void cleanup() {
create_set_speeds(hands->c, 0, 0); //Stop moving
create_close(hands->c);
turret_close(hands->t);
free(filt->sonar0);
free(filt->sonar1);
free(filt->ir0);
free(filt->ir1);
free(pids->trans);
free(pids->sonar);
free(pids->angle);
free(pids->angleT);
free(posData);
posData = NULL;
free(hands);
free(filt);
free(pids);
}
int main(int argc, char *argv[])
{//start of main function
//set gameover = true to stop the game from loading before the player plays
GAMEOVER=true;
//variable declerations
int id;
//variables used for the threads
pthread_t pthread0;
pthread_t pthread1;
int threadid0 = 0;
int threadid1 = 1;
int threadid2 = 2;
int threadid3 = 3;
int threadid4 = 4;
int threadid5 = 5;
int threadid6 = 6;
//set is intro to true to play the intro
bool inIntro =true;
//variable used to display the players message
char *playermessage;
//map variables
int mapxoff = 0;
int mapyoff = 0;
//game speed variables declerations and initalization
int frames_per_sec=0;
int frames_done=0;
int old_time =0;
int totaltime=0;
//declare allegro variables
//BITMAP *buffer;
BITMAP *intro;
//initalize the classes
//player *owl;
sprite *hearts[3];
sprhandler = new spritehandler();
snake *snakeboss;
//initalize allegro
allegro_init();
install_keyboard();
install_timer();
set_keyboard_rate(1000,1000);
install_sound(DIGI_AUTODETECT,MIDI_AUTODETECT,NULL);
//initalize the screen
set_color_depth(COLORDEPTH);
set_gfx_mode(MODE,WIDTH,HEIGHT,0,0);
//lock both the varibale and the funciton to be used by the interrupt handler
LOCK_VARIABLE(ticks);
LOCK_FUNCTION(ticker);
//install the interrupt handler which calls the ticker 60 times a second
install_int_ex(ticker,BPS_TO_TIMER(FPS));
//lock both the varibale and the funciton to be used by the interrupt handler
//these
LOCK_VARIABLE(gametime);
LOCK_FUNCTION(game_time_ticker);
//install the interrupt handler which calls the game time ticker
//game time ticker is in 10ths of seconds
install_int_ex(game_time_ticker,BPS_TO_TIMER(10));
//create back buffer
buffer = create_bitmap(SCREEN_W, SCREEN_H);
//create the intro screen by loading the bitmap into the intro buffer
intro = load_bitmap("flightless title.bmp",NULL);
if(!intro){
allegro_message("Error loading intro image");
return 1;
}
//seed the random function
srand(time(NULL));
//load fonts
FONT *dicot_22_font;
PALETTE palette;
//load the the font for the header of the application
dicot_22_font = load_font("dicot_22.pcx", palette, NULL);
//load and display the intro screen
while(inIntro)
{
//display the intro screen for the game
blit(intro,screen,0,0,0,0,SCREEN_W,SCREEN_H);
//wait for the player to press enter to start the game
if(key[KEY_ENTER]){
inIntro=false;
GAMEOVER=false;
}
//if the player presses esc then exit the game and the intro
if(key[KEY_ESC]){
inIntro=false;
GAMEOVER=true;
}
}
//for as many badies make sprites to hold the bugs
for(int i=0;i<BADIES;i++)
{
//initalize the bug sprite
bug[i] = new bugs();
//load the bug sprite sheet
if(!bug[i]->load("bug.bmp")){
allegro_message("Error loading bug sprite");
return 1;
}
//initalize the bug propertys
bug[i]->init();
//add sprites to the sprite handler
sprhandler->addbugs(bug[i]);
}
//initalize the player
owl = new player();
//load the players sprite sheet
if(!owl->load("owl sprite_new.bmp")){
allegro_message("Error loading owl sprite");
return 1;
}
//initalize the sprite properties
owl->init();
//add the player object to the sprite handler
sprhandler->addsprite(owl);
//create the new snake object
snakeboss = new snake();
//load the snake
if(!snakeboss->load("snake_Tiles.bmp")){
allegro_message("Error loading snake sprite");
return 1;
}
//initalize the snake
snakeboss->init();
//snakeboss->alive=false;
//add the snake to the sprite handler
sprhandler->addboss(snakeboss);
//create for loop to load the players health indicator
for(int i=1;i<4;i++)
{
//create new sprite objects to hold the images
hearts[i-1] = new sprite();
//load the players health image
if(!hearts[i-1]->load("FullHealth.bmp")){
allegro_message("Error loading player Health");
return 1;
}
//set sprite properties
hearts[i-1]->x = SCREEN_W-35*i;
hearts[i-1]->y = 10;
hearts[i-1]->width = 30;
hearts[i-1]->height = 30;
hearts[i-1]->velx = 0;
hearts[i-1]->vely = 0;
hearts[i-1]->animcolumns = 0;
hearts[i-1]->curframe = 0;
hearts[i-1]->totalframes =1;
hearts[i-1]->animdir = 0;
//object type of non moving sprite
hearts[i-1]->objecttype=2;
hearts[i-1]->alive=0;
//add the players health to the sprite handler
sprhandler->addsprite(hearts[i-1]);
}
//create the music samples
SAMPLE *ingamesong;
//load the wav file into the samples
//main game soundtrack
ingamesong=load_sample("melo-24_Clip.wav");
if(ingamesong==NULL){
allegro_message("Error loading game soundtrack");
return 1;
}
//use mappy.h global function MapLoad to load the .FMP file
MapLoad("flightless.FMP");
//play the sample music
int playing = play_sample(ingamesong,150,125,1000,true);
//start the clock to time the player
startTime = time(NULL);
//create the thread for player
id = pthread_create(&pthread0, NULL, playerdraw_thread, (void*)&threadid5);
//create the thread for the bugs
id = pthread_create(&pthread1, NULL, wormdraw_thread, (void*)&threadid0);
id = pthread_create(&pthread1, NULL, wormdraw_thread, (void*)&threadid1);
id = pthread_create(&pthread1, NULL, wormdraw_thread, (void*)&threadid2);
id = pthread_create(&pthread1, NULL, wormdraw_thread, (void*)&threadid3);
id = pthread_create(&pthread1, NULL, wormdraw_thread, (void*)&threadid4);
//create the thread to draw the snake
id = pthread_create(&pthread1, NULL, snakedraw_thread, (void*)&threadid0);
//main game loop
while (!GAMEOVER)
{
while (ticks==0)
{
rest(1);
}
while(ticks>0)
{
if(key[KEY_ESC])
{
playermessage="You quit :( Please come back again.";
GAMEOVER=true;
}
//get the previous value of ticks and store them
old_ticks=ticks;
//each time we hit this loop we increment the mapxoffset +1
if(mapxoff<mapwidth*mapblockwidth)
{
//if the player is not hiding update the map
if(owl->state!=2)
{
mapxoff++;
}
}
//draw the background tiles via the mappy global funciton MapDrawBG
MapDrawBG(buffer,mapxoff,0,0,0,WIDTH-1,HEIGHT-1);
//draw the players health indicator based on the owls health/30
for (int i=0;i<((owl->health)/30);i++)
{
hearts[i]->draw(buffer);
}
//lock the varibales to protect them from the unsynced threads
pthread_mutex_lock(&threadsafe);
//get the player input
owl->getinput();
sprhandler->updatebugs();
sprhandler->updatesnake();
//decrement the ticks
ticks--;
//unlock the mutex
pthread_mutex_unlock(&threadsafe);
//if the logic is taking too long abort and draw the screen
if(old_ticks<=ticks)
break;
}
//for every second that passess we need to call this function
if(gametime - old_time >= 10)
{
//frames_per_sec holds the number of frames drawn in the last sec
frames_per_sec = frames_done;
//reset these variables for the next second
frames_done =0;
old_time=gametime;
}
//Decrement the players health
if(gametime%120==0)
{
owl->takedamage(2);
}
if(sprhandler->getsnakes(0)->alive==false && gametime%400==0)
{
sprhandler->getsnakes(0)->resurrect();
}
//check players health
if(owl->health<=0)
{
playermessage="You have died...please remeber to eat next time.";
GAMEOVER=true;
}
//stop the window from scrolling
if(GAMEOVER==true ||mapxoff>=mapwidth*mapblockwidth-WIDTH)
{
if(mapxoff>=mapwidth*mapblockwidth-WIDTH)
playermessage="Great job player you passed the game! Way to go.";
//stop the map from moving
mapxoff=mapwidth*mapblockwidth-WIDTH;
//stop the music from playing
stop_sample(ingamesong);
//create the music samples
SAMPLE *cheer=NULL;
//load the wav file into the sample
cheer=load_sample("app.wav");
if(cheer==NULL){
allegro_message("Error loading game soundtrack");
return 1;
}
//play the sample music
play_sample(cheer,255,125,1000,true);
//message the player...even if they are a quiter!
textprintf_ex(screen,dicot_22_font,200,SCREEN_H/2,makecol(255,0,0),-1,playermessage);
rest(2000);
GAMEOVER=true;
}
//show frames fer second on the screen by pressing "cntrl f"
if(key[KEY_F])
{
if(key_shifts & KB_CTRL_FLAG)
{
//switch the showFPS flag to display the FPS
SHOWFPS=!SHOWFPS;
}
//SHOWFPS=SHOWFPS;
}
if(SHOWFPS==true)
textprintf_ex(buffer,font,20,20,WHITE,0,"frames= :%d",frames_per_sec);
if(key[KEY_H])
{
if(key_shifts & KB_CTRL_FLAG)
{
//switch the SHOWHEALTH flag to display the FPS
SHOWHEALTH=!SHOWHEALTH;
}
//SHOWHEALTH=SHOWHEALTH;
}
//update the screen using a double buffering technique
acquire_screen();
blit(buffer,screen,0,0,0,0,WIDTH,HEIGHT);
release_screen();
//everytime we bilt from buffer to screen increase frames_done
frames_done++;
}
//find the time that the game ended
endTime = time(NULL);
//kill the mutex (thread protection)
pthread_mutex_destroy(&threadsafe);
//call to create the final image to present to the user
create_close(buffer,dicot_22_font,owl);
//Garbage Collection clean up all of the objects that are being used in memory
remove_keyboard();
remove_timer();
//destory the bitmaps that we are using
destroy_bitmap(buffer);
destroy_bitmap(intro);
//destroy the map
MapFreeMem();
//delete the sprites
delete sprhandler;
//call to allegro exit
allegro_exit();
return 0;
}//end of main
int main(int argc, const char **argv)
{
printf("entered program\n");
/* allocate device objects */
c = create_create("/dev/ttyS2");
r = turret_create();
/* open the create serial comm */
if(create_open(c,FULLCONTROL) < 0) {
printf("create open failed\n");
return(-1);
}
/* Open the i2c device */
if(turret_open(r) < 0) {
printf("failed to connect to robostix\n");
return(-1);
}
/* init the robostix board interfaces */
printf("initialize turret\n");
turret_init(r);
// sonar
if(!WHICH_SENSOR){
turret_SetServo(r,90);
}
//ir
else{
turret_SetServo(r,0);
}
filter = firFilterCreate();
waypoints[0].x = 7.3;
waypoints[0].y = 0.0;
waypoints[1].x = 7.3;
waypoints[1].y = 7.62;
waypoints[2].x = 26.19;
waypoints[2].y = 7.62;
waypoints[3].x = 26.19;
waypoints[3].y = -3.04;
waypoints[4].x = 30.15;
waypoints[4].y = -3.04;
waypoints[5].x = 30.15;
waypoints[5].y = -12.18;
waypoints[6].x = 7.3;
waypoints[6].y = -12.18;
waypoints[7].x = 7.3;
waypoints[7].y = 0.0;
waypoints[8].x = 0.0;
waypoints[8].y = 0.0;
int i;
for(i = 0; i < 9; i++)
{
Move(c, r, waypoints, i);
}
/*
// read points from file
FILE *file = fopen(argv[1], "r");
printf("just read file\n");
if(file != NULL)
{
char line[32];
char num_lines;
// read the first line in the file.
// this gives the number of waypoints
printf("fgetting line nums\n");
fgets(num_lines, 1, file);
num_waypoints = atoi(num_lines);
printf("allocating waypoint size\n");
// allocate the size of *waypoints
waypoints = malloc(num_waypoints * sizeof(waypoint));
printf("malloc'd\n");
// store the (x,y) coordinates in *waypoints
int i = 0;
printf("fgetting lines\n");
while(fgets(line,sizeof(line),file) != NULL)
{
printf("foo\n");
file_tokens = strtok(line, ",");
printf("bar\n");
waypoints[i].x = atof(file_tokens[0]);
printf("freep\n");
waypoints[i].y = atof(file_tokens[1]);
printf("froop\n");
i++;
}
fclose(file);
// Move to each waypoint
int j;
for(j = 0; j < num_waypoints; j++)
{
Move(c, r, waypoints[j], j);
}
}
else
{
perror(argv[1]);
}*/
// Shutdown and tidy up
create_set_speeds(c,0.0,0.0);
create_close(c);
create_destroy(c);
turret_close(r);
turret_destroy(r);
exit(0);
return 0;
}
