diff options
Diffstat (limited to 'tracker-s2bot')
| -rw-r--r-- | tracker-s2bot/ftnoir_tracker_s2bot.cpp | 28 |
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*) |