// 將分割後的檔案內容，針對Component跟Connection做加入
void ERModel::recoveryAllComponent( vector<string> componentsSet, vector<string> connectionsSet )
{
vector<string> componentData;
vector<pair<int, int>> positionSet = loadPosition();
int connectionSetCount = 0;
int positionSetCount = 0;
for(int i = 0; i < componentsSet.size(); i++)
{
componentData = Toolkit::splitFunction(componentsSet[i], TEXT_COMMASPACE);
if ( componentData[PARAMETER_TYPE] == PARAMETER_CONNECTOR && componentData.size() > PARAMETER_HAVETYPEANDTEXT ) // Connector有Cardinality
connectionSetCount = recoveryConnection(connectionsSet, connectionSetCount, componentData[1]);
else if ( componentData[PARAMETER_TYPE] == PARAMETER_CONNECTOR ) // Connector沒有Cardinality
connectionSetCount = recoveryConnection(connectionsSet, connectionSetCount, PARAMETER_NULL);
else // Component是Attribute, Entity或Relationship其中一種
{
if (positionSet.size() > 0)
{
addNode(componentData[PARAMETER_TYPE],componentData[PARAMETER_TEXT], positionSet[positionSetCount].first, positionSet[positionSetCount].second);
positionSetCount++;
}
else
addNode(componentData[PARAMETER_TYPE],componentData[PARAMETER_TEXT], PARAMETER_TEXTUI_COORDINATES, PARAMETER_TEXTUI_COORDINATES);
}
}
}
void Dialog::scanFolderPosition(const QDir &dir)
{
if(!dir.exists())
return;
QFileInfoList list = dir.entryInfoList(QDir::AllEntries|QDir::NoDotAndDotDot|QDir::Hidden|QDir::System,QDir::DirsFirst);
for (int i = 0; i < list.size(); ++i)
{
QFileInfo fileInfo(list.at(i));
if(!fileInfo.isDir())
{
if(fileInfo.fileName().endsWith(".tmx"))
loadPosition(dir.absolutePath()+'/'+fileInfo.fileName());
}
else
{
//return the fonction for scan the new folder
scanFolderPosition(dir.absolutePath()+'/'+fileInfo.fileName()+'/');
}
}
}
void HardwareEstimatorOdo::preloadTask(void)
{ try {
jblas::vec row(7);
Position pos1;
while (true)
{
boost::unique_lock<boost::mutex> l(mutex_data, boost::defer_lock_t());
if (mode == 2)
{
pos1 = loadPosition(index_load_);
l.lock();
if (write_position == read_position) cond_offline.notify_all();
while (write_position == read_position) cond_data.wait(l);
if (!pos1.m_date)
std::cout << " Failed to read position " << std::endl;
row(0) = pos1.m_date;
row(1) = pos1.m_mainToBase(0); //x
row(2) = pos1.m_mainToBase(1); //y
row(3) = pos1.m_mainToBase(2); //z
row(4) = pos1.m_mainToBase(5); //roll
row(5) = pos1.m_mainToBase(4); //pitch
row(6) = pos1.m_mainToBase(3); //yaw
index_load_++;
} else
{
std::cout << "Read pom poster position: work in progress" << std::endl;
}
ublas::matrix_row<jblas::mat>(buffer, write_position) = row;
// buffer(write_position,0) += timestamps_correction;
++write_position; if (write_position >= bufferSize) write_position = 0;
l.unlock();
}
} catch (kernel::Exception &e) { std::cout << e.what(); throw e; } }
LaunchyWidget::LaunchyWidget(CommandFlags command) :
#ifdef Q_WS_WIN
QWidget(NULL, Qt::FramelessWindowHint | Qt::Tool),
#endif
#ifdef Q_WS_X11
QWidget(NULL, Qt::FramelessWindowHint),
#endif
#ifdef Q_WS_MAC
QWidget(NULL, Qt::FramelessWindowHint),
#endif
frameGraphic(NULL),
trayIcon(NULL),
alternatives(NULL),
updateTimer(NULL),
dropTimer(NULL),
condensedTempIcon(NULL)
{
setObjectName("launchy");
setWindowTitle(tr("Launchy"));
#ifdef Q_WS_WIN
setWindowIcon(QIcon(":/resources/launchy128.png"));
#endif
#ifdef Q_WS_MAC
setWindowIcon(QIcon("../Resources/launchy_icon_mac.icns"));
//setAttribute(Qt::WA_MacAlwaysShowToolWindow);
#endif
setAttribute(Qt::WA_AlwaysShowToolTips);
setAttribute(Qt::WA_InputMethodEnabled);
if (platform->supportsAlphaBorder())
{
setAttribute(Qt::WA_TranslucentBackground);
}
setFocusPolicy(Qt::ClickFocus);
createActions();
gMainWidget = this;
menuOpen = false;
optionsOpen = false;
dragging = false;
gSearchText = "";
alwaysShowLaunchy = false;
connect(&iconExtractor, SIGNAL(iconExtracted(int, QIcon)), this, SLOT(iconExtracted(int, QIcon)));
fader = new Fader(this);
connect(fader, SIGNAL(fadeLevel(double)), this, SLOT(setFadeLevel(double)));
optionsButton = new QPushButton(this);
optionsButton->setObjectName("opsButton");
optionsButton->setToolTip(tr("Launchy Options"));
optionsButton->setGeometry(QRect());
connect(optionsButton, SIGNAL(clicked()), this, SLOT(showOptionsDialog()));
closeButton = new QPushButton(this);
closeButton->setObjectName("closeButton");
closeButton->setToolTip(tr("Close Launchy"));
closeButton->setGeometry(QRect());
connect(closeButton, SIGNAL(clicked()), qApp, SLOT(quit()));
output = new QLabel(this);
output->setObjectName("output");
output->setAlignment(Qt::AlignHCenter);
input = new CharLineEdit(this);
#ifdef Q_WS_MAC
QMacStyle::setFocusRectPolicy(input, QMacStyle::FocusDisabled);
#endif
input->setObjectName("input");
connect(input, SIGNAL(keyPressed(QKeyEvent*)), this, SLOT(inputKeyPressEvent(QKeyEvent*)));
connect(input, SIGNAL(focusIn(QFocusEvent*)), this, SLOT(focusInEvent(QFocusEvent*)));
connect(input, SIGNAL(focusOut(QFocusEvent*)), this, SLOT(focusOutEvent(QFocusEvent*)));
connect(input, SIGNAL(inputMethod(QInputMethodEvent*)), this, SLOT(inputMethodEvent(QInputMethodEvent*)));
outputIcon = new QLabel(this);
outputIcon->setObjectName("outputIcon");
workingAnimation = new AnimationLabel(this);
workingAnimation->setObjectName("workingAnimation");
workingAnimation->setGeometry(QRect());
// Load settings
settings.load();
// If this is the first time running or a new version, call updateVersion
if (gSettings->value("version", 0).toInt() != LAUNCHY_VERSION)
{
updateVersion(gSettings->value("version", 0).toInt());
command |= ShowLaunchy;
}
alternatives = new CharListWidget(this);
alternatives->setObjectName("alternatives");
alternatives->setWindowFlags(Qt::Window | Qt::Tool | Qt::FramelessWindowHint);
alternatives->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
alternatives->setTextElideMode(Qt::ElideLeft);
alternatives->setUniformItemSizes(true);
listDelegate = new IconDelegate(this);
defaultListDelegate = alternatives->itemDelegate();
setSuggestionListMode(gSettings->value("GenOps/condensedView", 0).toInt());
altScroll = alternatives->verticalScrollBar();
altScroll->setObjectName("altScroll");
connect(alternatives, SIGNAL(currentRowChanged(int)), this, SLOT(alternativesRowChanged(int)));
connect(alternatives, SIGNAL(keyPressed(QKeyEvent*)), this, SLOT(alternativesKeyPressEvent(QKeyEvent*)));
connect(alternatives, SIGNAL(focusOut(QFocusEvent*)), this, SLOT(focusOutEvent(QFocusEvent*)));
alternativesPath = new QLabel(alternatives);
alternativesPath->setObjectName("alternativesPath");
alternativesPath->hide();
listDelegate->setAlternativesPathWidget(alternativesPath);
// Load the plugins
plugins.loadPlugins();
// Set the general options
if (setAlwaysShow(gSettings->value("GenOps/alwaysshow", false).toBool()))
command |= ShowLaunchy;
setAlwaysTop(gSettings->value("GenOps/alwaystop", false).toBool());
// Check for udpates?
if (gSettings->value("GenOps/updatecheck", true).toBool())
{
checkForUpdate();
}
// Set the hotkey
QKeySequence hotkey = getHotkey();
if (!setHotkey(hotkey))
{
QMessageBox::warning(this, tr("Launchy"), tr("The hotkey %1 is already in use, please select another.").arg(hotkey.toString()));
command = ShowLaunchy | ShowOptions;
}
// Set the timers
updateTimer = new QTimer(this);
dropTimer = new QTimer(this);
dropTimer->setSingleShot(true);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateTimeout()));
connect(dropTimer, SIGNAL(timeout()), this, SLOT(dropTimeout()));
int time = gSettings->value("GenOps/updatetimer", 10).toInt();
if (time > 0)
updateTimer->start(time * 60000);
// Load the catalog
catalog.reset(CatalogBuilder::createCatalog());
catalog->load(settings.catalogFilename());
// Load the history
history.load(settings.historyFilename());
// Load the skin
applySkin(gSettings->value("GenOps/skin", "Default").toString());
// Move to saved position
loadPosition(gSettings->value("Display/pos", QPoint(0,0)).toPoint());
loadOptions();
executeStartupCommand(command);
}
Position HardwareEstimatorOdo::loadPosition(unsigned int index_) const
{
Position pos;
loadPosition(index_, pos);
return pos;
}
void dispatchFixedMessage(int operation, unsigned long param)
{
if (VERBOSE) {
fprintf(stderr,"Calling base operation %d\n",operation);
}
confirmCommandToClient(operation, param); /* sends a message back to all
* baseClients, confirming the
* command, sebastian 7-97 */
switch(operation) {
/**** GENERAL ****/
case BASE_baseKill: baseKill(); break;
case BASE_loadHeading: loadHeading(param); break;
case BASE_loadPosition: loadPosition(param); break;
case BASE_statusReportData: statusReportData(param);break;
case BASE_statusReportPeriod: statusReportPeriod(param);break;
case BASE_batteryVoltage: batteryVoltage();break;
case BASE_batteryCurrent: batteryCurrent();break;
case BASE_watchdogTimer: watchdogTimer(param);break;
case BASE_assumeWatchdog: assumeWatchdog();break;
/**** ROTATION ****/
case BASE_rotateLimp: rotateLimp(); break;
case BASE_rotateHalt: rotateHalt(); break;
case BASE_rotateVelocityPos: rotateVelocityPos(); break;
case BASE_rotateVelocityNeg: rotateVelocityNeg(); break;
case BASE_rotateRelativePos: rotateRelativePos(param); break;
case BASE_rotateRelativeNeg: rotateRelativeNeg(param); break;
case BASE_rotateTorquePos: rotateTorquePos(param); break;
case BASE_rotateTorqueNeg: rotateTorqueNeg(param); break;
case BASE_rotatePowerPos: rotatePowerPos(param); break;
case BASE_rotatePowerNeg: rotatePowerNeg(param); break;
case BASE_rotateToPosition: rotateToPosition(param); break;
case BASE_findRotIndex:
if (bRobot.base_hasIndex) {
findRotIndex();
}
else {
sendClientFixed(BASE_indexReport, 0xFFFFFF);
}
break;
case BASE_setRotateVelocity: setRotateVelocity(param); break;
case BASE_setRotateAcceleration: setRotateAcceleration(param); break;
case BASE_setRotateFriction: setRotateFriction(param); break;
case BASE_setRotateSlope: setRotateSlope(param); break;
case BASE_setRotateTorque: setRotateTorque(param); break;
case BASE_setRotateZero: setRotateZero(param); break;
case BASE_rotateCurrent: rotateCurrent(); break;
case BASE_rotateWhere: rotateWhere(); break;
/**** TRANSLATION ****/
case BASE_translateLimp: translateLimp(); break;
case BASE_translateHalt: translateHalt(); break;
case BASE_translateVelocityPos: translateVelocityPos(); break;
case BASE_translateVelocityNeg: translateVelocityNeg(); break;
case BASE_translateRelativePos: translateRelativePos(param); break;
case BASE_translateRelativeNeg: translateRelativeNeg(param); break;
case BASE_translateTorquePos: translateTorquePos(param); break;
case BASE_translateTorqueNeg: translateTorqueNeg(param); break;
case BASE_translatePowerPos: translatePowerPos(param); break;
case BASE_translatePowerNeg: translatePowerNeg(param); break;
case BASE_translateToPosition: translateToPosition(param); break;
case BASE_setTranslateVelocity: setTranslateVelocity(param); break;
case BASE_setTranslateAcceleration: setTranslateAcceleration(param); break;
case BASE_setTranslateSlope: setTranslateSlope(param); break;
case BASE_setTranslateTorque: setTranslateTorque(param); break;
case BASE_setTranslateZero: setTranslateZero(param); break;
case BASE_translateCurrent: translateCurrent(); break;
case BASE_translateWhere: translateWhere(); break;
/**** SONARS ****/
case BASE_sonarStart: SIM_sonarStart(); break;
case BASE_sonarStop: SIM_sonarStop(); break;
/**** Odometry stuff ****/
case BASE_odometryChangeX:
ntohf(param, bOriginX);
sendClientFixed(BASE_odometryChangeX, param);
break;
case BASE_odometryChangeY:
ntohf(param, bOriginY);
sendClientFixed(BASE_odometryChangeY, param);
break;
case BASE_odometryChangeH:
ntohf(param, bOriginHeading);
sendClientFixed(BASE_odometryChangeH, param);
break;
/**** Odometry lock requests ****/
case BASE_requestOdometryLock:
requestOdometryLock((unsigned short)param);
break;
case BASE_releaseOdometryLock:
releaseOdometryLock();
break;
default:
fprintf(stderr, "BaseServer: Operation %d not yet implemented.\n",
operation);
}
if (VERBOSE) {
fprintf(stderr,"Operation %d complete\n",operation);
}
}
void ParametersPage::trackingChanged()
{
loadPosition();
}
void ParametersPage::positionChanged()
{
loadPosition();
}
void keyboard(uint8_t key, int32_t x, int32_t y)
{
FILE *file;
int32_t base = 10;
switch (key) {
case 27: // ESC
stopThreads();
exit(0);
break;
case 105: // i
maxIterations+=iterDelta;
printf("Iterationen: %u\n",maxIterations);
restart();
break;
case 111: // o
maxIterations-=iterDelta;
if (maxIterations <= 0) {
maxIterations+=iterDelta;
}
printf("Iterationen: %u\n",maxIterations);
restart();
break;
case 115: // s
printf("Speichere Position\n");
file = fopen("minRe.val", "w");
mpf_out_str(file, base, 0, mandelRange.minRe);
fclose(file);
file = fopen("maxRe.val", "w");
mpf_out_str(file, base, 0, mandelRange.maxRe);
fclose(file);
file = fopen("minIm.val", "w");
mpf_out_str(file, base, 0, mandelRange.minIm);
fclose(file);
file = fopen("iter.val", "wb");
fwrite(&maxIterations, sizeof(maxIterations), 1, file);
fclose(file);
file = fopen("bits.val", "wb");
fwrite(&gmpBit, sizeof(gmpBit), 1, file);
fclose(file);
printf("Position gespeichert\n");
break;
case 108: // l
loadPosition();
restart();
break;
case 98: //b
gmpBit+=1;
printf("Bit: %i\n",gmpBit);
setBits(gmpBit);
restart();
break;
case 99: // c
printf("aktuelle Bits: %lu\n",mpf_get_prec(mandelRange.minRe));
break;
// case 103: // g
// useGMP = useGMP ? 0 : 1;
// printf("benutze GMP: %i\n",useGMP);
// break;
default:
printf("%i\n",key);
break;
}
}
