//! On message GpsFix
//! @param[in] msg pointer to GpsFix message
void
onGpsFix(const IMC::GpsFix* msg)
{
float dist;
switch (m_pstate)
{
case ST_GET_FIX:
case ST_SKEEP:
if (!(msg->validity & IMC::GpsFix::GFV_VALID_POS))
break;
double lat;
double lon;
Coordinates::toWGS84(m_state, lat, lon);
dist = Coordinates::WGS84::distance(lat, lon, 0.0,
msg->lat, msg->lon, 0.0);
if (msg->satellites >= m_args->min_sats &&
dist < m_args->min_distance)
{
goDown();
m_pstate = ST_GO_DOWN;
}
break;
default:
break;
}
}
//! On message EstimatedState
//! @param[in] msg pointer to EstimatedState message
void
onEstimatedState(const IMC::EstimatedState* msg)
{
m_state = *msg;
switch (m_pstate)
{
case ST_GO_UP:
case ST_GO_DOWN:
m_elevate->update(msg);
break;
case ST_SKEEP:
if (isSKeepTooFar(msg))
{
startStationKeeping();
m_task->inf(DTR("relocated station keeping"));
}
m_skeep->update(msg);
if (m_dur_timer.overflow())
{
goDown();
m_pstate = ST_GO_DOWN;
}
break;
default:
break;
}
}
int CubesterTTP::getAction(Ogre::Vector3 playerPos)
{
int caseNum = (actionIndex/pathLength) % 2;
if(caseNum == 0 ) // 0 to pathLength go right
return goDown();
else
reload();
}
bool Board::handleInput()
{
//If a key was pressed
if( event.type == SDL_KEYDOWN )
{
//Adjust the velocity
switch( event.key.keysym.sym )
{
case SDLK_UP:return rotate();
case SDLK_LEFT:return moveLeft();
case SDLK_RIGHT:return moveRight();
case SDLK_DOWN: goDown(); return true;
case SDLK_SPACE:while(goDown()); return true;
default:;
}
}
return false;
}
int AbstractCubester::move(int dir)
{
if(dir == 0 ) // 0 to pathLength go right
return goUp();
else if(dir == 1)
return goRight();
else if(dir == 2)
return goDown();
else if(dir == 3)
return goLeft();
}
void Mouse::move()
{
if (icon == 0)
goRight();
else if (icon == 1)
goLeft();
else if (icon == 2)
goUp();
else
goDown();
}
int CubesterCCBLSquare::getAction(Ogre::Vector3 playerPos)
{
int caseNum = (actionIndex/pathLength) % 4;
if(caseNum == 0 ) // 0 to pathLength go right
return goRight();
else if(caseNum == 1)
return goUp();
else if(caseNum == 2)
return goLeft();
else if(caseNum == 3)
return goDown();
}
void Npc::updateCurrent(CommandQueue &command_queue, const sf::Time dt)
{
if (isActive())
{
updateAnimation(dt);
action_queue.update(dt);
if (getCurrentDirection() == Direction::Left) goLeft(dt);
else if (getCurrentDirection() == Direction::Right) goRight(dt);
else if (getCurrentDirection() == Direction::Up) goUp(dt);
else if (getCurrentDirection() == Direction::Down) goDown(dt);
}
}
void checkRelation(Task * task)
{
if (task->cur->rel == NULL)
{
task->cur = NULL;
return;
}
switch (task->cur->rel->relType)
{
case TREL_SCRIPT:
task->cur = task->cur->rel->next;
goDown(task);
break;
case TREL_OR:
debug("IN OR Getted %d\n", task->curRet);
if (task->curRet != 0)
{
task->cur = task->cur->rel->next;
goDown(task);
}
else
goUp(task);
break;
case TREL_AND:
debug("IN AND Getted %d\n", task->curRet);
if (task->curRet == 0)
{
task->cur = task->cur->rel->next;
goDown(task);
}
else
goUp(task);
break;
case TREL_END:
goUp(task);
break;
}
}
int Field::goDown(Point ind, bool scoreit)
{
Point next_ind = ind;
next_ind.y+=1;
int sum=1;
if (At(next_ind) && At(next_ind)->IsID(At(ind))) sum+=goDown(next_ind,scoreit);
if (scoreit)
{
StartAnimation(ind);
}
return sum;
}
void goDown(Task * task)
{
if (task == NULL)
return;
switch (task->cur->cmdType)
{
case TCMD_SCRIPT:
case TCMD_LIST:
task->cur = task->cur->child;
goDown(task);
break;
}
}
void Enemy::patrol()
{
std::discrete_distribution<int> dir_distribution({ 60, 10, 10, 10, 10 });
std::uniform_int_distribution<int> distance_distribution(50, 100);
std::uniform_real_distribution<float> wait_time_distribution(1.f, 3.f);
Direction dir = static_cast<Direction>(dir_distribution(mt));
int distance = distance_distribution(mt);
stop_time = sf::seconds(wait_time_distribution(mt));
//Action selection
Action patrol;
patrol.thread_id = 1;
patrol.action = get_action([this, dir, distance](sf::Time dt)
{
if (dir == Direction::Left) { moveLeft(distance); }
else if (dir == Direction::Right) { moveRight(distance); }
else if (dir == Direction::Up) { moveUp(distance); }
else if (dir == Direction::Down) { moveDown(distance); }
//else if (dir == Direction::None) { std::cout << "Stop time" << stop_time.asSeconds() << std::endl; wait(stop_time); }
return false;
});
//When we have 2 actions we stop action addition
unsigned int max_actions = 2;
if (action_tree.threadSize(patrol.thread_id) < max_actions)
{
pushAction(patrol);
}
//Action updating, each frame
Action patrol_update;
patrol_update.thread_id = 0;
patrol_update.action = get_action([this](sf::Time dt)
{
if (getCurrentDirection() == Direction::Left) { goLeft(dt); }
else if (getCurrentDirection() == Direction::Right) { goRight(dt); }
else if (getCurrentDirection() == Direction::Up) { goUp(dt); }
else if (getCurrentDirection() == Direction::Down) { goDown(dt); }
return false;
});
pushAction(patrol_update);
}
void MainMenuController::handleEvents(sf::Event &event) {
IController::handleEvents(event);
if (event.type == sf::Event::KeyPressed) {
///EVENT FOR BUTTONS :
if (event.key.code == sf::Keyboard::Return) {
fireButton();
}
else if (event.key.code == sf::Keyboard::Up) {
goUp();
}
else if (event.key.code == sf::Keyboard::Down) {
goDown();
}
}
}
int main()
{
HANDLE hConsole = GetStdHandle(STD_OUTPUT_HANDLE);
COORD pos;
pos.X = 0;
pos.Y = 0;
SetConsoleCursorPosition(hConsole, pos);
while(pos.X < cols){
goDown(&pos, hConsole);
if(pos.X == cols - 1) break;
pos.X++;
SetConsoleCursorPosition(hConsole, pos);
goUp(&pos, hConsole);
pos.X++;
SetConsoleCursorPosition(hConsole, pos);
}
return EXIT_SUCCESS;
}
/**
* Test keys and try move, use borrowed controls.
* @return a symbol when unit has moved or SYM_NONE
*/
char
Unit::driveBorrowed(const InputProvider *input, const KeyControl &buttons)
{
if (canDrive()) {
if (input->isPressed(buttons.getLeft())) {
return goLeft();
}
if (input->isPressed(buttons.getRight())) {
return goRight();
}
if (input->isPressed(buttons.getUp())) {
return goUp();
}
if (input->isPressed(buttons.getDown())) {
return goDown();
}
}
return ControlSym::SYM_NONE;
}
/**
* Make move.
* @return move symbol or SYM_NONE for bad move
*/
char
Unit::driveOrder(char move)
{
if (canDrive()) {
if (m_symbols.getLeft() == move) {
return goLeft();
}
if (m_symbols.getRight() == move) {
return goRight();
}
if (m_symbols.getUp() == move) {
return goUp();
}
if (m_symbols.getDown() == move) {
return goDown();
}
}
return ControlSym::SYM_NONE;
}
/*
* This controls where the cursor moves to next.
* Press w to go up
* Press a to go left
* Press s to go down
* Press d to go right
*/
void control(unsigned char c, point * p, int (*board)[width]){
if(c == 'w'){
goUp(p, board);
}
if(c == 'a'){
goLeft(p, board);
}
if(c == 's'){
goDown(p,board);
}
if(c == 'd'){
goRight(p,board);
}
//9 corresponds to Tab
if(c == 9){
clearGrid(board, p);
}
}
void getNextJob(Task * task)
{
if (task == NULL || task->cur == NULL)
return;
switch (task->cur->cmdType)
{
case TCMD_SCRIPT:
case TCMD_LIST:
goDown(task);
break;
case TCMD_PIPE:
case TCMD_SIMPLE:
if (!task->firstly)
checkRelation(task);
break;
}
if (task->firstly)
task->firstly = 0;
}
void RoboPult::Down()
{
if(askStena->isChecked () ){emit hasDownWall(); askStena->setChecked(false);switchButt();return;};
if(askFree->isChecked () ){emit noDownWall(); askFree->setChecked(false);switchButt();return;};
emit goDown();
};
void playBlock(void)
{
unsigned char a=0;
collisionDetect();
if(collision > 0)
{
arrayOr();
lcdWrite();
gameOver();
}
else
{
goDown();
arrayOr();
collisionDetect();
bottomReachDetect();
if( (collision+bottom) == 0)
{
a = (PINC&0B00001111);
if (a == 0B00001110)
{
goLeft();
}
if (a == 0B00001101)
{
goRight();
}
if (a == 0B00000111)
{
blockTurn();
}
if (a== 0B00001011)
{
_delay_ms(50);
}
else
{
switch(level)
{
case 1:
_delay_ms(500);
break;
case 2:
_delay_ms(350);
break;
case 3:
_delay_ms(250);
break;
case 4:
_delay_ms(125);
break;
case 5:
_delay_ms(75);
break;
}
}
}
if (collision==0)
{
lcdWrite();
}
}
}
