTATION_90_LEFT); swiper.setup(); ofAddListener(swiper.swipeRecognized, this, &ofApp::onSwipe); swiping = false; } else { swiper.setup(); ofAddListener(swiper.swipeRecognized, this, &ofApp::onSwipe); swiping = false; } #endif #ifndef TARGET_OSX if (isAndroid() || isIos()) { ofxAccelerometer.setup(); accelCount = 0; crop = 0; } #endif if (!ofApp::isIos()) { ofLogNotice() << "Registering for touch events if not ios"; ofRegisterTouchEvents(this); } ofSetFrameRate(FRAME_RATE); ofSetCircleResolution(CIRCLE_RESOLUTION); if (multitouch) ofHideCursor(); ofApp::language = ofApp::getSystemLanguage(); ofLogNotice() << "Language is " << ofApp::language; initTranslations(); initModules(); setupModules(); loadModuleSounds(); initImages(); appState = ABOUT; inactivityState = ACTIVE; // init global vars aboutY = 0; splashAlpha = 255; arrowDownY = ofGetHeight()/3*2; arrowDownYBase = arrowDownY; arrowDownDir = 1; showSwipeInfo = true; ofApp::maxParticleY = round(ofGetHeight() * (1-LIMIT_PARTICLE)); uint swipeFontSize; if (isTablet()) swipeFontSize = 26; else swipeFontSize = 20; swipeFont.load(UI_FONT_FACE, swipeFontSize); }