MainWindow::MainWindow(QWidget *parent, kitrokopter::API *api) :
QMainWindow(parent),
ui(new Ui::MainWindow),
api(api),
gamepad(new Gamepad(this)),
quadcopterModel(new QuadcopterModel(this, api)),
quadcopterDebugDialog(0),
trackedFilter(new QuadcopterTrackedFilter(this)),
untrackedFilter(new QuadcopterTrackedFilter(this)),
calibrationDialog(0)
{
ui->setupUi(this);
setWindowIcon(QIcon(":/icons/images/Logo64.png"));
ui->mainToolBar->hide();
initGamepad();
trackedFilter->setSourceModel(quadcopterModel);
untrackedFilter->setSourceModel(quadcopterModel);
trackedFilter->filterTracked();
untrackedFilter->filterUntracked();
ui->trackedList->setModel(trackedFilter);
ui->untrackedList->setModel(untrackedFilter);
irrlichtWidget = new QIrrlichtWidget(ui->superWidget);
irrlichtWidget->setMinimumSize(QSize(640, 480));
QSizePolicy policy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
policy.setHorizontalStretch(255);
irrlichtWidget->setSizePolicy(policy);
ui->superWidget->layout()->addWidget(irrlichtWidget);
gui3d = new Gui3D(irrlichtWidget, api);
connect(ui->launchButton, SIGNAL(clicked()), this, SLOT(launch()));
connect(ui->loadFormationButton, SIGNAL(clicked()), this, SLOT(loadFormation()));
connect(ui->scanButton, SIGNAL(clicked()), this, SLOT(scanForQuadcopters()));
connect(ui->actionShutdown_everything, SIGNAL(triggered()), this, SLOT(shutdownEverything()));
connect(ui->actionQuadcopters, SIGNAL(triggered()), this, SLOT(openQuadcopterDebugDialog()));
connect(ui->trackedList, SIGNAL(activated(QModelIndex)), this, SLOT(openQuadcopterDetailDialog(QModelIndex)));
connect(ui->untrackedList, SIGNAL(activated(QModelIndex)), this, SLOT(openQuadcopterDetailDialog(QModelIndex)));
connect(ui->calibrateCamerasButton, SIGNAL(clicked()), this, SLOT(openCalibrationDialog()));
connect(ui->startSystemButton, SIGNAL(clicked()), this, SLOT(startSystem()));
connect(ui->actionGamepad, SIGNAL(triggered()), this, SLOT(openGamepadDebugDialog()));
connect(ui->actionAbout, SIGNAL(triggered()), this, SLOT(openAboutDialog()));
}
int main(int argc, char **argv){
int fps = -1;
double frame_millis = -1;
double init_millis = 0;
double tick_millis = 0;
double frame_overflow = 0;
double spf = 0.0;
int tick_next = 0;
unsigned int ctt2_state = CTT2_EVT_POLL_EVENTS;
unsigned int render_test = 0;
finished = 0;
initialized_modules = 0;
print_banner();
if(argc==5 || argc==6) {
SCREEN_WIDTH = atoi( argv[1] );
SCREEN_HEIGHT = atoi( argv[2] );
fullscreen = atoi( argv[3] );
fps = atoi( argv[4] );
spf = 1.0/(double)fps;
frame_millis = (double)1000/(double)fps;
if(argc==6) {
beagle_application_path = argv[5];
printf("Application path: `%s`\n", beagle_application_path );
}
} else {
print_usage();
return;
}
loadRuntimeModule( &initLog, &dropLog, CTT2_RT_MODULE_LOG );
loadRuntimeModule( &initCore, &dropCore, CTT2_RT_MODULE_CORE );
loadRuntimeModule( &initDisplay, &dropDisplay, CTT2_RT_MODULE_DISPLAY );
loadRuntimeModule( &initOpenGL, &dropOpenGL, CTT2_RT_MODULE_OPENGL );
loadRuntimeModule( &initAudio, &dropAudio, CTT2_RT_MODULE_AUDIO );
loadRuntimeModule( &initWinMsgs, &dropWinMsgs, CTT2_RT_MODULE_WINDOW_MSGS );
loadRuntimeModule( &initTextInput, &dropTextInput, CTT2_RT_MODULE_TEXT_INPUT );
loadRuntimeModule( &initTimer, &dropTimer, CTT2_RT_MODULE_TIMER );
loadRuntimeModule( &initGamepad, &dropGamepad, CTT2_RT_MODULE_GAMEPAD);
loadRuntimeModule( &initPython, &dropPython, CTT2_RT_MODULE_PYTHON);
int run = 1;
/** MAIN DISPATCH LOOP **/
if(run) {
SDL_Event event;
double base_millis = timer_get_ms();
tick_millis = timer_get_ms();
while(finished != CTT2_RT_TERMINATED ) {
switch(ctt2_state) {
case CTT2_EVT_TICK:
if(api_tick() == API_FAILURE) {
finished = 1;
} else {
tick_millis += frame_millis;
if( (timer_get_ms() - tick_millis) > frame_millis ) {
ctt2_state = CTT2_EVT_TICK;
} else {
ctt2_state = CTT2_EVT_RENDER;
}
}
break;
case CTT2_EVT_RENDER:
if(render_test == 0) {
api_render();
}
if(render_test==1) {
hwgfx_render_test();
}
if(render_test==2) {
api_render_test();
}
ctt2_state = CTT2_EVT_SYNC_GFX;
break;
case CTT2_EVT_SYNC_GFX:
updateViewingSurface();
ctt2_state = CTT2_EVT_POLL_EVENTS;
break;
case CTT2_EVT_POLL_EVENTS:
if( (timer_get_ms() - tick_millis) > frame_millis ) {
ctt2_state = CTT2_EVT_TICK;
}
break;
}
while(SDL_PollEvent(&event)) {
switch (event.type) {
case SDL_CONTROLLERDEVICEADDED:
dropGamepad();
initGamepad();
break;
case SDL_CONTROLLERDEVICEREMOVED:
dropGamepad();
initGamepad();
break;
case SDL_JOYAXISMOTION:
GamepadHandleEvent( &event );
break;
case SDL_TEXTINPUT:
api_dispatch_text( event.text.text );
break;
case SDL_QUIT:
finished = CTT2_RT_TERMINATED;
break;
case SDL_SYSWMEVENT:
#ifdef _WIN32
#ifdef WACOM_ENABLED
handle_wm_event(event); //used for the wacom tablet module, but currently missing...
#endif
#endif
break;
case SDL_KEYDOWN:
if( api_dispatch_key(event.key.keysym.sym,1) == API_FAILURE ) finished = CTT2_RT_TERMINATED;
if( event.key.keysym.sym == SDLK_F5 && (event.key.keysym.mod & KMOD_CTRL) ) {
dropPython();
initPython();
}
if( event.key.keysym.sym == SDLK_F6 && (event.key.keysym.mod & KMOD_CTRL) ) {
render_test = (render_test+1)%3;
}
if( event.key.keysym.sym == SDLK_F4 && (event.key.keysym.mod & KMOD_ALT) ) {
finished = CTT2_RT_TERMINATED;
}
break;
case SDL_KEYUP:
if( api_dispatch_key(event.key.keysym.sym,0)
== API_FAILURE ) finished = CTT2_RT_TERMINATED;
break;
case SDL_MOUSEBUTTONDOWN:
if(api_dispatch_mousedown(
event.button.button,
event.button.x,
event.button.y) == API_FAILURE )
finished = CTT2_RT_TERMINATED ;
break;
case SDL_MOUSEBUTTONUP:
if(api_dispatch_mouseup(
event.button.button,
event.button.x,
event.button.y) == API_FAILURE )
finished = CTT2_RT_TERMINATED;
break;
case SDL_MOUSEMOTION:
if(api_dispatch_mousemotion(
event.motion.x,
event.motion.y) == API_FAILURE )
finished = CTT2_RT_TERMINATED;
break;
}
}
}
}
sequencer_halt();
dropRuntimeModules(0);
return 0;
}
void QB64_GameControllerInit(){
initGamepad();
}