Klagarge/SDi-STOMP
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finish mandatory part of the lab

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This commit is contained in:
Rémi Heredero 2023-12-26 22:09:42 +01:00
parent 2418aafa97
commit 17ba18a200
3 changed files with 41 additions and 7 deletions
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5
CMakeLists.txt
View File

@ -3,7 +3,8 @@ project(ProtocolDeveloppement)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_PREFIX_PATH "/Qt/6.5.0/android_arm64_v8a/lib/cmake")
#set(CMAKE_PREFIX_PATH "/Qt/6.5.0/android_arm64_v8a/lib/cmake")
set(CMAKE_PREFIX_PATH "D:/programme/Qt/6.5.0/mingw_64/lib/cmake")
find_package(Qt6Widgets REQUIRED)
@ -13,6 +14,8 @@ find_package(Qt6Gui REQUIRED)
add_executable(${PROJECT_NAME}
main.cpp
stompframe.cpp
stomp.cpp
app.cpp
)
link_directories( ${PCL_LIBRARY_DIRS} )

38
app.cpp
View File

@ -25,6 +25,7 @@ void App::receiveIndication(int id, QString destination, QString body) {
if(destination.contains("field")){
fillField(body);
}
computeMove();
}
void App::disconnectConfirmation() {
@ -40,26 +41,51 @@ void App::addGem(int x, int y, int pts) {
g.x = x;
g.y = y;
g.pts = pts;
g.relativePts = computeRelativePts(g);
gems_.append(g);
}
void App::printGem() {
for (Gem g: gems_) {
qDebug() << g.x << ":" << g.y << " - " << g.pts << Qt::endl;
}
}
void App::fillField(QString body) {
static int x = 0;
static int y = 0;
int x = 0;
int y = 0;
gems_.clear();
for(int i = 0; i<body.length(); i++) {
const QChar c = body.at(i);
if(c == 'g') addGem(x, y, 100);
if(c == 'G') addGem(x, y, 250);
if(c == 'D') addGem(x, y, 500);
if(c == 'Y') {
myVehicle_.x = x;
myVehicle_.y = y;
myVehicle_.me = true;
}
if(c == 'g') addGem(x, y, 100);
if(c == 'G') addGem(x, y, 250);
if(c == 'D') addGem(x, y, 500);
if(c == '\n') {
y++;
x = 0;
} else {
x++;
}
x++;
}
}
QVector2D App::computeRelativePts(Gem g) {
QVector2D v = QVector2D(myVehicle_.x, myVehicle_.y) - QVector2D(g.x, g.y);
}
void App::computeMove() {
Gem myGem;
for(Gem g : gems_) {
if(g.pts > myGem.pts) myGem = g;
}
if(myGem.x>myVehicle_.x) st_->sendRequest("/topic/sdi10.gem.command", "right");
else if(myGem.x<myVehicle_.x) st_->sendRequest("/topic/sdi10.gem.command", "left");
else if(myGem.y>myVehicle_.y) st_->sendRequest("/topic/sdi10.gem.command", "down");
else if(myGem.y<myVehicle_.y) st_->sendRequest("/topic/sdi10.gem.command", "up");
}

5
app.h
View File

@ -4,6 +4,7 @@
#include <QObject>
#include "interface/iStompObserver.h"
#include "stomp.h"
#include <QVector2D>
class App : public QObject, public interface::iStompObserver {
public:
@ -26,6 +27,7 @@ private:
int x;
int y;
int pts;
QVector2D relativePts;
} Gem;
typedef struct {
@ -37,7 +39,10 @@ private:
QVector<Gem> gems_;
Vehicle myVehicle_;
void addGem(int x, int y, int pts);
void printGem();
void fillField(QString body);
QVector2D computeRelativePts(Gem g);
void computeMove();
};