/*
* loads general pokemon data like names and species data
*/
s8 loadData(Handle *sdHandle, FS_archive *sdArchive)
{
u8 tmp[12000];
u32 bytesRead;
Result ret;
printf("Loading species data...");
ret = loadFile("/3ds/PCHex/data/personal", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
memcpy(pkData.pkmData, tmp, bytesRead);
printf(" OK\n");
printf("Loading species names...");
ret = loadFile("/3ds/PCHex/data/text/text_Species_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.species[0], 12, bytesRead);
printf(" OK\n");
printf("Loading move names...");
ret = loadFile("/3ds/PCHex/data/text/text_Moves_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.moves[0], 17, bytesRead);
printf(" OK\n");
printf("Loading ability names...");
ret = loadFile("/3ds/PCHex/data/text/text_Abilities_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.abilities[0], 15, bytesRead);
printf(" OK\n");
printf("Loading item names...");
ret = loadFile("/3ds/PCHex/data/text/text_Items_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.items[0], 17, bytesRead);
printf(" OK\n");
printf("Loading ball names...");
ret = loadFile("/3ds/PCHex/data/text/text_Balls_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.balls[0], 13, bytesRead);
printf(" OK\n");
printf("Loading nature names...");
ret = loadFile("/3ds/PCHex/data/text/text_Natures_en.txt", tmp, sdArchive, sdHandle, 12000, &bytesRead);
if (ret) { printf("loading failed : error code %ld\n", ret); return ret; }
loadLines(tmp, pkData.natures[0], 8, bytesRead);
printf(" OK\n");
return 0;
}
void initLines(TSafeVector *p)
{
loadLines(p,"input3.txt");
}
RobotScene::RobotScene(RobotControls* robotControls) : QGraphicsScene()
{
this->robotControls = robotControls;
connect(robotControls, SIGNAL(newPose(double, double, double)), this, SLOT(slotSetPose(double, double, double)));
connect(this, SIGNAL(newPose(double, double, double)), robotControls, SLOT(slotSetPose(double, double, double)));
// make sure the robot gets updated regularly.
timer = new QTimer();
connect(timer, SIGNAL(timeout()), this, SLOT(slotUpdateRobot()));
// for the clearTrace-Button
connect(robotControls->btnClearTrace, SIGNAL(clicked()), this, SLOT(slotClearTrace()));
// when robotcontrols has new splines for us, process them
connect(robotControls, SIGNAL(showSplineCubic(bool, QList<QPointF>)), this, SLOT(slotUpdateSplineCubic(bool, QList<QPointF>)));
connect(robotControls, SIGNAL(showSplineHermite(bool, QList<QPointF>, float, float)), this, SLOT(slotUpdateSplineHermite(bool, QList<QPointF>, float, float)));
config = Configuration::instance();
// initialize the random number generator. Used for movement noise.
struct timeval now;
gettimeofday (&now, 0x0);
srand(now.tv_usec);
scaleFactor = 20.0;
double wheelWidth = 0.04 * scaleFactor;
double wheelHeight = 0.15 * scaleFactor;
pose.setPose(QPointF(13.0, 13.0), 0.0);
robotAngle = 0.0;
splineCubic = 0;
splineCubicPath = 0;
splineCubicPathItem = 0;
splineHermite = 0;
splineHermitePath = 0;
splineHermitePathItem = 0;
iterations = 0;
robotItem = new RobotItem(-0.35*scaleFactor, -0.35*scaleFactor, 0.7*scaleFactor, 0.7*scaleFactor);
connect(robotItem, SIGNAL(newPose(double, double, double)), SLOT(slotSetPose(double, double, double)));
robotPath = new QPainterPath();
robotPathItem = new QGraphicsPathItem();
robotPathItem->setPen(QPen(Qt::green));
wheelL = new QGraphicsRectItem(-wheelHeight/2, -wheelWidth/2, wheelHeight, wheelWidth, robotItem);
wheelR = new QGraphicsRectItem(-wheelHeight/2, -wheelWidth/2, wheelHeight, wheelWidth, robotItem);
wheelL->setPos(0, -scaleFactor * config->getAxisLength() / 2.0);
wheelR->setPos(0, +scaleFactor * config->getAxisLength() / 2.0);
// the axis goes from left to right wheel.
axis = new QGraphicsLineItem(
wheelL->pos().x(),
wheelL->pos().y(),
wheelR->pos().x(),
wheelR->pos().y(),
robotItem
);
// fake items, used for grouping
laserMarksParent = new QGraphicsRectItem(1000, 1000, 0, 0);
tracerParent = new QGraphicsRectItem(1, 1, 0, 0);
linesParent = new QGraphicsRectItem(2, 2, 0, 0);
addItem(robotItem);
addItem(robotPathItem);
addItem(laserMarksParent);
// QGraphicsTextItem* labelL = new QGraphicsTextItem("l", wheelL);
// labelL->setFlags(QGraphicsItem::ItemIgnoresTransformations);
// labelL->setFont(QFont("Arial", 30));
// addItem(labelL);
//
// QGraphicsTextItem* labelR = new QGraphicsTextItem("r", wheelR);
// labelR->setFlags(QGraphicsItem::ItemIgnoresTransformations);
// labelR->setFont(QFont("Arial", 30));
// addItem(labelR);
//1000/25
timer->start(50);
loadLaserMarks(config->getKnownLaserMarksFilename());
loadLines(config->getLinesFilename());
}
