void CurieImuClass::readGyroScaled(float &x, float &y, float &z)
{
int16_t sx, sy, sz;
getRotation(&sx, &sy, &sz);
x = convertRaw(sx, gyro_range);
y = convertRaw(sy, gyro_range);
z = convertRaw(sz, gyro_range);
}
void CurieImuClass::readAccelerometerScaled(float &x, float &y, float &z)
{
int16_t sx, sy, sz;
getAcceleration(&sx, &sy, &sz);
x = convertRaw(sx, accel_range);
y = convertRaw(sy, accel_range);
z = convertRaw(sz, accel_range);
}
float CurieImuClass::readGyroScaled(int axis)
{
int16_t raw;
if (axis == X_AXIS) {
raw = getRotationX();
} else if (axis == Y_AXIS) {
raw = getRotationY();
} else if (axis == Z_AXIS) {
raw = getRotationZ();
} else {
return 0;
}
return convertRaw(raw, gyro_range);
}
float CurieImuClass::readAccelerometerScaled(int axis)
{
int16_t raw;
if (axis == X_AXIS) {
raw = getAccelerationX();
} else if (axis == Y_AXIS) {
raw = getAccelerationY();
} else if (axis == Z_AXIS) {
raw = getAccelerationZ();
} else {
return 0;
}
return convertRaw(raw, accel_range);
}
void CurieImuClass::readMotionSensorScaled(float &ax, float &ay, float &az,
float &gx, float &gy, float &gz)
{
int16_t sax, say, saz, sgx, sgy, sgz;
getMotion6(&sax, &say, &saz, &sgx, &sgy, &sgz);
ax = convertRaw(sax, accel_range);
ay = convertRaw(say, accel_range);
az = convertRaw(saz, accel_range);
gx = convertRaw(sgx, gyro_range);
gy = convertRaw(sgy, gyro_range);
gz = convertRaw(sgz, gyro_range);
}
float SimpleSensor::read() {
int rawValue = readRaw();
return convertRaw(rawValue);
}
///////////////////////////////////////////////////////////
// Member functions
//
///////////////////////////////////////////////////////////
const QString String::read(const qboy::Rom &rom, UInt32 offset)
{
// Firstly, determines whether the given rom is valid
Q_ASSERT(rom.info().isLoaded() && rom.info().isValid());
// Declares needed variables for the decoding process
QList<UInt8> encoded;
QString decoded;
UInt8 readByte;
// Declares the different dynamic tables (some are the same across all roms)
QMap<UInt32, QString> *mapBuffers = NULL;
QMap<UInt32, QString> *mapFunctions = NULL;
// Determines the rom version and depending on that, loads the tables
if (CONFIG(RomType) == RT_FRLG)
{
mapBuffers = &BufferSequencesFRLG;
mapFunctions = &FunctionSequencesFRLG;
}
else if (CONFIG(RomType) == RT_RS)
{
mapBuffers = &BufferSequencesRSE;
mapFunctions = &FunctionSequencesRS;
}
else
{
mapBuffers = &BufferSequencesRSE;
mapFunctions = &FunctionSequencesE;
}
// Reads the whole Pokémon string, terminated by 0xFF
if (!rom.seek(offset))
Q_ASSERT(false);
while ((readByte = rom.readByte()) != 0xFF)
encoded.push_back(readByte);
// Iterates through every encoded character and interprets it
int length = encoded.size();
for (int i = 0; i < length;)
{
// Fetches the char at the current position
UInt8 currentChar = encoded.at(i++);
if (currentChar == 0xF8 || currentChar == 0xF9)
{
// Character might be a symbol
UInt8 arg1 = encoded[i++];
UInt32 search = ((currentChar << 8) | arg1);
// Searches for the sequence in the symbol-map
auto searchResult = SymbolSequences.find(search);
if (searchResult != SymbolSequences.end())
decoded.push_back(searchResult.value());
else
decoded.push_back(convertRaw(search));
}
else if (currentChar == 0xFD)
{
// Character might be a buffer
UInt8 arg1 = encoded.at(i++);
UInt32 search = ((currentChar << 8) | arg1);
// Searches for the sequence in the dynamic buffer-map
auto searchResult = mapBuffers->find(search);
if (searchResult != mapBuffers->end())
decoded.push_back(searchResult.value());
else
decoded.push_back(convertRaw(search));
}
else if (currentChar == 0xFC)
{
// Character might be an escape sequence
UInt8 arg1 = encoded.at(i++);
UInt32 search = 0;
if (arg1 >= 1 && arg1 <= 6)
{
// Might be a multi-byte function
UInt8 arg2 = encoded[i++];
search = ((currentChar << 16) | (arg1 << 8) | arg2);
}
else
{
// Might be a single-byte function
search = ((currentChar << 8) | arg1);
}
// Searches for the sequence in the dynamic escape-map
auto searchResult = mapFunctions->find(search);
if (searchResult != mapFunctions->end())
decoded.push_back(searchResult.value());
else
decoded.push_back(convertRaw(search));
}
else
{
// Is a single character for sure (exception-safe!)
decoded.push_back(SingleSequences.value(currentChar));
}
}
// Finished
return decoded;
}
