void RWIOPump::setLength(size_t len){
this->length = len;
if(length > 0){
//根据length计算timeoutInterval, readBytesPerEach, sendBytesPerEach
calculateSpeed(speed, &timeoutInterval, &readBytesPerEach, length>buffSize?buffSize:length);
}else{
calculateSpeed(speed, &timeoutInterval, &readBytesPerEach, buffSize);
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
coordinatesIsNeeded(true)
{
ui->setupUi(this);
ui->enableGpsCheckbox->setChecked(coordinatesIsNeeded);
ui->videoSlider->setEnabled(false);
connect(ui->actionOpen, SIGNAL(triggered()), SLOT(openFile()));
connect(&timer, SIGNAL(timeout()), this, SLOT(stepVideo()));
connect(ui->videoSlider, SIGNAL(sliderMoved(int)), this, SLOT(startVideo(int)));
connect(ui->videoSlider, SIGNAL(valueChanged(int)), this, SLOT(startVideo(int)));
connect(ui->calcSpeedButton, SIGNAL(clicked()), this, SLOT(calculateSpeed()));
connect(ui->enableGpsCheckbox, SIGNAL(stateChanged(int)), this, SLOT(changeGpsOutputState(int)));
connect(ui->playPauseButton, SIGNAL(clicked()), this, SLOT(playPause()));
connect(ui->stopButton, SIGNAL(clicked()), this, SLOT(stop()));
connect(ui->actionExit, SIGNAL(triggered()), this, SLOT(close()));
QStyle *pStyle = qApp->style();
QIcon icon = pStyle->standardIcon(QStyle::SP_MediaPlay);
ui->playPauseButton->setIcon(icon);
icon = pStyle->standardIcon(QStyle::SP_MediaStop);
ui->stopButton->setIcon(icon);
connect(ui->actionAbout, SIGNAL(triggered()), this, SLOT(showAboutDialog()));
}
float PlayerTracker::calculateScore(unsigned int playerID)
{
float speed = calculateSpeed(playerID);
float speedScore = 1.5 * applySlope(speed,0.2,0.3);
if(playerID <= MAX_ID)
speedScore += 0.5;
/*NON ANCORA TESTATO*/
/*if(playerID <= MAX_ID)
for(unsigned int i = MAX_ID+1; i < potentialPlayers.size(); i++) {
std::vector<float> res = potentialPlayers[i].playerFilter.getStatus();
std::vector<float> res2 = potentialPlayers[playerID].playerFilter.getStatus();
float dist = sqrt( (res[0]-res2[0])*(res[0]-res2[0]) + (res[1]-res2[1])*(res[1]-res2[1]))
if(dist < 1.0) {
speedScore += 0.5;
break;
}
}
*/
return speedScore;
}
void Sphere::move(){
Matrix4 displacement;
//Matrix4 gravity;
calculateSpeed();
//std::cout << "Ball x: " << *(center.ptr()) << std::endl;
//std::cout << "Ball y: " << *(center.ptr()+1) << std::endl;
//std::cout << "Ball z: " << *(center.ptr()+2) << std::endl;
if (*center.ptr() >= 10 || *center.ptr() <= -10) {
x = -x * 0.9;
}
if (*(center.ptr()+1) >= 10 || *(center.ptr()+1) <= -10) {
y = -y * 0.9;
}
if (*(center.ptr()+2) >= 10 || *(center.ptr()+2) <= -10) {
z = -z * 0.9;
}
displacement = displacement.makeTranslate(x, s_y, z);
//gravity = gravity.makeTranslate(0, g, 0);
toWorld = displacement * toWorld;
center = displacement * center;
//toWorld = gravity * toWorld;
//center = gravity * center;
}
/**
* Changes the speed of the moving target
* and converts it from standard knots (nautical miles per hour)
* into radians per 5 in-game seconds.
* @param speed Speed in knots.
*/
void MovingTarget::setSpeed(int speed)
{
_speed = speed;
// Each nautical mile is 1/60th of a degree.
// Each hour contains 720 5-seconds.
_speedRadian = _speed * (1 / 60.0) * (M_PI / 180) / 720.0;
calculateSpeed();
}
void Flywheel::run(){
switch(getCurrentState()){
case OFF:
setRate(0.0);
break;
case NOTREADY:
case READY:
setRate(calculateSpeed());
break;
}
}
void PIDThread::run()
{
while(1)
{
usleep(10000); // 10 ms
error_last_time = error_this_time;
error_this_time = targetPosition - currentPosition;
error_integral += error_this_time;
double speed = calculateSpeed();
if (checkEnd(speed)) this->terminate();
emit updatePosition(RND((currentPosition + speed) * 10));
}
}
void StepperControlAxis::checkMovement()
{
checkAxisDirection();
// Handle movement if destination is not already reached or surpassed
if (
(
(coordDestinationPoint > coordSourcePoint && coordCurrentPoint < coordDestinationPoint) ||
(coordDestinationPoint < coordSourcePoint && coordCurrentPoint > coordDestinationPoint) ||
coordHomeAxis) &&
axisActive)
{
// home or destination not reached, keep moving
// If end stop reached or the encoder doesn't move anymore, stop moving motor, otherwise set the timing for the next step
if ((coordHomeAxis && !endStopAxisReached(false)) || (!coordHomeAxis && !endStopAxisReached(!movementToHome)))
{
// Get the axis speed, in steps per second
axisSpeed = calculateSpeed(coordSourcePoint, coordCurrentPoint, coordDestinationPoint,
motorSpeedMin, motorSpeedMax, motorStepsAcc);
// // Set the moments when the step is set to true and false
// if (axisSpeed > 0)
// {
// Take the requested speed (steps / second) and divide by the interrupt speed (interrupts per seconde)
// This gives the number of interrupts (called ticks here) before the pulse needs to be set for the next step
// stepOnTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed / 2);
// stepOffTick = moveTicks + (1000.0 * 1000.0 / motorInterruptSpeed / axisSpeed);
// }
}
else
{
axisActive = false;
}
}
else
{
// Destination or home reached. Deactivate the axis.
axisActive = false;
}
// If end stop for home is active, set the position to zero
if (endStopAxisReached(false))
{
coordCurrentPoint = 0;
}
}
/**
* Executes a movement cycle for the moving target.
*/
void MovingTarget::move()
{
calculateSpeed();
if (_dest != 0)
{
if (getDistance(_dest) > _speedRadian)
{
setLongitude(_lon + _speedLon);
setLatitude(_lat + _speedLat);
}
else
{
setLongitude(_dest->getLongitude());
setLatitude(_dest->getLatitude());
}
}
}
void AddContolPoint(Vector vp, float t){
if(n == 1){
vs[0] = (vp - cps[0]) * (1 / (t-ts[0]));
}
if(n < n_circles){
cps[n] = vp;
ts[n] = t;
n++;
}
if(n == n_circles){
cps[n] = cps[0];
catmull_idoplus = averageTime();
ts[n] = ts[n-1] + catmull_idoplus;
vs[n] = vs[0];
calculateSpeed();
n++;
}
}
/**
* Changes the destination the moving target is heading to.
* @param dest Pointer to destination.
*/
void MovingTarget::setDestination(Target *dest)
{
// Remove moving target from old destination's followers
if (_dest != 0)
{
for (std::vector<Target*>::iterator i = _dest->getFollowers()->begin(); i != _dest->getFollowers()->end(); ++i)
{
if ((*i) == this)
{
_dest->getFollowers()->erase(i);
break;
}
}
}
_dest = dest;
// Add moving target to new destination's followers
if (_dest != 0)
{
_dest->getFollowers()->push_back(this);
}
calculateSpeed();
}
QTime Download::eta() const
{
calculateSpeed();
return m_eta;
}
qint64 Download::speedWeighted() const
{
calculateSpeed();
return m_weightedSpeed;
}
qint64 Download::speed() const
{
calculateSpeed();
return m_speed;
}
