void RuleListWidget::ruleContentChanged(int rule)
{
if(rule != _ruleLayout->count()-1)
return;
updateRuleList();
}
void RuleListWidget::moveRuleDown(int rule)
{
if(rule >= _ruleLayout->count()-1)
return;
swapRules(rule, rule+1);
updateRuleList();
}
void RuleListWidget::moveRuleUp(int rule)
{
if(rule < 1)
return;
swapRules(rule-1, rule);
updateRuleList();
}
void RuleListWidget::clearAll()
{
while(_ruleLayout->count() != 0)
delete _ruleLayout->itemAt(0)->widget();
updateRuleList();
emit numberOfRulesChanged(numberOfRules()-1);
}
void RuleListWidget::deleteRule(int rule)
{
if(rule < 0 || rule >= _ruleLayout->count())
return;
delete _ruleLayout->itemAt(rule)->widget();
updateRuleList();
emit numberOfRulesChanged(numberOfRules()-1);
}
void RuleListWidget::insertRule(int rulePos)
{
if(rulePos > _ruleLayout->count())
rulePos = _ruleLayout->count();
_ruleLayout->insertWidget(rulePos, createWidgetAt(rulePos));
updateRuleList();
emit numberOfRulesChanged(numberOfRules()-1);
}
bool ruleSmrclgenerator::setExecution(bool run, void *nothing){
//Update the list of generator rules when execution is started.
updateRuleList();
//Toggle some stuff, when running is activated/deactivated
if (run) {
if (running != NULL) running->setValued(1);
}else {
if (running != NULL) running->setValued(0);
}
return true;
}
RuleListWidget::RuleListWidget(QWidget *parent)
: QWidget(parent),
_ruleLayout(new QVBoxLayout),
_autoDelete(false)
{
_ruleLayout->setSpacing(10);
delete layout();
QVBoxLayout * l = new QVBoxLayout;
setLayout(l);
l->addLayout(_ruleLayout);
l->addStretch(9);
setObjectName("listSelector");
setStyleSheet("#listSelector {background-color: black;}");
updateRuleList();
}
/* Function to process the generated smr-cl code and place it into
* the robotCommand vector for the current route element.
*/
bool ruleSmrclgenerator::processCommands(vector<robotCommand> *rCmds, bool waitForNew) {
generatorCount++; //Increment counter
//Update rules, if the rule list is empty
if (!rulesLoaded()) updateRuleList();
//Test if there is still no rules loaded
if (!rulesLoaded()) return false;
//update iteration counter
ruleIterCmds = (int)ruleIter->getValued();
//Wait until the rule-based planner has run another iteration since last
//update, if it is required
if (ruleIter != NULL) { //only if rule-iter has been loaded from rulebased plug-in
while((waitForNew) && (ruleIterCmds == (int)ruleIter->getValued())) {
usleep(10000); //Wait 10ms until ruleIter changes
}
}
//Make sure that the size of rCmds is enough
if (rCmds->size() != genRules.size()) rCmds->resize(genRules.size());
//Loop through the generator rules
for (size_t i = 0; i < genRules.size(); i++) {
//Generate the command-set for the current commands
if (genRules[i].cmdValid) {
//Get the quality
(*rCmds)[i].cmdName = genRules[i].cmdName;
(*rCmds)[i].quality = genRules[i].quality->getValued(0);
(*rCmds)[i].id = genRules[i].id;
//Only extract the remaining stuff, if quality is higher than zero
if ((*rCmds)[i].quality > 0.0) {
//Extract the cmd strings
if (genRules[i].command != NULL)
(*rCmds)[i].command = ruleStringLoader(genRules[i].command);
if (genRules[i].preCommand != NULL)
(*rCmds)[i].preCommand = ruleStringLoader(genRules[i].preCommand);
if (genRules[i].postCommand != NULL)
(*rCmds)[i].postCommand = ruleStringLoader(genRules[i].postCommand);
if (genRules[i].failCond != NULL)
(*rCmds)[i].failCond = ruleStringLoader(genRules[i].failCond);
if (genRules[i].reloadCond != NULL)
(*rCmds)[i].reloadCond = ruleStringLoader(genRules[i].reloadCond);
if (genRules[i].successCond != NULL)
(*rCmds)[i].successCond = ruleStringLoader(genRules[i].successCond);
if (genRules[i].initCommand != NULL)
(*rCmds)[i].initCommand = ruleStringLoader(genRules[i].initCommand);
if (genRules[i].exitCommand != NULL)
(*rCmds)[i].exitCommand = ruleStringLoader(genRules[i].exitCommand);
if (genRules[i].reload != NULL )
(*rCmds)[i].reload = (bool)genRules[i].reload->getValued();
if (genRules[i].disable != NULL )
(*rCmds)[i].disable = (bool)genRules[i].disable->getValued();
}
}
}
return true;
}
