X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Fengineer%2Fengineer.cpp;h=f0999d91cd9ffaddd1736f0c6fd6493e36077084;hb=5116fff210cdc3f0fbdae13046cc60450aad5e8f;hp=ab95d02ff25a636d786a6960dfb61dc58cddeaa0;hpb=06c100aacb559fbbe7380e15981c4772092c269b;p=r2c2.git diff --git a/source/engineer/engineer.cpp b/source/engineer/engineer.cpp index ab95d02..f0999d9 100644 --- a/source/engineer/engineer.cpp +++ b/source/engineer/engineer.cpp @@ -1,476 +1,422 @@ +#include #include +#include #include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include "libr2c2/driver.h" +#include "libr2c2/trackcircuit.h" +#include "libr2c2/tracktype.h" +#include "3d/allocation.h" +#include "3d/path.h" +#include "3d/track.h" +#include "3d/trackcircuit.h" +#include "3d/vehicle.h" #include "engineer.h" -#include "mainpanel.h" -#include "trainpanel.h" +#include "mainwindow.h" +#include "traindialog.h" +#include "trainview.h" using namespace std; -using namespace Marklin; +using namespace R2C2; using namespace Msp; -#include - Engineer::Engineer(int argc, char **argv): - screen_w(1280), - screen_h(960), - fullscreen(false), - layout(catalogue), + options(argc, argv), + window(options.screen_w, options.screen_h, options.fullscreen), + keyboard(window), + mouse(window), + ui_res("r2c2.res"), + layout(catalogue, (options.driver.empty() ? 0 : Driver::create(options.driver))), layout_3d(layout), - no_lighting(false), - placing_train(0), - placing_block(0), - placing_entry(0), - simulate(false) + server(0), + pipeline(window.get_width(), window.get_height(), false), + picking(false), + picking_track(0), + picking_entry(0), + picking_path(0), + pointer_moved(false) { - string res; - bool debug=false; - string device="/dev/ttyS0"; - unsigned quality=4; - - GetOpt getopt; - getopt.add_option('r', "resolution", res, GetOpt::REQUIRED_ARG); - getopt.add_option('f', "fullscreen", fullscreen, GetOpt::NO_ARG); - getopt.add_option('g', "debug", debug, GetOpt::NO_ARG); - getopt.add_option('d', "device", device, GetOpt::REQUIRED_ARG); - getopt.add_option('q', "quality", quality, GetOpt::REQUIRED_ARG); - getopt.add_option('s', "simulate", simulate, GetOpt::NO_ARG); - getopt.add_option( "no-lighting", no_lighting, GetOpt::NO_ARG); - getopt(argc, argv); - - if(!res.empty()) + // Setup GUI + window.set_title("Railroad Engineer"); + window.signal_close.connect(sigc::bind(sigc::mem_fun(this, &Engineer::exit), 0)); + + root = new GLtk::Root(ui_res, &window, &keyboard, &mouse); + mouse.signal_button_press.connect(sigc::bind_return(sigc::mem_fun(this, &Engineer::button_press), false)); + mouse.signal_axis_motion.connect(sigc::bind_return(sigc::mem_fun(this, &Engineer::axis_motion), false)); + root->set_visible(true); + + main_wnd = new MainWindow(*this); + root->add(*main_wnd); + main_wnd->autosize(); + main_wnd->set_position(0, window.get_height()-main_wnd->get_geometry().h); + + overlay = new Overlay3D(ui_res.get_default_font()); + + // Setup railroad control + DataFile::load(catalogue, "tracks.dat"); + DataFile::load(catalogue, "locos.dat"); + DataFile::load(catalogue, "wagons.dat"); + DataFile::load(layout, options.layout_fn); + + layout.signal_train_added.connect(sigc::mem_fun(this, &Engineer::train_added)); + layout.signal_emergency.connect(sigc::mem_fun(this, &Engineer::set_status)); + const set &blocks = layout.get_all(); + for(set::const_iterator i=blocks.begin(); i!=blocks.end(); ++i) + if(TrackCircuit *tc = (*i)->get_sensor()) + new TrackCircuit3D(layout_3d, *tc); + + const set &tracks = layout.get_all(); + for(set::const_iterator i=tracks.begin(); i!=tracks.end(); ++i) + if((*i)->get_type().is_turnout()) + new Path3D(layout_3d.get(**i)); + + if(FS::exists(options.state_fn)) + DataFile::load(layout, options.state_fn); + + if(options.network) { - if(RegMatch m=Regex("([1-9][0-9]*)x([1-9][0-9]*)").match(res)) - { - screen_w=lexical_cast(m[1].str); - screen_h=lexical_cast(m[2].str); - } - else - throw UsageError("Invalid resolution"); + server = new Server(layout); + server->use_event_dispatcher(event_disp); } - if(device!="none") - control.open(device); + // Setup 3D view + DataFile::load(arrow_mesh, "arrow.mesh"); - control.set_debug(debug); + pipeline.set_camera(&camera); + pipeline.add_renderable_for_pass(layout_3d.get_scene(), 0); + pipeline.add_renderable_for_pass(layout_3d.get_path_scene(), "unlit"); + pipeline.add_renderable_for_pass(*overlay, "overlay"); - layout_3d.set_quality(quality); + light.set_position(GL::Vector4(0, -0.259, 0.966, 0)); + light.set_diffuse(GL::Color(0.9)); + lighting.set_ambient(GL::Color(0.4)); + lighting.attach(0, light); - catalogue.load("tracks.dat"); + GL::Pipeline::Pass *pass = &pipeline.add_pass(0); + pass->set_depth_test(&GL::DepthTest::lequal()); + pass->set_lighting(&lighting); - const list &args=getopt.get_args(); - if(args.empty()) - throw UsageError("No layout given"); - layout.load(args.front()); + pass = &pipeline.add_pass("unlit"); + pass->set_depth_test(&GL::DepthTest::lequal()); - control.signal_sensor_event.connect(sigc::mem_fun(this, &Engineer::sensor_event)); - - trfc_mgr=new TrafficManager(control, layout); - trfc_mgr->signal_block_reserved.connect(sigc::mem_fun(this, &Engineer::block_reserved)); + pass = &pipeline.add_pass("overlay"); + pass->set_blend(&GL::Blend::alpha()); view_all(); + + // Catch various signals so we can stop the trains in case we get terminated + catch_signal(SIGINT); + catch_signal(SIGTERM); + catch_signal(SIGSEGV); + catch_signal(SIGILL); + catch_signal(SIGFPE); + catch_signal(SIGABRT); } Engineer::~Engineer() { - delete trfc_mgr; + const map &trains = layout.get_trains(); + for(map::const_iterator i=trains.begin(); i!=trains.end(); ++i) + layout.get_driver().set_loco_speed(i->first, 0); + layout.get_driver().flush(); + + if(!options.simulate) + { + layout.save_dynamic(options.state_fn+".tmp"); + FS::rename(options.state_fn+".tmp", options.state_fn); + } + + delete overlay; + delete root; + + delete server; } -void Engineer::add_train(unsigned addr) +void Engineer::set_status(const string &text) { - if(control.get_locomotive(addr)) - return; - - Locomotive *loco=new Locomotive(control, addr); - Train *train=new Train(*trfc_mgr, *loco); - train->set_name(format("Train %d", trfc_mgr->get_trains().size())); - - TrainPanel *tpanel=new TrainPanel(*this, ui_res, *train); - int y=main_panel->get_geometry().y; - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - y-=(*i)->get_geometry().h; - tpanel->set_position(0, y-tpanel->get_geometry().h); - train_panels.push_back(tpanel); - - placing_train=train; - placing_block=0; - status_text="Select train location"; + main_wnd->set_status_text(text); + status_timeout = Time::now()+10*Time::sec; } -int Engineer::main() +void Engineer::add_train_view(TrainView &tv) { - SDL_Init(SDL_INIT_VIDEO); - SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1); - SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 4); - SDL_Surface *screen=SDL_SetVideoMode(screen_w, screen_h, 32, SDL_OPENGL|(fullscreen?SDL_FULLSCREEN:0)); - if(!screen) - { - SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 0); - screen=SDL_SetVideoMode(screen_w, screen_h, 32, SDL_OPENGL|(fullscreen?SDL_FULLSCREEN:0)); - } - if(!screen) - { - SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 0); - screen=SDL_SetVideoMode(screen_w, screen_h, 32, SDL_OPENGL|(fullscreen?SDL_FULLSCREEN:0)); - } - if(!screen) - throw Exception("Couldn't create window"); - - glEnableClientState(GL_VERTEX_ARRAY); - glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); - glEnable(GL_COLOR_MATERIAL); - glDepthFunc(GL_LEQUAL); - glEnable(GL_BLEND); - glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); - - Parser::load(ui_res, "engineer.res"); - main_panel=new MainPanel(*this, ui_res); - main_panel->set_position(0, screen_h-main_panel->get_geometry().h); + train_views.push_back(&tv); +} - Application::main(); +void Engineer::remove_train_view(TrainView &tv) +{ + train_views.erase(remove(train_views.begin(), train_views.end(), &tv), train_views.end()); +} - delete main_panel; - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - delete *i; +void Engineer::pick(bool with_ep) +{ + picking = true; + picking_track = 0; + picking_entry = (with_ep ? 0 : -1); +} - SDL_Quit(); +int Engineer::main() +{ + window.show(); - return exit_code; + return Application::main(); } void Engineer::tick() { - //cout<<"tick\n"; + window.get_display().tick(); - SDL_Event event; - while(SDL_PollEvent(&event)) - { - switch(event.type) - { - case SDL_MOUSEBUTTONDOWN: - button_press(event.button.x, screen_h-1-event.button.y, event.button.button); - break; - case SDL_MOUSEBUTTONUP: - button_release(event.button.x, screen_h-1-event.button.y, event.button.button); - break; - case SDL_MOUSEMOTION: - pointer_motion(event.motion.x, screen_h-1-event.motion.y); - break; - case SDL_KEYDOWN: - key_press(event.key.keysym.sym, event.key.keysym.mod); - break; - case SDL_QUIT: - exit(0); - break; - } - } - - control.tick(); + for(list::iterator i=new_trains.begin(); i!=new_trains.end(); ++i) + process_new_train(**i); + new_trains.clear(); - glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); + layout.tick(); + event_disp.tick(Time::zero); - project_3d(); - glLoadIdentity(); - glRotatef(-cam_rot*180/M_PI, 0, 0, 1); - glTranslatef(-cam_pos.x, -cam_pos.y, -cam_pos.z); + for(list::iterator i=train_views.begin(); i!=train_views.end(); ++i) + (*i)->prepare(); - if(!no_lighting) + if(status_timeout && Time::now()>status_timeout) { - glEnable(GL_LIGHTING); - glEnable(GL_LIGHT0); - float params[4]; - params[0]=0; - params[1]=-0.2; - params[2]=1; - params[3]=0; - glLightfv(GL_LIGHT0, GL_POSITION, params); + main_wnd->set_status_text(string()); + status_timeout = Time::TimeStamp(); } - //glEnable(GL_DEPTH_TEST); - glEnable(GL_MULTISAMPLE); + GL::Framebuffer::system().clear(GL::COLOR_BUFFER_BIT|GL::DEPTH_BUFFER_BIT); - layout_3d.render(); + pipeline.render(); - glDisable(GL_LIGHTING); - glColor4f(1, 1, 1, 1); - const Track3DSeq <racks=layout_3d.get_tracks(); - for(Track3DSeq::const_iterator i=ltracks.begin(); i!=ltracks.end(); ++i) + if(pointer_moved) { - Track &track=(*i)->get_track(); - if(track.get_turnout_id()) + pointer_moved = false; + + if(picking) { - Turnout *trnt=control.get_turnout(track.get_turnout_id()); - if(trnt) - (*i)->render_route(trnt->get_route()); - else - (*i)->render_route(-1); + Track *track = dynamic_cast(pick_object(pointer)); + if(track && track!=picking_track) + { + picking_track = track; + if(picking_entry>=0) + picking_entry = 0; + + delete picking_path; + picking_path = new Path3D(layout_3d.get(*track)); + picking_path->set_color(GL::Color(0)); + picking_path->set_layer(2); + } } - else - (*i)->render_route(-1); } - if(placing_train && placing_block) + if(picking && picking_track && picking_entry>=0) { - float rot=placing_entry->track->get_rotation()+placing_entry->track_ep->rot; - Point pos=placing_entry->track->get_endpoint_position(*placing_entry->track_ep); - GL::push_matrix(); - GL::translate(pos.x, pos.y, pos.z+0.03); - GL::rotate(rot*180/M_PI+180, 0, 0, 1); - GL::Texture::unbind(); - glColor4f(1, 1, 1, 1); - glBegin(GL_TRIANGLE_FAN); - glVertex2f(0.08, 0); - glVertex2f(0.05, 0.03); - glVertex2f(0.05, 0.01); - glVertex2f(0, 0.01); - glVertex2f(0, -0.01); - glVertex2f(0.05, -0.01); - glVertex2f(0.05, -0.03); - glEnd(); - GL::pop_matrix(); - } + camera.apply(); + GL::MatrixStack::Push push_mat(GL::MatrixStack::modelview()); - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - glOrtho(0, screen_w, 0, screen_h, 0, 1); - glMatrixMode(GL_MODELVIEW); - glLoadIdentity(); + Snap sn = picking_track->get_snap_node(picking_entry); - glDisable(GL_DEPTH_TEST); - glDisable(GL_LIGHTING); - glDisable(GL_MULTISAMPLE); + GL::MatrixStack::modelview() *= GL::Matrix::translation(sn.position+GL::Vector3(0, 0, 0.03)); + GL::MatrixStack::modelview() *= GL::Matrix::rotation(sn.rotation+Angle::half_turn(), 0, 0, 1); - main_panel->render(); - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - (*i)->render(); + arrow_mesh.draw(); + } - const GL::Font &font=ui_res.get_font("dejavu-12"); - GL::load_identity(); - GL::translate(340, 10, 0); - GL::scale_uniform(font.get_default_size()); - glColor4f(1, 1, 1, 1); - font.draw_string(status_text); + root->render(); - SDL_GL_SwapBuffers(); -} - -void Engineer::key_press(unsigned, unsigned) -{ + window.swap_buffers(); } -void Engineer::button_press(int x, int y, unsigned btn) +void Engineer::button_press(unsigned btn) { - if(main_panel->get_geometry().is_inside(x, y)) - { - main_panel->button_press(x, y, btn); - return; - } - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - if((*i)->get_geometry().is_inside(x, y)) - { - (*i)->button_press(x, y, btn); - return; - } - - if(placing_train) + if(picking) { - if(btn==1 && placing_block) + if(btn==1 && picking_track) { - set_block_color(*placing_block, Color(1, 1, 1)); - - placing_train->place(placing_block, placing_entry); - placing_train=0; + picking = false; + delete picking_path; + picking_path = 0; + signal_pick_done.emit(picking_track, picking_entry); } - else if(btn==3) + else if(btn==3 && picking_entry>=0) { - const Block::EndpointSeq &endpoints=placing_block->get_endpoints(); - Block::EndpointSeq::const_iterator i; - for(i=endpoints.begin(); i!=endpoints.end(); ++i) - if(&*i==placing_entry) - break; - ++i; - if(i==endpoints.end()) - i=endpoints.begin(); - placing_entry=&*i; + picking_entry = (picking_entry+1)%picking_track->get_type().get_endpoints().size(); } } else { - Track3D *track=pick_track(x, y); - if(track) + Object *obj = pick_object(pointer); + if(Track *track = dynamic_cast(obj)) { - Turnout *turnout=control.get_turnout(track->get_track().get_turnout_id()); - if(turnout) - turnout->set_route(1-turnout->get_route()); - else if(simulate) + if(track->get_turnout_id()) + { + Block &block = track->get_block(); + if(block.get_train() && block.get_train()->is_block_critical(block)) + set_status("Turnout is busy"); + else + { + unsigned paths = track->get_type().get_paths(); + unsigned i = track->get_active_path()+1; + while(!(paths&(1<>i)) + i = 0; + else + ++i; + } + track->set_active_path(i); + set_status(format("Turnout %d", track->get_turnout_id())); + } + } + if(unsigned sid = track->get_sensor_id()) { - Sensor *sensor=control.get_sensor(track->get_track().get_sensor_id()); - if(sensor) - control.signal_sensor_event.emit(track->get_track().get_sensor_id(), !sensor->get_state()); + if(options.simulate) + layout.get_driver().set_sensor(sid, !layout.get_driver().get_sensor(sid)); + set_status(format("Sensor %d", sid)); } } + else if(Vehicle *veh = dynamic_cast(obj)) + { + TrainDialog *dlg = new TrainDialog(*this, *veh->get_train()); + root->add(*dlg); + dlg->autosize(); + } } } -void Engineer::button_release(int x, int y, unsigned btn) +void Engineer::axis_motion(unsigned axis, float value, float) { - if(main_panel->get_geometry().is_inside(x, y)) - { - main_panel->button_release(x, y, btn); - return; - } - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - if((*i)->get_geometry().is_inside(x, y)) - { - (*i)->button_release(x, y, btn); - return; - } + if(axis==0) + pointer.x = value; + if(axis==1) + pointer.y = value; + pointer_moved = true; } -void Engineer::pointer_motion(int x, int y) +void Engineer::view_all() { - if(main_panel->get_geometry().is_inside(x, y)) + const Layout3D::ObjectMap &objects = layout_3d.get_all(); + + float view_aspect = float(window.get_width())/window.get_height(); + float view_height = tan(camera.get_field_of_view()/2.0f)*2.0f; + float best_score = 0; + GL::Vector3 pos; + GL::Vector3 up; + for(Angle angle; anglepointer_motion(x, y); - return; - } - for(TrainPanelSeq::iterator i=train_panels.begin(); i!=train_panels.end(); ++i) - if((*i)->get_geometry().is_inside(x, y)) - { - (*i)->pointer_motion(x, y); - return; - } + Transform trans = Transform::rotation(-angle, Vector(0, 0, 1)); + BoundingBox bbox; + for(Layout3D::ObjectMap::const_iterator i=objects.begin(); i!=objects.end(); ++i) + bbox = bbox|trans.transform(i->second->get_object().get_bounding_box()); - Track3D *track=pick_track(x, y); - if(track && placing_train) - { - Block *block=trfc_mgr->get_block_by_track(&track->get_track()); - if(block!=placing_block) - { - if(placing_block) - set_block_color(*placing_block, Color(1, 1, 1)); - placing_block=block; - placing_entry=&block->get_endpoints().front(); - set_block_color(*placing_block, Color(0.5, 1, 0.7)); - } - } - else if(track && track->get_track().get_turnout_id()) - { - ostringstream ss; - ss<<"Turnout "<get_track().get_turnout_id(); - status_text=ss.str(); - } - else if(!placing_train) - status_text=""; -} + const Vector &minp = bbox.get_minimum_point(); + const Vector &maxp = bbox.get_maximum_point(); -void Engineer::view_all() -{ - const Track3DSeq &tracks=layout_3d.get_tracks(); + float width = maxp.x-minp.x; + float height = maxp.y-minp.y; + float aspect = width/height; + float score = min(aspect/view_aspect, view_aspect/aspect); - cam_rot=0; - float best_height=-1; - float mid_x=0; - float mid_y=0; - for(float angle=0; anglebest_score) { - Point minp,maxp; - (*i)->get_bounds(angle, minp, maxp); - min_x=min(min_x, minp.x); - max_x=max(max_x, maxp.x); - min_y=min(min_y, minp.y); - max_y=max(max_y, maxp.y); - } + best_score = score; - float width=max_x-min_x; - float height=max_y-min_y; - height=max(height, width); + float size = max(width/view_aspect, height); + float c = cos(angle); + float s = sin(angle); + float x = (minp.x+maxp.x)/2; + float y = (minp.y+maxp.y)/2; + float z = max(size*1.05/view_height, 0.15); - if(heightset_color(color); + const GL::Vector3 &start = camera.get_position(); + GL::Vector4 ray = camera.unproject(GL::Vector4(p.x, p.y, 0, 0)); + + // XXX Do this better; make this function a template? + if(Vehicle *veh = layout.pick(Ray(start, Vector(ray)))) + return veh; + return layout.pick(Ray(start, Vector(ray))); } -void Engineer::sensor_event(unsigned addr, bool state) +void Engineer::process_new_train(Train &train) { - cout<<"sensor_event "<get_track().get_sensor_id()==addr) - { - if(state) - (*i)->set_color(Color(1, 0.5, 0.3)); - else - (*i)->set_color(Color(1, 1, 1)); - } + Vehicle3D &loco3d = layout_3d.get(train.get_vehicle(0)); + overlay->set_label(loco3d, train.get_name()); + train.signal_name_changed.connect(sigc::bind<0>(sigc::mem_fun(overlay, &Overlay3D::set_label), sigc::ref(loco3d))); } -void Engineer::block_reserved(const Block &block, const Train *train) +void Engineer::train_added(Train &train) { - if(Sensor *sensor=control.get_sensor(block.get_sensor_id())) - if(sensor->get_state()) - return; + new_trains.push_back(&train); - if(train) - set_block_color(block, Color(1, 1, 0.3)); - else - set_block_color(block, Color(1, 1, 1)); -} + GL::Color best_color; + float best_d_sq = 0; + for(unsigned i=0; i<10; ++i) + { + GL::Color color; + unsigned h = rand()%3; + color.r = (h==0 ? 0.0 : rand()*1.0/RAND_MAX); + color.g = (h==1 ? 0.0 : rand()*1.0/RAND_MAX); + color.b = (h==2 ? 0.0 : rand()*1.0/RAND_MAX); + color = color*(1/max(max(color.r, color.g), color.b)); + float min_d_sq = 3; + for(map::const_iterator j=train_colors.begin(); j!=train_colors.end(); ++j) + { + float dr = color.r-j->second.r; + float dg = color.g-j->second.g; + float db = color.b-j->second.b; + float d_sq = dr*dr+dg*dg+db*db; + if(d_sqbest_d_sq) + { + best_color = color; + best_d_sq = min_d_sq; + } + } + train_colors[&train] = best_color; -void Engineer::project_3d() -{ - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - //glFrustum(-0.055228, 0.055228, -0.041421, 0.041421, 0.1, 10); - glFrustum(-0.069036, 0.041421, -0.041421, 0.041421, 0.1, 10); - glMatrixMode(GL_MODELVIEW); + Allocation3D *alloc = new Allocation3D(layout_3d, train); + alloc->set_color(best_color); } -Track3D *Engineer::pick_track(int x, int y) +void Engineer::sighandler(int sig) { - float xx=((float)(x-(int)screen_w*5/8)/screen_h)*0.82843; - //float xx=((float)(x-(int)screen_w/2)/screen_h)*0.82843; - float yy=((float)y/screen_h-0.5)*0.82843; - float size=(float)4/screen_h*0.82843; - - project_3d(); - glLoadIdentity(); - glRotatef(-cam_rot*180/M_PI, 0, 0, 1); - glTranslatef(-cam_pos.x, -cam_pos.y, -cam_pos.z); - - return layout_3d.pick_track(xx, yy, size); + if(sig==SIGSEGV || sig==SIGILL || sig==SIGFPE || sig==SIGABRT) + { + signal(sig, SIG_DFL); + IO::print(IO::cerr, "Fatal signal received, terminating\n"); + const map &trains = layout.get_trains(); + for(map::const_iterator i=trains.begin(); i!=trains.end(); ++i) + layout.get_driver().set_loco_speed(i->first, 0); + layout.get_driver().flush(); + raise(sig); + } + else if(sig==SIGTERM || sig==SIGINT) + exit(0); } - -Application::RegApp Engineer::reg;