// Add AI execution timer to target Clonk
func AddAI(object clonk)
{
var fx = GetEffect("S2AI", clonk);
if (!fx) fx = AddEffect("S2AI", clonk, 1, 3, nil, S2AI);
if (!fx || !clonk) return nil;
fx.ai = S2AI;
clonk.ExecuteS2AI = S2AI.Execute;
if (clonk->GetProcedure() == "PUSH") fx.vehicle = clonk->GetActionTarget();
BindInventory(clonk);
SetHome(clonk);
SetGuardRange(clonk, fx.home_x-S2AI_DefGuardRangeX, fx.home_y-S2AI_DefGuardRangeY, S2AI_DefGuardRangeX*2, S2AI_DefGuardRangeY*2);
SetMaxAggroDistance(clonk, S2AI_DefMaxAggroDistance);
return fx;
}
void Servo::run()
{
if(mode == Servo::JOG){
//ジョグモードの場合は単発で目的位置へ移動
CPhidgetAdvancedServo_setPosition (*servo, index, position);
}else if(mode == Servo::PREDEFINED){
//プリディファインドモードの場合は制御ベクトルに従ってそれぞれ移動
if(to == 0){
SetReady();
}else if(to == 1){
SetContact();
}else if(to == 2){
SetHome();
}
}
//// エンゲージ
/*
if(mode == Servo::JOG){
std::cout << "[ サーボモーター制御スレッド ] モータID : " << index << " > エンゲージ（ジョグ）" << std::endl;
Engage(true);
}else if(mode == Servo::KNOCK){
std::cout << "[ サーボモーター制御スレッド ] モータID : " << index << " > エンゲージ（電磁弁）" << std::endl;
CPhidgetAdvancedServo_setPosition (*servo, index, knockPosition);
}
*/
//// ディスエンゲージ動作は行わない
//電磁弁的動作処理時間（0.5秒）
//Sleep(500);
//
//ディスエンゲージ
//std::cout << "ディスエンゲージ" << std::endl;
//CPhidgetAdvancedServo_setEngaged(*servo, index, 0);
}
/**
* "Boots" up XCSoar
* @param hInstance Instance handle
* @param lpCmdLine Command line string
* @return True if bootup successful, False otherwise
*/
bool XCSoarInterface::Startup(HINSTANCE hInstance, LPTSTR lpCmdLine)
{
// The title bar text
TCHAR szTitle[MAX_LOADSTRING];
// Store instance handle in our global variable
hInst = hInstance;
// IDS_APP_TITLE = XCSoar (see XCSoar.rc)
LoadString(hInstance, IDS_APP_TITLE, szTitle, MAX_LOADSTRING);
//If it is already running, then focus on the window
if (MainWindow::find(szTitle))
return false;
// Send the SettingsMap to the DeviceBlackboard
SendSettingsMap();
// Register window classes
PaintWindow::register_class(hInst);
MainWindow::register_class(hInst);
MapWindow::register_class(hInst);
// Fill the fast(co)sine table
InitSineTable();
PreloadInitialisation(true);
// Send the SettingsMap to the DeviceBlackboard
SendSettingsMap();
// Creates the main window
StartupStore(TEXT("Create main window\n"));
RECT WindowSize = SystemWindowSize();
main_window.set(szTitle,
WindowSize.left, WindowSize.top,
WindowSize.right, WindowSize.bottom);
if (!main_window.defined()) {
return false;
}
main_window.install_timer();
// Initialize DeviceBlackboard
device_blackboard.Initialise();
// Initialize Marks
marks = new Marks("xcsoar-marks");
topology = new TopologyStore(marks->GetTopology());
// Show the main and map windows
StartupStore(TEXT("Create map window\n"));
main_window.show();
main_window.map.show();
#ifdef HAVE_ACTIVATE_INFO
SHSetAppKeyWndAssoc(VK_APP1, main_window);
SHSetAppKeyWndAssoc(VK_APP2, main_window);
SHSetAppKeyWndAssoc(VK_APP3, main_window);
SHSetAppKeyWndAssoc(VK_APP4, main_window);
// Typical Record Button
// Why you can't always get this to work
// http://forums.devbuzz.com/m_1185/mpage_1/key_/tm.htm
// To do with the fact it is a global hotkey, but you can with code above
// Also APPA is record key on some systems
SHSetAppKeyWndAssoc(VK_APP5, main_window);
SHSetAppKeyWndAssoc(VK_APP6, main_window);
#endif
// Initialize main blackboard data
task.ClearTask();
glide_computer.Initialise();
logger.LinkGRecordDLL(); // try to link DLL if it exists
// Load the EGM96 geoid data
OpenGeoid();
PreloadInitialisation(false);
Profile::LoadWindFromRegistry();
// TODO TB: seems to be out of date?!
CalculateNewPolarCoef();
// Calculate polar-related data and saves it to the cache
StartupStore(TEXT("GlidePolar::UpdatePolar\n"));
GlidePolar::UpdatePolar(false, SettingsComputer());
// Show startup info depending on device
StartupInfo();
// Read the topology file(s)
topology->Open();
// Read the terrain file
terrain.OpenTerrain();
// Read the waypoint files
ReadWayPoints(way_points, terrain);
// Read and parse the airfield info file
ReadAirfieldFile();
// Set the home waypoint
SetHome(way_points, terrain, SetSettingsComputer(), false, true);
// ReSynchronise the blackboards here since SetHome touches them
ReadBlackboardBasic(device_blackboard.Basic());
terrain.ServiceFullReload(Basic().Location);
// Scan for weather forecast
CreateProgressDialog(gettext(TEXT("Scanning weather forecast")));
StartupStore(TEXT("RASP load\n"));
RASP.ScanAll(Basic().Location);
// Reads the airspace files
ReadAirspace();
// Sorts the airspaces by priority
SortAirspace();
// Read the FLARM details file
OpenFLARMDetails();
#ifndef DISABLEAUDIOVARIO
/*
VarioSound_Init();
VarioSound_EnableSound(EnableSoundVario);
VarioSound_SetVdead(SoundDeadband);
VarioSound_SetV(0);
VarioSound_SetSoundVolume(SoundVolume);
*/
#endif
// Start the device thread(s)
CreateProgressDialog(gettext(TEXT("Starting devices")));
devStartup(lpCmdLine);
// Reset polar in case devices need the data
StartupStore(TEXT("GlidePolar::UpdatePolar\n"));
GlidePolar::UpdatePolar(true, SettingsComputer());
CreateProgressDialog(gettext(TEXT("Initialising display")));
// Finally ready to go.. all structures must be present before this.
// Create the drawing thread
StartupStore(TEXT("CreateDrawingThread\n"));
draw_thread = new DrawThread(main_window.map, main_window.flarm);
draw_thread->start();
// Show the infoboxes
StartupStore(TEXT("ShowInfoBoxes\n"));
InfoBoxManager::Show();
// Create the calculation thread
StartupStore(TEXT("CreateCalculationThread\n"));
CreateCalculationThread();
#ifdef NEWTASK
{ // NEWTASK
PeriodClock t;
t.reset(); t.update();
CreateProgressDialog(gettext(TEXT("Running test 0")));
test_newtask(0);
StartupStore(TEXT("test 0 %d\n"),t.elapsed());
/*
t.update();
CreateProgressDialog(gettext(TEXT("Running test 1")));
test_newtask(1);
StartupStore(TEXT("test 1 %d\n"),t.elapsed());
t.update();
CreateProgressDialog(gettext(TEXT("Running test 2")));
test_newtask(2);
StartupStore(TEXT("test 2 %d\n"),t.elapsed());
t.update();
CreateProgressDialog(gettext(TEXT("Running test 3")));
test_newtask(3);
StartupStore(TEXT("test 3 %d\n"),t.elapsed());
t.update();
CreateProgressDialog(gettext(TEXT("Running test 4")));
test_newtask(4);
StartupStore(TEXT("test 4 %d\n"),t.elapsed());
*/
CreateProgressDialog(gettext(TEXT("test complete")));
}
#endif
// Initialise the airspace warning dialog
StartupStore(TEXT("dlgAirspaceWarningInit\n"));
dlgAirspaceWarningInit();
// Find unique ID of this PDA
ReadAssetNumber();
StartupStore(TEXT("ProgramStarted\n"));
// Give focus to the map
main_window.map.set_focus();
// Start calculation thread
calculation_thread->start();
// Start instrument thread
instrument_thread->start();
globalRunningEvent.trigger();
return true;
}
void SettingsLeave() {
if (!GlobalRunning) return;
SwitchToMapWindow();
// Locking everything here prevents the calculation thread from running,
// while shared data is potentially reloaded.
LockFlightData();
LockTaskData();
MenuActive = false;
// 101020 LKmaps contain only topology , so no need to force total reload!
if(MAPFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... MAPFILECHANGED from configuration\n"));
#endif
if (LKTopo==0) {
AIRSPACEFILECHANGED = TRUE;
AIRFIELDFILECHANGED = TRUE;
WAYPOINTFILECHANGED = TRUE;
TERRAINFILECHANGED = TRUE;
}
TOPOLOGYFILECHANGED = TRUE;
}
if (TERRAINFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... TERRAINFILECHANGED from configuration\n"));
#endif
RasterTerrain::CloseTerrain();
RasterTerrain::OpenTerrain();
// NO! We dont reload waypoints on terrain change.
// SetHome(WAYPOINTFILECHANGED==TRUE);
MapWindow::ForceVisibilityScan = true;
}
if((WAYPOINTFILECHANGED) || (AIRFIELDFILECHANGED)) {
#if TESTBENCH
StartupStore(_T(".... WAYPOINT OR AIRFIELD CHANGED from configuration\n"));
#endif
SaveDefaultTask(); //@ 101020 BUGFIX
ClearTask();
ReadWayPoints();
StartupStore(_T(". RELOADED %d WAYPOINTS + %d virtuals%s"),WayPointList.size()-NUMRESWP,NUMRESWP,NEWLINE);
SetHome(true); // force home reload
if (WAYPOINTFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... WAYPOINTFILECHANGED from configuration\n"));
#endif
SaveRecentList();
LoadRecentList();
RangeLandableNumber=0;
RangeAirportNumber=0;
RangeTurnpointNumber=0;
CommonNumber=0;
SortedNumber=0;
// SortedTurnpointNumber=0; 101222
LastDoRangeWaypointListTime=0;
LKForceDoCommon=true;
LKForceDoNearest=true;
LKForceDoRecent=true;
// LKForceDoNearestTurnpoint=true; 101222
}
InputEvents::eventTaskLoad(_T(LKF_DEFAULTASK)); //@ BUGFIX 101020
}
if (TOPOLOGYFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... TOPOLOGYFILECHANGED from configuration\n"));
#endif
CloseTopology();
OpenTopology();
MapWindow::ForceVisibilityScan = true;
}
if(AIRSPACEFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... AIRSPACEFILECHANGED from configuration\n"));
#endif
CAirspaceManager::Instance().CloseAirspaces();
CAirspaceManager::Instance().ReadAirspaces();
CAirspaceManager::Instance().SortAirspaces();
MapWindow::ForceVisibilityScan = true;
}
if (POLARFILECHANGED) {
#if TESTBENCH
StartupStore(_T(".... POLARFILECHANGED from configuration\n"));
#endif
CalculateNewPolarCoef();
GlidePolar::SetBallast();
}
if (AIRFIELDFILECHANGED
|| AIRSPACEFILECHANGED
|| WAYPOINTFILECHANGED
|| TERRAINFILECHANGED
|| TOPOLOGYFILECHANGED
) {
CloseProgressDialog();
MainWindow.SetFocus();
}
extern void ReinitScreen(void);
if (FONTSCHANGED) {
ReinitScreen();
}
UnlockTaskData();
UnlockFlightData();
if(!SIMMODE && COMPORTCHANGED) {
#if TESTBENCH
StartupStore(_T(".... COMPORTCHANGED from configuration. ForceComPortReset @%s\n"),WhatTimeIsIt());
#endif
LKForceComPortReset=true;
// RestartCommPorts(); 110605
}
MapWindow::ResumeDrawingThread();
// allow map and calculations threads to continue on their merry way
}
// 初期化（デフォルト実装）
void Init()
{
//デフォルト実装では可動子をホームポジションへ移動させる
SetHome();
}
bool wxvbamApp::OnCmdLineParsed(wxCmdLineParser &cl)
{
if (!wxApp::OnCmdLineParsed(cl))
return false;
wxString s;
if (cl.Found(wxT("save-xrc"), &s))
{
// This was most likely done on a command line, so use
// stderr instead of gui for messages
wxLog::SetActiveTarget(new wxLogStderr);
wxFileSystem fs;
wxFSFile* f = fs.OpenFile(wxT("memory:wxvbam.xrs#zip:wxvbam.xrs$wxvbam.xrc"));
if (!f)
{
wxLogError(_("Configuration/build error: can't find built-in xrc"));
return false;
}
wxFileOutputStream os(s);
os.Write(*f->GetStream());
delete f;
wxString lm;
lm.Printf(_("Wrote built-in configuration to %s.\n"
"To override, remove all but changed root node(s). "
"First found root node of correct name in any .xrc or "
".xrs files in following search path overrides built-in:"),
s.c_str());
tack_full_path(lm);
wxLogMessage(lm);
return false;
}
if (cl.Found(wxT("print-cfg-path")))
{
// This was most likely done on a command line, so use
// stderr instead of gui for messages
wxLog::SetActiveTarget(new wxLogStderr);
wxString lm(_("Configuration is read from, in order:"));
tack_full_path(lm);
wxLogMessage(lm);
return false;
}
if (cl.Found(wxT("save-over"), &s))
{
// This was most likely done on a command line, so use
// stderr instead of gui for messages
wxLog::SetActiveTarget(new wxLogStderr);
wxFileOutputStream os(s);
os.Write(builtin_over, sizeof(builtin_over));
wxString lm;
lm.Printf(_("Wrote built-in override file to %s\n"
"To override, delete all but changed section. First found section is used from search path:"), s.c_str());
wxString oi = wxFileName::GetPathSeparator();
oi += wxT("vba-over.ini");
tack_full_path(lm, oi);
lm.append(_("\n\tbuilt-in"));
wxLogMessage(lm);
return false;
}
if (cl.Found(wxT("f")))
{
pending_fullscreen = true;
}
if (cl.Found(wxT("o")))
{
wxPrintf(_("Options set from the command line are saved if any"
" configuration changes are made in the user interface.\n\n"
"For flag options, true and false are specified as 1 and 0, respectively.\n\n"));
for (int i = 0; i < num_opts; i++)
{
wxPrintf(wxT("%s (%s"), opts[i].opt,
opts[i].boolopt ? (const wxChar*)wxT("flag") :
opts[i].stropt ? (const wxChar*)wxT("string") :
opts[i].enumvals ? opts[i].enumvals :
opts[i].intopt ? (const wxChar*)wxT("int") :
(const wxChar*)wxT("string"));
if (opts[i].enumvals)
{
const wxChar* evx = wxGetTranslation(opts[i].enumvals);
if (wxStrcmp(evx, opts[i].enumvals))
wxPrintf(wxT(" = %s"), evx);
}
wxPrintf(wxT(")\n\t%s\n\n"), opts[i].desc);
if (opts[i].enumvals)
opts[i].enumvals = wxGetTranslation(opts[i].enumvals);
}
wxPrintf(_("The commands available for the Keyboard/* option are:\n\n"));
for (int i = 0; i < ncmds; i++)
wxPrintf(wxT("%s (%s)\n"), cmdtab[i].cmd, cmdtab[i].name);
return false;
}
#if !defined(NO_LINK) && !defined(__WXMSW__)
if (cl.Found(wxT("s")))
{
CleanLocalLink();
}
#endif
int nparm = cl.GetParamCount();
bool complained = false, gotfile = false;
for (int i = 0; i < nparm; i++)
{
wxString p = cl.GetParam(i);
size_t eqat = p.find(wxT('='));
if (eqat != wxString::npos)
{
p[eqat] = 0;
if (!opt_set(p.c_str(), p.c_str() + eqat + 1))
{
p[eqat] = wxT('=');
eqat = wxString::npos;
}
else
p[eqat] = wxT('=');
pending_optset.push_back(p);
}
if (eqat == wxString::npos)
{
if (!gotfile)
{
pending_load = p;
gotfile = true;
}
else
{
if (!complained)
{
wxFprintf(stderr, _("Bad configuration option or multiple ROM files given:\n"));
wxFprintf(stderr, wxT("%s\n"), pending_load.c_str());
complained = true;
}
wxFprintf(stderr, wxT("%s\n"), p.c_str());
}
}
}
home = strdup((const char*)wxApp::argv[0]);
SetHome(home);
LoadConfig(); // Parse command line arguments (overrides ini)
ReadOpts(argc, (char**)argv);
return true;
}
