void solver::on_actionLoad_Soup_triggered()
{
QString f = QFileDialog::getOpenFileName(this," sopa","Cargar sopa de letras");
if(f.isEmpty())
return;
QLabel *l ;
QFile file(f);
if(file.open(QIODevice::ReadOnly)){
QTextStream a(&file);
QString len = a.readLine();
this->lenX = readLen(len.indexOf("x:"),len);
this->lenY = readLen(len.indexOf("y:"),len);
this->crearArray();
for(int i = 0; i<this->ui->soup->count(); i++)
this->ui->soup->removeItem(this->ui->soup->itemAt(i));
for(int y = 0; y < this->lenY; y++){
QString i = a.readLine(); int at = 0;qDebug()<<i;
for(int x = 0; x < this->lenX; x++){
l = new QLabel();
this->ui->soup->addWidget(l,y,x);
l->setText(QString(i.at(at)));
sopa[y][x] = i.at(at);
at +=2;
}
}
}
}
void Adafruit_BNO055::getCalibData(byte * pbuffer)
{
adafruit_bno055_opmode_t backupmode = _mode;
setMode(OPERATION_MODE_CONFIG);
delay(25);
readLen(ACCEL_OFFSET_X_LSB_ADDR, pbuffer, 22); //read the whole range of offsets
setMode(backupmode); //return to previous opmode
delay(25);
}
imu::Vector<3> Adafruit_BNO055::getVector(adafruit_vector_type_t vector_type)
{
imu::Vector<3> xyz;
uint8_t buffer[6];
memset (buffer, 0, 6);
int16_t x, y, z;
x = y = z = 0;
/* Read vector data (6 bytes) */
readLen((adafruit_bno055_reg_t)vector_type, buffer, 6);
x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
/* Convert the value to an appropriate range (section 3.6.4) */
/* and assign the value to the Vector type */
switch(vector_type)
{
case VECTOR_MAGNETOMETER:
/* 1uT = 16 LSB */
xyz[0] = ((double)x)/16.0;
xyz[1] = ((double)y)/16.0;
xyz[2] = ((double)z)/16.0;
break;
case VECTOR_GYROSCOPE:
/* 1rps = 900 LSB */
xyz[0] = ((double)x)/900.0;
xyz[1] = ((double)y)/900.0;
xyz[2] = ((double)z)/900.0;
break;
case VECTOR_EULER:
/* 1 degree = 16 LSB */
xyz[0] = ((double)x)/16.0;
xyz[1] = ((double)y)/16.0;
xyz[2] = ((double)z)/16.0;
break;
case VECTOR_ACCELEROMETER:
case VECTOR_LINEARACCEL:
case VECTOR_GRAVITY:
/* 1m/s^2 = 100 LSB */
xyz[0] = ((double)x)/100.0;
xyz[1] = ((double)y)/100.0;
xyz[2] = ((double)z)/100.0;
break;
}
return xyz;
}
void Connection::processParams()
{
MLOG_MESSAGE(Debug, "processParams(" << stream_.size() << ")");
MLOG_MESSAGE(Debug, "processParams(" << mlog::dump(stream_) << ")");
nexus::PacketReader reader(stream_);
while(reader.left())
{
size_t nameLen = readLen(reader);
size_t valueLen = readLen(reader);
if(reader.raw() <= reader.end() && nameLen + valueLen <= reader.left())
{
std::string name(reader.raw(), reader.raw() + nameLen);
reader.skip(nameLen);
std::string value(reader.raw(), reader.raw() + valueLen);
reader.skip(valueLen);
params_.insert(Params::value_type(name, value));
MLOG_MESSAGE(Debug, "param: " << name << ", value: " << value);
} else {
MLOG_MESSAGE(Error, "left: " << reader.left() << ", nameLen: " << nameLen << ", valueLen: " << valueLen);
break;
}
}
}
/********************************************************************
* Read a word from the socket
* The word that was read is returned as a string
********************************************************************/
char *readWord(int fdSock) {
int iLen = readLen(fdSock);
int iBytesToRead = 0;
int iBytesRead = 0;
char *szWord;
char *szRetWord;
char *szTmpWord;
DEBUG ? printf("readWord iLen=%x\n", iLen) : 0;
if (iLen > 0) {
// allocate memory for strings
szRetWord = calloc(sizeof(char), iLen + 1);
szTmpWord = calloc(sizeof(char), 1024 + 1);
while (iLen != 0) {
// determine number of bytes to read this time around
// lesser of 1024 or the number of byes left to read
// in this word
iBytesToRead = iLen > 1024 ? 1024 : iLen;
// read iBytesToRead from the socket
iBytesRead = recv(fdSock, szTmpWord, iBytesToRead, 0);
if (iBytesRead <= 0) {
free(szTmpWord);
free(szRetWord);
return 0;
}
// terminate szTmpWord
szTmpWord[iBytesRead] = 0;
// concatenate szTmpWord to szRetWord
strcat(szRetWord, szTmpWord);
// subtract the number of bytes we just read from iLen
iLen -= iBytesRead;
}
// deallocate szTmpWord
free(szTmpWord);
DEBUG ? printf("word = %s\n", szRetWord) : 0;
return szRetWord;
} else {
return NULL;
}
}
imu::Quaternion Adafruit_BNO055::getQuat(void)
{
uint8_t buffer[8];
memset (buffer, 0, 8);
int16_t x, y, z, w;
x = y = z = w = 0;
/* Read quat data (8 bytes) */
readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
/* Assign to Quaternion */
imu::Quaternion quat((double)w, (double)x, (double)y, (double)z);
return quat;
}
imu::Quaternion Adafruit_BNO055::getQuat(void)
{
uint8_t buffer[8];
memset (buffer, 0, 8);
int16_t x, y, z, w;
x = y = z = w = 0;
/* Read quat data (8 bytes) */
readLen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
/* Assign to Quaternion */
/* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf
3.6.5.5 Orientation (Quaternion) */
const double scale = (1.0 / (1<<14));
imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
return quat;
}
