void goHome()
{
static int g_loop = 0;
int power = 30;
g_loop++;
g_dist[1] = getPing(1);
g_dist[2] = getPing(2);
g_dist[3] = getPing(3);
if (g_loop == 1 || g_dist[2] < 5 )
{
Stop();
delay(500);
return;
}
if(g_dist[2] > 70)
{
moveAngle(power, 0 , 180 );
}
else if(g_dist[1] >= 40 && g_dist[3] >= 40)
{
Stop();
}
else if(g_dist[1] > g_dist[3])
{
moveAngle(power , 0 , 270 );
}
else
{
moveAngle(power , 0 , 90);
}
}
// 超音波センサのチェック．PingあるいはSeedo studioの超音波センサしか使えない．
void checkPing()
{
int dist[PING_NUM] = {
999, 999, 999, 999 };
// measure the ultra sonic sensor
for (int i = 0; i < PING_NUM; i++)
{
g_dist[i] = getPing(i);
}
if (g_use_lcd == 1)
{
slcd.setCursor(0,0);
slcd.print("Pg:");
for (int j = 0; j < 2; j++)
{
slcd.print(g_dist[j], DEC);
slcd.print(" ");
}
slcd.setCursor(0,1);
for (int j = 2; j < PING_NUM; j++)
{
slcd.print(g_dist[j], DEC);
slcd.print(" ");
}
}
}
std::string Player::toString() {
std::stringstream tmp;
tmp << getUserName() << "[" << getClientId() << "] : ";
tmp << "Ping: " << getPing() << " ";
tmp << "Ship info: " << ship.toString();
return tmp.str();
}
void Player::toPacket(sf::Packet* packet) {
// Extract player info
*packet << getClientId();
*packet << getUserName();
*packet << getPing();
// Extract ship info
ship.toPacket(packet);
}
void goHome()
{
g_dist[1] = getPing(1);
g_dist[2] = getPing(2);
g_dist[3] = getPing(3);
if(g_dist[2] > 70)
{
moveAngle4ch( 60, 0 , 180 );
}
else if(g_dist[1] >= 40 && g_dist[3] >= 40)
{
motor4ch(0,0,0,0);
}
else if(g_dist[1] > g_dist[3])
{
moveAngle4ch( 20 , 0 , 270 );
}
else
{
moveAngle4ch( 20 , 0 , 90);
}
}
BSONObj MongosType::toBSON() const {
BSONObjBuilder builder;
if (_name)
builder.append(name.name(), getName());
if (_ping)
builder.append(ping.name(), getPing());
if (_uptime)
builder.append(uptime.name(), getUptime());
if (_waiting)
builder.append(waiting.name(), getWaiting());
if (_mongoVersion)
builder.append(mongoVersion.name(), getMongoVersion());
if (_configVersion)
builder.append(configVersion.name(), getConfigVersion());
return builder.obj();
}
MainWindow::MainWindow(QWidget *parent):QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
companyWebAddress ="explorer http://www.oschina.net/p/qtsharp";
pingNet ="Ping www.baidu.com"; //实现ping值的实时测量
getPing();
QTimer *pingTimer=new QTimer(this);//此段作用是用一个定时器，每隔5s,查看一次当前ping值。
connect(pingTimer,SIGNAL(timeout()),this,SLOT(pingTimeOut()));
pingTimer->start(5000);
bool ok=false; //定义声明一个服务器实体。
getHostInformation();
port=this->ui->editPort->text().toInt(&ok,10);
tcpserver=new TcpServer(this,port); //将server中的有用变量都复制到本函数中。
robotHash=tcpserver->getRobotIDHash();
robotNumberOnLine=tcpserver->getRobotNumber();
showClientMessage();
connect(tcpserver,SIGNAL(receiveDataSource(ProtocolFromClient2Server)),this,SLOT(receiveData(ProtocolFromClient2Server)));//接收数据槽函数。
connect(this,SIGNAL(sendDataSource(QString,int)),this,SLOT(sendData(QString,int)));//发送数据槽函数。
}
void Forward()
{
static int g_loop = 0;
int power = 60; // power
int power2 = 60; // turn power
getMaxball();
PID();
if (g_diff > 45 || g_diff < -45) turn(g_pid);
else
{
g_integral = 0;
if(g_no == 0)
{
if(g_ball[0] > 300)
{
g_dist[0] = getPing(0);
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if(g_dist[1] >= 35 && g_dist[2] >= 35)
{
kick();
moveAngle(power , 0 , 0);
}
else if (g_dist[0] < 12)
{
if(g_dist[1] < 40)
{
turn(power2);
delay(125);
}
else if (g_dist[3] < 40)
{
turn(-power2);
delay(125);
}
}
}
else moveAngle(power , 0 , 0 );
}
else if(g_no == 1)
{
g_dist[1] = getPing(1);
if (g_dist[1] < 10) moveAngle (power , 0 , 0);
else if(g_ball[1] > 300) moveAngle(power , 0 , 270 );
else moveAngle(power , 0 , 315);
}
else if(g_no == 2)
{
if(g_ball[2] > 300) moveAngle(power , 0 , 180);
else moveAngle(power , 0 , 270);
}
else if(g_no == 3 )
{
moveAngle(power , 0 , 135 );
}
else if(g_no == 4 )
{
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if (g_dist[1] > g_dist[3]) moveAngle(power , 0 , 270 );
else moveAngle(60 , 0 , 90 );
}
else if (g_no == 5)
{
if (g_ball[5] > 300) moveAngle(power , 0 , 225 );
else moveAngle( 78 , 0 , 135);
}
else if (g_no == 6)
{
moveAngle(power , 0 , 180 );
}
else if(g_no == 7)
{
g_dist[3] = getPing(3);
if (g_dist[3] < 10) moveAngle (power , 0 , 0);
else if (g_ball[7] > 300) moveAngle(power , 0 , 90 );
else moveAngle(power , 0 , 45);
}
else goHome();
}
g_loop++;
}
/*
* 用定时器做的一个5s固定查询ping值。
*/
void MainWindow::pingTimeOut()
{
getPing();
}
void Forward()
{
static int g_loop = 0;
getMaxball();
PID();
if (g_diff > 45 || g_diff < -45) turn(20);
else
{
g_integral == 0;
if(g_no == 0)
{
if(g_ball[0] > 300)
{
g_dist[0] = getPing(0);
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if(g_dist[1] >= 35 && g_dist[2] >= 35)
{
kick();
moveAngle4ch( 78 , 0 , 0);
}
else if (g_dist[0] < 12)
{
if(g_dist[1] < 40)
{
turn(80);
delay(100);
}
else if (g_dist[3] < 40)
{
turn(-80);
delay(100);
}
}
}
else moveAngle4ch( 78 , 0 , 0 );
}
else if(g_no == 1)
{
g_dist[1] = getPing(1);
if (g_dist[1] < 10) moveAngle4ch (78 , 0 , 0);
else if(g_ball[1] > 500) moveAngle4ch( 78 , 0 , 255 );
else moveAngle4ch( 78 , 0 , 315);
}
else if(g_no == 2)
{
if(g_ball[2] > 500) moveAngle4ch( 78 , 0 , 180);
else moveAngle4ch( 78 , 0 , 270);
}
else if(g_no == 3 )
{
moveAngle4ch( 78 , 0 , 135 );
}
else if(g_no == 4 )
{
g_dist[1] = getPing(1);
g_dist[3] = getPing(3);
if (g_dist[1] > g_dist[3]) moveAngle4ch( 78 , 0 , 270 );
else moveAngle4ch(78 , 0 , 90 );
}
else if(g_no == 5)
{
if (g_ball[5] > 500) moveAngle4ch( 78 , 0 , 255 );
else moveAngle4ch( 78 , 0 , 135);
}
else if(g_no == 6)
{
if(g_ball[6] > 500) moveAngle4ch( 78 , 0 , 180 );
else moveAngle4ch(78, 0 ,90);
}
else if(g_no == 7)
{
g_dist[3] = getPing(3);
if (g_dist[3] < 10) moveAngle4ch (78 , 0 , 0);
else if (g_ball[7] > 500) moveAngle4ch( 78 , 0 , 105);
else moveAngle4ch ( 78 , 0 , 45);
}
else goHome();
}
g_loop++;
}
int ClientNetwork::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QObject::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: packetReceived(); break;
case 1: packetCorrupted(); break;
case 2: pingUpdated((*reinterpret_cast< quint32(*)>(_a[1]))); break;
case 3: chatReceived((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2])),(*reinterpret_cast< QString(*)>(_a[3])),(*reinterpret_cast< ENUM_TYPE(*)>(_a[4]))); break;
case 4: serverInformationsChanged((*reinterpret_cast< ServerInformations(*)>(_a[1]))); break;
case 5: clientIDChanged((*reinterpret_cast< CLID(*)>(_a[1]))); break;
case 6: nicknameChanged((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 7: error((*reinterpret_cast< ENUM_TYPE(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 8: clientVoted((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< CLID(*)>(_a[2]))); break;
case 9: newGameMaster((*reinterpret_cast< CLID(*)>(_a[1]))); break;
case 10: serverName((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 11: motdChanged((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 12: gameLaunched(); break;
case 13: narrationChanged((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 14: mapChanged((*reinterpret_cast< MapPtr(*)>(_a[1]))); break;
case 15: mapFlare((*reinterpret_cast< QPoint(*)>(_a[1])),(*reinterpret_cast< CLID(*)>(_a[2]))); break;
case 16: scriptToGMMsg((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 17: scriptToOwnerMsg((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 18: scriptActionMsg((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 19: scriptToPlayerMsg((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 20: scriptMsg((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 21: scriptError((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 22: updateEntities((*reinterpret_cast< const QList<EntityInformations>(*)>(_a[1]))); break;
case 23: updateEntity((*reinterpret_cast< const EntityInformations(*)>(_a[1]))); break;
case 24: entityDeleted((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 25: scriptReceived((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 26: ressourcesUpdated((*reinterpret_cast< const QMap<QString,RSID>(*)>(_a[1]))); break;
case 27: connectionEtablished(); break;
case 28: connectionLost(); break;
case 29: diceRolled((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< quint16(*)>(_a[2])),(*reinterpret_cast< quint16(*)>(_a[3]))); break;
case 30: sanctionned((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< ENUM_TYPE(*)>(_a[2])),(*reinterpret_cast< QString(*)>(_a[3]))); break;
case 31: clientJoined((*reinterpret_cast< CLID(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 32: clientLeft((*reinterpret_cast< CLID(*)>(_a[1]))); break;
case 33: playSound((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 34: syncLibs((*reinterpret_cast< QList<SoundLibInformations>(*)>(_a[1]))); break;
case 35: syncLanguagesList((*reinterpret_cast< QList<QPair<QString,QString> >(*)>(_a[1]))); break;
case 36: syncDictionariesList((*reinterpret_cast< QStringList(*)>(_a[1]))); break;
case 37: syncScriptList((*reinterpret_cast< QStringList(*)>(_a[1]))); break;
case 38: updateCharacterList((*reinterpret_cast< const QStringList(*)>(_a[1]))); break;
case 39: send((*reinterpret_cast< Packet*(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 40: send((*reinterpret_cast< Packet*(*)>(_a[1]))); break;
case 41: send((*reinterpret_cast< Packet(*)>(_a[1]))); break;
case 42: send((*reinterpret_cast< qint32(*)>(_a[1])),(*reinterpret_cast< const QByteArray(*)>(_a[2]))); break;
case 43: ping(); break;
case 44: { qint32 _r = getPing();
if (_a[0]) *reinterpret_cast< qint32*>(_a[0]) = _r; } break;
case 45: { QString _r = serverIP();
if (_a[0]) *reinterpret_cast< QString*>(_a[0]) = _r; } break;
case 46: { quint16 _r = serverPort();
if (_a[0]) *reinterpret_cast< quint16*>(_a[0]) = _r; } break;
case 47: flush(); break;
case 48: connection(); break;
case 49: disconnection(); break;
case 50: { bool _r = setServer((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< quint16(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 51: connected(); break;
case 52: disconnected(); break;
case 53: dataReceived(); break;
case 54: socketError((*reinterpret_cast< QAbstractSocket::SocketError(*)>(_a[1]))); break;
case 55: operatePacket((*reinterpret_cast< Packet*(*)>(_a[1]))); break;
default: ;
}
_id -= 56;
}
return _id;
}
int main()
{
//simpleterm_close(); //close default terminal, I want to use those pins
//if the default uart (Universal Asynchronous Recieve and Transmitting
// pins are not being used, this isn't needed
startComs(RX_PIN, TX_PIN, BAUD, 1000); //this will go to the bluetooth module eventually
// startSensor(PING_PIN, LEFT_WHISKER, RIGHT_WHISKER);
int speed = 20; //intial speed 20 ticks/s
int n = 0;
while(1) //repeat until power loss
{
int command = rxCommand();
switch(command) //wait for a control byte
{
case 'e':
txInt32(n); //sending incrementing numbers
n+=10000;
break;
case 'b':
txInt32(rxInt32()*2); //double received number
break;
case '?': //send 42
txInt32(42);
break;
case '0':
startSensor(PING_PIN, LEFT_WHISKER, RIGHT_WHISKER);
break;
case 'z': //run function "startWander"
startWander();
break;
case 'x': //run function "stopWander"
stopWander();
drive_speed(0,0);
break;
case 'f': //send sensor data
print("p %d\tpc %d\tpi %d\twl %d\twr %d\ttl %d\ttr %d\n",getPing(), getPingcm(), getPingin(), getWhiskerL(), getWhiskerR(), getTicksL(), getTicksR());
break;
case 'v':
txInt32(getTicksL());
txInt32(getTicksR());
txInt32(getPing());
txInt32(getWhiskerL());
txInt32(getWhiskerR());
break;
case 'h': //recieve drive speed from computer
drive_speed(rxInt32(),rxInt32());
break;
case 'p':
__builtin_propeller_clkset(0x80); //reboot
break;
case 'q': //stop movement
drive_speed(0,0);
break;
case 'w': //move forward
drive_speed(speed,speed);
break;
case 'a': //pivot left
drive_speed(-speed,speed);
break;
case 's': //move backward
drive_speed(-speed,-speed);
break;
case 'd': //pivot right
drive_speed(speed,-speed);
break;
case 't': //toggle turbo mode up to 70 ticks/s
if (speed>50) speed = 20; else speed =70;
break;
case 'j': //computer input for rotation
drive_goto(rxInt32(),rxInt32());
break;
case 'i': // print
print("X = %.2f, Y = %.2f, Th = %.1f\n", (double) getXcm(), (double) getYcm(), (double) getThdeg());
break;
case 'k': //kalibrate
while(getThdeg()<90)
{
drive_speed(-speed,speed);
}
drive_speed(0,0);
break;
case -1: //case when timed out
txInt32(314);
break;
default: //unknown command
txInt32(2718);
txInt32(command);
//print(command);
print("\n%d\n",command);
}
//Note: The computer can sometimes miss bytes
//when the bytes are coming really fast
}
}
