/*
Help-function.
Turns a start->goal-request into a will defined request.
*/
unsigned int CPathManager::RequestPath(const MoveData* moveData, float3 startPos, float3 goalPos, float goalRadius, CSolidObject* caller) {
startPos.CheckInBounds();
goalPos.CheckInBounds();
if (startPos.x > gs->mapx * SQUARE_SIZE - 5) { startPos.x = gs->mapx * SQUARE_SIZE - 5; }
if (goalPos.z > gs->mapy * SQUARE_SIZE - 5) { goalPos.z = gs->mapy * SQUARE_SIZE - 5; }
// Create an estimator definition.
CRangedGoalWithCircularConstraint* rangedGoalPED = SAFE_NEW CRangedGoalWithCircularConstraint(startPos,goalPos, goalRadius, 3, 2000);
// Make request.
return RequestPath(moveData, startPos, rangedGoalPED, goalPos, caller);
}
/*
Help-function.
Turns a start->goal-request into a well-defined request.
*/
unsigned int CPathManager::RequestPath(
const MoveDef* moveDef,
const float3& startPos,
const float3& goalPos,
float goalRadius,
CSolidObject* caller,
bool synced
) {
float3 sp(startPos); sp.ClampInBounds();
float3 gp(goalPos); gp.ClampInBounds();
// Create an estimator definition.
CRangedGoalWithCircularConstraint* pfDef = new CRangedGoalWithCircularConstraint(sp, gp, goalRadius, 3.0f, 2000);
// Make request.
return RequestPath(moveDef, sp, gp, pfDef, caller, synced);
}
void GridNavigationComponent::Update(float a_dt)
{
GameobjectComponent::Update(a_dt);
if (m_wander)
{
if (!m_activePath)
{
GridObject* grid = m_pathfinder->GetGridObject();
if (grid)
RequestPath(grid->GetRandomPositionOnGrid());
}
}
TraversePath(a_dt);
DrawDebug();
}
/// Mainly handles.
void PathableProperty::ProcessMessage(Message * message)
{
if (message->type == MessageType::SET_PATH_DESTINATION_MESSAGE)
{
SetPathDestinationMessage * wm = (SetPathDestinationMessage*) message;
RequestPath(wm->pos);
return;
}
if (message->type != MessageType::PATHFINDING_MESSAGE)
return;
PathMessage * pm = (PathMessage*)message;
/// Response from pathfinding server?
assert(pm->requestResponse == PathMessage::RESPONSE);
StartWalking(pm->path);
if (pm->path.Size() == 0)
{
/// Notify that we got a bad path.
Message msg("PathableProperty::ZeroLengthPathReceived");
owner->ProcessMessage(&msg);
}
}
/*
Help-function.
Turns a start->goal-request into a well-defined request.
*/
unsigned int CPathManager::RequestPath(
const MoveData* moveData,
const float3& startPos,
const float3& goalPos,
float goalRadius,
CSolidObject* caller,
bool synced
) {
float3 sp(startPos); sp.CheckInBounds();
float3 gp(goalPos); gp.CheckInBounds();
// ?
// if (sp.x > (gs->mapx * SQUARE_SIZE - 5)) { sp.x = gs->mapx * SQUARE_SIZE - 5; }
// if (gp.z > (gs->mapy * SQUARE_SIZE - 5)) { gp.z = gs->mapy * SQUARE_SIZE - 5; }
// Create an estimator definition.
CRangedGoalWithCircularConstraint* rangedGoalPED = new CRangedGoalWithCircularConstraint(sp, gp, goalRadius, 3.0f, 2000);
// Make request.
return RequestPath(moveData, sp, gp, rangedGoalPED, caller, synced);
}
/// Requests a path to the target position. This will then be returned via the PathManaging system as a message.
void PathableProperty::RequestPath(ConstVec3fr toPosition)
{
/// Find WP.
Waypoint * wp = WaypointMan.GetClosestValidWaypoint(toPosition);
RequestPath(wp);
}
void CEC_TV::loop()
{
if (CECSerial->available()){
switch (CECSerial->read())
{
case MESSAGE_REPORT_LOGICAL:
_logicalAddress = CECBlockRead();
DbgPrint("got logical addr: %d.\r\n", _logicalAddress);
TransmitMsg(CECDEVICE_BROADCAST, 4, CEC_OPCODE_REPORT_PHYSICAL_ADDRESS, 0, 0, 0);
break;
case MESSAGE_RECIEVED:
byte len = CECBlockRead();
if (len < 1) {
//error
DbgPrint("got bogus len %d.\r\n", len);
break;
}
len--;//remove addr
byte address = CECBlockRead();//contains both dst and src!
byte* message = (byte*)malloc(len);
for (int i = 0; i<len; i++){
message[i] = CECBlockRead();
}
OnReceive(address >> 4, address & 0xF, message, len);
}
}
checkStartupTimeout();
decode_results results;
if (irrecv.decode(&results)) {
//#ifdef DEBUG_IRCODES
//Serial.print("received something!\r\n");
//#endif
if (results.value == REPEAT){//defined in IRremote.h
unsigned long timeNow = millis();
if (_lastRemoteInputTime /*&& timeNow-_lastRemoteInputTime >= 20*/ && timeNow - _lastRemoteInputTime <= 200)
{
results.value = _lastRemoteInputCode;
_lastRemoteInputTime = millis();
//Serial.println("REPEAT");
//Serial.println(results.value, HEX);
}
//Serial.println(timeNow - _lastRemoteInputTime);
} else {
if (results.decode_type == RC6)
results.value &= ~(1L << 16);
//Serial.println(results.value, HEX);
_lastRemoteInputTime = millis();
_lastRemoteInputCode = results.value;
//Serial.println(results.value, HEX);
//Serial.println(_lastRemoteInputCode, HEX);
}
switch (results.value)
{
case REMOTE_POWER:
check_remote_protocol
delay(250);
powerToggle();
break;
case REMOTE_GUIDE:
check_remote_protocol
delay(250);
sendKoganCode(&irsend, KOGAN_ASPECT);
break;
case REMOTE_UP:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_UP);
break;
case REMOTE_DOWN:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_DOWN);
break;
case REMOTE_LEFT:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_LEFT);
break;
case REMOTE_RIGHT:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_RIGHT);
break;
case REMOTE_ENTER:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_SELECT);
break;
case REMOTE_BACK:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_EXIT);
break;
case REMOTE_PLAY:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_PLAY);
break;
case REMOTE_PAUSE:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_PAUSE);
break;
case REMOTE_SKIP_BACK:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_BACKWARD);
break;
case REMOTE_SKIP_FORWARD:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_FORWARD);
break;
case REMOTE_STOP:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_STOP);
break;
case REMOTE_RECORD:
check_remote_protocol
//delay(100);
sendUC(CEC_USER_CONTROL_CODE_RECORD);
break;
case REMOTE_VOL_UP:
check_remote_protocol
//delay(100);
SendRemoteCode(CECDEVICE_AUDIOSYSTEM, CEC_USER_CONTROL_CODE_VOLUME_UP);
break;
case REMOTE_VOL_DOWN:
check_remote_protocol
//delay(100);
SendRemoteCode(CECDEVICE_AUDIOSYSTEM, CEC_USER_CONTROL_CODE_VOLUME_DOWN);
break;
case REMOTE_1:
check_remote_protocol
powerOn();
RequestPath(0x1100);
RequestAudio(0x1100);
break;
case REMOTE_2:
check_remote_protocol
powerOn();
RequestPath(0x1200);
RequestAudio(0x1200);
break;
case REMOTE_3:
check_remote_protocol
powerOn();
RequestPath(0x1300);
RequestAudio(0x1300);
break;
case REMOTE_4:
check_remote_protocol
powerOn();
RequestPath(0x1400);
RequestAudio(0x1400);
//DbgPrint("Done requesting\n");
break;
#ifdef DEBUG_IRCODES
default:
debugIRCode(&results);
#endif
}
irrecv.resume(); // resume receiver
//DbgPrint("resumed\n");
}
}
