void Compass::init() {
m_azymuth = 0;
m_accuracy = 0;
m_compassSource = new QCompass(this);
m_compassSource->connectToBackend();
m_compassSource->start();
connect(m_compassSource,SIGNAL(readingChanged()), SLOT(updateSensor()));
}
Compass::Compass(QObject *parent) : QObject(parent),
m_azimuth(0),
m_calibrationLevel(0)
{
m_compass = new QCompass (this);
m_compass->connectToBackend ();
m_compass->start ();
connect (m_compass, SIGNAL(readingChanged()), SLOT(updateSensor()));
}
Accelerometer::Accelerometer(QObject *parent) : QObject(parent),
m_x(0),
m_y(0),
m_z(0)
{
m_accelerometer = new QAccelerometer (this);
m_accelerometer->connectToBackend ();
m_accelerometer->start ();
connect (m_accelerometer, SIGNAL(readingChanged()), SLOT(updateSensor()));
}
DeviceOrientation::DeviceOrientation(Cordova *cordova): CPlugin(cordova), _validData(false) {
_compass.connectToBackend();
connect(&_compass, SIGNAL(readingChanged()), SLOT(updateSensor()));
connect(&_compass, SIGNAL(sensorError(int)), SLOT(sensorError(int)));
}
DeviceMotion::DeviceMotion(Cordova *cordova): CPlugin(cordova), _scId(0), _ecId(0) {
_accelerometerSource = QSharedPointer<QAccelerometer>(new QAccelerometer());
_sensorAvaliable = _accelerometerSource->start();
connect(_accelerometerSource.data(), SIGNAL(readingChanged()), SLOT(updateSensor()));
}
int Simulator::simulateSingleStep(AbstractAlgorithm* alg) {
int currRow = currLocations[alg].first;
int currCol = currLocations[alg].second;
House& house = housePerAlg[alg];
Battery& battery = batteryPerAlg[alg];
//cout << &house << endl;
updateSensor(alg); // update the sensor with the current house info
Direction d = alg->step();
int r = currRow, c = currCol;
if (d == Direction::North) {
r--;
}
else if (d == Direction::South) {
r++;
}
else if (d == Direction::East) {
c++;
}
else if (d == Direction::West) {
c--;
}
currLocations[alg].first = r;
currLocations[alg].second = c;
// will print a "animated" cleaning of the house
if (DEBUG){
cout << "\033[2J\033[1;1H" << endl;
HRprint(cout, house, r, c);
usleep(80000);
}
if (house.isWall(r, c)) {
//cout << "walked into wall" << endl;
return ALG_BAD_MOVE;
}
if (house.isDock(r, c)) {
//cout << "back at dock" << endl;
if (house.isClean()) {
return ALG_FINISHED;
}
battery.charge();
}
else {
house.clean(r, c);
battery.consume();
if (battery.isDead()) {
return ALG_BATTERY_DEAD;
}
}
return ALG_CONTINUE; // continue running this algorithm
}
