GTPWrapper::GTPWrapper(int bs, bool isp, double iovalue,
double ikomi, int ilvl, int ieyesize, int tsteps)
{
// unstuckgnugno = true;
// headingsupport = iheadingsupport;
fheading = new int; sheading = new int;
*fheading = 0; *sheading=0;
thinksteps = tsteps;
eyesize = ieyesize;
ovalue = iovalue;
pos1 = new int[2];
pos2 = new int[2];
sp = isp;
komi = ikomi;
lvl = ilvl;
// for pure gnugo(production)
// p1 = "--mode gtp --boardsize ";
//with logging enabled, for debugging
// p1 = "--input-log gnugo_log_i.txt --output-log gnugo_log_o.txt --error-log gnugo_log_e.txt gnugo --mode gtp --boardsize ";
p1 = "--mode gtp --boardsize ";
//dunno :P boyes test code
// p1 = "-i /dev/ttyp6 -o /dev/ttyp6 -e /dev/ttyp6 gnugo --mode gtp --boardsize ";
stringstream ss1;
ss1 << p1;
//setting up the cmdline for right boardsize.
ss1 << bs << " --level " << lvl << " --komi " << komi;
p1 = ss1.str();
bsize = bs;
resetPos();
cout << "bsize: "<<bsize<<" pos1-0:"<<pos1[0]<<" pos2-0:" << pos2[0]<<endl;
//board.insert(board.begin(),(bsize*bsize),0);
board = state((int)pow(bsize,2)*2);
// for(int i=0;i<(bsize*bsize);i++)//setting up the board..
// board.push_back(0);
pipe(nPipeIn);
pipe(nPipeOut);
// runit();
toGnugo = new fdostream();
fromGnugo = new fdistream();
nChildFds = new int[3];
// string file = "logio";
// if (ConnectProcess("gnugo", p1, &fraGnugo, &tilGnugo, 0, 0, 0))
pid_t * nPid = new pid_t();
if (ConnectProcess(string("gnugo"), p1, toGnugo, fromGnugo, NULL, nPid, nChildFds))
{
cerr << "Failed to change process image (execvp) in parent process to "
<< "gnugo" << ". System error message: " << strerror(errno) << "\n.";
//return 1;
}
}
void Desk::setup ()
{
resetPos ();
_files.clear ();
_rightMargin = 950;
_debug_level = 0;
_debug = 0;
_do_writeDesk = false;
_allow_dispose = true;
_fbase_seq = 0;
_row_count = 0; // our record of the last valid row count
_dirty = false;
}
void GiftListView::removeItem(CCNode* item)
{
for (int i=0;i<(int)mGiftItems.count();i++)
{
if (item == mGiftItems.objectAtIndex(i))
{
mGiftItems.removeObject(item);
item->removeAllChildrenWithCleanup(true);
break;
}
}
resetPos();
}
void Upload::resume(int64_t aStart, int64_t aSize) noexcept {
setSegment(Segment(aStart, aSize));
setFlag(Upload::FLAG_RESUMED);
delayTime = 0;
auto s = stream.get()->releaseRootStream();
s->setPos(aStart);
stream.reset(s);
resetPos();
if((aStart + aSize) < fileSize) {
stream.reset(new LimitedInputStream<true>(stream.release(), aSize));
}
}
//update the balls position
void Ball::update()
{
if(ballOn)
{
//signal that we have started to move from the pong
if(moveCounter < 2)
{
moveCounter++;
}
//get the future/new position
vector newpos;
facingDir = normalize(facingDir);
facingDir.x *= FACING_MULT;
facingDir.y *= FACING_MULT;
newpos.x = (int)(pos.x + facingDir.x);
newpos.y = (int)(pos.y + facingDir.y);
//check for collision
int collision = checkMove(newpos.x, newpos.y);
//are we are not hitting anything
if(collision == 2)
{
//if we are not hitting the bricks
if(level->getLevelInfo(newpos.x, newpos.y) == TILE_EMPTY)
{
//keep moving
move(facingDir.x, facingDir.y);
}
//if we are hitting the BLOCKS
else
{
//get the current blocks normal
vector normDir;
normDir = level->getEnemiesNormal((newpos.x / GRID_SIZE_WIDTH),
(newpos.y / GRID_SIZE_HEIGHT));
//clamp the facingDir and store it in tmp
//so when we move we dont visually overlap with the block we just hit
vector tmp = clampBlocks(newpos.x, newpos.y);
//move the ball on top of the block
move(tmp.x,tmp.y);
//kill the block
level->emptyBlock(newpos.x / GRID_SIZE_WIDTH, newpos.y / GRID_SIZE_HEIGHT);
//update our blocks and empty spaces
level->updateEnemies();
//draw our ball
drawArea->drawSprite(SPRITE_BALL, pos.x + tmp.x, pos.y + tmp.y);
//bounce the ball off of the blocks normal and set
//the last member to true meaning that we are conducting bounce off blocks
bounceBall(normDir.x, normDir.y, true);
}
}
//if we are hitting the pong player
else if(collision == 1)
{
//bounce the ball based on the side of the player we hit
bounceBall(0,0,false);
}
//if we are hitting the wall
else if(collision == 0)
{
//just bounce the ball
bounceBall(0,0,false);
}
//if we have died
else if(collision == -1)
{
//if player is alive
if(player->isAlive())
{
//remove balls lives/players lives
player->addLives(-1);
addLives(-1);
//reset the ball position and the players pos
resetPos();
player->resetPos();
}
}
}
}
void SlushMotor::setAsHome(void) {
resetPos();
}
void BackGround::update(float dt, cocos2d::Layer* layer){
resetPos(layer, FLONTBG);
resetPos(layer, BACKBG);
}
int WidgetPDial::handle(int event)
{
double dragsize, min = minimum(), max = maximum(), result;
int dy;
if (event == FL_RELEASE && Fl::event_clicks() == 1) {
Fl::event_clicks(0);
value(reset_value);
tipwin->hide();
value_damage();
if (this->when() != 0)
do_callback();
return 1;
}
int old_mod_state;
switch(event) {
case FL_PUSH:
mod_state = Fl::event_state() & MOD_MASK;
if (!use_rounding) {
if (integer_step)
set_rounding(0);
else if (mod_state == MOD_MASK)
set_rounding(5);
else if (mod_state == FL_SHIFT)
set_rounding(4);
else
set_rounding((Fl::event_button3() || mod_state & FL_CTRL)
? 3 : 2);
}
oldvalue = value();
old_y = Fl::event_y();
case FL_DRAG:
getPos();
old_mod_state = mod_state;
mod_state = Fl::event_state() & MOD_MASK;
if (old_mod_state != mod_state) {
oldvalue = value();
old_y = Fl::event_y();
if (!use_rounding) {
if (integer_step)
set_rounding(0);
else if (mod_state == MOD_MASK)
set_rounding(5);
else if (mod_state == FL_SHIFT)
set_rounding(4);
else
set_rounding((Fl::event_button3() ||
mod_state & FL_CTRL)
? 3 : 2);
}
break;
}
dy = old_y - Fl::event_y();
if (dy < -1 || dy > 1)
Fl::event_clicks(0);
if (!integer_step && mod_state == MOD_MASK)
dragsize = 200000.0f;
else if (!integer_step && mod_state == FL_SHIFT)
dragsize = 20000.0f;
else
dragsize = (Fl::event_button3() || mod_state & MOD_MASK)
? 1000.0f : 200.0f;
value(clamp(oldvalue + dy / dragsize * (max - min)));
tipwin->showValue(transform(value()));
value_damage();
if(this->when() != 0)
do_callback();
return 1;
case FL_MOUSEWHEEL:
if (Fl::event_buttons() || Fl::belowmouse() != this)
return 1;
mod_state = Fl::event_state() & MOD_MASK;
dy = - Fl::event_dy();
if (integer_step) {
if (!use_rounding) set_rounding(0);
result = (int)(value() +
dy * ((Fl::event_ctrl() ||
Fl::event_shift()) ? 1 : 8));
} else {
float dragsize;
if (mod_state == MOD_MASK) {
dragsize = 100000.0;
if (!use_rounding) set_rounding(5);
} else if (mod_state == FL_SHIFT) {
dragsize = 10000.0;
if (!use_rounding) set_rounding(4);
} else if (mod_state == FL_CTRL) {
dragsize = 1000.0;
if (!use_rounding) set_rounding(3);
} else {
dragsize = 100.0;
if (!use_rounding) set_rounding(2);
}
result = value() + dy / dragsize * (max - min);
}
value(clamp(result));
tipwin->showValue(transform(value()));
value_damage();
if(this->when() != 0)
do_callback();
return 1;
case FL_ENTER:
getPos();
tipwin->showText();
return 1;
case FL_HIDE:
case FL_LEAVE:
tipwin->hide();
resetPos();
break;
case FL_RELEASE:
if (integer_step) {
float rounded = floorf(value() + 0.5);
value(clamp(rounded));
}
tipwin->hide();
resetPos();
if(this->when() == 0)
do_callback();
return 1;
}
return 0;
//#endif
}
/**
* \brief Default constructor
*/
SpecificWorker::SpecificWorker(MapPrx& mprx) : GenericWorker(mprx)
{
innerModel = new InnerModel("/home/robocomp/robocomp/files/innermodel/hexapod.xml");
proxies[0] = legcontroller1_proxy;
proxies[1] = legcontroller2_proxy;
proxies[2] = legcontroller3_proxy;
proxies[3] = legcontroller4_proxy;
proxies[4] = legcontroller5_proxy;
proxies[5] = legcontroller6_proxy;
numPata=0;
X=0;
Z=0;
for(int i=0;i<6;i++){
posIniciales[i] = proxies[i]->getStateLeg();
legCoord[i] = QVec::vec3(posIniciales[i].x,posIniciales[i].y,posIniciales[i].z);
}
qDebug()<<"POSICIONES INICIALES: "<<posIniciales[0].x<<posIniciales[0].y<<posIniciales[0].z;
/* Patas para el mov tripod */
//Patas 1,4,5
legsTripodOn[0]=0;
legsTripodOn[1]=3;
legsTripodOn[2]=4;
//Patas 2,3,6
legsTripodOff[0]=1;
legsTripodOff[1]=2;
legsTripodOff[2]=5;
/* Patas para el mov OneByOne */
//Pata 1
legsOneByOneOn[0]=0;
//Patas 2,3,4,5,6
legsOneByOneOff[0]=1;
legsOneByOneOff[1]=2;
legsOneByOneOff[2]=3;
legsOneByOneOff[3]=4;
legsOneByOneOff[4]=5;
/* Patas para el mov Quadruped */
//Patas 1,2
legsQuadrupedOn[0]=0;
legsQuadrupedOn[1]=1;
//Patas 3,4,5,6
legsQuadrupedOff[0]=2;
legsQuadrupedOff[1]=3;
legsQuadrupedOff[2]=4;
legsQuadrupedOff[3]=5;
/* Vectores de inicio para el Bezier */
lini=QVec::vec3(0,0,0);
lfin=QVec::vec3(0,0,0);
lmed=QVec::vec3(0,70,0);
try
{
motores = jointmotor_proxy->getAllMotorParams();
}
catch(const Ice::Exception &ex)
{
std::cout << ex << std::endl;
}
connect(comboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(cambiarEstado(int)));
connect(resetButton, SIGNAL(clicked()), this, SLOT(resetPos()));
}
