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+/*
+ * 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 <[email protected]>
+ * 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