EV3: Fix atan2 RBF generation (#1998)

* Use radians instead of degrees

* Fix clazy warnings

* Fix EV3 code generation to convert radians to degrees

* Fix Vera and Codefactor issues

* Fix clazy warnings

* Remove line break from templates

* Fix clazy warnings

* Fix ev3 generation for atan2

* Fix ev3 generation

* Use atan2 as a subroutine

* Delete the terrible code

Author: MinyazevR

plugins/robots/generators/ev3/ev3RbfGenerator/lua/ev3LuaPrinter.cpp

@@ -674,11 +674,11 @@ void Ev3LuaPrinter::visit(const QSharedPointer<qrtext::lua::ast::FunctionCall> &
 				arguments << castTo(Ev3RbfType::dataF, qrtext::as<qrtext::lua::ast::Node>(argument));
 			}
 
-			if (mReservedFunctionsConverter.needChangeArg(nodeName)) {
+			if (mReservedFunctionsConverter.isCosOrSin(nodeName)) {
 				for (auto it = arguments.begin(); it != arguments.end(); it++) {
 					const auto &oldValue = *it;
 					const auto &argChanged = newRegister(Ev3RbfType::dataF);
-					additionalResults << mReservedFunctionsConverter.translateArg(nodeName, oldValue, argChanged);
+					additionalResults << QString("MULF(%1, %2, %3)").arg(oldValue, "57.29577951308232F", argChanged);
 					*it = argChanged;
 				}
 			}
@@ -698,9 +698,6 @@ void Ev3LuaPrinter::visit(const QSharedPointer<qrtext::lua::ast::FunctionCall> &
 	} else {
 		additionalResults << reservedFunctionCall.replace("@@RESULT@@", functionResult);
 		pushResult(node, result, additionalResults.join("\n"));
-		if (mReservedFunctionsConverter.needChangeResult(nodeName)) {
-			mAdditionalCode[node.data()] << mReservedFunctionsConverter.translateResult(nodeName, result);
-		}
 		if (shouldCastToIntAfter) {
 			mAdditionalCode[node.data()] << QString("MOVEF_32(%1, %2)").arg(functionResult, result);
 		}

plugins/robots/generators/ev3/ev3RbfGenerator/templates/functions/acos.t

@@ -1 +1,2 @@
-MATH(ACOS, @@ARGUMENT@@, @@RESULT@@)
+MATH(ACOS, @@ARGUMENT@@, @@RESULT@@)
+DIVF(@@RESULT@@, 57.29577951308232F, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/functions/asin.t

@@ -1 +1,2 @@
-MATH(ASIN, @@ARGUMENT@@, @@RESULT@@)
+MATH(ASIN, @@ARGUMENT@@, @@RESULT@@)
+DIVF(@@RESULT@@, 57.29577951308232F, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/functions/atan.t

@@ -1 +1,2 @@
-MATH(ATAN, @@ARGUMENT@@, @@RESULT@@)
+MATH(ATAN, @@ARGUMENT@@, @@RESULT@@)
+DIVF(@@RESULT@@, 57.29577951308232F, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/functions/atan2.t

@@ -1,2 +1 @@
-DIVF(@@ARGUMENT1@@, @@ARGUMENT2@@, _temp_sensor_value_f)
-MATH(ATAN, _temp_sensor_value_f, @@RESULT@@)
+CALL(atan2wrap_EV3_KERNEL_util, @@ARGUMENT1@@, @@ARGUMENT2@@, @@RESULT@@)

plugins/robots/generators/ev3/ev3RbfGenerator/templates/main.t

@@ -36,6 +36,25 @@ __programEnd:
 
 @@THREADS@@
 
+subcall atan2wrap_EV3_KERNEL_util
+{
+	IN_F y
+	IN_F x
+	OUT_F z
+
+	DATAF yDividedByX
+	DIVF(y, x, yDividedByX)
+	MATH(ATAN, yDividedByX, z)
+	DIVF(z, 57.29577951308232F, z)
+	JR_GTF(x, 0.0F, endLabel)
+	JR_GTEQF(y, 0.0F, yGreatEqualZero)
+	SUBF(z, pi, z)
+	JR(endLabel)
+yGreatEqualZero:
+	ADDF(z, pi, z)
+endLabel:
+}
+
 // utils functions block start
 subcall motors_overflow_check_EV3_KERNEL_util
 {

plugins/robots/generators/generatorBase/include/generatorBase/lua/reservedFunctionsConverter.h

@@ -27,26 +27,9 @@ class ROBOTS_GENERATOR_EXPORT ReservedFunctionsConverter : public TemplateParame
 
 	QString convert(const QString &name, const QStringList &args) const;
 
-	inline bool needChangeArg(const QString &name) const {
+	inline bool isCosOrSin(const QString &name) const {
 		return name == "cos" || name == "sin";
 	}
-
-	inline bool needChangeResult(const QString &name) const {
-		return name == "atan2" || name == "acos" || name == "asin" || name == "atan";
-	}
-
-	inline QString translateArg(const QString &functionName, const QString &argName, const QString &newArgName) const {
-		return needChangeArg(functionName) ? QString("MULF(%1, %2, %3)")
-						     .arg(argName, s180dividedByPi, newArgName) : QString();
-	}
-
-
-	inline QString translateResult(const QString &functionName, const QString &argName) const {
-		return needChangeResult(functionName) ? QString("DIVF(%1, %2, %1)")
-							.arg(argName, s180dividedByPi) : QString();
-	}
-private:
-	static constexpr const char* s180dividedByPi = "57.29577951308232F";
 };
 
 }

plugins/robots/generators/generatorBase/src/lua/reservedFunctionsConverter.cpp

@@ -18,8 +18,6 @@
 
 using namespace generatorBase::lua;
 
-constexpr const char* ReservedFunctionsConverter::s180dividedByPi;
-
 ReservedFunctionsConverter::ReservedFunctionsConverter(const QStringList &pathsToTemplates)
 	: TemplateParametrizedEntity(pathsToTemplates)
 {

qrtranslations/ru/plugins/robots/ev3RbfGenerator_ru.ts

@@ -13,7 +13,7 @@
         <translation type="vanished">/* Внимание: преобразование типа из строки в целое число пока не поддерживается. Пожалуйста, обратитесь к разработчикам с запросом. */ 0</translation>
     </message>
     <message>
-        <location filename="../../../../plugins/robots/generators/ev3/ev3RbfGenerator/lua/ev3LuaPrinter.cpp" line="+811"/>
+        <location filename="../../../../plugins/robots/generators/ev3/ev3RbfGenerator/lua/ev3LuaPrinter.cpp" line="+808"/>
         <source>/* Warning: cast from string to numeric type is not supported */ 0</source>
         <translation>/* Внимание: преобразование типа из строки в числовой тип пока не поддерживается. Пожалуйста, обратитесь к разработчикам с запросом. */ 0</translation>
     </message>