msl::msl(QWidget *parent) :
QWidget(parent),
serialConnection("","","",""/*Manufacturer String*/,""/*Product String*/)
{
ui.setupUi(this);
//Create QColorDialog
this->colorDialog = new QColorDialog(this);
this->colorDialog->setWindowFlags(Qt::Widget);
//Remove buttons and dialog
this->colorDialog->setOptions(
QColorDialog::DontUseNativeDialog | QColorDialog::NoButtons);
//SetColor
this->colorDialog->setCurrentColor(QColor(Qt::black));
this->ui.LayoutForColorSelector->addWidget(colorDialog);
//Connect the colorChanged signal
connect(this->colorDialog, SIGNAL(currentColorChanged(QColor)), this,
SLOT(colorChanged(QColor)));
//Hide the EEProm settings-box
this->ui.groupBox_EEProm->hide();
//Disable the GUI as long as there is no connection to the serial
this->setDisabled(1);
//Connect the signals
connect(&this->serialConnection,
SIGNAL(serialAbortedConnect(int)), this,
SLOT(serialConnectionAbort(int)));
connect(&this->serialConnection, SIGNAL(waitingForRetry()), this,
SLOT(serialWaitingForRetry()));
connect(&this->serialConnection, SIGNAL(serialConnected()), this,
SLOT(serialConnected()));
connect(this, SIGNAL(retry()), &this->serialConnection,
SLOT(retryConnect()));
connect(this, SIGNAL(sendArray(QByteArray)),&this->serialConnection,SLOT(sendArray(QByteArray)));
//Start serial connection thread
serialConnection.start();
serialConnection.setStopBits(qUSBSerial::StopBits_2);
//Connect to Microscope Light
serialConnection.serialConnect();
}
void main()
{
lcdInit();
spiOn();
spiOff();
sendByte(out);
sendArray(array);
lcdOn();
lcdOff();
sendBuffer();
sendPart(3, 7, LCD_Buffer);
clear();
clearPart(5, 76);
clearPartColor(5, 76, clBLACK);
setPenColor(clBLACK);
setBackColor(clWHITE);
delay_nsek(40);
scsOn();
scsOff();
i = getValue(LCD_Buffer, 23, 266);
setValue(LCD_Buffer, 23, 266, 0x3F);
setCharge();
resetCharge();
drawPixel(5, 5, LCD_Buffer);
drawVLine(5, 5, 5, LCD_Buffer);
drawHLine(5, 5, 5, LCD_Buffer);
drawLine(5, 5, 55, 55, LCD_Buffer);
drawRect(5, 5, 55, 55, LCD_Buffer);
drawFillRect(5, 5, 55, 55, clWHITE, LCD_Buffer);
drawCircle(10, 10, 5, LCD_Buffer);
}
void msl::updateLEDs()
{
qDebug() << "Updating LEDs!";
QByteArray array;
array.push_back(SET_COLOR);
array.push_back(DIRECT_LED);
array.push_back((char)this->ui.verticalSlider_uv->value());
array.push_back((char)this->ui.verticalSlider_white->value());
array.push_back(this->colorDialog->currentColor().red());
array.push_back(this->colorDialog->currentColor().green());
array.push_back(this->colorDialog->currentColor().blue());
unsigned char checksum=0;
for(QByteArray::iterator it = array.begin(); it != array.end(); ++it)
{
checksum^=*it;
}
array.push_back(checksum);
//Start with AA 55
array.push_front(0x55);
array.push_front(0xAA);
emit sendArray(array);
}
bool AI::initSpawnEnemies(string scriptName)
{
spawnScript = lua_open();
OpenLuaLibs(spawnScript);
if(luaL_dofile(spawnScript, scriptName.c_str())) //spawning
return false;
lua_getglobal(spawnScript,"init");
convertNodesToInt();
sendArray(nodesInt, mapSize ,spawnScript);
lua_pushnumber(spawnScript,enemiesPerMin);
lua_pushnumber(spawnScript,difficulty);
lua_pcall(spawnScript, 3, 1, 0);
int a = (int)lua_tonumber(spawnScript, -1);
lua_pop(spawnScript, 1);
cout << "output: " << a << endl;
return true;
}
vector<float> AI::findTarget(Waypoint pos, int type)
{
vector<float> target;
lua_getglobal(targetScript, "findTarget");
convertStructuresToInt();
sendArray(structuresInt, mapSize-1, targetScript);
lua_pushnumber(targetScript, pos.x/quadSize);
lua_pushnumber(targetScript, pos.y/quadSize);
lua_pushnumber(targetScript, type);
lua_pcall(targetScript, 4, 3, 0); //kalla på funktionen
float targetY = (float)lua_tonumber(targetScript, -1);
lua_pop(targetScript, 1);
float targetX = (float)lua_tonumber(targetScript, -1);
lua_pop(targetScript, 1);
float nodeID = (float)lua_tonumber(targetScript, -1);
//hämta värden
target.push_back(targetX);
target.push_back(targetY);
target.push_back(nodeID);
//cout<< "X = "<<targetX<<" Y = "<<targetY<<endl;
return target;
}
void Slave::sendResult(int64_t id, vector<double> &resultArray, int64_t size)
{
// printf("Slave %d\n Sending...", rank);
sendID(id);
sendSize(size);
sendArray(resultArray, size);
// system("echo Slave: $(hostname -I)");
// printf("Slave %d Done.\n", rank);
}
bool AI::initFindPath(string scriptName)
{
pathScript = lua_open();
OpenLuaLibs(pathScript);
if(luaL_dofile(pathScript, scriptName.c_str()))//pathfinding
return false;
lua_getglobal(pathScript, "init");
convertNodesToInt();
sendArray(nodesInt, mapSize, pathScript);
lua_pushnumber(pathScript, mapSize);
lua_pcall(pathScript, 2, 0, 0);
return true;
}
/* -------------------------------------------------------------------- */
void Tserial::sendChar(char data)
{
sendArray(&data, 1);
}
/* -------------------------------------------------------------------- */
void Tserial::sendChar(char data)
{
sendArray(&data, 1);
if(v==true)printf("\nsent %c",data);
}
