void
VSShaderLib::prepareProgram() {
glLinkProgram(pProgram);
addUniforms();
addBlocks();
}
void BlockPlant::onNeighbourPlace(User* user, int16_t newblock, int32_t x, int16_t y, int32_t z, int map, int8_t direction)
{
addBlocks(x, y, z, map);
}
bool BlockPlant::onPlace(User* user, int16_t newblock, int32_t x, int16_t y, int32_t z, int map, int8_t direction)
{
uint8_t oldblock;
uint8_t oldmeta;
/* move the x,y,z coords dependent upon placement direction */
if (!this->translateDirection(&x, &y, &z, map, direction)) {
revertBlock(user, x, y, z, map);
return true;
}
if (!ServerInstance->map(map)->getBlock(x, y - 1, z, &oldblock, &oldmeta)) {
revertBlock(user, x, y, z, map);
return true;
}
if (newblock != BLOCK_DIRT && newblock != BLOCK_SOIL && newblock != BLOCK_GRASS) {
if (this->isBlockEmpty(x, y - 1, z, map) || !this->isBlockEmpty(x, y, z, map)) {
revertBlock(user, x, y, z, map);
return true;
}
if (!this->isBlockStackable(oldblock)) {
revertBlock(user, x, y, z, map);
return true;
}
} else {
if (this->isUserOnBlock(x, y, z, map)) {
revertBlock(user, x, y, z, map);
return true;
}
}
if ((newblock == BLOCK_REED || newblock == ITEM_REED) && (oldblock == BLOCK_GRASS || oldblock == BLOCK_DIRT)) {
// TODO : Check for water
ServerInstance->map(map)->sendBlockChange(x, y, z, BLOCK_REED, 0);
ServerInstance->map(map)->setBlock(x, y, z, BLOCK_REED, 0);
addBlock(x, y, z, map);
return false;
}
if (newblock == BLOCK_CACTUS && oldblock != BLOCK_SAND) {
revertBlock(user, x, y, z, map);
return true;
}
if ((newblock == BLOCK_YELLOW_FLOWER ||
newblock == BLOCK_RED_ROSE) && (oldblock != BLOCK_DIRT &&
oldblock != BLOCK_GRASS)) {
revertBlock(user, x, y, z, map);
return true;
}
if ((newblock == ITEM_SEEDS || newblock == BLOCK_CROPS) && (oldblock == BLOCK_SOIL)) {
ServerInstance->map(map)->sendBlockChange(x, y, z, BLOCK_CROPS, 0);
ServerInstance->map(map)->setBlock(x, y, z, BLOCK_CROPS, 0);
addBlock(x, y, z, map);
return false;
}
if ((newblock == ITEM_SEEDS || newblock == BLOCK_CROPS)) {
revertBlock(user, x, y, z, map);
return true;
}
if (newblock > 255 && (oldblock == BLOCK_DIRT || oldblock == BLOCK_GRASS)) {
// Hoe on dirt = Soil
ServerInstance->map(map)->sendBlockChange(x, y - 1, z, BLOCK_SOIL, 0);
ServerInstance->map(map)->setBlock(x, y - 1, z, BLOCK_SOIL, 0);
if (SEEDS_CHANCE >= rand() % 10000) {
ServerInstance->map(map)->createPickupSpawn(x, y + 1, z, ITEM_SEEDS, 1, 0, nullptr);
}
return true;
}
if (newblock > 255) {
revertBlock(user, x, y, z, map);
return true;
}
if ((newblock == BLOCK_BROWN_MUSHROOM || newblock == BLOCK_RED_MUSHROOM)
&& oldblock != BLOCK_DIRT) {
revertBlock(user, x, y, z, map);
return true;
}
if (newblock == BLOCK_SAPLING) {
ServerInstance->map(map)->addSapling(user, x, y, z);
} else {
ServerInstance->map(map)->sendBlockChange(x, y, z, char(newblock), 0);
ServerInstance->map(map)->setBlock(x, y, z, char(newblock), 0);
addBlocks(x, y, z, map);
}
return false;
}
void BlockPlant::timer200()
{
for (int i = growingPlants.size() - 1; i >= 0; i--) {
PlantBlockPtr p = growingPlants[i];
uint8_t block, meta, sky, light;
ServerInstance->map(p->map)->getBlock(p->x, p->y, p->z, &block, &meta);
ServerInstance->map(p->map)->getLight(p->x, p->y, p->z, &light, &sky);
p->count++;
if (p->count > grass_timeout * 5 && (block == BLOCK_DIRT || block == BLOCK_GRASS)) {
uint8_t block2, meta2;
ServerInstance->map(p->map)->getBlock(p->x, p->y + 1, p->z, &block2, &meta2);
if (block2 == BLOCK_AIR || block2 == BLOCK_SAPLING ||
block2 == BLOCK_LEAVES || block2 == BLOCK_GLASS ||
block2 == BLOCK_BROWN_MUSHROOM || block2 == BLOCK_RED_MUSHROOM ||
block2 == BLOCK_YELLOW_FLOWER || block2 == BLOCK_RED_ROSE ||
block2 == BLOCK_TORCH || block2 == BLOCK_FIRE ||
block2 == BLOCK_SAPLING || block2 == BLOCK_SIGN_POST ||
block2 == BLOCK_WOODEN_DOOR || block2 == BLOCK_LADDER ||
block2 == BLOCK_WALL_SIGN || block2 == BLOCK_LEVER ||
block2 == BLOCK_IRON_DOOR || block2 == BLOCK_REDSTONE_TORCH_OFF ||
block2 == BLOCK_REDSTONE_TORCH_ON || block2 == BLOCK_STONE_BUTTON ||
block2 == BLOCK_SNOW) {
// The grass can grow
if (block == BLOCK_DIRT) {
if (light > 4 || sky > 3) {
ServerInstance->map(p->map)->sendBlockChange(p->x, p->y, p->z, (char)BLOCK_GRASS, 0);
ServerInstance->map(p->map)->setBlock(p->x, p->y, p->z, (char)BLOCK_GRASS, 0);
addBlocks(p->x, p->y, p->z, p->map);
}
}
} else {
if (block == BLOCK_GRASS) {
ServerInstance->map(p->map)->sendBlockChange(p->x, p->y, p->z, (char)BLOCK_DIRT, 0);
ServerInstance->map(p->map)->setBlock(p->x, p->y, p->z, (char)BLOCK_DIRT, 0);
addBlocks(p->x, p->y, p->z, p->map);
}
}
remBlock(p);
continue;
}
if (p->count > crop_timeout * 5 && block == BLOCK_CROPS) {
p->count = 0;
if (light > 7 || sky > 3) {
if (meta < 7) {
meta ++;
} else {
remBlock(p);
continue;
}
ServerInstance->map(p->map)->sendBlockChange(p->x, p->y, p->z, (char)BLOCK_CROPS, meta);
ServerInstance->map(p->map)->setBlock(p->x, p->y, p->z, (char)BLOCK_CROPS, meta);
}
}
if (p->count > cactus_timeout * 5 && block == BLOCK_CACTUS) {
uint8_t block, meta;
if (!ServerInstance->map(p->map)->getBlock(p->x, p->y + 1, p->z, &block, &meta)) {
remBlock(p);
continue;
}
if (block != BLOCK_AIR) {
remBlock(p);
continue;
}
p->count = 0;
for (int i = 0 ; i < cactus_max; i++) {
ServerInstance->map(p->map)->getBlock(p->x, p->y - i, p->z, &block, &meta);
if (block != BLOCK_CACTUS && block != BLOCK_SAND) {
onBroken(nullptr, 0, p->x, p->y, p->z, p->map, 0);
remBlock(p);
i = cactus_max;
}
if (block == BLOCK_SAND) {
ServerInstance->map(p->map)->sendBlockChange(p->x, p->y + 1, p->z, (char)BLOCK_CACTUS, 0);
ServerInstance->map(p->map)->setBlock(p->x, p->y + 1, p->z, (char)BLOCK_CACTUS, 0);
addBlocks(p->x, p->y, p->z, p->map);
break;
}
}
}
if (p->count > reed_timeout * 5 && (block == BLOCK_REED)) {
uint8_t block, meta;
if (!ServerInstance->map(p->map)->getBlock(p->x, p->y + 1, p->z, &block, &meta)) {
remBlock(p);
continue;
}
if (block != BLOCK_AIR) {
remBlock(p);
continue;
}
p->count = 0;
for (int i = 0 ; i < reed_max; i++) {
ServerInstance->map(p->map)->getBlock(p->x, p->y - i, p->z, &block, &meta);
if (block != BLOCK_REED && block != BLOCK_GRASS && block != BLOCK_DIRT) {
onBroken(nullptr, 0, p->x, p->y, p->z, p->map, 0);
remBlock(p);
i = reed_max;
}
if (block == BLOCK_GRASS || block == BLOCK_DIRT) {
ServerInstance->map(p->map)->sendBlockChange(p->x, p->y + 1, p->z, (char)BLOCK_REED, 0);
ServerInstance->map(p->map)->setBlock(p->x, p->y + 1, p->z, (char)BLOCK_REED, 0);
addBlocks(p->x, p->y, p->z, p->map);
break;
}
}
}
}
}
void goalCB()
{
// ---------------------------------------------------------------------------------------------
// Accept the new goal
goal_ = action_server_.acceptNewGoal();
ROS_INFO("[block logic] Received goal! %f, %s", goal_->block_size, goal_->frame.c_str());
block_size = goal_->block_size;
arm_link = goal_->frame;
if (initialized_)
{
addBlocks(msg_);
}
// --------------------------------------------------------------------------------------------
// Start pose - choose one that is preferrably not in the goal region
geometry_msgs::Pose start_pose;
bool found_pose = false;
// Check if there is only 1 block detected
if( !msg_->poses.size() )
{
// no blocks, what to do?
ROS_WARN("[block logic] No blocks found");
}
else if( msg_->poses.size() == 1 )
{
start_pose = msg_->poses[0];
found_pose = true;
ROS_INFO("[block logic] Only 1 block, using it");
}
else
{
// Search for block that meets our criteria
for(int i = 0; i < msg_->poses.size(); ++i)
{
if( msg_->poses[i].position.y > -0.12 && msg_->poses[i].position.y < 0.2 ) // start of goal region
{
start_pose = msg_->poses[i];
found_pose = true;
ROS_INFO_STREAM("[block logic] Chose this block:\n" << start_pose);
break;
}
}
if( !found_pose )
{
ROS_INFO("[block logic] Did not find a good block, default to first");
start_pose = msg_->poses[0];
found_pose = true;
}
}
// --------------------------------------------------------------------------------------------
// End pose is just chosen place on board
geometry_msgs::Pose end_pose;
end_pose.orientation = msg_->poses[0].orientation; // keep the same orientation
end_pose.position.x = 0.225;
end_pose.position.y = 0.18;
end_pose.position.z = msg_->poses[0].position.z;
// --------------------------------------------------------------------------------------------
// Move that block
if( found_pose )
{
moveBlock(start_pose, end_pose);
}
}
