void MapEditor::mouseMoveEvent(QMouseEvent *event)
{
currentX = convertCoordinate(event->pos().x(),0);
currentY = convertCoordinate(event->pos().y(),1);
((MainWindow*)main)->setStatus(event->pos().x()-posX,event->pos().y()-posY);
}
void HSJoystick::ccTouchesMoved( CCSet *pTouches, CCEvent *pEvent )
{
if(isPressed) {
CCTouch *touch = (CCTouch*)pTouches->anyObject();
CCPoint point = touch->locationInView();
point = convertCoordinate(point);
this->updateVelocity(point);
}
}
void MapEditor::mousePressEvent(QMouseEvent *event)
{
startX = convertCoordinate(event->pos().x(),0);
startY = convertCoordinate(event->pos().y(),1);
if(event->button() == 4)
{
move = true;
return;
}
if( objType >= 100 && objType <= 102)
{
findClosestEntity(&startX,&startY);
}
if(event->button()==2)
{
discoverAndDelete(startX,startY);
return;
}
isClicked = true;
if( objType == MapEntityType::MODEL )
{
strcpy(modelEntity.modelName,modelName.data());
modelEntity.type = objType;
modelEntity.entityPosition.startX = startX;
modelEntity.entityPosition.startZ = startY;
modelEntity.direction = degree;
addModelEntity(modelEntity);
((MainWindow*)main)->setWindowModified(true);
}
if( objType == MapEntityType::SPAWN_POINT || objType == MapEntityType::LIGHT_POINT || objType < 100 )
{
entity2.type = objType;
entity2.entityPosition.startX = startX;
entity2.entityPosition.startZ = startY;
entity2.direction = degree;
std::cout<<degree<<std::endl;
addEntity2(entity2);
((MainWindow*)main)->setWindowModified(true);
}
}
void HSJoystick::ccTouchesBegan( CCSet *pTouches, CCEvent *pEvent )
{
CCTouch *touch = (CCTouch*)pTouches->anyObject();
CCPoint point = touch->locationInView();
point = convertCoordinate(point);
if(isPointInCircle(point,kCenter,this->radius)) {
isPressed = true;
this->updateVelocity(point);
}
}
/**
* Purpose: Given the rover's pose, this function will move it a certain distance
* ARGS:
* ref_x: x-coordinate of reference point (Rover)
* ref_y: y-coordinate of reference point (Rover)
* orientation: orientation of rover
* distance: Distance the rover moved (center of rover)
**/
void translateRoverVector(int ref_x, int ref_y, float orientation,
int rightFt, int rightIn, int leftFt, int leftIn)
{
int rightDist = convToInches(rightFt, rightIn);
int leftDist = convToInches(leftFt, leftIn);
//printf("rightDist = %d\n", (int)((double)rightDist));
//printf("leftDist = %d\n", (int)((double)leftDist));
if( rightDist != leftDist )
{
//Radius of Turn
int R = ((float)rov_width_half)*( ( rightDist + leftDist ) / ( rightDist - leftDist ) );
//Change in orientation
float theta = ((float)rightDist - (float)leftDist)/((float)rov_width);
#if smoothenMap == 1
theta = (fabs((int)((double)(theta*convToDeg))) == 93.0) ?
(((theta < 0.0)?-1.0:1.0)*(float)90.0)*convToRadians : theta;
#endif
//printf("theta = %d", (int)((double)(theta*convToDeg)));
// calculate cosine and sine of the angle (angle inputted is in degrees)
float cosine_trav = cosine_optimized(theta);
float sine_trav = sine_optimized(theta);
float cosine_orien = cosine_optimized(orientation * convToRadians);
float sine_orien = sine_optimized(orientation * convToRadians);
//ICC - center of rotation
int ICC_x = 0 - R*sine_orien;
int ICC_y = 0 + R*cosine_orien;
int newx = cosine_trav*(0 - ICC_x) - sine_trav*(0 - ICC_y) + ICC_x;
int newy = sine_trav*(0- ICC_x) + cosine_trav*(0- ICC_y) + ICC_y;
resultOfRV_Translation.orientation = orientation + (theta * convToDeg);
convertCoordinate(ref_x, ref_y, resultOfRV_Translation.orientation, newx, newy);
}
else
{
resultOfRV_Translation.orientation = orientation;
convertCoordinate(ref_x, ref_y, orientation, rightDist, (int)0);
}
}
/*
消去的行数与当前摆放的板块中被消去的小方块数的乘积
game : 此时的game是板块摆放后的状态
shape : 被摆放的板块
anchorRow : 板块摆放的所在的行
*/
int erodedPieceCellsMetric (TertrisGame game , AShape shape , int anchorRow,int anchorCol){
//被消去的行数
int erodedRows = 0;
//板块中被消去的行数
int erodedShape = 0;
//遍历所有 row
for (int r = 1; r<= GAME_ROW; r++) {
if (isFullRow(game,r)) {
//如果消去行中有摆放的板块
if (r >= anchorRow && r<= (anchorRow + shape.height)) {
int rInShape = 0;
//得到 game board 的行 在 shape 中的行
convertCoordinate(0, r, 0, &rInShape, -anchorCol, -anchorRow);
int rWidthInShape = shape.rowWidth[rInShape];
erodedShape+=rWidthInShape;
}
erodedRows++;
}
}
return erodedRows * erodedShape;
}
void MapEditor::mouseReleaseEvent(QMouseEvent *event)
{
if(event->button() == 2)
return;
if(event->button() == 4)
{
move = false;
return;
}
if(isClicked)
{
isClicked = false;
if( objType == MapEntityType::SPAWN_POINT || objType == MapEntityType::LIGHT_POINT || objType < 100 || objType == MapEntityType::MODEL )
return;
if( startX == convertCoordinate(event->pos().x(),0) || startY == convertCoordinate(event->pos().y(),1) )
return;
entity4.type = objType;
entity4.entityPosition.startX = startX;
entity4.entityPosition.startZ = startY;
float x1 = convertCoordinate( event->pos().x(),0);
float y1 = convertCoordinate( event->pos().y(),1);
findClosestEntity(&x1,&y1);
if(!space)
{
if( fabs(startX-convertCoordinate(event->pos().x(),0)) > fabs(startY-convertCoordinate(event->pos().y(),1)) )
{
entity4.entityPosition.endZ = entity4.entityPosition.startZ;
entity4.entityPosition.endX = x1;
}
else
{
entity4.entityPosition.endX = entity4.entityPosition.startX;
entity4.entityPosition.endZ = y1;
}
}
else
{
entity4.entityPosition.endX = x1;
entity4.entityPosition.endZ = y1;
}
addEntity4(entity4);
}
((MainWindow*)main)->setWindowModified(true);
}
const KstTimezones::ZoneMap KstTimezones::allZones()
{
// Have we already done all the hard work? If not, create the cache.
if (m_zones)
return *m_zones;
m_zones = new ZoneMap();
// Go read the database.
//
// On Windows, HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\Windows NT\CurrentVersion\Time Zones
// is the place to look. The TZI binary value is the TIME_ZONE_INFORMATION structure.
//
// For Unix its all easy except knowing where to look. Try the LSB location first.
QFile f;
m_zoneinfoDir = "/usr/share/zoneinfo";
f.setName(m_zoneinfoDir + "/zone.tab");
if (!f.open(IO_ReadOnly))
{
m_zoneinfoDir = "/usr/lib/zoneinfo";
f.setName(m_zoneinfoDir + "/zone.tab");
if (!f.open(IO_ReadOnly))
{
m_zoneinfoDir = ::getenv("TZDIR");
f.setName(m_zoneinfoDir + "/zone.tab");
if (m_zoneinfoDir.isEmpty() || !f.open(IO_ReadOnly))
{
// Solaris support. Synthesise something that looks like a zone.tab.
//
// /bin/grep -h ^Zone /usr/share/lib/zoneinfo/src/* | /bin/awk '{print "??\t+9999+99999\t" $2}'
//
// where the country code is set to "??" and the lattitude/longitude
// values are dummies.
m_zoneinfoDir = "/usr/share/lib/zoneinfo";
KTempFile temp;
KShellProcess reader;
reader << "/bin/grep" << "-h" << "^Zone" << m_zoneinfoDir << "/src/*" << temp.name() << "|" <<
"/bin/awk" << "'{print \"??\\t+9999+99999\\t\" $2}'";
// Note the use of blocking here...it is a trivial amount of data!
temp.close();
reader.start(KProcess::Block);
f.setName(temp.name());
if (!temp.status() || !f.open(IO_ReadOnly))
{
return *m_zones;
}
}
}
}
// Parse the zone.tab.
QTextStream str(&f);
QRegExp lineSeparator("[ \t]");
QRegExp ordinateSeparator("[+-]");
KSharedPtr<KstTimezoneSource> db(new KstTimezoneSource(m_zoneinfoDir));
while (!str.atEnd())
{
QString line = str.readLine();
if (line.isEmpty() || '#' == line[0])
continue;
QStringList tokens = KStringHandler::perlSplit(lineSeparator, line, 4);
if (tokens.count() < 3)
{
continue;
}
// Got three tokens. Now check for two ordinates plus first one is "".
QStringList ordinates = KStringHandler::perlSplit(ordinateSeparator, tokens[1], 2);
if (ordinates.count() < 2)
{
continue;
}
float latitude = convertCoordinate(ordinates[1]);
float longitude = convertCoordinate(ordinates[2]);
// Add entry to list.
if (tokens[0] == "??")
tokens[0] = "";
KstTimezone *timezone = new KstTimezone(db, tokens[2], tokens[0], latitude, longitude, tokens[3]);
add(timezone);
}
f.close();
return *m_zones;
}
/*
* Find the location of the zoneinfo files and store in mZoneinfoDir.
* Parse zone.tab and for each time zone, create a KSystemTimeZone instance.
*/
void KSystemTimeZonesPrivate::readZoneTab(bool update)
{
kDebug(161) << "readZoneTab(" << m_zonetab<< ")";
QStringList newZones;
QFile f;
f.setFileName(m_zonetab);
if (!f.open(QIODevice::ReadOnly))
return;
QTextStream str(&f);
QRegExp lineSeparator("[ \t]");
QRegExp ordinateSeparator("[+-]");
if (!m_source)
m_source = new KSystemTimeZoneSource;
while (!str.atEnd())
{
QString line = str.readLine();
if (line.isEmpty() || line[0] == '#')
continue;
QStringList tokens = KStringHandler::perlSplit(lineSeparator, line, 4);
int n = tokens.count();
if (n < 3)
{
kError(161) << "readZoneTab(): invalid record: " << line << endl;
continue;
}
// Got three tokens. Now check for two ordinates plus first one is "".
int i = tokens[1].indexOf(ordinateSeparator, 1);
if (i < 0)
{
kError(161) << "readZoneTab() " << tokens[2] << ": invalid coordinates: " << tokens[1] << endl;
continue;
}
float latitude = convertCoordinate(tokens[1].left(i));
float longitude = convertCoordinate(tokens[1].mid(i));
// Add entry to list.
if (tokens[0] == "??")
tokens[0] = "";
// Solaris sets the empty Comments field to '-', making it not empty.
// Clean it up.
if (n > 3 && tokens[3] == "-")
tokens[3] = "";
KSystemTimeZone tz(m_source, tokens[2], tokens[0], latitude, longitude, (n > 3 ? tokens[3] : QString()));
if (update)
{
// Update the existing collection with the new zone definition
newZones += tz.name();
KTimeZone oldTz = zone(tz.name());
if (oldTz.isValid())
oldTz.updateBase(tz); // the zone previously existed, so update its definition
else
add(tz); // the zone didn't previously exist, so add it
}
else
add(tz);
}
f.close();
if (update)
{
// Remove any zones from the collection which no longer exist
const ZoneMap oldZones = zones();
for (ZoneMap::ConstIterator it = oldZones.constBegin(); it != oldZones.constEnd(); ++it)
{
if (newZones.indexOf(it.key()) < 0)
remove(it.value());
}
}
}
//*****************************************************************************
//
//! This reads the data from the GPS module, parses the data, and saves to
//! the microSD card, if a card is present.
//
//*****************************************************************************
int gpsData(void) {
float latitude, longitude, speed, course;
char UARTreadChar;
char idBuffer[7] = {};
char sentence[10][20] = {};
bool parsingId = false;
bool readingData = false;
bool readComplete = false;
uint32_t i = 0; // Sentence id chars
uint32_t j = 0; // NMEA sentence pointer
uint32_t k = 0; // NMEA chars
while (readComplete != true) {
if (UARTCharsAvail(UART7_BASE)) {
UARTreadChar = UARTCharGet(UART7_BASE);
if ((parsingId == false) && (UARTreadChar == '$')) {
i = 0;
parsingId = true;
readingData = false;
}
else if ((parsingId == true) && (UARTreadChar == ',')) {
idBuffer[i] = '\0';
i = 0;
parsingId = false;
if (strcmp(idBuffer, "GPRMC") == 0) {
j = 0;
k = 0;
readingData = true;
}
else {
readingData = false;
}
}
else if ((parsingId == true) && (UARTreadChar != ',')) {
idBuffer[i] = UARTreadChar;
i++;
}
else if ((readingData == true) && (UARTreadChar == '\r')) {
sentence[j][k] = '\0';
//
// Copy data which will remain strings into named variables
//
char *timestamp = strdup(sentence[0]);
char *status = strdup(sentence[1]);
char *nsIndicator = strdup(sentence[3]);
char *ewIndicator = strdup(sentence[5]);
char *date = strdup(sentence[8]);
//
// Stop processing and return 0 if data invalid
//
if (strcmp(status, "V") == 0) {
return 0;
}
//
// Convert latitude to decimal degrees
//
latitude = convertCoordinate(ustrtof(sentence[2], NULL), nsIndicator);
//
// Convert longitude to decimal degrees
//
longitude = convertCoordinate(ustrtof(sentence[4], NULL), ewIndicator);
//
// Convert speed from knots to mph
//
speed = 1.15078 * ustrtof(sentence[6], NULL);
course = ustrtof(sentence[7], NULL);
//****************************************************
//! Data Debug/Display UART terminal movement
//!
//! (ANSI/VT100 Terminal Control Escape Sequences)
//! Adapted from the following: http://goo.gl/s43voj
//****************************************************
//
// Display serial output only if not in low power mode
//
if (!lowPowerOn) {
// Initial terminal setup
// Clear Terminal
printStringToTerminal("\033[2J",0);
// Cursor to 0,0
printStringToTerminal("\033[0;0H", 0);
printStringToTerminal("Time (UTC)", 0);
//Cursor to 0,1
printStringToTerminal("\033[2;0H", 0);
// Print values to the terminal
printStringToTerminal(timestamp, 2);
printStringToTerminal("\r\n", 0);
printStringToTerminal("Latitude\tLongitude", 2);
printFloatToTerminal(latitude, 1);
printFloatToTerminal(longitude, 2);
printStringToTerminal("\r\n", 0);
printStringToTerminal("Course\t\tSpeed (MPH)", 2);
printFloatToTerminal(course, 1);
printFloatToTerminal(speed, 2);
// Check if an SD card is inserted and indicate on term
if (cardDetect()) {
printStringToTerminal("\r\n*Logging to SD Card*", 2);
}
}
//
// Check if SD card is present and write data if true.
//
if (cardDetect()) {
logToSD(timestamp, date, latitude, longitude, speed, course);
}
//
// Deallocate memory used by strdup function
//
free(timestamp);
free(status);
free(nsIndicator);
free(ewIndicator);
free(date);
return 1;
}
//
// Parse GPS char received
//
else if ((readingData == true) && (UARTreadChar != ',')){
sentence[j][k] = UARTreadChar;
k++;
}
//
// Parse GPS char received
//
else if ((readingData == true) && (UARTreadChar == ',')){
sentence[j][k] = '\0';
j++;
k = 0;
}
} // End if chars available
} // end while
return 0; // Should never get here
} // End function gpsData
