void rightOneWheelDegree(float angleDegree, float a, float speed) {
// We multiply by 2, because, only one wheel rotates
float angleRadius = angleDegree * PI_DIVIDE_1800 * 2.0f;
RobotKinematics* robotKinematics = getRobotKinematics();
float rightWheelLengthForOnePulse = getRightWheelLengthForOnePulse(robotKinematics);
float wheelsDistanceFromCenter = getWheelsDistanceFromCenter(robotKinematics);
float realDistanceLeft = (wheelsDistanceFromCenter * angleRadius) / rightWheelLengthForOnePulse;
gotoPosition(realDistanceLeft, 0.0f, a, speed);
}
void BookTextView::readBookState(const Book &book) {
ReadingState state;
if (ZLBooleanOption(ZLCategoryKey::STATE, LAST_STATE_GROUP, STATE_VALID, false).value()) {
state.Paragraph = ZLIntegerOption(ZLCategoryKey::STATE, LAST_STATE_GROUP, PARAGRAPH_OPTION_NAME, 0).value();
state.Word = ZLIntegerOption(ZLCategoryKey::STATE, LAST_STATE_GROUP, WORD_OPTION_NAME, 0).value();
state.Character = ZLIntegerOption(ZLCategoryKey::STATE, LAST_STATE_GROUP, CHAR_OPTION_NAME, 0).value();
} else {
BooksDB::Instance().loadBookState(book, state);
}
gotoPosition(state.Paragraph, state.Word, state.Character);
}
float rotationDegree(float angleDeciDegree, float a, float speed) {
float angleRadius = angleDeciDegree * PI_DIVIDE_1800;
RobotKinematics* robotKinematics = getRobotKinematics();
float leftWheelLengthForOnePulse = getLeftWheelLengthForOnePulse(robotKinematics);
float rightWheelLengthForOnePulse = getRightWheelLengthForOnePulse(robotKinematics);
float wheelsDistanceFromCenter = getWheelsDistanceFromCenter(robotKinematics);
float realDistanceLeft = -(wheelsDistanceFromCenter * angleRadius) / leftWheelLengthForOnePulse;
float realDistanceRight = (wheelsDistanceFromCenter * angleRadius) / rightWheelLengthForOnePulse;
gotoPosition(realDistanceLeft, realDistanceRight, a, speed);
return angleDeciDegree;
}
float forwardMM(float distanceInMM, float a, float speed) {
RobotKinematics* robotKinematics = getRobotKinematics();
float leftWheelLengthForOnePulse = getLeftWheelLengthForOnePulse(robotKinematics);
float rightWheelLengthForOnePulse = getRightWheelLengthForOnePulse(robotKinematics);
float realDistanceLeft = distanceInMM / leftWheelLengthForOnePulse;
float realDistanceRight = distanceInMM / rightWheelLengthForOnePulse;
// Go at a position in millimeter
gotoPosition(realDistanceLeft, realDistanceRight, a, speed);
return distanceInMM;
}
bool BooksTextView::nextPage()
{
BooksPos saved(position());
BooksPos current(saved);
do {
scrollPage(true, ZLTextAreaController::NO_OVERLAPPING, 1);
preparePaintInfo();
const BooksPos pos = position();
if (pos == current) {
gotoPosition(saved);
return false;
}
current = pos;
} while (!textArea().isVisible());
return true;
}
void BookTextView::redoPageMove() {
if (canRedoPageMove()) {
replaceCurrentPositionInStack();
++myCurrentPointInStack;
Position &pos = myPositionStack[myCurrentPointInStack];
myLockUndoStackChanges = true;
gotoPosition(pos.first, pos.second, 0);
myLockUndoStackChanges = false;
if (myCurrentPointInStack + 1 == myPositionStack.size()) {
myPositionStack.pop_back();
}
application().refreshWindow();
}
}
void BookTextView::redoPageMove() {
if (canRedoPageMove()) {
replaceCurrentPositionInStack();
++myCurrentPointInStack;
Position &pos = myPositionStack[myCurrentPointInStack];
myLockUndoStackChanges = true;
gotoPosition(pos.Paragraph, pos.Word, pos.Character);
myLockUndoStackChanges = false;
if (myCurrentPointInStack + 1 == myPositionStack.size()) {
myPositionStack.pop_back();
myStackChanged = true;
}
FBReader::Instance().refreshWindow();
}
}
void serialGLCD::gotoLine(int line)
{ /* Uses the gotoPosition function to select "line" 1-8 on the display.
Text can be written between these lines using gotoPosition. This function makes it simpler.
Example: lcd.gotoLine(2);
*/
int y;
if(line > 8) {
line = 8;
}
else if(line < 1) {
line = 1;
}
else {
y = -8 + line * 8;
gotoPosition(1,y);
}
}
void BookTextView::undoPageMove() {
if (canUndoPageMove()) {
if (myCurrentPointInStack == myPositionStack.size()) {
if (!pushCurrentPositionIntoStack(false)) {
-- myCurrentPointInStack;
}
} else {
replaceCurrentPositionInStack();
}
--myCurrentPointInStack;
Position &pos = myPositionStack[myCurrentPointInStack];
myLockUndoStackChanges = true;
gotoPosition(pos.Paragraph, pos.Word, pos.Character);
myLockUndoStackChanges = false;
FBReader::Instance().refreshWindow();
}
}
void BookTextView::undoPageMove() {
if (canUndoPageMove()) {
if (myCurrentPointInStack == myPositionStack.size()) {
if (!pushCurrentPositionIntoStack(false)) {
-- myCurrentPointInStack;
}
} else {
replaceCurrentPositionInStack();
}
--myCurrentPointInStack;
Position &pos = myPositionStack[myCurrentPointInStack];
myLockUndoStackChanges = true;
gotoPosition(pos.first, pos.second, 0);
myLockUndoStackChanges = false;
application().refreshWindow();
}
}
/*************************************************************************
[LUA]Goto a position
*************************************************************************/
int Object::Lua_Goto(LuaPlus::LuaState* state)
{
if(OT_PLAYERMYSELF != getType())
{
return 0;
}
LuaStack args(state);
if(!(args[2].IsNumber()))
{
Util::throwException("Object::Goto[2] param parameter error");
}
if(!(args[3].IsNumber()))
{
Util::throwException("Object::Goto[3] param parameter error");
}
gotoPosition((float)args[2].GetNumber(), (float)args[3].GetNumber());
return 0;
}
void BookTextView::setModel(shared_ptr<ZLTextModel> model, const std::string &fileName) {
FBView::setModel(model);
myFileName = fileName;
gotoPosition(
ZLIntegerOption(ZLCategoryKey::STATE, fileName, PARAGRAPH_OPTION_NAME, 0).value(),
ZLIntegerOption(ZLCategoryKey::STATE, fileName, WORD_OPTION_NAME, 0).value(),
ZLIntegerOption(ZLCategoryKey::STATE, fileName, CHAR_OPTION_NAME, 0).value()
);
myPositionStack.clear();
myCurrentPointInStack = 0;
int stackSize = ZLIntegerOption(ZLCategoryKey::STATE, fileName, BUFFER_SIZE, 0).value();
if (stackSize > 0) {
if (stackSize > (int)myMaxStackSize) {
stackSize = myMaxStackSize;
}
int pointInStack = ZLIntegerOption(ZLCategoryKey::STATE, fileName, POSITION_IN_BUFFER, 0).value();
if ((pointInStack < 0) || (pointInStack > stackSize)) {
pointInStack = stackSize;
}
myCurrentPointInStack = pointInStack;
for (int i = 0; i < stackSize; ++i) {
std::string bufferParagraph = BUFFER_PARAGRAPH_PREFIX;
std::string bufferWord = BUFFER_WORD_PREFIX;
ZLStringUtil::appendNumber(bufferParagraph, i);
ZLStringUtil::appendNumber(bufferWord, i);
Position pos;
pos.first = ZLIntegerOption(ZLCategoryKey::STATE, fileName, bufferParagraph, -1).value();
pos.second = ZLIntegerOption(ZLCategoryKey::STATE, fileName, bufferWord, -1).value();
myPositionStack.push_back(pos);
}
}
}
MainWindow::MainWindow(ModuleLoader &moduleLoader, const ProgramLoader &programLoader, QWidget *parent)
: QMainWindow(parent),
moduleLoader(moduleLoader),
programLoader(programLoader)
{
createActions();
createMenus();
setAcceptDrops(true);
treeWidget = new TreeWidget(programLoader, this);
hexFileWidget = new HexFileWidget(this);
logWidget = new LogWidget();
setCentralWidget(new QWidget(this));
QHBoxLayout* layout = new QHBoxLayout(centralWidget());
QTabWidget* tab = new QTabWidget(centralWidget());
tab->addTab(hexFileWidget, "hex");
tab->addTab(logWidget, "log");
layout->addWidget(treeWidget, 1);
layout->addWidget(tab);
layout->setContentsMargins(0,0,0,0);
centralWidget()->setLayout(layout);
QAction* search = new QAction(this);
search->setShortcut(QKeySequence::Find);
addAction(search);
connect(treeWidget,SIGNAL(pathChanged(QString)), hexFileWidget, SLOT(setFile(QString)));
connect(treeWidget,SIGNAL(positionChanged(qint64, qint64)), hexFileWidget, SLOT(gotoPosition(qint64)));
connect(treeWidget,SIGNAL(positionChanged(qint64, qint64)), hexFileWidget, SLOT(highlight(qint64,qint64)));
connect(treeWidget,SIGNAL(eventDropped(QDropEvent*)),this, SLOT(dropEvent(QDropEvent*)));
connect(search, SIGNAL(triggered()), hexFileWidget, SLOT(focusSearch()));
connect(treeWidget,SIGNAL(openFragmentedFile(Object&)), this, SLOT(openFragmentedFile(Object&)));
connect(hexFileWidget, SIGNAL(selected(qint64)), treeWidget, SLOT(updateByFilePosition(qint64)));
}
void maintainPosition(void) {
gotoPosition(0.0f, 0.0f, 0.0f, 0.0f);
}
float rightSimple(float pulse) {
MotionParameter* motionParameter = getDefaultMotionParameters(MOTION_PARAMETER_TYPE_ROTATION);
gotoPosition(pulse, pulse, motionParameter->a, motionParameter->speed);
return pulse;
}
float backwardSimple(float pulse) {
MotionParameter* motionParameter = getDefaultMotionParameters(MOTION_PARAMETER_TYPE_FORWARD_OR_BACKWARD);
gotoPosition(-pulse, pulse, motionParameter->a, motionParameter->speed);
return -pulse;
}
float rightOneWheelSimple(float pulse) {
MotionParameter* motionParameter = getDefaultMotionParameters(MOTION_PARAMETER_TYPE_ROTATION_ONE_WHEEL);
gotoPosition(pulse, 0, motionParameter->a, motionParameter->speed);
return pulse;
}
