void ImageDialog::savePic()
{
//Change NetPicName
if(currentSavePath.isNull())
{
if(access("D:/Netpics", 0) == -1)
{
mkdir("D:\\Netpics");
mkdir("D:\\Netpics\\MyPics");
currentSavePath="D:/Netpics/MyPics";
}
else
{
mkdir("D:\\Netpics\\MyPics");
currentSavePath="D:/Netpics/MyPics";
}
//return 0;
}
QString tempcurrentSavePath(currentSavePath);
NetPicName=tempcurrentSavePath.append(QString("/RawH%1.raw").arg(QString::number(NetFileIndex), 3, QLatin1Char('0')));
QFile streamfile(NetPicName);
bool OpenOk=streamfile.open(QIODevice::WriteOnly);
if(!OpenOk)
{
QMessageBox::information(this,tr("file"),tr("Can't open The File"));
return;
}
streamfile.write((char*)tjImage.unCorrectedRaw, tjImage.imageSize);
// streamfile.write((char*)(&tjSafeJointData),sizeof(SafeJointData));
// streamfile.write((char*)(&tjSafeSensorData),sizeof(SafeSensorData));
/*******************************************/
for (int i=0;i<SafeJointData::numOfJoints;i++)
{
streamfile.write((char*)(&tjSafeJointData.angles[i]),sizeof(double));
}
streamfile.write((char*)(&tjSafeJointData.timeStamp),sizeof(unsigned));
/********************************************/
for (int i=0;i<SafeSensorData::numOfSensors;i++)
{
streamfile.write((char*)(&tjSafeSensorData.data[i]),sizeof(float));
}
for(int i = 0; i < SafeJointData::numOfJoints; ++i)
{
streamfile.write((char*)(&tjSafeSensorData.loads[i]),sizeof(float));
streamfile.write((char*)(&tjSafeSensorData.temperatures[i]),sizeof(float));
}
streamfile.write((char*)(&tjSafeSensorData.timeStamp),sizeof(unsigned));
/**********************************************/
emit updateWindowTitle(tr("Image ***NetPic*** ").append(NetPicName));
//存动作值
streamfile.close();
NetFileIndex++;
update();
show();
raise();
activateWindow();
}
//==========================================================================
int main(int argc, char* argv[]){
if(argc < 2) {
std::cout << "No command line argument supplied\n";
help();
return 1;
}
std::string streamfile(argv[1]);
std::string outfile("/dev/null");
if(argc == 3) {
outfile = argv[2];
}
readfile(streamfile, outfile);
std::cout << "\n\nDiagStreamerFile TEST DONE\n" << std::endl;
return 0;
}
//-------------------------------------------------------------------------------------
void SceneLoader::load(std::string filename, Scene* scene)
{
try
{
Ogre::FileInfoListPtr files = Ogre::ResourceGroupManager::getSingletonPtr()->findResourceFileInfo("Essential", filename);
if(files->size() < 1) throw NHException("could not find the path to the specified scene");
std::string filePath = files->front().archive->getName() + "/" + files->front().filename;
std::ifstream streamfile(filePath);
rapidxml::xml_document<> doc;
std::vector<char> buffer((std::istreambuf_iterator<char>(streamfile)), std::istreambuf_iterator<char>());//streamfile)), std::istreambuf_iterator<char>());
buffer.push_back('\0');//null terminating the buffer
//std::cout << &buffer[0] << std::endl; //test the buffer
doc.parse<0>(&buffer[0]);
rapidxml::xml_node<>* root = doc.first_node(SCENE_STRING);//"scene");
scene->getSceneGraphicsManager()->setAmbientLight(getXMLColour(root, AMBIENT_RED_STRING, AMBIENT_GREEN_STRING, AMBIENT_BLUE_STRING));
//description attributes
//north = boost::lexical_cast<float>(root->first_attribute(NORTH_STRING)->value());
//Architecture
rapidxml::xml_node<>* architectureNode = root->first_node(ARCHITECTURE_STRING);//"architecture");
while(architectureNode != NULL)
{
int id = boost::lexical_cast<int>(architectureNode->first_attribute(ID_STRING)->value());
try
{
scene->addArchitecture(id, getXMLPosition(architectureNode), getXMLRotation(architectureNode), getXMLScale(architectureNode));
}
catch(NHException e)
{
#ifdef _DEBUG
std::cout << e.what() << std::endl;
#endif
}
architectureNode = architectureNode->next_sibling(ARCHITECTURE_STRING);
}
scene->build();//building static geometry - must do here else we can't use the navigation mesh for creature placement
//Lights
rapidxml::xml_node<>* lightNode = root->first_node(LIGHT_STRING);//"light");
while(lightNode != NULL)
{
bool cast_shadows = boost::lexical_cast<bool>(lightNode->first_attribute(CAST_SHADOWS_STRING)->value());
float range = boost::lexical_cast<float>(lightNode->first_attribute(RANGE_STRING)->value());
Ogre::ColourValue colour = getXMLColour(lightNode);
scene->addLight(-1, getXMLPosition(lightNode),cast_shadows,range);//TODO: use actual id rather than -1
lightNode = lightNode->next_sibling(LIGHT_STRING);
}
//Items
rapidxml::xml_node<>* itemNode = root->first_node(ITEM_STRING);
while(itemNode != NULL)
{
int id = boost::lexical_cast<int>(itemNode->first_attribute(ID_STRING)->value());
scene->addItem(id, getXMLPosition(itemNode), getXMLRotation(itemNode));
itemNode = itemNode->next_sibling(ITEM_STRING);
}
//Creatures
rapidxml::xml_node<>* creatureNode = root->first_node(CREATURE_STRING);
while(creatureNode != NULL)
{
int id = boost::lexical_cast<int>(creatureNode->first_attribute(ID_STRING)->value());
scene->addCreature(id, getXMLPosition(creatureNode));
creatureNode = creatureNode->next_sibling(CREATURE_STRING);
}
//Portals
rapidxml::xml_node<>* portalNode = root->first_node(PORTAL_STRING);
while(portalNode != NULL)
{
int id = boost::lexical_cast<int>(portalNode->first_attribute(ID_STRING)->value());
int targetSceneID = boost::lexical_cast<int>(portalNode->first_attribute(TARGET_SCENE_ID_STRING)->value());
int targetPortalID = boost::lexical_cast<int>(portalNode->first_attribute(TARGET_PORTAL_ID_STRING)->value());
scene->addPortal(id, getXMLPosition(portalNode), getXMLVector(portalNode, LOOK_AT_X_STRING, LOOK_AT_Y_STRING, LOOK_AT_Z_STRING), Id<Scene>(targetSceneID), Id<Portal>(targetPortalID), Id<Portal>(id));
portalNode = portalNode->next_sibling(PORTAL_STRING);//"portal");
}
//Particles //TODO: change to emitter
/*
rapidxml::xml_node<>* particleNode = root->first_node(PARTICLE_STRING);//"particle");
while(particleNode != NULL)
{
scene->addParticles(particleNode->first_attribute(NAME_STRING)->value(), particleNode->first_attribute(TEMPLATE_NAME_STRING)->value(),getXMLPosition(particleNode));
particleNode = particleNode->next_sibling(PARTICLE_STRING);
}
*/
}
catch (rapidxml::parse_error e)
{
std::stringstream ss;
ss << "could not load the xml scene '" << filename << "': " << e.what() << std::endl;
throw NHException(ss.str().c_str());
}
}
