void EnemyView::animate(int dt)
{
Enemy::animate(dt);
/* CHANGEMENT DE FRAME */
cpt_time += dt;
if(cpt_time >= animations[current_anim].getSpeed())
{
setNextFrame();
cpt_time = 0;
}
if(type == REBEL)
{
if(state_b==PRESHOOT && animations[current_anim].getIndFrame() == 10)
shoot(save_air,save_angle);
else if(state_b==KNIFE && current_anim==REBEL_WATCH)
{
state_b = NORMAL;
if(haveAI)
walk(walkway);
}
}
if(type == BOWSER)
{
if(state_b==PRESHOOT && animations[current_anim].getIndFrame() == 4)
shoot(save_air,save_angle);
else if(state_b==SHOOT && current_anim==BOWSER_STAND)
{
state_b = NORMAL;
state_p = RUN;
}
}
updateIntRect();
}
int main(int argc, char **argv)
{
dev_name = "/dev/video0";
if (argc == 1)
{
usage(stdout, argc, argv);
exit(EXIT_SUCCESS);
}
for (;; ) {
int idx;
int c;
c = getopt_long(argc, argv,
short_options, long_options, &idx);
if (-1 == c)
break;
switch (c) {
case 0: /* getopt_long() flag */
break;
case 'd':
dev_name = optarg;
break;
case 'h':
usage(stdout, argc, argv);
exit(EXIT_SUCCESS);
case 'i':
iframe = 1;
break;
case 'r':
if (!strcmp(optarg, "VBR"))
rcmode = RATECONTROL_VBR;
if (!strcmp(optarg, "CBR"))
rcmode = RATECONTROL_CBR;
if (!strcmp(optarg, "QP"))
rcmode = RATECONTROL_CONST_QP;
if (rcmode < 0)
{
fprintf(stderr, "Unknown RC mode.\n");
usage(stdout, argc, argv);
exit(EXIT_SUCCESS);
}
break;
case 'b':
errno = 0;
bitrate = strtol(optarg, NULL, 0);
if (errno)
errno_exit(optarg);
break;
case 'q':
errno = 0;
qp = strtol(optarg, NULL, 0);
if (errno)
errno_exit(optarg);
break;
default:
usage(stderr, argc, argv);
exit(EXIT_FAILURE);
}
}
open_device();
if (bitrate > 0)
setBitrate(bitrate / 8, bitrate / 8);
if (iframe)
setNextFrame(0x01);
if (rcmode >= 0)
setRCMode(rcmode);
if (qp > 0)
setQP(0, qp, qp);
close_device();
return 0;
}
Logger::Logger(QObject *parent) :
QObject(parent)
{
mPort = new SerialPort(this);
mPacketInterface = new PacketInterface(this);
mValueFile = new QFile("Data/BLDC_Values");
mPrintFile = new QFile("Data/BLDC_Print");
mValueFile->open(QIODevice::WriteOnly | QIODevice::Text);
mPrintFile->open(QIODevice::WriteOnly | QIODevice::Text);
mValueStream = new QTextStream(mValueFile);
mPrintStream = new QTextStream(mPrintFile);
mPort->openPort("/dev/ttyACM0");
// Video
mVidW = 1280;
mVidH = 720;
mVidFps = 25.0;
mFAudioSamp = 44100;
mFrameGrabber = new FrameGrabber(mVidW, mVidH, mVidFps, 0, this);
mFrameGrabber->start(QThread::InheritPriority);
mPlotter = new FramePlotter(this);
mPlotter->start(QThread::InheritPriority);
mCoder = new VideoCoder(mVidW, mVidH, mVidFps, "Data/v_video.avi", this);
mCoder->start(QThread::InheritPriority);
// Audio recording
mTimer = 0;
mAudio = 0;
if (QAudioDeviceInfo::availableDevices(QAudio::AudioInput).size() > 0) {
mAudioFile.setFileName("Data/v_audio.raw");
mAudioFile.open(QIODevice::WriteOnly | QIODevice::Truncate);
QAudioFormat format;
// Set up the desired format, for example:
format.setSampleRate(mFAudioSamp);
format.setChannelCount(1);
format.setSampleSize(8);
format.setCodec("audio/pcm");
format.setByteOrder(QAudioFormat::LittleEndian);
format.setSampleType(QAudioFormat::UnSignedInt);
QAudioDeviceInfo info = QAudioDeviceInfo::defaultInputDevice();
if (!info.isFormatSupported(format)) {
qWarning() << "Default format not supported, trying to use the nearest.";
format = info.nearestFormat(format);
}
mAudio = new QAudioInput(format, this);
mAudio->setNotifyInterval(1000 / mVidFps);
mAudio->start(&mAudioFile);
} else {
mTimer = new QTimer(this);
mTimer->setInterval(1000 / mVidFps);
mTimer->start();
}
mConsoleReader = new ConsoleReader(this);
connect(mConsoleReader, SIGNAL(textReceived(QString)),
this, SLOT(consoleLineReceived(QString)));
connect(mPort, SIGNAL(serial_data_available()),
this, SLOT(serialDataAvailable()));
if (mTimer != 0) {
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
if (mAudio != 0) {
connect(mAudio, SIGNAL(notify()),
this, SLOT(audioNotify()));
// Lower the volume to avoid clipping. This seems to be passed to
// pulseaudio.
mAudio->setVolume(0.1);
}
connect(mPacketInterface, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacketInterface, SIGNAL(valuesReceived(PacketInterface::MC_VALUES)),
this, SLOT(mcValuesReceived(PacketInterface::MC_VALUES)));
connect(mPacketInterface, SIGNAL(printReceived(QString)),
this, SLOT(printReceived(QString)));
connect(mPacketInterface, SIGNAL(samplesReceived(QByteArray)),
this, SLOT(samplesReceived(QByteArray)));
connect(mPacketInterface, SIGNAL(rotorPosReceived(double)),
this, SLOT(rotorPosReceived(double)));
connect(mPacketInterface, SIGNAL(experimentSamplesReceived(QVector<double>)),
this, SLOT(experimentSamplesReceived(QVector<double>)));
connect(mPlotter, SIGNAL(frameReady(QImage)),
mCoder, SLOT(setNextFrame(QImage)));
}
