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authorAttila Csipa <git@csipa.net>2017-07-11 15:01:46 +0100
committerAttila Csipa <git@csipa.net>2017-07-11 15:01:46 +0100
commit901259195f9cb97d2c33ab287bdd95130f9dfa38 (patch)
treee63b0bdb8e16de2b792458df585b5264af49e0c2 /tracker-s2bot/ftnoir_tracker_s2bot.cpp
parentc1ce306e50d96d4221b6e7194d3e49c62709db52 (diff)
clean up code, remove ugly file logging
Diffstat (limited to 'tracker-s2bot/ftnoir_tracker_s2bot.cpp')
-rw-r--r--tracker-s2bot/ftnoir_tracker_s2bot.cpp28
1 files changed, 2 insertions, 26 deletions
diff --git a/tracker-s2bot/ftnoir_tracker_s2bot.cpp b/tracker-s2bot/ftnoir_tracker_s2bot.cpp
index c33ac9c5..63e30075 100644
--- a/tracker-s2bot/ftnoir_tracker_s2bot.cpp
+++ b/tracker-s2bot/ftnoir_tracker_s2bot.cpp
@@ -27,17 +27,6 @@ static const t bound(t datum, t least, t max)
return datum;
}
-#include <QFile>
-#include <QTextStream>
-
-void logtext(QString txt) {
- //QFile caFile("c:/tools/log.txt");
- //caFile.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Append);
- //QTextStream outStream(&caFile);
- //outStream << txt;
- //caFile.close();
-}
-
void tracker_s2bot::run() {
#pragma pack(push, 1)
struct {
@@ -52,16 +41,12 @@ void tracker_s2bot::run() {
Mask = flag_Raw | flag_Orient
};
- logtext("GO");
-
if (s.freq == 0) s.freq = 10;
timer.setInterval(1000.0/s.freq);
timer.setSingleShot(false);
connect(&timer, &QTimer::timeout, [this]() {
- logtext("timer ");
auto reply = m_nam->get(QNetworkRequest(QUrl("http://localhost:17317/poll")));
connect(reply, &QNetworkReply::finished, [this, reply]() {
- logtext("reply ");
if (reply->error() == QNetworkReply::NoError) {
qDebug() << "Request submitted OK";
}
@@ -70,15 +55,12 @@ void tracker_s2bot::run() {
return;
}
QByteArray ba = reply->readAll();
- logtext("\nlength " + ba.length());
QStringList slist = QString(ba).split(QRegExp("[\r\n]"), QString::SkipEmptyParts);
int order[] = {
bound<int>(s.idx_x, 0, 3),
bound<int>(s.idx_y, 0, 3),
bound<int>(s.idx_z, 0, 3)
};
- logtext(QString::number(s.idx_x()) + "\n\r");
- logtext(QString::number(order[0]) + "\n\r");
double orient[4] = { 0, 0, 0, 0 };
static const int add_cbx[] = {
0,
@@ -91,12 +73,11 @@ void tracker_s2bot::run() {
for (auto line : slist) {
QStringList keyval = line.split(" ");
if (keyval.count() < 2) continue;
- if (keyval[0].startsWith("accelerometerX")) orient[0] = keyval[1].toInt();
+ if (keyval[0].startsWith("accelerometerZ")) orient[0] = keyval[1].toInt();
else if (keyval[0].startsWith("accelerometerY")) orient[1] = keyval[1].toInt();
- else if (keyval[0].startsWith("accelerometerZ")) orient[2] = keyval[1].toInt();
+ else if (keyval[0].startsWith("accelerometerX")) orient[2] = keyval[1].toInt();
else if (keyval[0].startsWith("bearing")) orient[3] = keyval[1].toInt();
}
- logtext("RAW: " + QString::number(orient[0]) + " " + QString::number(orient[1]) + " " + QString::number(orient[2]) + " " + QString::number(orient[3]) + "\n\r");
QMutexLocker foo(&mtx);
static constexpr double r2d = 180 / M_PI;
for (int i = 0; i < 3; i++)
@@ -107,17 +88,12 @@ void tracker_s2bot::run() {
val = add_cbx[idx];
pose[Yaw + i] = orient[order[i]] + val; // * r2d if it was radians
}
- logtext("Processed: " + QString::number(pose[Yaw]) + " " + QString::number(pose[Yaw + 1]) + " " + QString::number(pose[Yaw + 2]) + "\n\r");
-
-
-
reply->close();
reply->deleteLater();
});
});
timer.start();
exec();
- //sock.bind(QHostAddress::Any, (unsigned short) s.freq, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
}
void tracker_s2bot::start_tracker(QFrame*)