int Mv_management::get_dir(int i)
{
if (data->vcEvents[i].vcPage[0].Movement_type==0)//do not move
return(5);
if (data->vcEvents[i].vcPage[0].Movement_type==1)// random
{
return(random_move( i));
}
if (data->vcEvents[i].vcPage[0].Movement_type==2)// up down
{
return(up_down(i));
}
if (data->vcEvents[i].vcPage[0].Movement_type==3)// left right
{
return(left_right(i));
}
if (data->vcEvents[i].vcPage[0].Movement_type==4)// go to the hero
{
return(to_hero(i));
}
if (data->vcEvents[i].vcPage[0].Movement_type==5)// run frome the hero
{
return(escape_hero(i));
}
if (data->vcEvents[i].vcPage[0].Movement_type==6)// use the stack
{
return(custom(i));
}
return(5);
}
counter move_one_polyhedron(int id, polyhedron *p, int N, const double periodic[3],
const double walls[3], bool real_walls, double neighborR,
double dist, double angwidth, int max_neighbors, double dr) {
const double len[3] = {periodic[0]+walls[0], periodic[1]+walls[1], periodic[2]+walls[2]};
polyhedron temp = random_move(p[id], dist, angwidth, len);
counter move;
move.totalmoves ++;
if (in_cell(temp, walls, real_walls)) {
bool overlaps = overlaps_with_any(temp, p, periodic);
if (!overlaps) {
const bool get_new_neighbors =
(periodic_diff(temp.pos, temp.neighbor_center, periodic).normsquared() >
sqr(neighborR/2.0));
if (get_new_neighbors) {
// If we've moved too far, then the overlap test may have given a false
// negative. So we'll find our new neighbors, and check against them.
// If we still don't overlap, then we'll have to update the tables
// of our neighbors that have changed.
temp.neighbors = new int[max_neighbors];
update_neighbors(temp, id, p, N, neighborR + 2*dr, periodic);
move.updates ++;
// However, for this check (and this check only), we don't need to
// look at all of our neighbors, only our new ones.
// fixme: do this!
//int *new_neighbors = new int[max_neighbors];
overlaps = overlaps_with_any(temp, p, periodic);
if (!overlaps) {
// Okay, we've checked twice, just like Santa Clause, so we're definitely
// keeping this move and need to tell our neighbors where we are now.
temp.neighbor_center = temp.pos;
inform_neighbors(temp, p[id], id, p);
move.informs ++;
delete[] p[id].neighbors;
}
else delete[] temp.neighbors;
}
if (!overlaps) {
p[id] = temp;
move.workingmoves ++; // move sucessful
return move;
}
}
}
return move; // move unsucessful
}
int main()
{
int board[BOARD_SIZE_HORIZ][BOARD_SIZE_VERT] = { {0} };
int player_num, computer_num;
int last_move;
/* Ask Alice if she wants to go first */
player_num = print_welcome();
if (player_num == 1) computer_num = 2;
else computer_num = 1;
/* If Alice wants to go first, let her make a move */
if (player_num == 1)
{
display_board(board);
last_move = player_move(board,player_num);
display_board(board);
}
/* The main loop */
while (1)
{
/* Make a computer move, then display the board */
last_move = random_move(board,computer_num);
printf("Computer moved in column: %d\n", last_move);
display_board(board);
/* Check whether the computer has won */
if (check_win_or_tie(board,last_move)) return 0;
/* Let Alice make a move, then display the board */
last_move = player_move(board,player_num);
display_board(board);
/* Check whether Alice has won */
if (check_win_or_tie(board,last_move)) return 0;
} /* end of while (1) */
} /* end of main() */
int do_train(string arg)
{
object me, where;
me=this_player();
where=environment(me);
/*
if( where->query("no_fight") )
return notify_fail("安全区内不能训兽！\n");
*/
if( !arg )
return notify_fail("你要驯服什么？\n");
if( arg != (string)this_object()->query("id") )
return notify_fail("你要驯服什么？\n");
if( this_object()->query_temp("rider") )
return notify_fail("这匹坐骑上已经有人了。\n");
if( (string)this_object()->query("owner")==(string)me->query("id") )
return notify_fail("这匹坐骑已经是你的了。\n");
if( this_object()->is_fighting() )
return notify_fail("这匹坐骑已经分身不暇了。\n");
if( !living(this_object()) )
return notify_fail("现在耍什么威风？\n");
if( where->query("no_fight") ) {
random_move();
return 1;
}
message_vision(HIM"$N冲上前去和$n扭打成一团。\n"NOR, me, this_object());
this_object()->set_temp("owner",me->query("id"));
reset_status();
this_object()->kill_ob(me);
me->fight_ob(this_object());
return 1;
}
static inline void
filter (void)
{
static void (* overlap)(guchar *, const guchar *);
GimpPixelRgn src;
GimpPixelRgn dst;
GimpRGB color;
guchar pixel[4];
gint division_x;
gint division_y;
gint offset_x;
gint offset_y;
Tile *tiles;
gint numof_tiles;
Tile *t;
gint i;
gint x;
gint y;
gint move_max_pixels;
gint clear_x0;
gint clear_y0;
gint clear_x1;
gint clear_y1;
gint clear_width;
gint clear_height;
guchar *pixels;
guchar *buffer;
gint dindex;
gint sindex;
gint px, py;
GRand *gr;
gr = g_rand_new ();
/* INITIALIZE */
gimp_pixel_rgn_init (&src, p.drawable, 0, 0,
p.drawable->width, p.drawable->height, FALSE, FALSE);
gimp_pixel_rgn_init (&dst, p.drawable, 0, 0,
p.drawable->width, p.drawable->height, TRUE, TRUE);
pixels = g_new (guchar,
p.drawable->bpp * p.drawable->width * p.drawable->height);
buffer = g_new (guchar,
p.drawable->bpp * p.params.tile_width * p.params.tile_height);
overlap = p.drawable_has_alpha ? overlap_RGBA : overlap_RGB;
gimp_progress_init (_("Paper Tile"));
gimp_drawable_mask_bounds (p.drawable->drawable_id,
&p.selection.x0, &p.selection.y0,
&p.selection.x1, &p.selection.y1);
p.selection.width = p.selection.x1 - p.selection.x0;
p.selection.height = p.selection.y1 - p.selection.y0;
gimp_tile_cache_ntiles (2 * (p.selection.width / gimp_tile_width () + 1));
/* TILES */
division_x = p.params.division_x;
division_y = p.params.division_y;
if (p.params.fractional_type == FRACTIONAL_TYPE_FORCE)
{
if (0 < p.drawable->width % p.params.tile_width) division_x++;
if (0 < p.drawable->height % p.params.tile_height) division_y++;
if (p.params.centering)
{
if (1 < p.drawable->width % p.params.tile_width)
{
division_x++;
offset_x =
(p.drawable->width % p.params.tile_width) / 2 -
p.params.tile_width;
}
else
{
offset_x = 0;
}
if (1 < p.drawable->height % p.params.tile_height)
{
division_y++;
offset_y =
(p.drawable->height % p.params.tile_height) / 2 -
p.params.tile_height;
}
else
{
offset_y = 0;
}
}
else
{
offset_x = 0;
offset_y = 0;
}
}
else
{
if (p.params.centering)
{
offset_x = (p.drawable->width % p.params.tile_width) / 2;
offset_y = (p.drawable->height % p.params.tile_height) / 2;
}
else
{
offset_x = 0;
offset_y = 0;
}
}
move_max_pixels = p.params.move_max_rate * p.params.tile_width / 100.0;
numof_tiles = division_x * division_y;
t = tiles = g_new(Tile, numof_tiles);
for (y = 0; y < division_y; y++)
{
gint srcy = offset_y + p.params.tile_height * y;
for (x = 0; x < division_x; x++, t++)
{
gint srcx = offset_x + p.params.tile_width * x;
if (srcx < 0)
{
t->x = 0;
t->width = srcx + p.params.tile_width;
}
else if (srcx + p.params.tile_width < p.drawable->width)
{
t->x = srcx;
t->width = p.params.tile_width;
}
else
{
t->x = srcx;
t->width = p.drawable->width - srcx;
}
if (srcy < 0)
{
t->y = 0;
t->height = srcy + p.params.tile_height;
}
else if (srcy + p.params.tile_height < p.drawable->height)
{
t->y = srcy;
t->height = p.params.tile_height;
}
else
{
t->y = srcy;
t->height = p.drawable->height - srcy;
}
t->z = g_rand_int (gr);
random_move (&t->move_x, &t->move_y, move_max_pixels);
}
}
qsort (tiles, numof_tiles, sizeof *tiles, tile_compare);
gimp_pixel_rgn_get_rect (&src, pixels, 0, 0, p.drawable->width,
p.drawable->height);
if (p.params.fractional_type == FRACTIONAL_TYPE_IGNORE)
{
clear_x0 = offset_x;
clear_y0 = offset_y;
clear_width = p.params.tile_width * division_x;
clear_height = p.params.tile_height * division_y;
}
else
{
clear_x0 = 0;
clear_y0 = 0;
clear_width = p.drawable->width;
clear_height = p.drawable->height;
}
clear_x1 = clear_x0 + clear_width;
clear_y1 = clear_y0 + clear_height;
switch (p.params.background_type)
{
case BACKGROUND_TYPE_TRANSPARENT:
for (y = clear_y0; y < clear_y1; y++)
{
for (x = clear_x0; x < clear_x1; x++)
{
dindex = p.drawable->bpp * (p.drawable->width * y + x);
for (i = 0; i < p.drawable->bpp; i++)
{
pixels[dindex+i] = 0;
}
}
}
break;
case BACKGROUND_TYPE_INVERTED:
for (y = clear_y0; y < clear_y1; y++)
{
for (x = clear_x0; x < clear_x1; x++)
{
dindex = p.drawable->bpp * (p.drawable->width * y + x);
pixels[dindex+0] = 255 - pixels[dindex+0];
pixels[dindex+1] = 255 - pixels[dindex+1];
pixels[dindex+2] = 255 - pixels[dindex+2];
}
}
break;
case BACKGROUND_TYPE_IMAGE:
break;
case BACKGROUND_TYPE_FOREGROUND:
gimp_context_get_foreground (&color);
gimp_rgb_get_uchar (&color, &pixel[0], &pixel[1], &pixel[2]);
pixel[3] = 255;
for (y = clear_y0; y < clear_y1; y++)
{
for (x = clear_x0; x < clear_x1; x++)
{
dindex = p.drawable->bpp * (p.drawable->width * y + x);
for (i = 0; i < p.drawable->bpp; i++)
{
pixels[dindex+i] = pixel[i];
}
}
}
break;
case BACKGROUND_TYPE_BACKGROUND:
gimp_context_get_background (&color);
gimp_rgb_get_uchar (&color, &pixel[0], &pixel[1], &pixel[2]);
pixel[3] = 255;
for (y = clear_y0; y < clear_y1; y++)
{
for (x = clear_x0; x < clear_x1; x++)
{
dindex = p.drawable->bpp * (p.drawable->width * y + x);
for(i = 0; i < p.drawable->bpp; i++)
{
pixels[dindex+i] = pixel[i];
}
}
}
break;
case BACKGROUND_TYPE_COLOR:
gimp_rgba_get_uchar (&p.params.background_color,
pixel, pixel + 1, pixel + 2, pixel + 3);
for (y = clear_y0; y < clear_y1; y++)
{
for (x = clear_x0; x < clear_x1; x++)
{
dindex = p.drawable->bpp * (p.drawable->width * y + x);
for(i = 0; i < p.drawable->bpp; i++)
{
pixels[dindex+i] = pixel[i];
}
}
}
break;
}
/* DRAW */
for (t = tiles, i = 0; i < numof_tiles; i++, t++)
{
gint x0 = t->x + t->move_x;
gint y0 = t->y + t->move_y;
gimp_pixel_rgn_get_rect (&src, buffer, t->x, t->y, t->width, t->height);
for (y = 0; y < t->height; y++)
{
py = y0 + y;
for (x = 0; x < t->width; x++)
{
px = x0 + x;
sindex = p.drawable->bpp * (t->width * y + x);
if (0 <= px && px < p.drawable->width &&
0 <= py && py < p.drawable->height)
{
dindex = p.drawable->bpp * (p.drawable->width * py + px);
overlap(&pixels[dindex], &buffer[sindex]);
}
else if (p.params.wrap_around)
{
px = (px + p.drawable->width) % p.drawable->width;
py = (py + p.drawable->height) % p.drawable->height;
dindex = p.drawable->bpp * (p.drawable->width * py + px);
overlap(&pixels[dindex], &buffer[sindex]);
}
}
}
gimp_progress_update ((gdouble) i / (gdouble) numof_tiles);
}
gimp_pixel_rgn_set_rect (&dst, pixels, 0, 0, p.drawable->width,
p.drawable->height);
gimp_progress_update (1.0);
gimp_drawable_flush (p.drawable);
gimp_drawable_merge_shadow (p.drawable->drawable_id, TRUE);
gimp_drawable_update (p.drawable->drawable_id,
p.selection.x0, p.selection.y0,
p.selection.width, p.selection.height);
g_rand_free (gr);
g_free (buffer);
g_free (pixels);
g_free (tiles);
}
/*** Main Triangulation Function ***/
int main()
{
initialize_api(); // Initializes the robot API
robot_connect("127.0.0.1"); // This always needs to be 127.0.0.1 to connect to the robot
barcode_configure(2 /*number of digits*/, 10 /*barcodes per pass*/, 2 /*kept passes*/,
2 /*skip pixel width*/, 2 /*min bar width*/, 100 /* Allowed skew */, -1 /*Otsu thresholding*/,
image_width /*image width*/, image_height /*image height*/);
sleep(1);
int** barcodes; // Pointer for a two-dimensional array, will hold returned barcodes
int* xy; // Pointer to an array [x,y]
camera_set(CAM_ANGLE); // Sets the tilt on the camera to the current defined camera angle
// Create a thread to handle grabbing images for checking barcodes
pthread_create(&vision_thread, NULL, barcode_start, NULL);
// The final x and y coordinates of the three barcodes
double x1,y1,x2,y2,x3,y3;
x1 = y1 = x2 = y2 = x3 = y3 = 0.0;
// Grab the current seen barcodes
barcode_frame_wait(); // Waits for the next frame from the current counter
barcodes = barcode_get_barcodes(); // Retrieves the barcodes in the 2D array
int num_codes = (int)barcodes[0]; // Number of barcodes detected
int num_digits = (int)barcodes[1]; // Number of digits per barcode (will be 2)
printf("Detected %d barcodes %d digits long:\n", num_codes, num_digits);
// Find three barcodes if we didn't see three at first
while (num_codes < 3) {
// Code to shutdown when the high bump is pressed. Just in case we never find the cans...
if (get_high_bump() == 1) {
free(barcodes);
robot_stop();
/*** Teardown Code ***/
vision_running = 0; // Tells the background thread to nicely finish
pthread_join(vision_thread, NULL); // Waits nicely for the barcode module to shutdown
shutdown_api(); // Shuts down the robot API
return 0; // Returns 0
}
printf("Didn't see 3 barcodes. Moving to find them...\n\n");
random_move((int)barcodes[0]);
free(barcodes);
sleep(3);
barcode_frame_wait_start(); // Reset the frame wait counter to wait for next full frame
barcode_frame_wait(); // Waits for the next frame from the current counter
barcodes = barcode_get_barcodes(); // Retrieves the barcodes in the 2D array
num_codes = (int)barcodes[0]; // Number of barcodes detected
num_digits = (int)barcodes[1]; // Number of digits per barcode (will be 2)
printf("Detected %d barcodes %d digits long:\n", num_codes, num_digits);
}
int i;
/* Runs through the barcodes detected, which start at index [2] */
for(i = 2; i < num_codes+2; i++)
{
/* This block converts the raw digits into actual numbers */
int j;
uint32_t sum = 0;
for(j = 0; j < num_digits; j++)
{
sum += barcodes[i][j] * pow(10,(num_digits-1)-j);
}
/* Get the X and Y positions of the cans relative to the robot */
xy = barcode_get_cur_xy(sum);
int bottom_y = convert_camera_y(barcodes[i][j+3]);
double x_pos = can_xpos(bottom_y);
double y_pos = can_ypos(x_pos,convert_camera_x(xy[0]));
printf("Barcode: %d\tX_CAM: %d\tY_CAM: %d\n",sum,convert_camera_x(xy[0]),bottom_y);
printf("X_POS: %f\n",x_pos);
printf("Y_POS: %f\n",y_pos);
// Save the (x,y) coordinates in the proper variables for use later
switch(i - 1) {
case 1:
x1 = x_pos;
y1 = y_pos;
break;
case 2:
x2 = x_pos;
y2 = y_pos;
break;
case 3:
x3 = x_pos;
y3 = y_pos;
break;
default:
break;
}
free(xy);
}
// We don't need the camera or barcodes any more, so free them up
vision_running = 0; // Tells the background thread to nicely finish
pthread_join(vision_thread, NULL); // Waits nicely for the barcode module to shutdown
free(barcodes);
/*** Calculate the centroid, and the distance and angle of rotation to it ***/
double x_centroid = (x1 + x2 + x3) / 3.0;
double y_centroid = (y1 + y2 + y3) / 3.0;
double dist_centroid = sqrt((x_centroid * x_centroid) + (y_centroid * y_centroid));
int16_t dist_cm = (int16_t) round(dist_centroid);
double theta_centroid = atan((y_centroid / x_centroid));
int16_t theta_deg = (int16_t) round(DEG_CONV * (theta_centroid * calculate_error_damp(dist_centroid)));
printf("\n\nCentroid X: %f\nCentroid Y: %f\nDistance: %f\nAngle: %d\n\n",x_centroid,y_centroid,dist_centroid,theta_deg);
// Use the distance and angle calculations to set the proper robot turn and move values
int8_t speed;
if(theta_deg >= 0){
speed = ROBOT_SPEED;
}
else{ // If the angle is negative, turn clockwise (= negative speed)
speed = ROBOT_SPEED * (-1);
theta_deg = theta_deg*(-1); // Angle must be positive for turn_robot_wait()
}
printf("Turning by %d degrees\n", theta_deg);
turn_robot_wait(speed,theta_deg);
printf("Moving %d cm\n",dist_cm);
move_distance_wait(ROBOT_SPEED,dist_cm);
// Make sure the robot has stopped
robot_stop();
/*** Teardown Code ***/
shutdown_api(); // Shuts down the robot API
return 0; // Returns 0
}
static void
randomize_tiles (GeglProperties *o,
const GeglRectangle *rect,
gint division_x,
gint division_y,
gint offset_x,
gint offset_y,
gint n_tiles,
Tile *tiles)
{
Tile *t = tiles;
gint move_max_pixels = o->move_rate * o->tile_width / 100;
gint x;
gint y;
GRand *gr;
gr = g_rand_new ();
for (y = 0; y < division_y; y++)
{
gint srcy = offset_y + o->tile_height * y;
for (x = 0; x < division_x; x++, t++)
{
gint srcx = offset_x + o->tile_width * x;
if (srcx < 0)
{
t->x = 0;
t->width = srcx + o->tile_width;
}
else if (srcx + o->tile_width < rect->width)
{
t->x = srcx;
t->width = o->tile_width;
}
else
{
t->x = srcx;
t->width = rect->width - srcx;
}
if (srcy < 0)
{
t->y = 0;
t->height = srcy + o->tile_height;
}
else if (srcy + o->tile_height < rect->height)
{
t->y = srcy;
t->height = o->tile_height;
}
else
{
t->y = srcy;
t->height = rect->height - srcy;
}
t->z = g_rand_int (gr);
random_move (&t->move_x, &t->move_y, move_max_pixels, gr);
}
}
qsort (tiles, n_tiles, sizeof (*tiles), tile_compare);
}
int main(void) {
int dir;
srand(time(NULL));
uint8_t nb_empty_box, nb_merge;
#if USE_BIN
/* Creation of a grid */
grid_t grid = create_empty_grid_bin();
/* Grid backup */
grid_t saved_grid;
/* Initialisation of the grid */
grid = init_grid_bin(grid, &nb_empty_box);
/* Display the grid */
display_grid_bin(grid);
/* Main loop for a game */
while (nb_empty_box > 0 || merge_possible_bin(grid)) {
do {
saved_grid = grid;
/* While the move does not lead to a change on the grid */
// dir = random_move();
dir = best_move_bin(grid, nb_empty_box);
/* Trying to play the move */
grid = move_bin(grid, dir, &nb_merge);
nb_empty_box += nb_merge;
} while (grid == saved_grid);
/* Add tile */
grid = add_tile_bin(grid);
nb_empty_box--;
/* Display the new grid */
display_grid_bin(grid);
printf("Empty boxes: %u\n", nb_empty_box);
}
#else
/* Creation of a grid */
uint16_t **grid = create_empty_grid();
/* Initialisation of the grid */
init_grid(grid);
/* Display the grid */
display_grid(grid);
#if DEBUG
printf("Value: %i\n", evaluate(grid));
#endif
/* Main loop for a game */
while (!game_over(grid)) {
/* While the move does not lead to a change on the grid */
do {
#if IA
#if RANDOM
dir = random_move();
#else
dir = best_move(grid);
#endif
#else
dir = ask_dir();
#endif
/* Trying to play the move */
} while (!move(grid, dir));
/* Add a new tile at the end of each round */
add_tile(grid);
/* Display the new grid */
display_grid(grid);
#if DEBUG
printf("Value: %i\n", evaluate(grid));
#endif
}
#endif
return 0;
}
