bool Item::serializeAttr(PropWriteStream& propWriteStream) const
{
if (isStackable() || isFluidContainer() || isSplash()) {
uint8_t _count = getSubType();
propWriteStream.ADD_UCHAR(ATTR_COUNT);
propWriteStream.ADD_UCHAR(_count);
}
if (hasCharges()) {
uint16_t _count = getCharges();
propWriteStream.ADD_UCHAR(ATTR_CHARGES);
propWriteStream.ADD_USHORT(_count);
}
if (!isNotMoveable()) {
uint16_t _actionId = getActionId();
if (_actionId) {
propWriteStream.ADD_UCHAR(ATTR_ACTION_ID);
propWriteStream.ADD_USHORT(_actionId);
}
}
const std::string& _text = getText();
if (!_text.empty()) {
propWriteStream.ADD_UCHAR(ATTR_TEXT);
propWriteStream.ADD_STRING(_text);
}
const time_t _writtenDate = getDate();
if (_writtenDate > 0) {
propWriteStream.ADD_UCHAR(ATTR_WRITTENDATE);
propWriteStream.ADD_ULONG(_writtenDate);
}
const std::string& _writer = getWriter();
if (!_writer.empty()) {
propWriteStream.ADD_UCHAR(ATTR_WRITTENBY);
propWriteStream.ADD_STRING(_writer);
}
const std::string& _specialDesc = getSpecialDescription();
if (!_specialDesc.empty()) {
propWriteStream.ADD_UCHAR(ATTR_DESC);
propWriteStream.ADD_STRING(_specialDesc);
}
if (hasAttribute(ATTR_ITEM_DURATION)) {
uint32_t duration = getDuration();
propWriteStream.ADD_UCHAR(ATTR_DURATION);
propWriteStream.ADD_ULONG(duration);
}
ItemDecayState_t decayState = getDecaying();
if (decayState == DECAYING_TRUE || decayState == DECAYING_PENDING) {
propWriteStream.ADD_UCHAR(ATTR_DECAYING_STATE);
propWriteStream.ADD_UCHAR(decayState);
}
return true;
}
bool
COptPopulationMethod::initialize()
{
cleanup();
if (!COptMethod::initialize()) return false;
mCurrentGeneration = 0;
mGenerations = 0;
if (getParameter("Number of Generations") != NULL)
mGenerations = getValue< unsigned C_INT32 >("Number of Generations");
if (mpCallBack
&& (getSubType() != CTaskEnum::Method::ParticleSwarm && getSubType() != CTaskEnum::Method::ScatterSearch))
{
mhGenerations =
mpCallBack->addItem("Current Generation",
mCurrentGeneration,
&mGenerations);
}
++mCurrentGeneration;
if (getParameter("Population Size") != NULL)
mPopulationSize = getValue< unsigned C_INT32 >("Population Size");
else
mPopulationSize = 0;
pdelete(mpRandom);
if (getParameter("Random Number Generator") != NULL && getParameter("Seed") != NULL)
{
mpRandom = CRandom::createGenerator((CRandom::Type) getValue< unsigned C_INT32 >("Random Number Generator"),
getValue< unsigned C_INT32 >("Seed"));
}
else
{
mpRandom = CRandom::createGenerator();
}
mVariableSize = mpOptItem->size();
return true;
}
//--------------------------------------------------------------------
//
//--------------------------------------------------------------------
void NWStreamWriter::writeBlock(INWStreamBlock* _block, bool _checkThread)
{
#ifdef _DEBUG
if ( _checkThread )
checkWriteThreadId();
#endif
ASSERT(_block->getType() == getType() && _block->getSubType() == getSubType());
mQueue->writeBlock(_block);
}
std::vector<std::shared_ptr<Asteroid>> AsteroidFactory::createSubAsteroids(Asteroid& asteroid)
{
std::vector<std::shared_ptr<Asteroid>> subAsteroids;
auto position = asteroid.getSprite().getPosition();
auto type = asteroid.getType();
auto subType = getSubType(type);
if (subType != AsteroidType::Last)
createAsteroids(subAsteroids, position, subType);
return subAsteroids;
}
bool Item::serializeAttr(PropWriteStream& propWriteStream) const
{
if(isStackable() || isFluidContainer() || isSplash())
{
propWriteStream.addByte(ATTR_COUNT);
propWriteStream.addByte((uint8_t)getSubType());
}
if(attributes && !attributes->empty())
{
propWriteStream.addByte(ATTR_ATTRIBUTE_MAP);
serializeMap(propWriteStream);
}
return true;
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d Gyro %s\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
ArUtil::convertBool(getHasGyro()));
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "DriftFactor %d\n", getDriftFactor());
ret += line;
sprintf(line, "Aux2Baud setting %d, Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "TicksMM: %d\n", getTicksMM());
ret += line;
sprintf(line, "Shutdown Voltage: %d\n", getShutdownVoltage());
ret += line;
return ret;
}
void COptPopulationMethod::initObjects()
{
if (getSubType() != CTaskEnum::Method::ParticleSwarm && getSubType() != CTaskEnum::Method::ScatterSearch)
addObjectReference("Current Generation", mCurrentGeneration, CDataObject::ValueInt);
}
KPrSpiralWipeStrategy::KPrSpiralWipeStrategy(int firstLeg, bool clockwise, bool reverse)
: KPrMatrixWipeStrategy( getSubType(firstLeg, clockwise, reverse), "spiralWipe", getSmilSubType(firstLeg, clockwise), reverse ),
m_firstLeg(firstLeg), m_clockwise(clockwise)
{
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "firmware version '%s'\n",
getFirmwareVersion());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelTop %d LatAccelTop %d\n",
getLatVelTop(), getLatAccelTop());
ret += line;
}
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelMax %d LatAccel %d LatDecel %d\n",
getLatVelMax(), getLatAccel(), getLatDecel());
ret += line;
}
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d GyroType %d\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
getGyroType());
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "GyroRateLimit %d\n",
getGyroRateLimit());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Other:\n");
ret += line;
sprintf(line, "DriftFactor %d KinematicsDelay %d\n", getDriftFactor(),
getKinematicsDelay());
ret += line;
sprintf(line, "Aux2Baud setting %d Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "PDBPort setting %d\n", getPDBPort());
ret += line;
sprintf(line, "TicksMM %d GyroCW %d GyroCCW %d\n", getTicksMM(),
getGyroCW(), getGyroCCW());
ret += line;
sprintf(line, "ShutdownVoltage %d PowerbotChargeTreshold %d\n",
getShutdownVoltage(), getPowerbotChargeThreshold());
ret += line;
char buf[128];
int i, j;
unsigned int value = getPowerBits();
int bit;
buf[0] = '\0';
for (j = 0, bit = 1; j < 16; ++j, bit *= 2)
{
if (j == 8)
sprintf(buf, "%s ", buf);
if (value & bit)
sprintf(buf, "%s%d", buf, 1);
else
sprintf(buf, "%s%d", buf, 0);
}
sprintf(line, "HighTempShutdown %d PowerBits %s\n",
getHighTemperatureShutdown(), buf);
ret += line;
return ret;
}
xmlNodePtr Item::serialize()
{
xmlNodePtr nodeItem = xmlNewNode(NULL,(const xmlChar*)"item");
std::stringstream ss;
ss.str("");
ss << getID();
xmlSetProp(nodeItem, (const xmlChar*)"id", (const xmlChar*)ss.str().c_str());
if(hasSubType()){
ss.str("");
ss << (int32_t)getSubType();
xmlSetProp(nodeItem, (const xmlChar*)"count", (const xmlChar*)ss.str().c_str());
}
if(getSpecialDescription() != ""){
ss.str("");
ss << getSpecialDescription();
xmlSetProp(nodeItem, (const xmlChar*)"special_description", (const xmlChar*)ss.str().c_str());
}
if(getText() != ""){
ss.str("");
ss << getText();
xmlSetProp(nodeItem, (const xmlChar*)"text", (const xmlChar*)ss.str().c_str());
}
if(getWrittenDate() != 0){
ss.str("");
ss << getWrittenDate();
xmlSetProp(nodeItem, (const xmlChar*)"written_date", (const xmlChar*)ss.str().c_str());
}
if(getWriter() != ""){
ss.str("");
ss << getWriter();
xmlSetProp(nodeItem, (const xmlChar*)"writer", (const xmlChar*)ss.str().c_str());
}
if(!isNotMoveable() /*moveable*/){
if(getActionId() != 0){
ss.str("");
ss << getActionId();
xmlSetProp(nodeItem, (const xmlChar*)"actionId", (const xmlChar*)ss.str().c_str());
}
}
if(hasAttribute(ATTR_ITEM_DURATION)){
uint32_t duration = getDuration();
ss.str("");
ss << duration;
xmlSetProp(nodeItem, (const xmlChar*)"duration", (const xmlChar*)ss.str().c_str());
}
uint32_t decayState = getDecaying();
if(decayState == DECAYING_TRUE || decayState == DECAYING_PENDING){
ss.str("");
ss << decayState;
xmlSetProp(nodeItem, (const xmlChar*)"decayState", (const xmlChar*)ss.str().c_str());
}
return nodeItem;
}
