sf::SoundBuffer const &RessourceManager::loadSound(std::string const &name)
{
std::map<std::string, sf::SoundBuffer*>::const_iterator search;
search = _sounds.find(name);
if (search != _sounds.end())
return *search->second;
sf::SoundBuffer* buffer = new sf::SoundBuffer;
std::string fullName = SOUNDS_PATH + name;
if (!buffer->loadFromFile(fullName.c_str()))
throw errFile("Failed to load: " + fullName);
_sounds.insert(std::make_pair(name, buffer));
return *buffer;
}
sf::Font const &RessourceManager::loadFont(std::string const &name)
{
std::map<std::string, sf::Font*>::const_iterator search;
search = _fonts.find(name);
if (search != _fonts.end())
return *search->second;
sf::Font* font = new sf::Font;
std::string fullName = FONTS_PATH + name;
font->loadFromFile(fullName.c_str());
if (font == NULL)
throw errFile("Failed to load: " + fullName);
_fonts.insert(std::make_pair(name, font));
return *font;
}
sf::Texture const &RessourceManager::loadImage(std::string const &name)
{
std::map<std::string, sf::Texture*>::const_iterator search;
search = _textures.find(name);
if (search != _textures.end())
return *search->second;
sf::Texture* texture = new sf::Texture;
std::string fullName = IMAGES_PATH + name;
texture->loadFromFile(fullName.c_str());
if (texture == NULL)
throw errFile("Failed to load: " + fullName);
_textures.insert(std::make_pair(name, texture));
return *texture;
}
float sensor::GetDistance()
{
#if SENSOR
QByteArray Bresponse;
QString response;
if (serial.isOpen() && serial.isWritable())
{
//Préparation de la trame
QByteArray ba = QString("DIST").toLocal8Bit(); //conversion QString -> QByteArray
ba.append("\r");
//serial.clear();
serial.write(ba);
//serial.flush();
serial.waitForBytesWritten(-1);
//while(serial.flush());
qDebug() << "Demande de distance" << endl;
//Attente datas disponibles
//while(!serial.waitForReadyRead(10));
//Récupération de la distance (valeur = 0 to 1023)
while(serial.waitForReadyRead(500))
{
//serial.flush();
//serial.waitForReadyRead(10);
Bresponse = serial.readAll();
response += QString(Bresponse);
qDebug() << "response : " << response << endl;
if(response.contains('\n'))
break;
}
//Calcul de la distance en mm
float dist = COEFA * response.toFloat() + COEFB;
if(response.toFloat() < 10)//Si obstacle trop proche du capteur
return 0;
else if(response.toFloat() > 1020)//Si obstacle trop loin du capteur
return 1000;
else
return dist;
}
else
{
qDebug() << "ERREUR de Port COM" << endl;
QFile errFile(QCoreApplication::applicationDirPath() + ERROR);
QTextStream stream_log(&errFile);
errFile.open(QIODevice::WriteOnly | QIODevice::Text);
stream_log << "Erreur de port COM (Arduino SENSOR)." << endl;
errFile.close();
exit(EXIT_PRB_PORT_COM_GRBL);
}
return 0;
#else
return 45.45;
#endif
}
