1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
|
/*
* In the original BSD license, both occurrences of the phrase "COPYRIGHT
* HOLDERS AND CONTRIBUTORS" in the disclaimer read "REGENTS AND CONTRIBUTORS".
*
* Here is the license template:
*
* Copyright (c) 2011, Johan Thelin <johan@thelins.se>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* Neither the name of Johan Thelin nor the names of its contributors may be
* used to endorse or promote products derived from this software without
* specific prior written permission.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROBOT_H
#define ROBOT_H
#include <QObject>
#include <QPixmap>
#include <QPainter>
class Robot : public QObject
{
Q_OBJECT
Q_PROPERTY(bool penActive READ penActive WRITE setPenActive NOTIFY penActiveChanged)
Q_PROPERTY(bool brightForward READ brightForward NOTIFY brightForwardChanged)
Q_PROPERTY(qreal leftEngineSpeed READ leftEngineSpeed WRITE setLeftEngineSpeed NOTIFY leftEngineSpeedChanged)
Q_PROPERTY(qreal rightEngineSpeed READ rightEngineSpeed WRITE setRightEngineSpeed NOTIFY rightEngineSpeedChanged)
public:
explicit Robot(QObject *parent = 0);
void step(QPixmap *pixmap);
void drawOverlay(QPainter &painter);
bool brightForward() const;
bool penActive() const;
qreal leftEngineSpeed() const;
qreal rightEngineSpeed() const;
signals:
void brightForwardChanged(bool);
void penActiveChanged(bool);
void leftEngineSpeedChanged(qreal);
void rightEngineSpeedChanged(qreal);
public slots:
void reset(const QPixmap &pixmap);
void setPenActive(bool);
void setLeftEngineSpeed(qreal);
void setRightEngineSpeed(qreal);
private:
void setPosition(const QPointF &p);
QPointF position() const;
void setDirection(qreal d);
qreal direction() const;
void setBrightForward(bool);
void updateSensors(const QPixmap &);
QPointF movementChange() const;
qreal directionChange() const;
bool m_brightForward;
bool m_penActive;
qreal m_leftEngineSpeed;
qreal m_rightEngineSpeed;
QPointF m_position;
qreal m_direction;
};
#endif // ROBOT_H
|
