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Diffstat (limited to 'qtbotsim/robot.h')
| -rw-r--r-- | qtbotsim/robot.h | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/qtbotsim/robot.h b/qtbotsim/robot.h new file mode 100644 index 0000000..4da6337 --- /dev/null +++ b/qtbotsim/robot.h @@ -0,0 +1,99 @@ +/* + * 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 <[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 |