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  • Excel Macro Runtime error 428 in Excel 2003

    - by Adam
    Hi I have created a xlt excel template which works fine in Excel 2007 under compatibility mode and shows no errors on compatibility check. The template runs a number of Macros which creates pivot tables and charts. When a colleague tries to run the same xlt on excel 2003 they get a Runtime error 428 (Object does not support this property or method). The runtime error fails at this point; ActiveWorkbook.PivotCaches.Create(SourceType:=xlDatabase, SourceData:= _ "raw!R1C1:R65536C37", Version:=xlPivotTableVersion10).CreatePivotTable _ TableDestination:="Frontpage!R7C1", TableName:="PivotTable2", _ DefaultVersion:=xlPivotTableVersion10 Any help would be appreciated. This is the full Macro; Sub Auto_Open() ' ' ImportData Macro ' Macro to import data, Data must be in your local D: Drive and named raw.csv ' ' Sheets("raw").Select With ActiveSheet.QueryTables.Add(Connection:= _ "TEXT;d:\raw.csv", Destination:=Range _ ("$A$1")) .Name = "raw_1" .FieldNames = True .RowNumbers = False .FillAdjacentFormulas = False .PreserveFormatting = True .RefreshOnFileOpen = False .RefreshStyle = xlInsertDeleteCells .SavePassword = False .SaveData = True .AdjustColumnWidth = True .RefreshPeriod = 0 .TextFilePromptOnRefresh = False .TextFilePlatform = 850 .TextFileStartRow = 1 .TextFileParseType = xlDelimited .TextFileTextQualifier = xlTextQualifierDoubleQuote .TextFileConsecutiveDelimiter = False .TextFileTabDelimiter = False .TextFileSemicolonDelimiter = False .TextFileCommaDelimiter = True .TextFileSpaceDelimiter = False .TextFileColumnDataTypes = Array(1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, _ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1) .TextFileTrailingMinusNumbers = True .Refresh BackgroundQuery:=False End With ' ' AddMonthColumn Macro ' ' Sheets("raw").Select Range("AK1").Select ActiveCell.FormulaR1C1 = "Month" Range("AK2").FormulaR1C1 = "=DATE(YEAR(RC[-36]),MONTH(RC[-36]),1)" LastRow = ActiveSheet.UsedRange.Rows.Count Range("AK2").AutoFill Destination:=Range("AK2:AK" & LastRow) Columns("AK:AK").EntireColumn.AutoFit Columns("AK:AK").Select Selection.NumberFormat = "mmmm" With Selection .HorizontalAlignment = xlCenter End With Columns("AK:AK").EntireColumn.AutoFit Selection.Copy Selection.PasteSpecial Paste:=xlPasteValues, Operation:=xlNone, SkipBlanks _ :=False, Transpose:=False ' ' Add Report Information [Text] ' Sheets("Frontpage").Select Range("A2:N2").Select Selection.Merge ActiveCell.FormulaR1C1 = "Service Activity Report" With Selection.Font .Size = 20 End With Range("A3:N3").Select Selection.Merge ActiveCell.FormulaR1C1 = InputBox("Customer Name") With Selection .HorizontalAlignment = xlCenter .VerticalAlignment = xlCenter End With Range("A4:N4").Select Selection.Merge ActiveCell.FormulaR1C1 = InputBox("Date Range dd/mm/yyyy - dd/mm/yyyy") With Selection .HorizontalAlignment = xlCenter .VerticalAlignment = xlCenter End With ' ' IncidentsbyPriority Macro ' ' Sheets("Frontpage").Select Range("A7").Select ActiveWorkbook.PivotCaches.Create(SourceType:=xlDatabase, SourceData:= _ "raw!R1C1:R65536C37", Version:=xlPivotTableVersion10).CreatePivotTable _ TableDestination:="Frontpage!R7C1", TableName:="PivotTable2", _ DefaultVersion:=xlPivotTableVersion10 Sheets("Frontpage").Select Cells(7, 1).Select ActiveSheet.Shapes.AddChart.Select ActiveChart.SetSourceData Source:=Range("Frontpage!$A$7:$H$22") ActiveChart.ChartType = xlColumnClustered With ActiveSheet.PivotTables("PivotTable2").PivotFields("Priority") .Orientation = xlRowField .Position = 1 End With ActiveSheet.PivotTables("PivotTable2").AddDataField ActiveSheet.PivotTables( _ "PivotTable2").PivotFields("Case ID"), "Count of Case ID", xlCount ActiveChart.Parent.Name = "IncidentsbyPriority" ActiveChart.ChartTitle.Text = "Incidents by Priority" Dim RngToCover As Range Dim ChtOb As ChartObject Set RngToCover = ActiveSheet.Range("D7:L16") Set ChtOb = ActiveSheet.ChartObjects("IncidentsbyPriority") ChtOb.Height = RngToCover.Height ' resize ChtOb.Width = RngToCover.Width ' resize ChtOb.Top = RngToCover.Top ' reposition ChtOb.Left = RngToCover.Left ' reposition ' ' IncidentbyMonth Macro ' ' Sheets("Frontpage").Select ActiveWorkbook.PivotCaches.Create(SourceType:=xlDatabase, SourceData:= _ "raw!R1C1:R65536C37", Version:=xlPivotTableVersion10).CreatePivotTable _ TableDestination:="Frontpage!R18C1", TableName:="PivotTable4", _ DefaultVersion:=xlPivotTableVersion10 Sheets("Frontpage").Select Cells(18, 1).Select ActiveSheet.Shapes.AddChart.Select ActiveChart.SetSourceData Source:=Range("Frontpage!$A$18:$H$38") ActiveChart.ChartType = xlColumnClustered With ActiveSheet.PivotTables("PivotTable4").PivotFields("Month") .Orientation = xlRowField .Position = 1 End With ActiveSheet.PivotTables("PivotTable4").AddDataField ActiveSheet.PivotTables( _ "PivotTable4").PivotFields("Case ID"), "Count of Case ID", xlCount ActiveChart.Parent.Name = "IncidentbyMonth" ActiveChart.ChartTitle.Text = "Incidents by Month" Dim RngToCover2 As Range Dim ChtOb2 As ChartObject Set RngToCover2 = ActiveSheet.Range("D18:L30") Set ChtOb2 = ActiveSheet.ChartObjects("IncidentbyMonth") ChtOb2.Height = RngToCover2.Height ' resize ChtOb2.Width = RngToCover2.Width ' resize ChtOb2.Top = RngToCover2.Top ' reposition ChtOb2.Left = RngToCover2.Left ' reposition ' ' IncidentbyCategory Macro ' ' Sheets("Frontpage").Select ActiveWorkbook.PivotCaches.Create(SourceType:=xlDatabase, SourceData:= _ "raw!R1C1:R65536C37", Version:=xlPivotTableVersion10).CreatePivotTable _ TableDestination:="Frontpage!R38C1", TableName:="PivotTable6", _ DefaultVersion:=xlPivotTableVersion10 Sheets("Frontpage").Select Cells(38, 1).Select ActiveSheet.Shapes.AddChart.Select ActiveChart.SetSourceData Source:=Range("Frontpage!$A$38:$H$119") ActiveChart.ChartType = xlColumnClustered With ActiveSheet.PivotTables("PivotTable6").PivotFields("Category 2") .Orientation = xlRowField .Position = 1 End With With ActiveSheet.PivotTables("PivotTable6").PivotFields("Category 3") .Orientation = xlPageField .Position = 1 End With ActiveSheet.PivotTables("PivotTable6").AddDataField ActiveSheet.PivotTables( _ "PivotTable6").PivotFields("Case ID"), "Count of Case ID", xlCount ActiveChart.Parent.Name = "IncidentbyCategory" ActiveChart.ChartTitle.Text = "Incidents by Category" Dim RngToCover3 As Range Dim ChtOb3 As ChartObject Set RngToCover3 = ActiveSheet.Range("D38:L56") Set ChtOb3 = ActiveSheet.ChartObjects("IncidentbyCategory") ChtOb3.Height = RngToCover3.Height ' resize ChtOb3.Width = RngToCover3.Width ' resize ChtOb3.Top = RngToCover3.Top ' reposition ChtOb3.Left = RngToCover3.Left ' reposition ' ' IncidentsbySiteandPriority Macro ' ' Sheets("Frontpage").Select Range("A71").Select ActiveWorkbook.PivotCaches.Create(SourceType:=xlDatabase, SourceData:= _ "raw!R1C1:R65536C37", Version:=xlPivotTableVersion10).CreatePivotTable _ TableDestination:="Frontpage!R71C1", TableName:="PivotTable3", _ DefaultVersion:=xlPivotTableVersion10 Sheets("Frontpage").Select Cells(71, 1).Select ActiveSheet.Shapes.AddChart.Select ActiveChart.SetSourceData Source:=Range("Frontpage!$A$71:$H$90") ActiveChart.ChartType = xlColumnClustered With ActiveSheet.PivotTables("PivotTable3").PivotFields("Site Name") .Orientation = xlRowField .Position = 1 End With With ActiveSheet.PivotTables("PivotTable3").PivotFields("Priority") .Orientation = xlColumnField .Position = 1 End With ActiveSheet.PivotTables("PivotTable3").AddDataField ActiveSheet.PivotTables( _ "PivotTable3").PivotFields("Case ID"), "Count of Case ID", xlCount ActiveChart.Parent.Name = "IncidentbySiteandPriority" ' ActiveChart.ChartTitle.Text = "Incidents by Site and Priority" Dim RngToCover4 As Range Dim ChtOb4 As ChartObject Set RngToCover4 = ActiveSheet.Range("H71:O91") Set ChtOb4 = ActiveSheet.ChartObjects("IncidentbySiteandPriority") ChtOb4.Height = RngToCover4.Height ' resize ChtOb4.Width = RngToCover4.Width ' resize ChtOb4.Top = RngToCover4.Top ' reposition ChtOb4.Left = RngToCover4.Left ' reposition Columns("A:G").Select Range("A52").Activate Columns("A:G").EntireColumn.AutoFit End Sub

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  • Segfault on copy constructor for string

    - by user2756569
    I'm getting a segfault on a line where I'm creating a c++ string with the copy constructor. I've looked at some of the similar issues, but they're all due to passing in a bad c++ string object. I'm just passing in a raw string, so I'm not sure what my issue is. I'll paste the relevant snippets of code (it's taken from several different files, so it might look a bit jumbled). The segfault occurs in the 4th line of the default constructor for the Species class. Species::Species(string _type) { program_length = 0; cout << _type << " 1\n"; cout << type << " 2\n"; type = string(_type); } Grid::Grid(int _width, int _height) { *wall = Species("wall"); *empty = Species("empty"); turn_number = 0; width = _width; height = _height; for(int a= 0; a < 100; a++) for(int b = 0; b< 100; b++) { Creature empty_creature = Creature(*empty,a,b,NORTH,this); (Grid::map)[a][b] = empty_creature; } } int main() { Grid world = Grid(8,8); } class Grid { protected: Creature map[100][100]; int width,height; int turn_number; Species *empty; Species *wall; public: Grid(); Grid(int _width, int _height); void addCreature(Species &_species, int x, int y, Direction orientation); void addWall(int x, int y); void takeTurn(); void infect(int x, int y, Direction orientation, Species &_species); void hop(int x, int y, Direction orientation); bool ifWall(int x, int y, Direction orientation); bool ifEnemy(int x, int y, Direction orientation, Species &_species); bool ifEmpty(int x, int y, Direction orientation); void print(); }; class Species { protected: int program_length; string program[100]; string type; public: species(string _type); void addInstruction(string instruction); bool isWall(); bool isEmpty(); bool isEnemy(Species _enemy); string instructionAt(int index); string getType(); };

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  • Android MediaPlayer Won't Play Different Sounds

    - by cYn
    I'm making a simple app that plays a different sound according to its orientation. So if it's placed face down, a sound is played. If placed on its left side, a different sound is played. I'm having a hard time manipulating MediaPlayer correctly. My app runs fine. But it will only play one sound. For example. When I first boot up my app and place my device facing up, a sound will play. If I change its orientation, the sound will pause. But it will not start a different sound in a different orientation. BUT, if I place the device back facing up, it resumes the sound that it paused. I know I'm doing something wrong here, but I can't seem to figure it out the correct structure in using MediaPlayer and the program constantly calling it through onSensorChanged. public class MainActivity extends Activity implements SensorEventListener{ MediaPlayer mpAudioAttention; MediaPlayer mpAudioAssembly; MediaPlayer mpAudioRecall; MediaPlayer mpAudioRetreat; MediaPlayer mpAudioReveille; protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); sm = (SensorManager) getSystemService(SENSOR_SERVICE); setContentView(R.layout.main); mpAudioAttention = MediaPlayer.create(this, R.raw.attention); mpAudioAssembly = MediaPlayer.create(this, R.raw.assembly); mpAudioRecall = MediaPlayer.create(this, R.raw.recall); mpAudioRetreat = MediaPlayer.create(this, R.raw.retreat); mpAudioReveille = MediaPlayer.create(this, R.raw.reveille); } public void onSensorChanged(SensorEvent event) { synchronized (this) { Log.d(tag, "onSensorChanged: " + event + ", z: " + event.values[0] + ", x: " + event.values[1] + ", y: " + event.values[2]); zViewO.setText("Orientation Z: " + event.values[0]); xViewO.setText("Orientation X: " + event.values[1]); yViewO.setText("Orientation Y: " + event.values[2]); } //face down if (event.values[2] > -11 && event.values[2] < -9){ mpAudioRetreat.start(); } else mpAudioRetreat.pause(); //face up if (event.values[2] < 11 && event.values[2] > 9){ mpAudioReveille.start(); } else mpAudioReveille.pause(); //standing if (event.values[0] > -10 && event.values[0] < -8){ mpAudioAttention.start(); } else mpAudioAttention.pause(); //left sideways if (event.values[1] < 11 && event.values[1] > 9){ mpAudioAssembly.start(); } else mpAudioAssembly.pause(); //right sideways if (event.values[1] > -11 && event.values[1] < -9){ mpAudioRecall.start(); } else mpAudioRecall.pause(); }

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  • vector rotations for branches of a 3d tree

    - by freefallr
    I'm attempting to create a 3d tree procedurally. I'm hoping that someone can check my vector rotation maths, as I'm a bit confused. I'm using an l-system (a recursive algorithm for generating branches). The trunk of the tree is the root node. It's orientation is aligned to the y axis. In the next iteration of the tree (e.g. the first branches), I might create a branch that is oriented say by +10 degrees in the X axis and a similar amount in the Z axis, relative to the trunk. I know that I should keep a rotation matrix at each branch, so that it can be applied to child branches, along with any modifications to the child branch. My questions then: for the trunk, the rotation matrix - is that just the identity matrix * initial orientation vector ? for the first branch (and subsequent branches) - I'll "inherit" the rotation matrix of the parent branch, and apply x and z rotations to that also. e.g. using glm::normalize; using glm::rotateX; using glm::vec4; using glm::mat4; using glm::rotate; vec4 vYAxis = vec4(0.0f, 1.0f, 0.0f, 0.0f); vec4 vInitial = normalize( rotateX( vYAxis, 10.0f ) ); mat4 mRotation = mat4(1.0); // trunk rotation matrix = identity * initial orientation vector mRotation *= vInitial; // first branch = parent rotation matrix * this branches rotations mRotation *= rotate( 10.0f, 1.0f, 0.0f, 0.0f ); // x rotation mRotation *= rotate( 10.0f, 0.0f, 0.0f, 1.0f ); // z rotation Are my maths and approach correct, or am I completely wrong? Finally, I'm using the glm library with OpenGL / C++ for this. Is the order of x rotation and z rotation important?

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  • Calculating up-vector to avoid gimbal lock using euler angles

    - by jessejuicer
    I wish to orbit a camera around a sphere, yet the problem is that when the camera rotates so that it is at the north pole (and pointing down) or the south pole (and pointing up) of the sphere the camera doesn't handle itself very well. It spins rapidly until arriving 180 degrees in the opposite direction. I believe this is known as gimbal lock. I understand you can avoid this problem using quaternions. But I also read in another forum that it's possible to avoid this easily using euler angles as well. Which I would prefer to do. It was said that all you need to do is "calculate a proper up-vector every frame, and that avoids the problem entirely." Well, I tried aligning the up-vector with the vertical axis of the camera whenever the camera changed orientation, but this didn't seem to work. Meaning that the up-vector followed exactly the orientation of the camera's y-axis (or it's up vector), instead of using a constant up-vector aligned to the up-vector of the world (0, 1, 0). How exactly do I go about calculating a proper up-vector as my camera orientation changes to avoid the gimbal lock problem mentioned above?

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  • 3d Picking under reticle

    - by Wolftousen
    i'm currently trying to work out some 3d picking code that I started years ago, but then lost interested the assignment was completed (this part wasn't actually part of the assignment). I am not using the mouse coords for picking, i'm just using the position in 3d space and a ray directly out from there. A small hitch though is that I want to use a cone and not a ray. Here are the variables i'm using: float iReticleSlope = 95/3000; //inverse reticle slope float baseReticle = 1; //radius of the reticle at z = 0 float maxRange = 3000; //max range to target Quaternion orientation; //the cameras orientation Vector3d position; //the cameras position Then I loop through each object in the world: Vector3d transformed; //object position after transformations float d, r; //holder variables for(i = 0; i < objects.length; i++) { transformed = position - objects[i].position; //transform the position relative to camera orientation.multiply(transformed); //orient the object relative to the camera if(transformed.z < 0) { d = sqrt(transformed[0] * transformed[0] + transformed[1] * transformed[1]); r = -transformed[2] * iReticleSlope + objects[i].radius; if(d < r && -transformed[2] - objects[i].radius <= maxRange) { //the object is under the reticle } else { //the object is not under the reticle } } else { //the object is not under the reticle } } Now this all works fine and dandy until the window ratio doesn't match the resolution ratio. Is there any simple way to account for that

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  • UserInformations are getting updated.

    - by CrazyNick
    Whatever changes made on the UserInformtion in AD, it is not getting updated in users Mysite. Farm Information: SharePoint 2007 + SP2 + Dec-09 CU. Issue: AD-Team changes the user email-id. changes are getting updated in SSP. changes are not getting populated from SSP to Mysite/Site-collections. any thoughts?

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  • Listview Row Overlap Problem

    - by rgrandy
    I just updated my app and I am getting some odd complaints from people who update it. I am only getting complaints from people with non-stock android phones (phones that manufacturers have modified...HTC phones, cliq, pulse, etc), other phones like the Droid, Nexus work fine. My app (Photo Frame Deluxe) has a list in it with a Image View, Text View, View (spacer) and checkbox, all in a row. What happens on the affected phones is that the rows start overlapping and it cuts the top half of everything off. My layout code for this is below, I am pulling my hair out on this, what might I have wrong in this layout. Why does this work on some phones and not on others? Any help would be appreciated. Row Layout: <?xml version="1.0" encoding="UTF-8"?> <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="wrap_content" android:orientation="horizontal"> <ImageView android:id="@+id/photorowIcon" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_gravity="center_vertical" android:paddingTop="10dp" android:paddingBottom="10dp" android:paddingRight="5dp" /> <TextView android:id="@+id/photorowText" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_gravity="center_vertical" /> <View android:layout_width="0px" android:layout_height="wrap_content" android:layout_weight="1"/> <CheckBox android:id="@+id/photorowCheckBox" android:layout_width="wrap_content" android:layout_height="wrap_content" android:layout_gravity="center_vertical" android:focusable="false" android:focusableInTouchMode="false" /> </LinearLayout> Layout Row is inserted in: <?xml version="1.0" encoding="UTF-8"?> <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="fill_parent" android:orientation="vertical"> <LinearLayout android:layout_width="fill_parent" android:layout_height="wrap_content" android:background="@drawable/title1_gradient" android:orientation="vertical"> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="Select Photos to Display:" android:textSize="20sp" android:textStyle="bold" android:textColor="#FFFFFFFF" android:paddingLeft="5dp" android:paddingRight="5dp" android:paddingTop="5dp" /> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:id="@+id/folderName" android:textSize="15sp" android:textStyle="bold" android:textColor="#FFFFFFFF" android:paddingLeft="5dp" android:paddingRight="5dp" android:paddingBottom="5dp" /> <View android:layout_width="fill_parent" android:layout_height="1px" android:background="#406C6C6C"/> </LinearLayout> <ListView android:id="@android:id/list" android:layout_width="fill_parent" android:layout_height="0px" android:layout_weight="1" android:drawSelectorOnTop="false" android:paddingLeft="5dp" android:paddingRight="5dp" /> <LinearLayout android:layout_width="fill_parent" android:layout_height="wrap_content" android:orientation="vertical" android:layout_gravity="bottom"> <LinearLayout android:layout_width="fill_parent" android:layout_height="wrap_content" android:orientation="horizontal" android:layout_gravity="bottom" android:background="#FF6C6C6C" android:padding="5dp"> <Button android:layout_width="fill_parent" android:layout_height="wrap_content" android:id="@+id/ok" android:text="OK"/> </LinearLayout> </LinearLayout> </LinearLayout>

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  • How to create sliding drawer in both sides opposite to one another?

    - by janmejoy
    I have added the code that working for right to left sliding perfectly but i want sliding from left to right also so check the layout and help me out.Here i have mentioned the layout properly for right to left ,Is it possible to get the Slider window in both sides i mean left and right horizontally... <?xml version="1.0" encoding="utf-8"?> <FrameLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="fill_parent"> <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="match_parent" android:layout_height="match_parent" android:background="@drawable/bg" android:orientation="vertical" > <Button android:id="@+id/ship" android:layout_width="186dp" android:layout_height="23dp" android:layout_marginTop="49dp" android:background="@drawable/signup" android:text="Shipping Calculator" android:textColor="#ffffffff" android:layout_gravity="center" android:textStyle="bold" /> </LinearLayout> <SlidingDrawer android:id="@+id/drawer" android:layout_width="match_parent" android:layout_height="match_parent" android:orientation="horizontal" android:handle="@+id/handle" android:content="@+id/content"> <ImageView android:id="@+id/handle" android:layout_width="wrap_content" android:layout_height="fill_parent" android:src="@drawable/tag"/> <LinearLayout android:id="@+id/content" android:layout_width="wrap_content" android:layout_height="fill_parent" android:background="@drawable/slidimage" android:orientation="vertical" android:padding="10dp" > <TextView android:id="@+id/text1" android:layout_width="fill_parent" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_marginTop="15dp" android:layout_marginLeft="51dp" android:text="SIGN-UP" android:textColor="#000000" android:textSize="28dp" android:textStyle="bold" /> </LinearLayout> </SlidingDrawer> <SlidingDrawer android:id="@+id/drawers" android:layout_width="match_parent" android:layout_height="match_parent" android:handle="@+id/handles" android:layout_gravity="left" android:scrollX="100dp" android:orientation="horizontal" android:content="@+id/contents"> <ImageView android:id="@+id/handles" android:layout_width="wrap_content" android:layout_height="fill_parent" android:layout_gravity="left" android:src="@drawable/tag"/> <LinearLayout android:id="@+id/contents" android:layout_width="wrap_content" android:layout_height="fill_parent" android:layout_gravity="left" android:background="@drawable/slidimage" android:orientation="vertical" android:padding="10dp" > <TextView android:id="@+id/text1" android:layout_width="fill_parent" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_marginTop="15dp" android:layout_marginLeft="51dp" android:text="SIGN-UP" android:textColor="#000000" android:textSize="28dp" android:textStyle="bold" /> </LinearLayout> </SlidingDrawer> </FrameLayout>

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  • Calculating rotation and translation matrices between two odometry positions for monocular linear triangulation

    - by user1298891
    Recently I've been trying to implement a system to identify and triangulate the 3D position of an object in a robotic system. The general outline of the process goes as follows: Identify the object using SURF matching, from a set of "training" images to the actual live feed from the camera Move/rotate the robot a certain amount Identify the object using SURF again in this new view Now I have: a set of corresponding 2D points (same object from the two different views), two odometry locations (position + orientation), and camera intrinsics (focal length, principal point, etc.) since it's been calibrated beforehand, so I should be able to create the 2 projection matrices and triangulate using a basic linear triangulation method as in Hartley & Zissermann's book Multiple View Geometry, pg. 312. Solve the AX = 0 equation for each of the corresponding 2D points, then take the average In practice, the triangulation only works when there's almost no change in rotation; if the robot even rotates a slight bit while moving (due to e.g. wheel slippage) then the estimate is way off. This also applies for simulation. Since I can only post two hyperlinks, here's a link to a page with images from the simulation (on the map, the red square is simulated robot position and orientation, and the yellow square is estimated position of the object using linear triangulation.) So you can see that the estimate is thrown way off even by a little rotation, as in Position 2 on that page (that was 15 degrees; if I rotate it any more then the estimate is completely off the map), even in a simulated environment where a perfect calibration matrix is known. In a real environment when I actually move around with the robot, it's worse. There aren't any problems with obtaining point correspondences, nor with actually solving the AX = 0 equation once I compute the A matrix, so I figure it probably has to do with how I'm setting up the two camera projection matrices, specifically how I'm calculating the translation and rotation matrices from the position/orientation info I have relative to the world frame. How I'm doing that right now is: Rotation matrix is composed by creating a 1x3 matrix [0, (change in orientation angle), 0] and then converting that to a 3x3 one using OpenCV's Rodrigues function Translation matrix is composed by rotating the two points (start angle) degrees and then subtracting the final position from the initial position, in order to get the robot's straight and lateral movement relative to its starting orientation Which results in the first projection matrix being K [I | 0] and the second being K [R | T], with R and T calculated as described above. Is there anything I'm doing really wrong here? Or could it possibly be some other problem? Any help would be greatly appreciated.

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  • Release management with a distributed version control system

    - by See Sharp Cheddar
    We're considering a switch from SVN to a distributed VCS at my workplace. I'm familiar with all the reasons for wanting to using a DVCS for day-to-day development: local version control, easier branching and merging, etc., but I haven't seen that much that's compelling in terms of managing software releases. Here's our release process: Discover what changes are available for merging. Run a query to find the defects/tickets associated with these changes. Filter out changes associated with "open" tickets. In our environment, tickets must be in a closed state in order to merged with a release branch. Filter out changes we don't want in the release branch. We are very conservative when it comes to merging changes. If a change isn't absolutely necessary, it doesn't get merged. Merge available changes, preferably in chronological order. We group changes together if they're associated with the same ticket. Block unwanted changes from the release branch (svnmerge block) so we don't have to deal with them again. Sometimes we can be juggling 3-5 different milestones at a time. Some milestones have very different constraints, and the block list can get quite long. I've been messing around with git, mercurial and plastic, and as far as I can tell none of them address this model very well. It seems like they would work very well when you have only one product you're releasing, but I can't imagine using them for juggling multiple, very different products from the same codebase. For example, cherry-picking seems to be an afterthought in mercurial. (You have to use the 'transplant' command). After you cherry-pick a change into a branch it still shows up as an available integration. Cherry-picking breaks the mercurial way of working. DVCS seems to be better suited for feature branches. There's no need for cherry-picking if you merge directly from a feature branch to trunk and the release branch. But who wants to do all that merging all the time? And how do you query for what's available to merge? And how do you make sure all the changes in a feature branch belong together? It sounds like total chaos. I'm torn because the coder in me wants DVCS for day-to-day work. I really want it. But I fear the day when I have to put the release manager hat and sort out what needs to be merged and what doesn't. I want to write code, I don't want to be a merge monkey.

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  • How does a WCF server inform a WCF client about changes? (Better solution then simple polling, e.g.

    - by Ian Ringrose
    see also "WCF push to client through firewall" I need to have a WCF client that connect to a WCF server, then when some of the data changes on the server the clients need to update its display. As there is likely to be a firewall between the clients and the server. All communications must be over HTTP The server can not make an (physical) outgoing call to the client. As I am writing both the client and the server I do not need to limit the solution to only using soap etc. I am looking for built in surport for "long polling" / "Comet" etc Thanks for the most informative answer from Drew Marsh on how to implement long polling in WCF. However I thought the main “selling point” of WCF was that you could do this sort of thing just by configuring the channels to be used in the config file. E.g I want a channel that logically two way but physically incoming only.

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  • shouldAutorotateToInterfaceOrientation called several times in a row without any rotation

    - by Mike
    I am trying to implement some interface changes in my app, based on the device rotation. My app is a view based app. So, its main view controller has a didload method. The app starts in portrait. Almost all changes on the device orientation triggers the shouldAutorotateToInterfaceOrientation method but this method is not called when the device is put on portrait, after coming from any landscape orientation. While debugging the app, I have put a NSLog(@"orientation=%d", interfaceOrientation); on my shouldAutorotateToInterfaceOrientation method, and what I see is quite strange: When I run the app, shouldAutorotateToInterfaceOrientation is called 6 times before the app's interface even appears. Every time it runs, it reports a different number for the orientation: the order it reports on console is: portrait, portrait, portrait, landscape right, landscape left, upside down) (????). During this time the app is just beginning. All 6 times the debugger reports the method being run by the app's delegate. So, here comes the questions: WHy shouldAutorotateToInterfaceOrientation is not being called when the device enters on portrait? Why is this method running 6 times called by the delegate even before the app starts and shows its interface if no rotation is being done? thanks.

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  • Android ScrollView Not Scrolling Correctly

    - by user3133534
    I've been making my way through thenewboston's android tutorials and I'm stuck on number 35. There is supposed to be a scroll bar that takes up a weight of 30 at the top of the app. There are 6 textview/edittext field groups in the code, but I deleted 5 for simplicity. My problem is that all of the text and text boxes appear on the page and are not confined to the given weight (they all just show up on the page). Has anyone else had this problem or know how to fix it? Please, I'm new to stackoverflow. If you think this is a stupid question, please explain to me why and how I can ask it better. Here is what it looks like: http://imgur.com/gJmOgqk <?xml version="1.0" encoding="utf-8"?> <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="match_parent" android:layout_height="wrap_content" android:orientation="vertical" android:weightSum="100" > <ScrollView android:layout_width="match_parent" android:layout_height="match_parent" android:layout_weight="30" > <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content" android:orientation="vertical" > <TextView android:id="@+id/textView1" android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="TextView" /> <EditText android:id="@+id/editText1" android:layout_width="match_parent" android:layout_height="wrap_content" android:ems="10" > </EditText> </LinearLayout> </ScrollView> <LinearLayout android:layout_width="match_parent" android:layout_height="match_parent" android:layout_weight="40" android:orientation="vertical" > <Button android:id="@+id/button1" android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="Button" /> </LinearLayout> <LinearLayout android:layout_width="match_parent" android:layout_height="match_parent" android:layout_weight="30" android:orientation="vertical" > <AnalogClock android:id="@+id/analogClock1" android:layout_width="wrap_content" android:layout_height="wrap_content" /> </LinearLayout> </LinearLayout>

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  • Layout problem: how to place something on top and bottom?

    - by chow
    I want create a layout, with a horizontal LinearLayout(s) on top and bottom, a ListView fill in middle. How can I define the main.xml. I tried to create a layout with horizontal LinearLayout on top, TextView on bottom, a ListView fill in middle; is ok. But after I modified the bottom TextView to LinearLayout, the bottom LinearLayout disappear. <?xml version="1.0" encoding="utf-8"?> <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent" > <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:layout_width="fill_parent" android:layout_height="wrap_content" android:orientation="horizontal" > <TextView android:textSize="12px" android:text="something here" android:layout_width="50px" android:layout_height="wrap_content" /> <TextView android:textSize="12px" android:text="something here" android:layout_width="fill_parent" android:layout_height="wrap_content" /> </LinearLayout> <LinearLayout android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent" android:gravity="bottom" > <ListView android:id="@+id/listbody" android:layout_width="fill_parent" android:layout_height="wrap_content" /> <LinearLayout android:orientation="horizontal" android:layout_height="wrap_content" android:layout_width="fill_parent" > <TextView android:layout_height="wrap_content" android:layout_width="0dip" android:layout_weight="1" android:textSize="12px" android:text="50%" /> <TextView android:layout_height="wrap_content" android:layout_width="0dip" android:layout_weight="1" android:textSize="12px" android:text="50%" /> </LinearLayout> </LinearLayout> </LinearLayout> Anybody can tell advise? Please help.

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  • Android fragments problems different layouts

    - by juan
    I have two layouts: one for portait with one container and another for landscape with two containers. In the first layout I show a fragment and when the user select one element, I replace the fragment with another (with FragmentTransation.Replace). <RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android" xmlns:tools="http://schemas.android.com/tools" android:layout_width="match_parent" android:layout_height="match_parent" > <LinearLayout android:id="@+id/container1" android:layout_width="match_parent" android:layout_height="match_parent" android:orientation="vertical" /> </RelativeLayout> In the second layout I want to show the two fragments at one time, one in the first container and the second in the second container. <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" xmlns:tools="http://schemas.android.com/tools" android:layout_width="match_parent" android:layout_height="match_parent" android:orientation="horizontal" > <LinearLayout android:id="@+id/container1" android:layout_width="0dp" android:layout_height="match_parent" android:layout_weight="3" android:orientation="vertical" /> <LinearLayout android:id="@+id/container2" android:layout_width="0dp" android:layout_height="match_parent" android:layout_weight="7" android:orientation="vertical" /> </LinearLayout> But I can't make this works with configuration changes. I try use different names for containers, try add fragments when only bundle is null,... Someone have a working code of this case?

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  • Android -Layout Manager not showing buttons

    - by Arun
    The following is my code. I want an interface where I have a single line textbox, a multiline textbox with 2 buttons below. I want the multiline textbox to occupy all the space available after rendering the buttons and textbox. For this I created two LinearLayouts inside the main layout. The first one has vertical orientation with layout_width set to fill_parent. The second one is horizontal with fill_parent again. The first one has a textbox for which I have set the layout_height to fill parent. The second one has two textboxes OK and Cancel. When I run this application I get the UI, but the Buttons are very small. I have to set the button height manually. What am I doing wrong here. I don't want to hard code the button height. <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent"> <LinearLayout android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent" android:layout_weight="1"> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="Name"></TextView> <EditText android:layout_width="fill_parent" android:layout_height="wrap_content"></EditText> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="Contents"></TextView> <EditText android:layout_width="fill_parent" android:layout_height="fill_parent" android:gravity="top" /> </LinearLayout> <LinearLayout android:orientation="horizontal" android:layout_width="fill_parent" android:layout_height="wrap_content" android:layout_weight="1"> <Button android:id="@+id/okbutt" android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="OK" android:layout_weight="1" /> <Button android:layout_width="fill_parent" android:layout_height="fill_parent" android:text="Cancel" android:layout_weight="1" /> </LinearLayout> Thanks, Arun

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  • Android - Linear Layout arrangement, not positioning as expected

    - by Arun
    The following is my code. I want an interface where I have a single line textbox, a multiline textbox with 2 buttons below. I want the multiline textbox to occupy all the space available after rendering the buttons and textbox. For this I created two LinearLayouts inside the main layout. The first one has vertical orientation with layout_width set to fill_parent. The second one is horizontal with fill_parent again. The first one has a textbox for which I have set the layout_height to fill parent. The second one has two textboxes OK and Cancel. When I run this application I get the UI, but the Buttons are very small (about 5px in height). I have to set the button height manually. What am I doing wrong here. I don't want to hard code the button height. <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android" android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent"> <LinearLayout android:orientation="vertical" android:layout_width="fill_parent" android:layout_height="fill_parent" android:layout_weight="1"> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="Name"></TextView> <EditText android:layout_width="fill_parent" android:layout_height="wrap_content"></EditText> <TextView android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="Contents"></TextView> <EditText android:layout_width="fill_parent" android:layout_height="fill_parent" android:gravity="top" /> </LinearLayout> <LinearLayout android:orientation="horizontal" android:layout_width="fill_parent" android:layout_height="wrap_content" android:layout_weight="1"> <Button android:id="@+id/okbutt" android:layout_width="fill_parent" android:layout_height="wrap_content" android:text="OK" android:layout_weight="1" /> <Button android:layout_width="fill_parent" android:layout_height="fill_parent" android:text="Cancel" android:layout_weight="1" /> </LinearLayout> Thanks, Arun

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  • Avoid the collapsing effect on TreeView after updating data

    - by Manolete
    I have a TreeView used to display events. It works great, however every time new events are coming in and populating the tree collapse the tree again to the original position. That is very annoying when the refresh time is less than 1 second and it does not allow the user to interact with the items of the tree. Is there any way to avoid this behaviour? <TreeView Margin="1" BorderThickness="0" Name="eventsTree" ItemsSource="{Binding EventAlertContainers}" Background="#00000000" ScrollViewer.VerticalScrollBarVisibility="Auto" FontSize="14" VirtualizingStackPanel.IsVirtualizing="True"> <TreeView.Resources> <HierarchicalDataTemplate DataType="{x:Type C:EventAlertContainer}" ItemsSource="{Binding EventAlerts}"> <StackPanel Orientation="Horizontal"> <Image Width="20" Height="20" Margin="3,0" Source="Resources\Process_info_32.png" /> <TextBlock FontWeight="Bold" FontSize="16" Text="{Binding Description}" /> </StackPanel> </HierarchicalDataTemplate> <HierarchicalDataTemplate DataType="{x:Type C:EventAlert}" ItemsSource="{Binding Events}"> <StackPanel Orientation="Horizontal"> <Image Width="20" Height="20" Margin="0,0" Source="Resources\clock2_32.jpg" /> <TextBlock FontWeight="DemiBold" FontSize="14" Text="{Binding Name}" /> </StackPanel> </HierarchicalDataTemplate> <HierarchicalDataTemplate DataType="{x:Type C:Event}"> <StackPanel Orientation="Horizontal"> <Image Width="20" Height="20" Margin="0,0" Source="Resources\Task_32.png" /> <StackPanel Orientation="Vertical"> <TextBlock FontSize="12" Text="{Binding Name}" /> </StackPanel> </StackPanel> </HierarchicalDataTemplate> </TreeView.Resources> </TreeView>

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  • Need to calculate rotation-vector from Sensor.TYPE_ORIENTATION data

    - by Sponge
    I need to calculate a rotation vector out of the data i get from Sensor.TYPE_ORIENTATION. The sensor data is defined like this: the values have to be recalculated to become a correct 3d position: values[0]: Azimuth, angle between the magnetic north direction and the Y axis, around the Z axis (0 to 359). 0=North, 90=East, 180=South, 270=West values[1]: Pitch, rotation around X axis (-180 to 180), with positive values when the z-axis moves toward the y-axis. values[2]: Roll, rotation around Y axis (-90 to 90), with positive values when the x-axis moves away from the z-axis I need all three values like the Z axis value (from 0 to 360 degree). I tried a lot but cant figure out how to do this :/ i also tried to use Sensor.TYPE_ACCELEROMETER and Sensor.TYPE_MAGNETIC_FIELD to calculate this 3d vector on my own. here is the code: final float[] inR = new float[16]; // load inR matrix from current sensor data: SensorManager.getRotationMatrix(inR, null, gravityValues, geomagneticValues); float[] orientation = new float[3]; SensorManager.getOrientation(inR, orientation); mapMagAndAcclDataToVector(orientation); //here i do some *360 stuff orientetionChanged(orientation); //then the correct values are passed (in theorie) But this didn't work and i think it is much to complicated. So i bet there is a simple solution how to recalc the values of ensor.TYPE_ORIENTATION to make them a 3d rotation vector, but i just dont know how to do it. If you know the answer please tell me.

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  • iOS6: do we have to set rootViewController in App delegate in order to support different orientations?

    - by Centurion
    The app was perfectly fine working in iOS5 in landscape orientation. However in iOS6, it started to use portrait orientation in all view controllers. The methods shouldAutorotateToInterfaceOrientation are not called anymore. I read the new stuff about changed rotation mechanism in iOS6 and I was able to fix that by adding a line in my AppDelegate: self.window.rootViewController = _viewController _viewControler is the starting screen (Home-menu). All other view controllers implement shouldAutorotateToInterfaceOrientation method and returns YES for landscape orientations only. So, it's perfectly working solution for the app that needs to support only one orientation. However, the problem is I need one view controller (lets call it phone-VC) to be presented in portrait orientation. Now, if I want this view controller would be rotated then I need to return YES in Home-menu controller that is assigned to rootViewControler in appDelegate. However, I can't do that because this rootViewController is starting window that need to presented in landscape only, otherwise the layout with graphics in this window will break. But if I don't return YES from its shouldAutorotateToInterfaceOrientation (Home-menu) then the same method is not called in my view phone-VC that needs to be presented in portrait. Any ideas? Does the assignation of rootViewController is mandatory in AppDelegate? UPDATE: the problem exists on device (at least on iPhone4).

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  • Saving and restoring OpenGL model-view

    - by Tom
    I am a new-comer to OpenGL, and much of it remains mysterious to my feeble brain. I have been studying the NeHe demos as well as the Red Book. I am writing an Android application that displays the Earth in the center of the screen. The user can rotate the Earth about any axis (much like a very simple "Google Earth"). This code is working (I based it on the NeHe examples). Now I want to add a feature; the user should be able to save the current model orientation, then later return to that same orientation. For example, the user may save the Earth orientation such that the viewer is looking down at her hometown, and north-east is "up". How do I do this with OpenGL-ES? To capture and save the current orientation, my code could get the current model-view transformation matrix - I think I understand how to do that. But later on how do I apply that saved matrix to restore the view?

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  • Differences Between NHibernate and Entity Framework

    - by Ricardo Peres
    Introduction NHibernate and Entity Framework are two of the most popular O/RM frameworks on the .NET world. Although they share some functionality, there are some aspects on which they are quite different. This post will describe this differences and will hopefully help you get started with the one you know less. Mind you, this is a personal selection of features to compare, it is by no way an exhaustive list. History First, a bit of history. NHibernate is an open-source project that was first ported from Java’s venerable Hibernate framework, one of the first O/RM frameworks, but nowadays it is not tied to it, for example, it has .NET specific features, and has evolved in different ways from those of its Java counterpart. Current version is 3.3, with 3.4 on the horizon. It currently targets .NET 3.5, but can be used as well in .NET 4, it only makes no use of any of its specific functionality. You can find its home page at NHForge. Entity Framework 1 came out with .NET 3.5 and is now on its second major version, despite being version 4. Code First sits on top of it and but came separately and will also continue to be released out of line with major .NET distributions. It is currently on version 4.3.1 and version 5 will be released together with .NET Framework 4.5. All versions will target the current version of .NET, at the time of their release. Its home location is located at MSDN. Architecture In NHibernate, there is a separation between the Unit of Work and the configuration and model instances. You start off by creating a Configuration object, where you specify all global NHibernate settings such as the database and dialect to use, the batch sizes, the mappings, etc, then you build an ISessionFactory from it. The ISessionFactory holds model and metadata that is tied to a particular database and to the settings that came from the Configuration object, and, there will typically be only one instance of each in a process. Finally, you create instances of ISession from the ISessionFactory, which is the NHibernate representation of the Unit of Work and Identity Map. This is a lightweight object, it basically opens and closes a database connection as required and keeps track of the entities associated with it. ISession objects are cheap to create and dispose, because all of the model complexity is stored in the ISessionFactory and Configuration objects. As for Entity Framework, the ObjectContext/DbContext holds the configuration, model and acts as the Unit of Work, holding references to all of the known entity instances. This class is therefore not lightweight as its NHibernate counterpart and it is not uncommon to see examples where an instance is cached on a field. Mappings Both NHibernate and Entity Framework (Code First) support the use of POCOs to represent entities, no base classes are required (or even possible, in the case of NHibernate). As for mapping to and from the database, NHibernate supports three types of mappings: XML-based, which have the advantage of not tying the entity classes to a particular O/RM; the XML files can be deployed as files on the file system or as embedded resources in an assembly; Attribute-based, for keeping both the entities and database details on the same place at the expense of polluting the entity classes with NHibernate-specific attributes; Strongly-typed code-based, which allows dynamic creation of the model and strongly typing it, so that if, for example, a property name changes, the mapping will also be updated. Entity Framework can use: Attribute-based (although attributes cannot express all of the available possibilities – for example, cascading); Strongly-typed code mappings. Database Support With NHibernate you can use mostly any database you want, including: SQL Server; SQL Server Compact; SQL Server Azure; Oracle; DB2; PostgreSQL; MySQL; Sybase Adaptive Server/SQL Anywhere; Firebird; SQLLite; Informix; Any through OLE DB; Any through ODBC. Out of the box, Entity Framework only supports SQL Server, but a number of providers exist, both free and commercial, for some of the most used databases, such as Oracle and MySQL. See a list here. Inheritance Strategies Both NHibernate and Entity Framework support the three canonical inheritance strategies: Table Per Type Hierarchy (Single Table Inheritance), Table Per Type (Class Table Inheritance) and Table Per Concrete Type (Concrete Table Inheritance). Associations Regarding associations, both support one to one, one to many and many to many. However, NHibernate offers far more collection types: Bags of entities or values: unordered, possibly with duplicates; Lists of entities or values: ordered, indexed by a number column; Maps of entities or values: indexed by either an entity or any value; Sets of entities or values: unordered, no duplicates; Arrays of entities or values: indexed, immutable. Querying NHibernate exposes several querying APIs: LINQ is probably the most used nowadays, and really does not need to be introduced; Hibernate Query Language (HQL) is a database-agnostic, object-oriented SQL-alike language that exists since NHibernate’s creation and still offers the most advanced querying possibilities; well suited for dynamic queries, even if using string concatenation; Criteria API is an implementation of the Query Object pattern where you create a semi-abstract conceptual representation of the query you wish to execute by means of a class model; also a good choice for dynamic querying; Query Over offers a similar API to Criteria, but using strongly-typed LINQ expressions instead of strings; for this, although more refactor-friendlier that Criteria, it is also less suited for dynamic queries; SQL, including stored procedures, can also be used; Integration with Lucene.NET indexer is available. As for Entity Framework: LINQ to Entities is fully supported, and its implementation is considered very complete; it is the API of choice for most developers; Entity-SQL, HQL’s counterpart, is also an object-oriented, database-independent querying language that can be used for dynamic queries; SQL, of course, is also supported. Caching Both NHibernate and Entity Framework, of course, feature first-level cache. NHibernate also supports a second-level cache, that can be used among multiple ISessionFactorys, even in different processes/machines: Hashtable (in-memory); SysCache (uses ASP.NET as the cache provider); SysCache2 (same as above but with support for SQL Server SQL Dependencies); Prevalence; SharedCache; Memcached; Redis; NCache; Appfabric Caching. Out of the box, Entity Framework does not have any second-level cache mechanism, however, there are some public samples that show how we can add this. ID Generators NHibernate supports different ID generation strategies, coming from the database and otherwise: Identity (for SQL Server, MySQL, and databases who support identity columns); Sequence (for Oracle, PostgreSQL, and others who support sequences); Trigger-based; HiLo; Sequence HiLo (for databases that support sequences); Several GUID flavors, both in GUID as well as in string format; Increment (for single-user uses); Assigned (must know what you’re doing); Sequence-style (either uses an actual sequence or a single-column table); Table of ids; Pooled (similar to HiLo but stores high values in a table); Native (uses whatever mechanism the current database supports, identity or sequence). Entity Framework only supports: Identity generation; GUIDs; Assigned values. Properties NHibernate supports properties of entity types (one to one or many to one), collections (one to many or many to many) as well as scalars and enumerations. It offers a mechanism for having complex property types generated from the database, which even include support for querying. It also supports properties originated from SQL formulas. Entity Framework only supports scalars, entity types and collections. Enumerations support will come in the next version. Events and Interception NHibernate has a very rich event model, that exposes more than 20 events, either for synchronous pre-execution or asynchronous post-execution, including: Pre/Post-Load; Pre/Post-Delete; Pre/Post-Insert; Pre/Post-Update; Pre/Post-Flush. It also features interception of class instancing and SQL generation. As for Entity Framework, only two events exist: ObjectMaterialized (after loading an entity from the database); SavingChanges (before saving changes, which include deleting, inserting and updating). Tracking Changes For NHibernate as well as Entity Framework, all changes are tracked by their respective Unit of Work implementation. Entities can be attached and detached to it, Entity Framework does, however, also support self-tracking entities. Optimistic Concurrency Control NHibernate supports all of the imaginable scenarios: SQL Server’s ROWVERSION; Oracle’s ORA_ROWSCN; A column containing date and time; A column containing a version number; All/dirty columns comparison. Entity Framework is more focused on Entity Framework, so it only supports: SQL Server’s ROWVERSION; Comparing all/some columns. Batching NHibernate has full support for insertion batching, but only if the ID generator in use is not database-based (for example, it cannot be used with Identity), whereas Entity Framework has no batching at all. Cascading Both support cascading for collections and associations: when an entity is deleted, their conceptual children are also deleted. NHibernate also offers the possibility to set the foreign key column on children to NULL instead of removing them. Flushing Changes NHibernate’s ISession has a FlushMode property that can have the following values: Auto: changes are sent to the database when necessary, for example, if there are dirty instances of an entity type, and a query is performed against this entity type, or if the ISession is being disposed; Commit: changes are sent when committing the current transaction; Never: changes are only sent when explicitly calling Flush(). As for Entity Framework, changes have to be explicitly sent through a call to AcceptAllChanges()/SaveChanges(). Lazy Loading NHibernate supports lazy loading for Associated entities (one to one, many to one); Collections (one to many, many to many); Scalar properties (thing of BLOBs or CLOBs). Entity Framework only supports lazy loading for: Associated entities; Collections. Generating and Updating the Database Both NHibernate and Entity Framework Code First (with the Migrations API) allow creating the database model from the mapping and updating it if the mapping changes. Extensibility As you can guess, NHibernate is far more extensible than Entity Framework. Basically, everything can be extended, from ID generation, to LINQ to SQL transformation, HQL native SQL support, custom column types, custom association collections, SQL generation, supported databases, etc. With Entity Framework your options are more limited, at least, because practically no information exists as to what can be extended/changed. It features a provider model that can be extended to support any database. Integration With Other Microsoft APIs and Tools When it comes to integration with Microsoft technologies, it will come as no surprise that Entity Framework offers the best support. For example, the following technologies are fully supported: ASP.NET (through the EntityDataSource); ASP.NET Dynamic Data; WCF Data Services; WCF RIA Services; Visual Studio (through the integrated designer). Documentation This is another point where Entity Framework is superior: NHibernate lacks, for starters, an up to date API reference synchronized with its current version. It does have a community mailing list, blogs and wikis, although not much used. Entity Framework has a number of resources on MSDN and, of course, several forums and discussion groups exist. Conclusion Like I said, this is a personal list. I may come as a surprise to some that Entity Framework is so behind NHibernate in so many aspects, but it is true that NHibernate is much older and, due to its open-source nature, is not tied to product-specific timeframes and can thus evolve much more rapidly. I do like both, and I chose whichever is best for the job I have at hands. I am looking forward to the changes in EF5 which will add significant value to an already interesting product. So, what do you think? Did I forget anything important or is there anything else worth talking about? Looking forward for your comments!

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  • Adopting DBVCS

    - by Wes McClure
    Identify early adopters Pick a small project with a small(ish) team.  This can be a legacy application or a green-field application. Strive to find a team of early adopters that will be eager to try something new. Get the team on board! Research Research the tool(s) that you want to use.  Some tools provide all of the features you would need while some only provide a slice of the pie.  DBVCS requires the ability to manage a set of change scripts that update a database from one version to the next.  Ideally a tool can track database versions and automatically apply updates.  The change script generation process can be manual, but having diff tools available to automatically generate it can really reduce the overhead to adoption.  Finally, an automated tool to generate a script file per database object is an added bonus as your version control system can quickly identify what was changed in a commit (add/del/modify), just like with code changes. Don’t settle on just one tool, identify several.  Then work with the team to evaluate the tools.  Have the team do some tests of the following scenarios with each tool: Baseline an existing database: can the migration tool work with legacy databases?  Caution: most migration platforms do not support baselines or have poor support, especially the fad of fluent APIs. Add/drop tables Add/drop procedures/functions/views Alter tables (rename columns, add columns, remove columns) Massage data – migrations sometimes involve changing data types that cannot be implicitly casted and require you to decide how the data is explicitly cast to the new type.  This is a requirement for a migrations platform.  Think about a case where you might want to combine fields, or move a field from one table to another, you wouldn’t want to lose the data. Run the tool via the command line.  If you cannot automate the tool in Continuous Integration what is the point? Create a copy of a database on demand. Backup/restore databases locally. Let the team give feedback and decide together, what tool they would like to try out. My recommendation at this point would be to include TSqlMigrations and RoundHouse as SQL based migration platforms.  In general I would recommend staying away from the fluent platforms as they often lack baseline capabilities and add overhead to learn a new API when SQL is already a very well known DSL.  Code migrations often get messy with procedures/views/functions as these have to be created with SQL and aren’t cross platform anyways.  IMO stick to SQL based migrations. Reconciling Production If your project is a legacy application, you will need to reconcile the current state of production with your development databases.  Find changes in production and bring them down to development, even if they are old and need to be removed.  Once complete, produce a baseline of either dev or prod as they are now in sync.  Commit this to your VCS of choice. Add whatever schema changes tracking mechanism your tool requires to your development database.  This often requires adding a table to track the schema version of that database.  Your tool should support doing this for you.  You can add this table to production when you do your next release. Script out any changes currently in dev.  Remove production artifacts that you brought down during reconciliation.  Add change scripts for any outstanding changes in dev since the last production release.  Commit these to your repository.   Say No to Shared Dev DBs Simply put, you wouldn’t dream of sharing a code checkout, why would you share a development database?  If you have a shared dev database, back it up, distribute the backups and take the shared version offline (including the dev db server once all projects are using DB VCS).  Doing DB VCS with a shared database is bound to cause problems as people won’t be able to easily script out their own changes from those that others are working on.   First prod release Copy prod to your beta/testing environment.  Add the schema changes table (or mechanism) and do a test run of your changes.  If successful you can schedule this to be run on production.   Evaluation After your first release, evaluate the pain points of the process.  Try to find tools or modifications to existing tools to help fix them.  Don’t leave stones unturned, iteratively evolve your tools and practices to make the process as seamless as possible.  This is why I suggest open source alternatives.  Nothing is set in stone, a good example was adding transactional support to TSqlMigrations.  We ran into situations where an update would break a database, so I added a feature to do transactional updates and rollback on errors!  Another good example is generating change scripts.  We have been manually making these for months now.  I found an open source project called Open DB Diff and integrated this with TSqlMigrations.  These were things we just accepted at the time when we began adopting our tool set.  Once we became comfortable with the base functionality, it was time to start automating more of the process.  Just like anything else with development, never be afraid to try to find tools to make your job easier!   Enjoy -Wes

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  • Towards Database Continuous Delivery – What Next after Continuous Integration? A Checklist

    - by Ben Rees
    .dbd-banner p{ font-size:0.75em; padding:0 0 10px; margin:0 } .dbd-banner p span{ color:#675C6D; } .dbd-banner p:last-child{ padding:0; } @media ALL and (max-width:640px){ .dbd-banner{ background:#f0f0f0; padding:5px; color:#333; margin-top: 5px; } } -- Database delivery patterns & practices STAGE 4 AUTOMATED DEPLOYMENT If you’ve been fortunate enough to get to the stage where you’ve implemented some sort of continuous integration process for your database updates, then hopefully you’re seeing the benefits of that investment – constant feedback on changes your devs are making, advanced warning of data loss (prior to the production release on Saturday night!), a nice suite of automated tests to check business logic, so you know it’s going to work when it goes live, and so on. But what next? What can you do to improve your delivery process further, moving towards a full continuous delivery process for your database? In this article I describe some of the issues you might need to tackle on the next stage of this journey, and how to plan to overcome those obstacles before they appear. Our Database Delivery Learning Program consists of four stages, really three – source controlling a database, running continuous integration processes, then how to set up automated deployment (the middle stage is split in two – basic and advanced continuous integration, making four stages in total). If you’ve managed to work through the first three of these stages – source control, basic, then advanced CI, then you should have a solid change management process set up where, every time one of your team checks in a change to your database (whether schema or static reference data), this change gets fully tested automatically by your CI server. But this is only part of the story. Great, we know that our updates work, that the upgrade process works, that the upgrade isn’t going to wipe our 4Tb of production data with a single DROP TABLE. But – how do you get this (fully tested) release live? Continuous delivery means being always ready to release your software at any point in time. There’s a significant gap between your latest version being tested, and it being easily releasable. Just a quick note on terminology – there’s a nice piece here from Atlassian on the difference between continuous integration, continuous delivery and continuous deployment. This piece also gives a nice description of the benefits of continuous delivery. These benefits have been summed up by Jez Humble at Thoughtworks as: “Continuous delivery is a set of principles and practices to reduce the cost, time, and risk of delivering incremental changes to users” There’s another really useful piece here on Simple-Talk about the need for continuous delivery and how it applies to the database written by Phil Factor – specifically the extra needs and complexities of implementing a full CD solution for the database (compared to just implementing CD for, say, a web app). So, hopefully you’re convinced of moving on the the next stage! The next step after CI is to get some sort of automated deployment (or “release management”) process set up. But what should I do next? What do I need to plan and think about for getting my automated database deployment process set up? Can’t I just install one of the many release management tools available and hey presto, I’m ready! If only it were that simple. Below I list some of the areas that it’s worth spending a little time on, where a little planning and prep could go a long way. It’s also worth pointing out, that this should really be an evolving process. Depending on your starting point of course, it can be a long journey from your current setup to a full continuous delivery pipeline. If you’ve got a CI mechanism in place, you’re certainly a long way down that path. Nevertheless, we’d recommend evolving your process incrementally. Pages 157 and 129-141 of the book on Continuous Delivery (by Jez Humble and Dave Farley) have some great guidance on building up a pipeline incrementally: http://www.amazon.com/Continuous-Delivery-Deployment-Automation-Addison-Wesley/dp/0321601912 For now, in this post, we’ll look at the following areas for your checklist: You and Your Team Environments The Deployment Process Rollback and Recovery Development Practices You and Your Team It’s a cliché in the DevOps community that “It’s not all about processes and tools, really it’s all about a culture”. As stated in this DevOps report from Puppet Labs: “DevOps processes and tooling contribute to high performance, but these practices alone aren’t enough to achieve organizational success. The most common barriers to DevOps adoption are cultural: lack of manager or team buy-in, or the value of DevOps isn’t understood outside of a specific group”. Like most clichés, there’s truth in there – if you want to set up a database continuous delivery process, you need to get your boss, your department, your company (if relevant) onside. Why? Because it’s an investment with the benefits coming way down the line. But the benefits are huge – for HP, in the book A Practical Approach to Large-Scale Agile Development: How HP Transformed LaserJet FutureSmart Firmware, these are summarized as: -2008 to present: overall development costs reduced by 40% -Number of programs under development increased by 140% -Development costs per program down 78% -Firmware resources now driving innovation increased by a factor of 8 (from 5% working on new features to 40% But what does this mean? It means that, when moving to the next stage, to make that extra investment in automating your deployment process, it helps a lot if everyone is convinced that this is a good thing. That they understand the benefits of automated deployment and are willing to make the effort to transform to a new way of working. Incidentally, if you’re ever struggling to convince someone of the value I’d strongly recommend just buying them a copy of this book – a great read, and a very practical guide to how it can really work at a large org. I’ve spoken to many customers who have implemented database CI who describe their deployment process as “The point where automation breaks down. Up to that point, the CI process runs, untouched by human hand, but as soon as that’s finished we revert to manual.” This deployment process can involve, for example, a DBA manually comparing an environment (say, QA) to production, creating the upgrade scripts, reading through them, checking them against an Excel document emailed to him/her the night before, turning to page 29 in his/her notebook to double-check how replication is switched off and on for deployments, and so on and so on. Painful, error-prone and lengthy. But the point is, if this is something like your deployment process, telling your DBA “We’re changing everything you do and your toolset next week, to automate most of your role – that’s okay isn’t it?” isn’t likely to go down well. There’s some work here to bring him/her onside – to explain what you’re doing, why there will still be control of the deployment process and so on. Or of course, if you’re the DBA looking after this process, you have to do a similar job in reverse. You may have researched and worked out how you’d like to change your methodology to start automating your painful release process, but do the dev team know this? What if they have to start producing different artifacts for you? Will they be happy with this? Worth talking to them, to find out. As well as talking to your DBA/dev team, the other group to get involved before implementation is your manager. And possibly your manager’s manager too. As mentioned, unless there’s buy-in “from the top”, you’re going to hit problems when the implementation starts to get rocky (and what tool/process implementations don’t get rocky?!). You need to have support from someone senior in your organisation – someone you can turn to when you need help with a delayed implementation, lack of resources or lack of progress. Actions: Get your DBA involved (or whoever looks after live deployments) and discuss what you’re planning to do or, if you’re the DBA yourself, get the dev team up-to-speed with your plans, Get your boss involved too and make sure he/she is bought in to the investment. Environments Where are you going to deploy to? And really this question is – what environments do you want set up for your deployment pipeline? Assume everyone has “Production”, but do you have a QA environment? Dedicated development environments for each dev? Proper pre-production? I’ve seen every setup under the sun, and there is often a big difference between “What we want, to do continuous delivery properly” and “What we’re currently stuck with”. Some of these differences are: What we want What we’ve got Each developer with their own dedicated database environment A single shared “development” environment, used by everyone at once An Integration box used to test the integration of all check-ins via the CI process, along with a full suite of unit-tests running on that machine In fact if you have a CI process running, you’re likely to have some sort of integration server running (even if you don’t call it that!). Whether you have a full suite of unit tests running is a different question… Separate QA environment used explicitly for manual testing prior to release “We just test on the dev environments, or maybe pre-production” A proper pre-production (or “staging”) box that matches production as closely as possible Hopefully a pre-production box of some sort. But does it match production closely!? A production environment reproducible from source control A production box which has drifted significantly from anything in source control The big question is – how much time and effort are you going to invest in fixing these issues? In reality this just involves figuring out which new databases you’re going to create and where they’ll be hosted – VMs? Cloud-based? What about size/data issues – what data are you going to include on dev environments? Does it need to be masked to protect access to production data? And often the amount of work here really depends on whether you’re working on a new, greenfield project, or trying to update an existing, brownfield application. There’s a world if difference between starting from scratch with 4 or 5 clean environments (reproducible from source control of course!), and trying to re-purpose and tweak a set of existing databases, with all of their surrounding processes and quirks. But for a proper release management process, ideally you have: Dedicated development databases, An Integration server used for testing continuous integration and running unit tests. [NB: This is the point at which deployments are automatic, without human intervention. Each deployment after this point is a one-click (but human) action], QA – QA engineers use a one-click deployment process to automatically* deploy chosen releases to QA for testing, Pre-production. The environment you use to test the production release process, Production. * A note on the use of the word “automatic” – when carrying out automated deployments this does not mean that the deployment is happening without human intervention (i.e. that something is just deploying over and over again). It means that the process of carrying out the deployment is automatic in that it’s not a person manually running through a checklist or set of actions. The deployment still requires a single-click from a user. Actions: Get your environments set up and ready, Set access permissions appropriately, Make sure everyone understands what the environments will be used for (it’s not a “free-for-all” with all environments to be accessed, played with and changed by development). The Deployment Process As described earlier, most existing database deployment processes are pretty manual. The following is a description of a process we hear very often when we ask customers “How do your database changes get live? How does your manual process work?” Check pre-production matches production (use a schema compare tool, like SQL Compare). Sometimes done by taking a backup from production and restoring in to pre-prod, Again, use a schema compare tool to find the differences between the latest version of the database ready to go live (i.e. what the team have been developing). This generates a script, User (generally, the DBA), reviews the script. This often involves manually checking updates against a spreadsheet or similar, Run the script on pre-production, and check there are no errors (i.e. it upgrades pre-production to what you hoped), If all working, run the script on production.* * this assumes there’s no problem with production drifting away from pre-production in the interim time period (i.e. someone has hacked something in to the production box without going through the proper change management process). This difference could undermine the validity of your pre-production deployment test. Red Gate is currently working on a free tool to detect this problem – sign up here at www.sqllighthouse.com, if you’re interested in testing early versions. There are several variations on this process – some better, some much worse! How do you automate this? In particular, step 3 – surely you can’t automate a DBA checking through a script, that everything is in order!? The key point here is to plan what you want in your new deployment process. There are so many options. At one extreme, pure continuous deployment – whenever a dev checks something in to source control, the CI process runs (including extensive and thorough testing!), before the deployment process keys in and automatically deploys that change to the live box. Not for the faint hearted – and really not something we recommend. At the other extreme, you might be more comfortable with a semi-automated process – the pre-production/production matching process is automated (with an error thrown if these environments don’t match), followed by a manual intervention, allowing for script approval by the DBA. One he/she clicks “Okay, I’m happy for that to go live”, the latter stages automatically take the script through to live. And anything in between of course – and other variations. But we’d strongly recommended sitting down with a whiteboard and your team, and spending a couple of hours mapping out “What do we do now?”, “What do we actually want?”, “What will satisfy our needs for continuous delivery, but still maintaining some sort of continuous control over the process?” NB: Most of what we’re discussing here is about production deployments. It’s important to note that you will also need to map out a deployment process for earlier environments (for example QA). However, these are likely to be less onerous, and many customers opt for a much more automated process for these boxes. Actions: Sit down with your team and a whiteboard, and draw out the answers to the questions above for your production deployments – “What do we do now?”, “What do we actually want?”, “What will satisfy our needs for continuous delivery, but still maintaining some sort of continuous control over the process?” Repeat for earlier environments (QA and so on). Rollback and Recovery If only every deployment went according to plan! Unfortunately they don’t – and when things go wrong, you need a rollback or recovery plan for what you’re going to do in that situation. Once you move in to a more automated database deployment process, you’re far more likely to be deploying more frequently than before. No longer once every 6 months, maybe now once per week, or even daily. Hence the need for a quick rollback or recovery process becomes paramount, and should be planned for. NB: These are mainly scenarios for handling rollbacks after the transaction has been committed. If a failure is detected during the transaction, the whole transaction can just be rolled back, no problem. There are various options, which we’ll explore in subsequent articles, things like: Immediately restore from backup, Have a pre-tested rollback script (remembering that really this is a “roll-forward” script – there’s not really such a thing as a rollback script for a database!) Have fallback environments – for example, using a blue-green deployment pattern. Different options have pros and cons – some are easier to set up, some require more investment in infrastructure; and of course some work better than others (the key issue with using backups, is loss of the interim transaction data that has been added between the failed deployment and the restore). The best mechanism will be primarily dependent on how your application works and how much you need a cast-iron failsafe mechanism. Actions: Work out an appropriate rollback strategy based on how your application and business works, your appetite for investment and requirements for a completely failsafe process. Development Practices This is perhaps the more difficult area for people to tackle. The process by which you can deploy database updates is actually intrinsically linked with the patterns and practices used to develop that database and linked application. So you need to decide whether you want to implement some changes to the way your developers actually develop the database (particularly schema changes) to make the deployment process easier. A good example is the pattern “Branch by abstraction”. Explained nicely here, by Martin Fowler, this is a process that can be used to make significant database changes (e.g. splitting a table) in a step-wise manner so that you can always roll back, without data loss – by making incremental updates to the database backward compatible. Slides 103-108 of the following slidedeck, from Niek Bartholomeus explain the process: https://speakerdeck.com/niekbartho/orchestration-in-meatspace As these slides show, by making a significant schema change in multiple steps – where each step can be rolled back without any loss of new data – this affords the release team the opportunity to have zero-downtime deployments with considerably less stress (because if an increment goes wrong, they can roll back easily). There are plenty more great patterns that can be implemented – the book Refactoring Databases, by Scott Ambler and Pramod Sadalage is a great read, if this is a direction you want to go in: http://www.amazon.com/Refactoring-Databases-Evolutionary-paperback-Addison-Wesley/dp/0321774515 But the question is – how much of this investment are you willing to make? How often are you making significant schema changes that would require these best practices? Again, there’s a difference here between migrating old projects and starting afresh – with the latter it’s much easier to instigate best practice from the start. Actions: For your business, work out how far down the path you want to go, amending your database development patterns to “best practice”. It’s a trade-off between implementing quality processes, and the necessity to do so (depending on how often you make complex changes). Socialise these changes with your development group. No-one likes having “best practice” changes imposed on them, so good to introduce these ideas and the rationale behind them early.   Summary The next stages of implementing a continuous delivery pipeline for your database changes (once you have CI up and running) require a little pre-planning, if you want to get the most out of the work, and for the implementation to go smoothly. We’ve covered some of the checklist of areas to consider – mainly in the areas of “Getting the team ready for the changes that are coming” and “Planning our your pipeline, environments, patterns and practices for development”, though there will be more detail, depending on where you’re coming from – and where you want to get to. This article is part of our database delivery patterns & practices series on Simple Talk. Find more articles for version control, automated testing, continuous integration & deployment.

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