void CommandCreator::update(const Plan &plan, const GlobalMap &gMap)
{
// make vector from current position to destination
const Vector2DCont &vp=plan.getDst().getDstVect();
// get vector of direction of robot
const Vector2DCont &vd=gMap.getDir();
// get angle between robot's direcion vector and destination in
// radians (clock-wise)
double angle=vd.getAngle(vp);
TIERproto::Speed spd(0,0); // speed to set
if( angle<_params._tolerance ||
2*M_PI-_params._tolerance<angle) // misdirection is suficiently
spd=TIERproto::Speed( 250, 250); // small not to change dir?
else
if(angle<M_PI) // turn right?
spd=TIERproto::Speed( 250, -250);
//spd=TIERproto::Speed( 0,-250);
else // turn left?
spd=TIERproto::Speed(-250, 250);
//spd=TIERproto::Speed(-250, 0);
// critical section - set new speed
{
Lock lock(_mutex);
_spdSet=spd;
};
};
StringDataInformation* toString(const QScriptValue& value, const ParserInfo& info)
{
StringParsedData spd(info);
spd.encoding = value.property(PROPERTY_ENCODING).toString();
spd.termination = ParserUtils::uintFromScriptValue(value.property(PROPERTY_TERMINATED_BY));
spd.maxByteCount = ParserUtils::uintFromScriptValue(value.property(PROPERTY_MAX_BYTE_COUNT));
spd.maxCharCount = ParserUtils::uintFromScriptValue(value.property(PROPERTY_MAX_CHAR_COUNT));
return DataInformationFactory::newString(spd);
}
void EntitiesResponse::sendServerControlState(BitStream &bs) const
{
Vector3 spd(1,80,1);
Vector3 zeroes;
bool m_flying=false;
bool m_dazed=false;
// user entity
Entity *ent = m_client->char_entity();
CscCommon_Sub28 struct_csc;
memset(&struct_csc,0,sizeof(struct_csc));
static int vla=1;
int g=rand()&0xff;
for(int i=0; i<3; ++i)
struct_csc.a.v[i] = g+vla;
vla+=1;
struct_csc.b.max_speed = struct_csc.a.max_speed = 5.0f;
struct_csc.b.gravitational_constant = struct_csc.a.gravitational_constant = 3.0f;
// for(int i=3; i<5; ++i)
// struct_csc.a.v[i] = rand()&0xf;
bool update_part_1=true;
bool update_part_2=false;
bs.StoreBits(1,update_part_1);
if(update_part_1)
{
//rand()&0xFF
bs.StoreBits(8,vla); // value stored in control state field_134
// after input_send_time_initialized, this value is enqueued as CSC_9's control_flags
// This is entity speed vector !!
NetStructure::storeVector(bs,spd);
bs.StoreFloat(1.0f); // speed rel back
bs.StoreBitArray((uint8_t *)&struct_csc,sizeof(CscCommon_Sub28)*8);
bs.StoreFloat(0.1f);
bs.StoreBits(1,m_flying); // key push bits ??
bs.StoreBits(1,m_dazed); // key push bits ??
bs.StoreBits(1,0); // key push bits ??
bs.StoreBits(1,0); // key push bits ??
bs.StoreBits(1,0); // key push bits ??
bs.StoreBits(1,0); // key push bits ??
}
// Used to force the client to a position/speed/pitch/rotation by server
bs.StoreBits(1,update_part_2);
if(update_part_2)
{
bs.StorePackedBits(1,0); // sets g_client_pos_id_rel
NetStructure::storeVector(bs,spd);
NetStructure::storeVectorConditional(bs,zeroes); // vector3 -> speed ? likely
NetStructure::storeFloatConditional(bs,0); // Pitch not used ?
NetStructure::storeFloatConditional(bs,ent->inp_state.pyr.x); // Pitch
NetStructure::storeFloatConditional(bs,0); // Roll
bs.StorePackedBits(1,0); // sets the lowest bit in CscCommon::flags
}
}
void CommandCreator::doTask(void)
{
TIERproto::Speed spd(0,0); // this copy is needed because of very
// high command sending times...
// critical section - make copy of speed setting
{
Lock lock(_mutex);
spd=_spdSet;
};
// apply settings
if( !_params._proto.spdst(spd) ) // set new speed to robot
_params._listener.onCommError("CommandCreator::doTask(): "
"proto.spdst() failed");
usleep(200*1000); // 200[ms] - this is needed since radio
// modems seems not to handle more...
};
void myApp02::init() {
globalAmbient = Col3f(1, .1, .1);
shadowsOn();
// wall
plane = GroundPlane(Vec3(), Vec3(), Dim2f(8, 7), Col4f(1, 1, 0, 1), 1, 1, "orange.jpg");
//Plane.textureOn();
plane.setBumpMap("white_tile.jpg");
plane.setTextureScale(Vec2f(.5));
//Plane.setAmbientMaterial(Col4f(.02, .02, .02, 1.0));
plane.setSpecularMaterial(Col4f(.1, .1, .1, 1.0));
plane.setShininess(100);
//tube = ProtoTube();
float radius = .107;
Vec3f v(0, 0, 0);
int segments = 10; // 60;
v = Vec3f(0, 0, 0);
Vec3f spd(0, 0, 0);
//cps.push_back(v);
float turbulence = .1f;
Dim3f size(4.25, 4.25, 4.25);
float startY = -.5;
int ribCount = 3;// 17;
float ribSpan = 4.5;
float ribRadius = 0;
float ribRadiusMax = 2.0;
float ribTheta = 0;
float ribGap = ribSpan / ribCount;
for (int i = 0; i < ribCount; ++i){
float theta = 0, weaveTheta = 0;
std::vector <Vec3> cps;
Spline3 spline;
ribRadius = fabs(sin(ribTheta) * ribRadiusMax);
for (int j = 0; j < segments; ++j){
//spd = Vec3(random(-turbulence*.1, turbulence*.1), 0, random(-turbulence*.1, turbulence*.1));
//v = spd + Vec3f(sin(theta)*2+random(-turbulence, turbulence), startY+=.1, cos(theta)*2+random(-turbulence, turbulence));
//cps.push_back(Vec3(v.x, v.y, v.z));
cps.push_back(Vec3(sin(theta) * ribRadius, -ribSpan / 2 + ribGap*i + sin(weaveTheta) * .15, cos(theta) * ribRadius));
theta += TWO_PI / segments;
//weaveTheta += j*j*j*.125 * PI / 180;
weaveTheta += TWO_PI / segments * (ribRadius * 4);
}
//trace("ribradius = ", ribRadius*4);
ribTheta += PI / ribCount;
//spline = Spline3(cps, 4, false, .5);
spline = Spline3(cps, 5, false, .5);
TransformFunction t1 = TransformFunction(TransformFunction::SINUSOIDAL, Tup2f(.02, .95 + (ribRadius*random(.07, .31))), 1/*int(random(1, 3))*/);
ribs.push_back(ProtoTube(Vec3f(), Vec3f(), Dim3f(1), Col4f(1), spline, .09, 12, t1, true, "pitted.jpg", Vec2f(1, random(.0825, .2))));
ribs.at(i).setIsClosed(0);
ribs.at(i).setSpecularMaterial(Col4f(.4, .275, .1, 1));
ribs.at(i).setShininess(6);
ribs.at(i).setBumpMap("pitted.jpg");
// rib tendrils
std::vector <Vec3> ribCps;
for (int j = 0; j < ribs.at(i).getFrenetFrameLength(); j += int(random(1, 3))){
for (int k = 0; k < ribs.at(i).getCrossSectionDetail(); k += int(random(1, 3))){
ribCps.push_back(ribs.at(i).getVertices().at(j*ribs.at(i).getCrossSectionDetail() + k).pos);
}
}
Spline3 ribSpline = Spline3(ribCps, 2, false, .5);
TransformFunction ribT = TransformFunction(TransformFunction::SINUSOIDAL, Tup2f(random(.05, .2), random(..3, .5)), int(random(5, 12)));
ribBands.push_back(ProtoTube(Vec3f(), Vec3f(), Dim3f(1), Col4f(1), ribSpline, .09, 12, ribT, true, "vascular.jpg", Vec2f(1, random(.0825, 1))));
ribBands.at(i).setIsClosed(0);
ribBands.at(i).setSpecularMaterial(Col4f(.8, .275, .1, 1));
ribBands.at(i).setShininess(5);
ribBands.at(i).setBumpMap("vascular.jpg");
}
//yRot = xRot = 0;
//xRotLast = yRotLast = 0;
//mouseXIn = mouseYIn = 0;
}
int main(int argc, const char * argv[])
{
// cout << "Setting program parameters..."<<endl;
//
// int order = 4;
// int nx[4] = {51, 101, 201, 401};
// double err1[4];
// int ny = 1;
// int nz = 1;
// for (int n = 0; n < 4; n++) {
// double h = 2*M_PI/(nx[n]-1);
// myData u(nx[n],ny,nz),ux(nx[n],ny,nz),uxx(nx[n],ny,nz);
//
// for (int i = 0; i < u.Nx(); i++) {
// double a = sin(i*h);
// double b = cos(i*h);
// for (int j = 0; j < u.Ny(); j++) {
// for (int k = 0; k < u.Nz(); k++) {
// u(i,j,k) = a;
// ux(i,j,k) = b;
// uxx(i,j,k) = -a;
// }
// }
// }
//
//
//
// myData vx = u.D1(h, order, X_DIR);
//// myData vxx = u.D2(h, order, X_DIR);
//
// myData w = vx - ux;
//// w = vxx - uxx;
// err1[n] = w.Norm()*sqrt(h);
//// err1[n] = w.Norm()*h;
//
// for (int i = 0; i < u.Nx(); i++)
// for (int j = 0; j < u.Ny(); j++)
// for (int k = 0; k < u.Nz(); k++)
// cout<<w(i,j,k)<<endl;
// }
//
// for (int i = 0; i < 4; i++)
// cout<<"Error :"<<err1[i]<<endl;
//
// for (int i = 0; i < 4; i++)
// cout<<"Value :"<<log2(err1[i])<<endl;
//
// for (int i = 0; i < 3; i++)
// cout<<"D1 :"<<log2(err1[i]) - log2(err1[i+1])<<endl;
double h = 0.04;
int order = 2;
double tEnd = 2;
double dt_coef = 0.1;
for (int i = 0; i < argc; i++) {
if (strcmp(argv[i],"-o") == 0)
order = atoi(argv[i+1]);
if (strcmp(argv[i],"-h") == 0)
h = atof(argv[i+1]);
if (strcmp(argv[i],"-dt") == 0)
dt_coef = atof(argv[i+1]);
if (strcmp(argv[i],"-t") == 0)
tEnd = atof(argv[i+1]);
if (strcmp(argv[i],"--help") == 0){
cout<<"Useage : ./fdm [options]"<<endl;
cout<<"\t -o : order of accuracy (Default is 2)"<<endl;
cout<<"\t -h : spatial step size (Default is 0.04)"<<endl;
cout<<"\t -dt : time step size coefficient(Default is c = 0.1 in dt = c*h)"<<endl;
cout<<"\t -t : Final calculation time (Default is 2)"<<endl;
return 0;
}
}
double dt = dt_coef*h;
cout<<"Initialising..."<<endl;
cout<<"Order of accuracy: "<<order<<endl;
cout<<"Spatial step size: "<<h<<endl;
cout<<"Time step: "<<dt<<endl;
cout<<"Final time: "<<tEnd<<endl;
FDM::pmlSolver pmlSol(h,dt,order);
FDM::solver refSol(h,dt,order);
pmlSol.Set_EndTime(tEnd);
refSol.Set_EndTime(tEnd);
int LN_X = 2;
int LN_Y = 1;
int LN_Z = 1;
int ref_LN_Y = 2;
vector<double> x_layers(LN_X + 1);
x_layers[0] = 0;
x_layers[1] = 0.5;
x_layers[2] = 1;
vector<double> y_layers(ref_LN_Y + 1);
y_layers[0] = 0;
y_layers[1] = 1;
y_layers[2] = 6;
vector<double> z_layers(LN_Z + 1);
z_layers[0] = 0;
z_layers[1] = 1;
vector<double> pml_y_layers(LN_Y + 1);
pml_y_layers[0] = 0;
pml_y_layers[1] = 1;
vector<double> ref_spd(LN_X*ref_LN_Y*LN_Z);
ref_spd[0] = 1;
ref_spd[1] = 1;
ref_spd[2] = 1;
ref_spd[3] = 1;
vector<double> spd(LN_X*LN_Y*LN_Z);
spd[0] = 1;
spd[1] = 1;
refSol.Set_Domain(x_layers, y_layers, z_layers, ref_spd);
pmlSol.Set_Domain(x_layers, pml_y_layers, z_layers, spd);
refSol.Set_FourceFunction(RikerWavelet, NULL);
pmlSol.Set_FourceFunction(RikerWavelet, NULL);
pmlSol.Set_Plotter(plot, NULL);
//////////
// pmlSol.Set_Initializer(start, NULL);
// pmlSol.Set_Finilizer(finale, NULL);
// pmlSol.Set_FourceFunction(MMS, NULL);
// pmlSol.Set_DampingCoeff(false,0);
//
// refSol.Set_Initializer(start, NULL);
// refSol.Set_Finilizer(finale, NULL);
// refSol.Set_FourceFunction(MMS, NULL);
Vdata pml = pmlSol.run();
Vdata ref = refSol.run();
double err = 0;
double val = 0;
for (int i = 0; i < LN_X; i++) {
for (int j = 0; j < ref_LN_Y - 1; j++) {
for (int k = 0; k < LN_Z; k++) {
int ind = idx(i, j, k);
val = (pml[ind]-ref[ind]).NormSquare();
err+=val;
}
}
}
err = sqrt(err)*sqrt(h*h*h);
cout << "-----------------------"<<endl;
cout<<"Error:"<<err<<endl;
cout<<"log2(error):"<<log2(err)<<endl;
cout << "-----------------------"<<endl;
return 0;
}
int main()
{
base::AtExitManager exit_manager;
base::CommandLine::Init(0, NULL);
BaseInitLoggingImpl(L"debug.log", base::LOG_ONLY_TO_FILE,
base::LOCK_LOG_FILE, base::DELETE_OLD_LOG_FILE);
int loga = base::Log2Floor(1);
base::Environment* e = base::Environment::Create();
std::string sys_path;
e->GetVar("path", &sys_path);
base::CPU cpu;
bool finite = base::IsFinite(1.01);
base::FilePath path;
std::vector<std::wstring> components;
path.GetComponents(&components);
path.Append(L"c:");
path.Append(L"pWRD");
path.Append(L"testDir");
path.Append(L"\\wlw.txt");
path.GetComponents(&components);
bool absolute = path.IsAbsolute();
base::FilePath path2(L"wlwtxt");
path2.GetComponents(&components);
absolute = path2.IsAbsolute();
base::FilePath search_path(L"C:\\");
base::CountFilesCreatedAfter(search_path, base::Time::Now());
int err = base::EnsureDirectoryForFile(path, NULL);
base::Delete(base::FilePath(L"c:\\pWRD"), true);
FileVersionInfo* fvi = FileVersionInfo::CreateFileVersionInfoForCurrentModule();
if(fvi)
{
std::wstring file_ver = fvi->file_version();
delete fvi;
}
base::FileEnumerator file_iter(search_path, false,
base::FileEnumerator::DIRECTORIES, L"3rd");
for(base::FilePath current=file_iter.Next(); !current.Empty();
current=file_iter.Next())
{
std::wcout << current.value() << std::endl;
base::FileEnumerator::FindInfo fi;
file_iter.GetFindInfo(&fi);
if(file_iter.IsDirectory(fi))
{
int64 size = base::ComputeDirectorySize(current);
std::wcout << L"Directory size is: " << size << std::endl;
size = base::ComputeFilesSize(current, L"");
std::wcout << L"Files size is: " << size << std::endl;
}
}
Pickle p;
p.WriteInt(1);
p.WriteString("I'm wlw!");
p.WriteWString(L"I'm WLW!");
int p_i;
std::string p_str;
std::wstring p_wstr;
void* iter = NULL;
p.ReadInt(&iter, &p_i);
p.ReadString(&iter, &p_str);
p.ReadWString(&iter, &p_wstr);
base::RegKey reg(HKEY_CURRENT_USER, L"Environment", KEY_QUERY_VALUE);
std::wstring reg_temp;
if(reg.Valid())
{
reg.ReadValue(L"TEMP", ®_temp);
}
CoInitialize(NULL);
base::ScopedComPtr<IDropTargetHelper, &IID_IDropTargetHelper> scomp;
if(SUCCEEDED(scomp.CreateInstance(CLSID_DragDropHelper)))
{
scomp = NULL;
}
CoUninitialize();
scoped_ptr<double> spd(new double(3.1));
spd.reset();
base::Singleton<FooClass>::get()->Bar();
int cvt = 0;
base::StringToInt("123", &cvt);
std::string str_d = base::DoubleToString(2.123);
base::StringPiece s1;
assert(s1.length() == 0);
assert(s1.size() == 0);
assert(s1.data() == NULL);
base::StringPiece s2("I love you");
assert(s2.find('I') != base::StringPiece::npos);
std::vector<std::string> v;
base::SplitString("wlw&el", '&', &v);
std::vector<std::string> subst;
subst.push_back("10");
subst.push_back("20");
subst.push_back("30");
std::string add = ReplaceStringPlaceholders("$2+$1=$3", subst, NULL);
string16 bytes = FormatBytes(5*1024, DATA_UNITS_KIBIBYTE, true);
std::string profile = base::StringPrintf("wlw's age is %d", 29);
LOG(WARNING) << "This is a warning!";
//DCHECK(1 == 0);
base::Time::EnableHighResolutionTimer(true);
base::Time t = base::Time::Now();
base::Time::Exploded te;
t.LocalExplode(&te);
base::TimeTicks tt = base::TimeTicks::Now();
base::TimeTicks tth = base::TimeTicks::HighResNow();
std::string utf8 = WideToUTF8(L"wan lian wen - мРа╛нд");
std::wstring wide = UTF8ToWide(utf8);
DictionaryValue root;
root.SetString("global.pages.homepage", "http://goateleporter.com");
std::string homepage = "http://google.com";
root.GetString("global.pages.homepage", &homepage);
Version* ver = Version::GetVersionFromString("2.0.0.1");
delete ver;
base::WinVersion version = base::GetWinVersion();
std::wstring user_sid;
base::GetUserSidString(&user_sid);
std::string base64;
base::Base64Encode("I'm wlw.", &base64);
std::string md5 = MD5String("I'm wlw.");
std::string sha1 = base::SHA1HashString("I'm wlw.");
std::string sha2 = base::SHA256HashString("I'm wlw.");
std::string json = base::GetDoubleQuotedJson("a<>b;\nb = 0;");
std::string json_write;
base::JSONWriter::Write(&root, false, &json_write);
Value* json_read = base::JSONReader::Read(json_write, false);
delete json_read;
Tuple3<int, double, bool> t3 = MakeTuple(10, 2.5, false);
ObjClass obj;
Callback0::Type* callback = NewCallback(&obj, &ObjClass::Bar);
callback->Run();
delete callback;
thred.Start();
thred.message_loop()->PostDelayedTask(new PrintTask(), 1000);
MessageLoop msg_loop;
msg_loop.PostDelayedTask(new MainThreadPrintTask(), 3000);
msg_loop.Run();
thred.Stop();
return 0;
}
int Main(int argc, char *argv[])
{
QApplication app(argc, argv);
static const struct option options[] =
{
{ "help", no_argument, NULL, 'h' },
{ "threads", required_argument, NULL, 't' },
{ NULL, 0, NULL, 0 }
};
unsigned int nthreads = 32;
int option_index;
int option;
while ((option = getopt_long(argc, argv, "ht:", options, &option_index))
!= -1)
{
switch (option)
{
case 'h':
Usage(stdout);
return 0;
case 't':
nthreads = (unsigned int)strtoul(optarg, NULL, 10);
break;
default:
Usage(stderr);
return 1;
}
}
const char *media_root;
const char *flac_root = "";
switch ((int)(argc-optind)) // How many more arguments?
{
case 2:
media_root = argv[optind];
flac_root = argv[optind+1];
break;
case 1:
media_root = argv[optind];
break;
default:
Usage(stderr);
return 1;
}
util::http::Client http_client;
db::steam::Database sdb(mediadb::FIELD_COUNT);
sdb.SetFieldInfo(mediadb::ID,
db::steam::FIELD_INT|db::steam::FIELD_INDEXED);
sdb.SetFieldInfo(mediadb::PATH,
db::steam::FIELD_STRING|db::steam::FIELD_INDEXED);
sdb.SetFieldInfo(mediadb::ARTIST,
db::steam::FIELD_STRING|db::steam::FIELD_INDEXED);
sdb.SetFieldInfo(mediadb::ALBUM,
db::steam::FIELD_STRING|db::steam::FIELD_INDEXED);
sdb.SetFieldInfo(mediadb::GENRE,
db::steam::FIELD_STRING|db::steam::FIELD_INDEXED);
util::WorkerThreadPool wtp(util::WorkerThreadPool::LOW, nthreads);
db::local::Database db(&sdb, &http_client, &wtp);
db::local::FileScanner ifs(media_root, flac_root, &sdb, &db, &wtp);
mediadb::Registry registry;
ScanProgressDialog spd(&db, ®istry);
spd.show();
ifs.AddObserver(&spd);
unsigned int rc = ifs.StartScan();
assert(rc == 0);
if (rc)
{
fprintf(stderr, "Scanning failed: %u\n", rc);
exit(1);
}
return app.exec();
}
