QString Sensors::code(const QString &directory
, const kitBase::robotModel::PortInfo &port
, const kitBase::robotModel::DeviceInfo &device)
{
const QString portString = mInputPortConverter->convert(port.name());
const QString templatePath = QString("%1/%2.t").arg(directory, device.name());
return readTemplateIfExists(templatePath).replace("@@PORT@@", portString);
}
QString ConstraintsChecker::portName(const QString &robotId
, model::RobotModel * const robot, const kitBase::robotModel::PortInfo &port) const
{
// We wish to know would be there a collision if someone writes "A1" or not.
int portsWithSuchName = 0;
for (kitBase::robotModel::PortInfo &otherPort : robot->info().availablePorts()) {
if (port.name() == otherPort.name()) {
++portsWithSuchName;
}
}
// Making user write "robot1.DisplayPort_out.ellipses" or "robot1.MarkerPort_out" is non-humanistic.
// So letting him write "robot1.display.ellipses" or "robot1.marker".
QRegExp portRegExp("^(\\w+)Port$");
const QString readablePortName = portRegExp.exactMatch(port.name())
? utils::StringUtils::lowercaseFirstLetter(portRegExp.cap(1))
: port.name();
return portsWithSuchName > 1
// If collision in name exists then user must specify what port exactly he wishes to process.
? QString("%1.%2_%3").arg(robotId, readablePortName
, port.direction() == kitBase::robotModel::input ? "in" : "out")
: QString("%1.%2").arg(robotId, readablePortName);
}
NxtInputDevice::NxtInputDevice(
utils::robotCommunication::RobotCommunicator &robotCommunicator
, const kitBase::robotModel::PortInfo &port
, const enums::lowLevelSensorType::SensorTypeEnum &lowLevelSensorType
, const enums::sensorMode::SensorModeEnum &sensorMode)
: mRobotCommunicator(robotCommunicator)
, mLowLevelPort(port.name().at(0).toLatin1() - '1')
, mLowLevelSensorType(lowLevelSensorType)
, mSensorMode(sensorMode)
, mState(idle)
, mIsConfigured(false)
, mResetDone(false)
{
QObject::connect(&mRobotCommunicator, &utils::robotCommunication::RobotCommunicator::response
, this, &NxtInputDevice::readingDone);
}
QString ReservedVariablesConverter::deviceExpression(const kitBase::robotModel::PortInfo &port) const
{
const kitBase::robotModel::DeviceInfo device = mDevices[port];
if (device.isNull()) {
mErrorReporter.addError(QObject::tr("Device on port %1 is not configured."\
" Please select it on the \"Configure devices\" panel on the right-hand side.")
.arg(port.userFriendlyName())
);
return QObject::tr("/* ERROR: SELECT DEVICE TYPE */");
}
const QString templatePath = mDeviceVariables.variableTemplatePath(device, port);
// Converter must take a string like "1" or "2" (and etc) and return correct value
return readTemplate(templatePath).replace("@@PORT@@", mInputConverter->convert(port.name()));
}
QString TrikDeviceVariables::variableTemplatePath(const kitBase::robotModel::DeviceInfo &device
, const kitBase::robotModel::PortInfo &port) const
{
if (device.name() == "trikLineSensor"
|| device.name() == "trikObjectSensor"
|| device.name() == "trikColorSensor")
{
QString templateName = port.name();
templateName.remove("Port");
return "videosensors/" + templateName + ".t";
} else if (device.name() == "gyroscope" || device.name() == "accelerometer") {
return QString("%1/%2.t").arg(device.name(), port.reservedVariable());
} else if (device.name().startsWith("gamepad")) {
return QString("gamepad/%1.t").arg(device.name());
}
return generatorBase::parts::DeviceVariables::variableTemplatePath(device, port);
}
char I2CCommunicator::toNxtInputPort(const kitBase::robotModel::PortInfo &port)
{
return static_cast<char>(port.name().toInt() - 1);
}
Ev3InputDevice::Ev3InputDevice(utils::robotCommunication::RobotCommunicator &robotCommunicator
, const kitBase::robotModel::PortInfo &port)
: mRobotCommunicator(robotCommunicator)
, mLowLevelPort(port.name().at(0).toLatin1() - '1')
{
}
QString ConstraintsChecker::portName(const QString &robotId, const kitBase::robotModel::PortInfo &port) const
{
return QString("%1.%2_%3").arg(robotId, port.name()
, port.direction() == kitBase::robotModel::input ? "in" : "out");
}