Doc::Doc(char *l)
{
parser(l);
enableBehavior(PERSISTENT);
enableBehavior(TAKABLE);
setRenderPrior(RENDER_NORMAL);
initializeMobileObject(0);
createPermanentNetObject(PROPS, ++oid);
}
void Thunder::behavior()
{
enableBehavior(NO_ELEMENTARY_MOVE);
enableBehavior(NO_BBABLE);
enableBehavior(UNSELECTABLE);
enableBehavior(SPECIFIC_RENDER);
setRenderPrior(RENDER_LOW);
#if 0
initializeEphemeralObject(0);
#else
initializeMobileObject(0);
#endif
enablePermanentMovement();
}
void Particle::behavior()
{
enableBehavior(PARTICLE);
enableBehavior(NO_ELEMENTARY_MOVE);
enableBehavior(NO_BBABLE);
enableBehavior(UNSELECTABLE);
enableBehavior(SPECIFIC_RENDER);
setRenderPrior(RENDER_LOW);
initializeMobileObject(0);
switch (system) {
case FIREWORK:
break;
default:
enablePermanentMovement();
break;
}
}
Wall::Wall(WObject *user, char *geom)
{
setOwner();
parse()->parseSolids(geom, SEP, this);
enableBehavior(DYNAMIC);
initializeMobileObject(0);
pos.x = user->pos.x + 0.7;
pos.y = user->pos.y;
pos.z = user->pos.z;
updatePosition();
}
Guide::Guide(char *l)
{
parser(l);
guide = this;
enableBehavior(SPECIFIC_RENDER);
setRenderPrior(RENDER_HIGH);
initializeMobileObject(0);
createPermanentNetObject(PROPS, ++oid);
if (perpetual) enablePermanentMovement();
pos.az = atan((path[pt+1][1]-path[pt][1]) / (path[pt+1][0]-path[pt][0]));
initial[0] = pos.x;
initial[1] = pos.y;
initial[2] = pos.z;
initial[3] = pos.az;
draw(color); // draw path
}
void ProtoMotivator::motivate()
{
#if __PROTOMOTIVATOR_H__DEBUG
Serial.println("Motivating!");
#endif
///////////////////////////////////////////////////////////////////////////
// Enable always active behaviors
enableBehavior(B_READCOMPASS);
//select goal, see if goal should be called based on current goal.
//lower number goals have priotity and can override higher level goals.
///////////////////////////////////////////////////////////////////////////
// GOAL_AVOID_CRITICAL
if (GOAL_AVOID_CRITICAL <= goal)
{
bool shouldBeActive = data.DirectFrontObstructionRange() <= G_AVOIDCRITICALRANGE;
bool isActive = goal == GOAL_AVOID_CRITICAL;
//if goal should be active
if (shouldBeActive && !isActive)
{
Serial.println("New goal: GOAL_AVOID_CRITICAL");
goal = GOAL_AVOID_CRITICAL;
goalStartTime = simpleTimer.getTime();
}
if (shouldBeActive && isActive)
{
//carry out the behaviors
//scan logic
if (data.DirectFrontStale(200))
{
enableBehavior(B_SCANDIRECTFORWARD);
enableBehavior(B_STOP);
}
else
{
enableBehavior(B_SCANDIRECTFORWARD);
//Move
enableBehavior(B_BACKWARD);
}
}
//if goal should not be active, and is
if (!shouldBeActive && isActive)
{
goal = GOAL_DEFAULT;
}
}
///////////////////////////////////////////////////////////////////////////
// GOAL_AVOID_OBSTRUCTION
if (GOAL_AVOID_OBSTRUCTION <= goal)
{
bool shouldBeActive = data.FrontObstruction();
bool isActive = goal == GOAL_AVOID_OBSTRUCTION;
//if goal should be active
if (shouldBeActive && !isActive)
{
Serial.println("New goal: GOAL_AVOID_OBSTRUCTION");
goal = GOAL_AVOID_OBSTRUCTION;
goalStartTime = simpleTimer.getTime();
heading = data.CompassHeading;
avoidChosen = false;
}
if (shouldBeActive && isActive)
{
//carry out the behaviors
#if __PROTOMOTIVATOR_H__DEBUG
Serial.println("GOAL_AVOID_OBSTRUCTION");
#endif
if (simpleTimer.getTime() > (goalStartTime + G_AVOIDSCANTIME))
{
//
if (!avoidChosen)
{
//choose avoid direction
if (data.RightObstruction() && data.RightObstructionRange() < data.LeftObstructionRange())
{
avoidRight = false;
}
else if (data.LeftObstruction() && data.RightObstructionRange() > data.LeftObstructionRange())
{
avoidRight = true;
}
else if (data.FrontObstruction())
{
if (data.RightObstructionRange() > data.LeftObstructionRange())
avoidRight = false;
else
avoidRight = true;
}
if (avoidRight)
heading = data.CompassHeading + G_AVOIDTURNDEGREES;
else
heading = data.CompassHeading - G_AVOIDTURNDEGREES;
avoidChosen = true;
}
//avoid -------------------------------------------------------
// scan forward while avoiding
enableBehavior(B_SCANFORWARD);
//enable avoid behavior
if (!compass.headingMatches(data.CompassHeading, heading, G_AVOIDTURNSLOP))
{
if (avoidRight)
{
enableBehavior(B_RIGHT);
}
else
{
enableBehavior(B_LEFT);
}
}
else
{
goal = GOAL_DEFAULT;
}
}
else
{
//enable full scan for scan time
enableBehavior(B_SCANFULL);
enableBehavior(B_STOP);
}
}
//if goal should not be active, and is
if (!shouldBeActive && isActive)
{
goal = GOAL_DEFAULT;
}
}
///////////////////////////////////////////////////////////////////////////
// GOAL_FORWARD
if (GOAL_FORWARD <= goal)
{
bool shouldBeActive = true;
bool isActive = goal == GOAL_FORWARD;
//if goal should be active
if (shouldBeActive && !isActive)
{
Serial.println("New goal: GOAL_FORWARD");
goal = GOAL_FORWARD;
goalStartTime = simpleTimer.getTime();
}
if (shouldBeActive && isActive)
{
//carry out the behaviors
//scan logic
if (data.FrontStale(200))
{
enableBehavior(B_SCANFORWARD);
}
else if (data.FrontStale())
{
enableBehavior(B_SCANFORWARD);
}
else
{
enableBehavior(B_SCANFULL);
}
//Move
enableBehavior(B_FORWARD);
}
//if goal should not be active, and is
if (!shouldBeActive && isActive)
{
goal = GOAL_DEFAULT;
}
}
///////////////////////////////////////////////////////////////////////////
//make it happen!
executeBehaviors();
}
/* called by GUI */
Icon::Icon(User *user, void *d)
{
char *infos = (char *) d;
ifile = NULL;
ofile = NULL;
char *action = NULL;
vref = NULL;
char icon[URL_LEN];
*icon = 0;
/* parameters transmission */
for (char *pt = strtok(infos, "&"); pt ; pt = strtok(NULL, "&")) {
if (! stringcmp(pt, "<url=")) { pt = getParam(pt); strcpy(names.url, pt); taken = true; }
else if (! stringcmp(pt, "<file=")) { pt = getParam(pt); ifile = strdup(pt); }
else if (! stringcmp(pt, "<ofile=")) { pt = getParam(pt); strcpy(names.url, pt); }
else if (! stringcmp(pt, "<name=")) { pt = getParam(pt); strcpy(names.named, pt); }
else if (! stringcmp(pt, "<icon=")) { pt = getParam(pt); strcpy(icon, pt); }
else if (! stringcmp(pt, "<action=")) { pt = getParam(pt); action = strdup(pt); }
else if (! stringcmp(pt, "<vref=")) {
pt = strchr(pt, '=');
pt++;
char *p2;
if ((p2 = strchr(pt, '>'))) *p2 = 0;
vref = strdup(pt);
}
}
if (vref) { // local saved document exists
parser(vref);
// get the last loaded texture
int texid = Texture::getIdByUrl(names.url);
Texture *tclast = Texture::getEntryById(texid);
if (! tclast) {
tex = new char[sizeof(ICO_DEF) + 1];
strcpy(tex, ICO_DEF); // default texture
}
else {
tex = new char[strlen(tclast->url) + 1];
strcpy(tex, tclast->url);
}
taken = false;
}
else { // new document named interactively by hand
/* position */
float off = 0.4;
pos.x = user->pos.x + off * Cos(user->pos.az);
pos.y = user->pos.y + off * Sin(user->pos.az);
pos.z = user->pos.z + 0.6; // visible by eyes
pos.az = user->pos.az + M_PI_2;
/* texture */
if (*icon) {
tex = new char[strlen(icon) + 1];
strcpy(tex, icon);
}
else {
// default binding icon to document
char ext[8] = "";
memset(ext, 0, sizeof(ext));
if (Format::getExt(names.url, ext)) {
tex = new char[URL_LEN];
Format::getImgByExt(ext, tex);
}
else {
tex = new char[sizeof(ICO_DEF) + 1];
strcpy(tex, ICO_DEF);
}
}
if (ifile) { // private local document
if (*names.url) {
// public url given by user
Cache::download(ifile, ofile, "inout");
}
else {
// build local ofile in ~/public_html/vreng/
ofile = new char[URL_LEN];
sprintf(ofile, "%s/public_html", getenv("HOME"));
if (access(ofile, R_OK|W_OK|X_OK) == 0) {
strcat(ofile, "/vreng/");
if (access(ofile, R_OK|W_OK|X_OK) == -1)
mkdir(ofile, 0755);
strcat(ofile, ifile);
FILE *fin, *fout;
if ((fin = File::openFile(ifile, "r")) && (fout = File::openFile(ofile, "w"))) {
char buf[2];
while (fread(buf, 1, 1, fin))
fwrite(buf, 1, 1, fout);
File::closeFile(fin);
File::closeFile(fout);
chmod(ofile, 0644);
//FIXME: define local http_server
sprintf(names.url, "http://%s/~%s/vreng/%s", DEF_HTTP_SERVER, getenv("USER"), ifile);
}
else {
error("can't open %s or %s: %s (%d)", ifile, ofile, strerror(errno), errno);
free(ifile); ifile = NULL;
delete[] ofile;
}
}
else {
error("can't access %s", ofile);
free(ifile); ifile = NULL;
delete[] ofile;
}
}
}
makeSolid();
}
// local creation
defaults();
enableBehavior(REMOVABLE);
enableBehavior(NO_ELEMENTARY_MOVE);
setRenderPrior(RENDER_HIGH);
initializeMobileObject(1);
ttl = (taken) ? MAXFLOAT : 0;
initImposedMovement(ttl);
disablePermanentMovement();
// network creation
createVolatileNetObject(PROPS);
// document's owner
setOwner();
trace(DBG_WO, "Icon: url=%s icon=%s name=%s owner=%s", urlName(), tex, getInstance(), ownerName());
if (action) {
if (! stringcmp(action, "pin")) pin(this, NULL, 0L, 0L);
else if (! stringcmp(action, "push")) push(this, NULL, 0L, 0L);
else if (! stringcmp(action, "carry")) carry(this, NULL, 0L, 0L);
}
}
