bool srdf::Model::initXml(const urdf::ModelInterface &urdf_model, TiXmlElement *robot_xml)
{
clear();
if (!robot_xml || robot_xml->ValueStr() != "robot")
{
logError("Could not find the 'robot' element in the xml file");
return false;
}
// get the robot name
const char *name = robot_xml->Attribute("name");
if (!name)
logError("No name given for the robot.");
else
{
name_ = std::string(name); boost::trim(name_);
if (name_ != urdf_model.getName())
logError("Semantic description is not specified for the same robot as the URDF");
}
loadVirtualJoints(urdf_model, robot_xml);
loadGroups(urdf_model, robot_xml);
loadGroupStates(urdf_model, robot_xml);
loadEndEffectors(urdf_model, robot_xml);
loadLinkSphereApproximations(urdf_model, robot_xml);
loadDisabledCollisions(urdf_model, robot_xml);
loadPassiveJoints(urdf_model, robot_xml);
return true;
}
void QyncDB::init(const QString &account, QyncCategoryListModel &groupList)
{
if (!mBaseDir.isEmpty()) qFatal("QyncDB cannot be inited twice!");
mBaseDir = QString("%1/%2/%3/").arg(QDir::home().absolutePath(), BASE_DIR,
QString(QCryptographicHash::hash(account.toUtf8(), QCryptographicHash::Md5).toHex()));
QDir dir(mBaseDir);
if (!dir.exists()) dir.mkpath(".");
mDbPath = QString("%1%2").arg(mBaseDir, DB_NAME);
mImageDir = QString("%1%2/").arg(mBaseDir, IMAGE_BASE_DIR);
mDb = QSqlDatabase::addDatabase("QSQLITE");
mDb.setDatabaseName(mDbPath);
if(!mDb.open()) {
qFatal("QyncDB: Cannot open database. %s", mDb.lastError().text().toStdString().c_str()) ;
}
QSqlQuery query;
if(!query.exec(CREATE_GROUP_TABLE)) {
qFatal("QyncDB: %s", SQL_ERROR_STR(query.lastError()));
}
if(!query.exec(CREATE_BUDDY_TABLE)) {
qFatal("QyncDB: %s", SQL_ERROR_STR(query.lastError()));
}
loadGroups(groupList);
loadBuddies(groupList);
}
static really_inline
void initContext(const struct RoseEngine *t, u8 *state, u64a offset,
struct hs_scratch *scratch, RoseCallback callback,
RoseCallbackSom som_callback, void *ctx) {
struct RoseRuntimeState *rstate = getRuntimeState(state);
struct RoseContext *tctxt = &scratch->tctxt;
tctxt->t = t;
tctxt->depth = rstate->stored_depth;
tctxt->groups = loadGroups(t, state); /* TODO: diff groups for eod */
tctxt->lit_offset_adjust = scratch->core_info.buf_offset
- scratch->core_info.hlen
+ 1; // index after last byte
tctxt->delayLastEndOffset = offset;
tctxt->lastEndOffset = offset;
tctxt->filledDelayedSlots = 0;
tctxt->state = state;
tctxt->cb = callback;
tctxt->cb_som = som_callback;
tctxt->userCtx = ctx;
tctxt->lastMatchOffset = 0;
tctxt->minMatchOffset = 0;
tctxt->minNonMpvMatchOffset = 0;
tctxt->next_mpv_offset = 0;
tctxt->curr_anchored_loc = MMB_INVALID;
tctxt->curr_row_offset = 0;
scratch->catchup_pq.qm_size = 0;
scratch->al_log_sum = 0; /* clear the anchored logs */
fatbit_clear(scratch->aqa);
}
void CustomSmileyManager::init( )
{
// doesn't support import/export to eip package
tbtnImport->hide();
tbtnExport->hide();
// cancel does same job as ok, so hide it for now
btnCancel->hide();
lblPreview->setAlignment( TQt::AlignHCenter | TQt::AlignVCenter );
d = new GroupActionPrivate;
d->m_Action = GroupActionPrivate::GNone;
d->m_Item = 0;
d->m_OldName = "";
if(m_Config) delete m_Config;
TQString dir = EvaMain::user->getSetting()->getCustomSmileyDir() + "/";
m_Config = new CustomFaceConfig(dir);
m_Config->loadXML();
// group list first
loadGroups();
// init table
initFaces();
lvGroups->setSelected( lvGroups->firstChild(), true);
}
static rose_inline
void roseStreamInitEod(const struct RoseEngine *t, u64a offset,
struct hs_scratch *scratch) {
struct RoseContext *tctxt = &scratch->tctxt;
/* TODO: diff groups for eod */
tctxt->groups = loadGroups(t, scratch->core_info.state);
tctxt->lit_offset_adjust = scratch->core_info.buf_offset
- scratch->core_info.hlen
+ 1; // index after last byte
tctxt->delayLastEndOffset = offset;
tctxt->lastEndOffset = offset;
tctxt->filledDelayedSlots = 0;
tctxt->lastMatchOffset = 0;
tctxt->minMatchOffset = offset;
tctxt->minNonMpvMatchOffset = offset;
tctxt->next_mpv_offset = offset;
scratch->catchup_pq.qm_size = 0;
scratch->al_log_sum = 0; /* clear the anchored logs */
fatbit_clear(scratch->aqa);
}
void lmcMessaging::init(XmlMessage *pInitParams) {
lmcTrace::write("Messaging initialized");
pNetwork->init(pInitParams);
QString logonName = Helper::getLogonName();
QString szAddress = pNetwork->physicalAddress();
QString userId = createUserId(&szAddress, &logonName);
pNetwork->setLocalId(&userId);
pSettings = new lmcSettings();
QString userStatus = pSettings->value(IDS_STATUS, IDS_STATUS_VAL).toString();
int sIndex = Helper::statusIndexFromCode(userStatus);
// if status not recognized, default to available
if(sIndex < 0)
userStatus = statusCode[0];
QString userName = getUserName();
int nAvatar = pSettings->value(IDS_AVATAR, IDS_AVATAR_VAL).toInt();
QString userNote = pSettings->value(IDS_NOTE, IDS_NOTE_VAL).toString();
uint userCaps = UC_File | UC_GroupMessage | UC_Folder;
localUser = new User(userId, IDA_VERSION, pNetwork->ipAddress, userName, userStatus,
QString::null, nAvatar, userNote, StdLocation::avatarFile(),
QString::number(userCaps));
loadGroups();
nTimeout = pSettings->value(IDS_TIMEOUT, IDS_TIMEOUT_VAL).toInt() * 1000;
nMaxRetry = pSettings->value(IDS_MAXRETRIES, IDS_MAXRETRIES_VAL).toInt();
pTimer = new QTimer(this);
connect(pTimer, SIGNAL(timeout()), this, SLOT(timer_timeout()));
pTimer->start(1000);
msgId = 1;
}
void roseStreamExec(const struct RoseEngine *t, struct hs_scratch *scratch) {
DEBUG_PRINTF("OH HAI [%llu, %llu)\n", scratch->core_info.buf_offset,
scratch->core_info.buf_offset + (u64a)scratch->core_info.len);
assert(t);
assert(scratch->core_info.hbuf);
assert(scratch->core_info.buf);
// We should not have been called if we've already been told to terminate
// matching.
assert(!told_to_stop_matching(scratch));
assert(mmbit_sparse_iter_state_size(t->rolesWithStateCount)
< MAX_SPARSE_ITER_STATES);
size_t length = scratch->core_info.len;
u64a offset = scratch->core_info.buf_offset;
// We may have a maximum width (for engines constructed entirely
// of bi-anchored patterns). If this write would result in us progressing
// beyond this point, we cannot possibly match.
if (t->maxBiAnchoredWidth != ROSE_BOUND_INF
&& offset + length > t->maxBiAnchoredWidth) {
DEBUG_PRINTF("bailing, write would progress beyond maxBAWidth\n");
return;
}
char *state = scratch->core_info.state;
struct RoseContext *tctxt = &scratch->tctxt;
tctxt->mpv_inactive = 0;
tctxt->groups = loadGroups(t, state);
tctxt->lit_offset_adjust = offset + 1; // index after last byte
tctxt->delayLastEndOffset = offset;
tctxt->lastEndOffset = offset;
tctxt->filledDelayedSlots = 0;
tctxt->lastMatchOffset = 0;
tctxt->minMatchOffset = offset;
tctxt->minNonMpvMatchOffset = offset;
tctxt->next_mpv_offset = 0;
DEBUG_PRINTF("BEGIN: history len=%zu, buffer len=%zu groups=%016llx\n",
scratch->core_info.hlen, scratch->core_info.len, tctxt->groups);
fatbit_clear(scratch->aqa);
scratch->al_log_sum = 0;
scratch->catchup_pq.qm_size = 0;
if (t->outfixBeginQueue != t->outfixEndQueue) {
streamInitSufPQ(t, state, scratch);
}
runEagerPrefixesStream(t, scratch);
u32 alen = t->anchoredDistance > offset ?
MIN(length + offset, t->anchoredDistance) - offset : 0;
const struct anchored_matcher_info *atable = getALiteralMatcher(t);
if (atable && alen) {
DEBUG_PRINTF("BEGIN ANCHORED %zu/%u\n", scratch->core_info.hlen, alen);
runAnchoredTableStream(t, atable, alen, offset, scratch);
if (can_stop_matching(scratch)) {
goto exit;
}
}
const struct HWLM *ftable = getFLiteralMatcher(t);
if (ftable) {
if (t->noFloatingRoots && !roseHasInFlightMatches(t, state, scratch)) {
DEBUG_PRINTF("skip FLOATING: no inflight matches\n");
goto flush_delay_and_exit;
}
size_t flen = length;
if (t->floatingDistance != ROSE_BOUND_INF) {
flen = t->floatingDistance > offset ?
MIN(t->floatingDistance, length + offset) - offset : 0;
}
size_t hlength = scratch->core_info.hlen;
char rebuild = hlength &&
(scratch->core_info.status & STATUS_DELAY_DIRTY) &&
(t->maxFloatingDelayedMatch == ROSE_BOUND_INF ||
offset < t->maxFloatingDelayedMatch);
DEBUG_PRINTF("**rebuild %hhd status %hhu mfdm %u, offset %llu\n",
rebuild, scratch->core_info.status,
t->maxFloatingDelayedMatch, offset);
if (!flen) {
if (rebuild) { /* rebuild floating delayed match stuff */
do_rebuild(t, ftable, scratch);
}
goto flush_delay_and_exit;
}
if (rebuild) { /* rebuild floating delayed match stuff */
do_rebuild(t, ftable, scratch);
}
if (flen + offset <= t->floatingMinDistance) {
DEBUG_PRINTF("skip FLOATING: before floating min\n");
goto flush_delay_and_exit;
}
size_t start = 0;
if (offset < t->floatingMinDistance) {
// This scan crosses the floating min distance, so we can use that
// to set HWLM's "start" offset.
start = t->floatingMinDistance - offset;
}
DEBUG_PRINTF("start=%zu\n", start);
u8 *stream_state;
if (t->floatingStreamState) {
stream_state = getFloatingMatcherState(t, state);
} else {
stream_state = NULL;
}
DEBUG_PRINTF("BEGIN FLOATING (over %zu/%zu)\n", flen, length);
hwlmExecStreaming(ftable, scratch, flen, start, roseFloatingCallback,
scratch, tctxt->groups & t->floating_group_mask,
stream_state);
}
flush_delay_and_exit:
DEBUG_PRINTF("flushing floating\n");
if (cleanUpDelayed(t, scratch, length, offset) == HWLM_TERMINATE_MATCHING) {
return;
}
exit:
DEBUG_PRINTF("CLEAN UP TIME\n");
if (!can_stop_matching(scratch)) {
ensureStreamNeatAndTidy(t, state, scratch, length, offset);
}
DEBUG_PRINTF("DONE STREAMING SCAN, status = %u\n",
scratch->core_info.status);
return;
}
