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moved rtabmap-ros-pkg project in this project
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
435
guilib/src/StatsToolBox.cpp
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435
guilib/src/StatsToolBox.cpp
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "StatsToolBox.h"
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#include <QtGui/QHBoxLayout>
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#include <QtGui/QVBoxLayout>
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#include <QtGui/QGridLayout>
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#include <QtGui/QMenu>
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#include <QtGui/QLabel>
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#include <QtGui/QToolButton>
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#include <QtCore/QChildEvent>
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#include <QtCore/QDir>
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#include <QtGui/QContextMenuEvent>
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#include <QtGui/QToolBox>
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#include "Plot.h"
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#include "utilite/ULogger.h"
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namespace rtabmap {
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StatItem::StatItem(const QString & name, float x, float y, const QString & unit, const QMenu * menu, QGridLayout * grid, QWidget * parent) :
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QWidget(parent),
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_xValue(x)
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{
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this->setupUi(grid);
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_name->setText(name);
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_value->setNum(y);
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_unit->setText(unit);
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this->updateMenu(menu);
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}
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StatItem::~StatItem()
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{
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}
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void StatItem::setValue(float x, float y)
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{
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_value->setText(QString::number(y, 'g', 4));
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_xValue = x;
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emit valueChanged(x,y);
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}
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void StatItem::setupUi(QGridLayout * grid)
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{
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_menu = new QMenu(this);
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_menu->addMenu("Add to figure...");
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_button = new QToolButton(this);
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_button->setIcon(QIcon(":/images/Plot16.png"));
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_button->setPopupMode(QToolButton::InstantPopup);
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_button->setMenu(_menu);
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_name = new QLabel(this);
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_name->setWordWrap(true);
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_value = new QLabel(this);
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_unit = new QLabel(this);
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if(grid)
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{
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int row = grid->rowCount();
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//This fixes an issue where the
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//button (used on col 0) of the first line in the
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//toolbox couldn't be clicked
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grid->addWidget(_button, row, 3);
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grid->addWidget(_name, row, 0);
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grid->addWidget(_value, row, 1);
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grid->addWidget(_unit, row, 2);
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}
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else
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{
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QHBoxLayout * layout = new QHBoxLayout(this);
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this->setLayout(layout);
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layout->addWidget(_button);
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layout->addWidget(_name);
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layout->addWidget(_value);
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layout->addWidget(_unit);
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layout->addStretch();
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layout->setMargin(0);
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}
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}
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void StatItem::updateMenu(const QMenu * menu)
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{
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_menu->clear();
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QAction * action;
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QList<QAction *> actions = menu->actions();
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QMenu * plotMenu = _menu->addMenu("Add to figure...");
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for(int i=0; i<actions.size(); ++i)
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{
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action = plotMenu->addAction(actions.at(i)->text());
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connect(action, SIGNAL(triggered()), this, SLOT(preparePlotRequest()));
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}
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}
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void StatItem::preparePlotRequest()
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{
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QAction * action = qobject_cast<QAction*>(sender());
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if(action)
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{
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emit plotRequested(this, action->text());
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}
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}
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StatsToolBox::StatsToolBox(QWidget * parent) :
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QWidget(parent)
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{
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ULOGGER_DEBUG("");
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//Statistics in the GUI (for plotting)
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_statBox = new QToolBox(this);
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this->setLayout(new QVBoxLayout());
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this->layout()->setMargin(0);
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this->layout()->addWidget(_statBox);
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_statBox->layout()->setSpacing(0);
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_plotMenu = new QMenu(this);
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_plotMenu->addAction(tr("<New figure>"));
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_workingDirectory = QDir::homePath();
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}
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StatsToolBox::~StatsToolBox()
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{
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closeFigures();
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}
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void StatsToolBox::closeFigures()
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{
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QMap<QString, QWidget*> figuresTmp = _figures;
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for(QMap<QString, QWidget*>::iterator iter = figuresTmp.begin(); iter!=figuresTmp.end(); ++iter)
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{
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iter.value()->close();
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}
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}
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void StatsToolBox::updateStat(const QString & statFullName, float x, float y)
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{
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// round float to max 2 numbers after the dot
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//x = (float(int(100*x)))/100;
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//y = (float(int(100*y)))/100;
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StatItem * item = _statBox->findChild<StatItem *>(statFullName);
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if(item)
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{
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item->setValue(x, y);
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}
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else
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{
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// statFullName format : "Grp/Name/unit"
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QStringList list = statFullName.split('/');
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QString grp;
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QString name;
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QString unit;
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if(list.size() >= 3)
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{
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grp = list.at(0);
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name = list.at(1);
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unit = list.at(2);
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}
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else if(list.size() == 2)
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{
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grp = list.at(0);
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name = list.at(1);
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}
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else if(list.size() == 1)
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{
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name = list.at(0);
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}
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else
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{
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ULOGGER_WARN("A statistic has no name");
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return;
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}
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if(grp.isEmpty())
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{
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grp = tr("Global");
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}
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int index = -1;
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for(int i=0; i<_statBox->count(); ++i)
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{
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if(_statBox->itemText(i).compare(grp) == 0)
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{
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index = i;
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break;
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}
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}
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if(index<0)
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{
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QWidget * newWidget = new QWidget(_statBox);
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index = _statBox->addItem(newWidget, grp);
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QVBoxLayout * layout = new QVBoxLayout(newWidget);
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newWidget->setLayout(layout);
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QGridLayout * grid = new QGridLayout();
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grid->setVerticalSpacing(2);
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grid->setColumnStretch(0, 1);
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layout->addLayout(grid);
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layout->addStretch();
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}
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QVBoxLayout * layout = qobject_cast<QVBoxLayout *>(_statBox->widget(index)->layout());
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if(!layout)
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{
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ULOGGER_ERROR("Layout is null ?!?");
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return;
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}
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QGridLayout * grid = qobject_cast<QGridLayout *>(layout->itemAt(0)->layout());
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if(!grid)
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{
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ULOGGER_ERROR("Layout is null ?!?");
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return;
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}
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item = new StatItem(name, x, y, unit, _plotMenu, grid, _statBox->widget(index));
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item->setObjectName(statFullName);
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//layout->insertWidget(layout->count()-1, item);
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connect(item, SIGNAL(plotRequested(const StatItem *, const QString &)), this, SLOT(plot(const StatItem *, const QString &)));
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connect(this, SIGNAL(menuChanged(const QMenu *)), item, SLOT(updateMenu(const QMenu *)));
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}
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}
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void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
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{
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QWidget * fig = _figures.value(plotName, (QWidget*)0);
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Plot * plot = 0;
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if(fig)
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{
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plot = fig->findChild<Plot *>(plotName);
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}
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if(plot)
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{
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// if not already in the plot
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if(!plot->contains(stat->objectName()))
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{
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PlotCurve * curve = new PlotCurve(stat->objectName(), plot);
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curve->setPen(plot->getRandomPenColored());
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connect(stat, SIGNAL(valueChanged(float, float)), curve, SLOT(addValue(float, float)));
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if(!plot->addCurve(curve))
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{
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ULOGGER_WARN("Already added to the figure");
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}
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}
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else
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{
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ULOGGER_WARN("Already added to the figure");
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}
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plot->activateWindow();
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}
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else
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{
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//Create a new plot
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QString id = tr("Figure 0");
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if(_plotMenu->actions().size())
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{
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id = _plotMenu->actions().last()->text();
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}
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id.replace(tr("Figure "), "");
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QString newPlotName = QString(tr("Figure %1")).arg(id.toInt()+1);
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//Dock
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QWidget * figure = new QWidget(0, Qt::Window);
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_figures.insert(newPlotName, figure);
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figure->setLayout(new QHBoxLayout());
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figure->setWindowTitle(newPlotName);
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figure->setAttribute(Qt::WA_DeleteOnClose, true);
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connect(figure, SIGNAL(destroyed(QObject*)), this, SLOT(figureDeleted(QObject*)));
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//Plot
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Plot * newPlot = new Plot(figure);
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newPlot->setWorkingDirectory(_workingDirectory);
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newPlot->setMaxVisibleItems(10);
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newPlot->setObjectName(newPlotName);
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figure->layout()->addWidget(newPlot);
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_plotMenu->addAction(newPlotName);
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//Add a new curve linked to the statBox
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PlotCurve * curve = new PlotCurve(stat->objectName(), newPlot);
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curve->setPen(newPlot->getRandomPenColored());
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connect(stat, SIGNAL(valueChanged(float, float)), curve, SLOT(addValue(float, float)));
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if(!newPlot->addCurve(curve))
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{
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ULOGGER_ERROR("Not supposed to be here !?!");
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delete curve;
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}
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figure->show();
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emit menuChanged(_plotMenu);
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}
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}
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void StatsToolBox::figureDeleted(QObject * obj)
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{
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if(obj)
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{
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QWidget * plot = qobject_cast<QWidget*>(obj);
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if(plot)
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{
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_figures.remove(plot->windowTitle());
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QList<QAction*> actions = _plotMenu->actions();
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for(int i=0; i<actions.size(); ++i)
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{
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if(actions.at(i)->text().compare(plot->windowTitle()) == 0)
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{
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_plotMenu->removeAction(actions.at(i));
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delete actions[i];
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emit menuChanged(_plotMenu);
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break;
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}
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}
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}
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else
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{
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UERROR("");
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}
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}
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else
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{
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UERROR("");
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}
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}
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void StatsToolBox::contextMenuEvent(QContextMenuEvent * event)
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{
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QMenu topMenu(this);
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QMenu * menu = topMenu.addMenu(tr("Add all statistics from tab \"%1\" to...").arg(_statBox->itemText(_statBox->currentIndex())));
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QList<QAction* > actions = _plotMenu->actions();
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menu->addActions(actions);
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QAction * action = topMenu.exec(event->globalPos());
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QString plotName;
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if(action)
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{
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for(int i=0; i<actions.size(); ++i)
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{
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if(actions.at(i) == action)
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{
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plotName = actions.at(i)->text();
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break;
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}
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}
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}
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if(!plotName.isEmpty())
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{
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QList<StatItem*> items = _statBox->currentWidget()->findChildren<StatItem*>();
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for(int i=0; i<items.size(); ++i)
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{
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this->plot(items.at(i), plotName);
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if(plotName.compare(tr("<New figure>")) == 0)
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{
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plotName = _plotMenu->actions().last()->text();
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}
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}
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}
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}
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void StatsToolBox::getFiguresSetup(QList<int> & curvesPerFigure, QStringList & curveNames)
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{
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curvesPerFigure.clear();
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curveNames.clear();
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for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
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{
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QList<Plot *> plots = i.value()->findChildren<Plot *>();
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if(plots.size() == 1)
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{
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QStringList names = plots[0]->curveNames();
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curvesPerFigure.append(names.size());
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curveNames.append(names);
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}
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else
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{
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UERROR("");
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}
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}
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}
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void StatsToolBox::addCurve(const QString & name, bool newFigure)
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{
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StatItem * item = _statBox->findChild<StatItem *>(name);
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if(!item)
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{
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this->updateStat(name, 0, 0);
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item = _statBox->findChild<StatItem *>(name);
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}
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if(item)
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{
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if(newFigure)
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{
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this->plot(item, "");
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}
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else
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{
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this->plot(item, _plotMenu->actions().last()->text());
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}
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}
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else
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{
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ULOGGER_ERROR("Not supposed to be here...");
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}
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}
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void StatsToolBox::setWorkingDirectory(const QString & workingDirectory)
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{
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if(QDir(_workingDirectory).exists())
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{
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_workingDirectory = workingDirectory;
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}
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else
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{
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ULOGGER_ERROR("The directory \"%s\" doesn't exist", workingDirectory.toStdString().c_str());
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}
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}
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}
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Block a user