//更新定时器
void update_timer(struct timer *t,uint64_t now)
{
struct timer_item *item;
while(NULL != (item = (struct timer_item*)minheap_min(t->_minheap))){
if(NULL == item->_ud){
minheap_popmin(t->_minheap);
free(item);
}else if(now >= item->_timeout){
minheap_popmin(t->_minheap);
if(item->_callback(t,item,item->_ud))
free(item);
}else
break;
}
}
void check_time_out(sche_t s,uint32_t now)
{
coro_t co;
for( ; ;)
{
struct heapele *ele = minheap_min(s->_minheap);
if(!ele)
break;
co = (coro_t)((int8_t*)ele - sizeof(co->next));
if(co->timeout < now)
break;
minheap_popmin(s->_minheap);
if(co->status != CORO_ACTIVE)
{
co->status = CORO_ACTIVE;
LINK_LIST_PUSH_BACK(s->active_list_1,co);
}else if(co->status == CORO_DIE)
{
coro_destroy(&co);
if(--s->coro_size == 0)
s->stop = 1;
//printf("a coro destroy\n");
}
}
s->next_check_timeout = now + 200;//check every 200 ms
}
int find_path(AStar_t astar,int x,int y,int x1,int y1,kn_dlist *path){
AStarNode *from = get_node(astar,x,y);
AStarNode *to = get_node(astar,x1,y1);
if(!from || !to || from == to || to->block)
return 0;
minheap_insert(astar->open_list,&from->heap);
AStarNode *current_node = NULL;
while(1){
struct heapele *e = minheap_popmin(astar->open_list);
if(!e){
reset(astar);
return 0;
}
current_node = (AStarNode*)((int8_t*)e-sizeof(kn_dlist_node));
if(current_node == to){
while(current_node)
{
kn_dlist_remove((kn_dlist_node*)current_node);//可能在close_list中，需要删除
if(current_node != from)//当前点无需加入到路径点中
kn_dlist_push_front(path,(kn_dlist_node*)current_node);
AStarNode *t = current_node;
current_node = current_node->parent;
t->parent = NULL;
t->F = t->G = t->H = 0;
t->heap.index = 0;
}
reset(astar);
return 1;
}
//current插入到close表
kn_dlist_push(&astar->close_list,(kn_dlist_node*)current_node);
//获取current的相邻节点
kn_dlist *neighbors = get_neighbors(astar,current_node);
if(neighbors)
{
AStarNode *n;
while((n = (AStarNode*)kn_dlist_pop(neighbors))){
if(n->heap.index)//在openlist中
{
float new_G = current_node->G + cost_2_neighbor(current_node,n);
if(new_G < n->G)
{
//经过当前neighbor路径更佳,更新路径
n->G = new_G;
n->F = n->G + n->H;
n->parent = current_node;
minheap_change(astar->open_list,&n->heap);
}
continue;
}
n->parent = current_node;
n->G = current_node->G + cost_2_neighbor(current_node,n);
n->H = cost_2_goal(n,to);
n->F = n->G + n->H;
minheap_insert(astar->open_list,&n->heap);
}
neighbors = NULL;
}
}
}
