void StandardGraspPerformer::performGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
const object_manipulation_msgs::Grasp &grasp,
GraspExecutionInfo &execution_info)
{
execution_info.result_ = approachAndGrasp(pickup_goal, grasp, execution_info);
if (execution_info.result_.result_code != GraspResult::SUCCESS) return;
//check if there is anything in gripper; if not, open gripper and retreat
if (!mechInterface().graspPostureQuery(pickup_goal.arm_name, grasp))
{
ROS_DEBUG_NAMED("manipulation","Hand reports that grasp was not successfully executed; "
"releasing object and retreating");
mechInterface().handPostureGraspAction(pickup_goal.arm_name, grasp,
object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE, -1);
retreat(pickup_goal, grasp, execution_info);
execution_info.result_ = Result(GraspResult::GRASP_FAILED, false);
return;
}
//attach object to gripper
if (!pickup_goal.collision_object_name.empty())
{
mechInterface().attachObjectToGripper(pickup_goal.arm_name, pickup_goal.collision_object_name);
}
execution_info.result_ = lift(pickup_goal, grasp, execution_info);
}
void MatchACommand( int (*advance)(char *), int (*retreat)(char *) )
/******************************************************************/
{
int advanced;
SaveLine();
advanced = 0;
for( ;; ) {
++advanced;
MaxCursor = advance( Line );
if( MaxCursor == 0 ) {
while( --advanced >= 0 ) {
MaxCursor = retreat( Line );
}
RestoreLine();
return;
}
if( MaxCursor < OldCursor ) continue;
if( Equal( OldLine, Line, OldCursor ) ) break;
}
Draw = TRUE;
Base = 0;
Edited = FALSE;
FirstNextOrPrev = FALSE;
}
bool simple_ctable::iter::prev(bool row)
{
if(row)
number = 0;
else if(prev_column())
return true;
return retreat(true);
}
int is_palindrome(char line[]) {
int left = 0, right = strlen(line) - 1;
// find intitial left and right indices of valid letters
right = retreat( right, line );
left = advance( left, right, line );
while( tolower(line[ left ]) == tolower(line[ right ]) ) {
if( left != right && left + 1 != right ) {
left++; right--;
left = advance( left, right, line );
right = retreat( right, line );
}
// midpoint cases
else if( left == right ) {
return line[ left ] == line [ right ];
}
else if( left +1 == right ) {
return line[ left ] == line [ right ];
}
}
return 0 ; /* not a palindrome */
}
int is_palindrome(char line[]) {
int i; //Incrementation variable
int eos_index = (strlen(line)-1); // end of string position
int endval; // End value
int startval; // Start value
int startcursor = 0; //Keeps track of cursor from beginning
int endcursor = eos_index; //Keeps track of cursor from end
for(i = 0; i < strlen(line); i++){
if(startcursor == endcursor){
return 1; /*is a palindrome */
}
else if(startcursor > endcursor){
if ((startcursor == endcursor +1) && (tolower(startval) == tolower(endval))){
return 1; /*is a palindrome */
}
break;
}
else if(startcursor < endcursor){
startcursor = i;
endcursor = (strlen(line)-1)-i;
endval = line[endcursor];
startval = line[startcursor];
if(tolower(startval) != tolower(endval)){
break;
}
startcursor = advance(i,eos_index,line);
endcursor = retreat(endcursor,line);
}
}
return 0 ; /* not a palindrome */
}
task main()
{
initializeRobot();
waitForStart();
raiseArm(ArmUpRotations);
intializeClaw();
int _dirAC = 0;
wait1Msec(200);
int sensorDirection = HTIRS2readDCDir(irSeeker);
if(sensorDirection < 5){
raiseArm(LeftArmUpRotations);
leftTurn(leftTurnRotations);
attackRack(leftFinalInches);
}
else{
firstMove(middleStartInches);
wait1Msec(300);
sensorDirection = HTIRS2readDCDir(irSeeker);
if(sensorDirection < 7){
leftTurn(middleTurnRotations);
attackRack(middleFinalInches);
}
else{
raiseArm(RightArmUpRotations);
firstMove(rightStartInches - middleStartInches);
leftTurn(middleTurnRotations);
attackRack(rightFinalInches);
}
}
retreat();
}
/*
* Remove node from tree.
* avl_delete does the local tree manipulations,
* calls retreat() to rebalance tree up to its root.
*/
void
avl_delete(
register avltree_desc_t *tree,
register avlnode_t *np)
{
register avlnode_t *forw = np->avl_forw;
register avlnode_t *back = np->avl_back;
register avlnode_t *parent = np->avl_parent;
register avlnode_t *nnext;
if (np->avl_back) {
/*
* a left child exits, then greatest left descendent's nextino
* is pointing to np; make it point to np->nextino.
*/
nnext = np->avl_back;
while (nnext) {
if (!nnext->avl_forw)
break; /* can't find anything bigger */
nnext = nnext->avl_forw;
}
} else if (np->avl_parent) {
/*
* find nearest ancestor with lesser value. That ancestor's
* nextino is pointing to np; make it point to np->nextino
*/
nnext = np->avl_parent;
while (nnext) {
if (AVL_END(tree, nnext) <= AVL_END(tree, np))
break;
nnext = nnext->avl_parent;
}
} else
nnext = NULL;
if (nnext) {
ASSERT(nnext->avl_nextino == np);
nnext->avl_nextino = np->avl_nextino;
/*
* Something preceeds np; np cannot be firstino.
*/
ASSERT(tree->avl_firstino != np);
}
else {
/*
* Nothing preceeding np; after deletion, np's nextino
* is firstino of tree.
*/
ASSERT(tree->avl_firstino == np);
tree->avl_firstino = np->avl_nextino;
}
/*
* Degenerate cases...
*/
if (forw == NULL) {
forw = back;
goto attach;
}
if (back == NULL) {
attach:
if (forw)
forw->avl_parent = parent;
if (parent) {
if (parent->avl_forw == np) {
parent->avl_forw = forw;
retreat(tree, parent, AVL_BACK);
} else {
ASSERT(parent->avl_back == np);
parent->avl_back = forw;
retreat(tree, parent, AVL_FORW);
}
} else {
ASSERT(tree->avl_root == np);
tree->avl_root = forw;
}
avl_checktree(tree, tree->avl_root);
return;
}
/*
* Harder case: children on both sides.
* If back's avl_forw pointer is null, just have back
* inherit np's avl_forw tree, remove np from the tree
* and adjust balance counters starting at back.
*
* np-> xI xH (befor retreat())
* / \ / \
* back-> H J G J
* / / \ / \
* G ? ? ? ?
* / \
* ? ?
*/
if ((forw = back->avl_forw) == NULL) {
/*
* AVL_FORW retreat below will set back's
* balance to AVL_BACK.
*/
back->avl_balance = np->avl_balance;
back->avl_forw = forw = np->avl_forw;
forw->avl_parent = back;
back->avl_parent = parent;
if (parent) {
if (parent->avl_forw == np)
parent->avl_forw = back;
else {
ASSERT(parent->avl_back == np);
parent->avl_back = back;
}
} else {
ASSERT(tree->avl_root == np);
tree->avl_root = back;
}
/*
* back is taking np's place in the tree, and
* has therefore lost a avl_back node (itself).
*/
retreat(tree, back, AVL_FORW);
avl_checktree(tree, tree->avl_root);
return;
}
/*
* Hardest case: children on both sides, and back's
* avl_forw pointer isn't null. Find the immediately
* inferior buffer by following back's avl_forw line
* to the end, then have it inherit np's avl_forw tree.
*
* np-> xI xH
* / \ / \
* G J back-> G J (before retreat())
* / \ / \
* F ?... F ?1
* / \
* ? H <-forw
* /
* ?1
*/
while ((back = forw->avl_forw))
forw = back;
/*
* Will be adjusted by retreat() below.
*/
forw->avl_balance = np->avl_balance;
/*
* forw inherits np's avl_forw...
*/
forw->avl_forw = np->avl_forw;
np->avl_forw->avl_parent = forw;
/*
* ... forw's parent gets forw's avl_back...
*/
back = forw->avl_parent;
back->avl_forw = forw->avl_back;
if (forw->avl_back)
forw->avl_back->avl_parent = back;
/*
* ... forw gets np's avl_back...
*/
forw->avl_back = np->avl_back;
np->avl_back->avl_parent = forw;
/*
* ... and forw gets np's parent.
*/
forw->avl_parent = parent;
if (parent) {
if (parent->avl_forw == np)
parent->avl_forw = forw;
else
parent->avl_back = forw;
} else {
ASSERT(tree->avl_root == np);
tree->avl_root = forw;
}
/*
* What used to be forw's parent is the starting
* point for rebalancing. It has lost a avl_forw node.
*/
retreat(tree, back, AVL_BACK);
avl_checktree(tree, tree->avl_root);
}
bool simple_ctable::iter::last()
{
source->last();
return retreat();
}
/*
* Check if current player must retreat.
*
* We run this check from the point of view of the opponent.
*
* If current player must retreat, simulate the results.
*/
static void check_retreat(game *g)
{
game sim;
player *p, *opp;
card *c;
int i;
int all_known = 1, moved = 0, bluff = 0;
/* Do nothing if no fight to retreat from */
if (!g->fight_started) return;
/* Get opponent pointer */
opp = &g->p[!g->turn];
/* Loop over opponent cards */
for (i = 1; i < DECK_SIZE; i++)
{
/* Get card pointer */
c = &opp->deck[i];
/* Skip inactive cards */
if (!c->active) continue;
/* Check for bluff card */
if (c->bluff) bluff = 1;
/* Skip cards with text ignored */
if (c->text_ignored) continue;
/* Skip cards without category 3 special text */
if (c->d_ptr->special_cat != 3) continue;
/* Skip cards that don't disallow calling bluff */
if (c->d_ptr->special_effect !=(S3_YOU_MAY_NOT | S3_CALL_BLUFF))
continue;
/* Assume no bluff cards are in play */
bluff = 0;
break;
}
/* Do not check for forced retreat if bluff may be called */
if (bluff) return;
/* Simulate game */
simulate_game(&sim, g);
/* Get player pointer */
p = &sim.p[sim.turn];
/* Loop over cards */
for (i = 1; i < DECK_SIZE; i++)
{
/* Get card pointer */
c = &p->deck[i];
/* Skip cards not in hand */
if (c->where != LOC_HAND) continue;
/* Check for unknown card */
if (!c->loc_known) all_known = 0;
}
/* Check for not all cards in hand known */
if (!all_known)
{
/* Pretend all unknown cards are in hand */
for (i = 1; i < DECK_SIZE; i++)
{
/* Get card pointer */
c = &p->deck[i];
/* Skip cards with known locations */
if (c->loc_known && !c->random_fake) continue;
/* Clear "random" flag */
c->random_fake = 0;
/* Move card to hand */
c->where = LOC_HAND;
/* Count cards moved */
moved++;
}
}
/* XXX Do nothing if most cards moved */
if (moved > 15) return;
/* Set retreat flag */
must_retreat = 1;
checking_retreat = 1;
/* Simulate possible actions */
find_action(&sim);
/* Check for retreat flag still set */
if (must_retreat)
{
/* Force current player to retreat before evaluating score */
retreat(g);
}
/* Clear retreat check flag */
checking_retreat = 0;
}
/*
* Perform the given action.
*/
static void perform_act(game *g, action a)
{
player *p, *opp;
int old_phase;
/* Get player pointers */
p = &g->p[g->turn];
opp = &g->p[!g->turn];
/* Remember current phase */
old_phase = p->phase;
/* Switch on action */
switch (a.act)
{
/* No action, advance phase counter */
case ACT_NONE:
{
/* Advance phase counter */
p->phase++;
/* Take care of bookkeeping */
switch (old_phase)
{
/* Start of turn */
case PHASE_START:
/* Start turn */
start_turn(g);
/* Done */
break;
/* After support/booster */
case PHASE_AFTER_SB:
/* End support phase */
end_support(g);
/* Done */
break;
/* Refresh hand */
case PHASE_REFRESH:
/* Refresh */
refresh_phase(g);
/* Done */
break;
/* End of turn */
case PHASE_END:
/* End current turn */
end_turn(g);
/* Done */
break;
/* Move to next player */
case PHASE_OVER:
/* Player is done */
p->phase = PHASE_NONE;
/* Next player */
g->turn = !g->turn;
/* Start opponent's turn */
opp->phase = PHASE_START;
/* Done (completely) */
return;
}
/* Clear last played card */
p->last_played = 0;
/* Done */
break;
}
/* Retreat */
case ACT_RETREAT:
{
/* Retreat */
retreat(g);
/* Done */
break;
}
/* Retrieve a card */
case ACT_RETRIEVE:
{
/* Set last played */
p->last_played = a.index;
/* Retrieve card */
retrieve_card(g, a.arg);
/* Done */
break;
}
/* Play a card */
case ACT_PLAY:
{
/* Set last played */
p->last_played = a.index;
/* Play card */
play_card(g, a.arg, 0, 0);
/* Done */
break;
}
/* Play a card without special effect */
case ACT_PLAY_NO:
{
/* Set last played */
p->last_played = a.index;
/* Play card */
play_card(g, a.arg, 1, 0);
/* Done */
break;
}
/* Announce power */
case ACT_ANN_FIRE:
case ACT_ANN_EARTH:
{
/* Increment phase counter */
p->phase++;
/* Announce power */
announce_power(g, a.act - ACT_ANN_FIRE);
/* Done */
break;
}
/* Use card special power */
case ACT_USE:
{
/* Use card */
use_special(g, a.arg);
/* Done */
break;
}
/* Satisfy opponent's "discard" card */
case ACT_SATISFY:
{
/* Satisfy requirement */
satisfy_discard(g, a.arg);
/* Done */
break;
}
/* Land a ship */
case ACT_LAND:
{
/* Set last played */
p->last_played = a.index;
/* Land ship */
land_ship(g, a.arg);
/* Done */
break;
}
/* Load a card onto a ship */
case ACT_LOAD:
{
/* Set last played */
p->last_played = a.index;
/* Load card */
load_card(g, a.arg, a.target);
/* Done */
break;
}
/* Play a bluff card */
case ACT_BLUFF:
{
/* Set last played */
p->last_played = a.index;
/* Play bluff */
play_bluff(g, a.arg);
/* Done */
break;
}
/* Reveal a bluff card */
case ACT_REVEAL:
{
/* Set last played */
p->last_played = a.index;
/* Reveal bluff */
reveal_bluff(g, g->turn, a.arg);
/* Done */
break;
}
}
}
Force::~Force() {
retreat();
}
void takecareofobject()
{
if ((blkiden==0)||(f1==0)) // OBJECT NOT THERE
return;
if (blkiden==1||blkiden==2) // OBJECT FOUND
{
int i=0;
turn('N');
//_delay_ms(10);
while(i<4000)
{
PORTB |= (1<<0);
PORTB &=~(1<<1);// holdin object
_delay_us(50);
PORTB |= (1<<0);
PORTB |= (1<<1);
_delay_us(50);
i++;
PORTC|=(1<<3);
}
PORTC&=~(1<<3);
linefollower();
objx=currx;
objy=curry;
objtransport();
turn('N');
linefollower1();
turn('N');
inchb();
inchb();
i=0;
while(i<4000)
{
PORTB &=~ (1<<0);
PORTB |=(1<<1);// keepin object
_delay_us(85);
PORTB |= (1<<0);
PORTB |= (1<<1);
_delay_us(15);
i++;
PORTC|=(1<<3);
}
PORTC&=~(1<<3);
inchb();
//inchb();
turn('R');
if(ori==1)
ori=3;
else if(ori==2)
ori=4;
else if(ori==3)
ori=1;
else if(ori==4)
ori=2;
linefollower1();
turn('N');
//inch();
retreat();
blkiden=0;
f1=0;
}
}
void __start(int core_id, int num_crashes, unsigned char payload) {
// Core 0 starts by checking taunt array,
// then writes to opponents' data
if (core_id == 0) {
signed char *taunt_array = HOME_STATUS->taunt;
// Unravel loop through taunt array twice
if (taunt_array[0] != -1) {
Alert_Guards(taunt_array[0]);
}
if (taunt_array[1] != -1) {
Alert_Guards(taunt_array[1]);
}
if (taunt_array[2] != -1) {
Alert_Guards(taunt_array[2]);
}
if (taunt_array[3] != -1) {
Alert_Guards(taunt_array[3]);
}
if (taunt_array[4] != -1) {
Alert_Guards(taunt_array[4]);
}
if (taunt_array[5] != -1) {
Alert_Guards(taunt_array[5]);
}
if (taunt_array[6] != -1) {
Alert_Guards(taunt_array[6]);
}
if (taunt_array[7] != -1) {
Alert_Guards(taunt_array[7]);
}
if (taunt_array[8] != -1) {
Alert_Guards(taunt_array[8]);
}
if (taunt_array[9] != -1) {
Alert_Guards(taunt_array[9]);
}
if (taunt_array[10] != -1) {
Alert_Guards(taunt_array[10]);
}
if (taunt_array[11] != -1) {
Alert_Guards(taunt_array[11]);
}
if (taunt_array[12] != -1) {
Alert_Guards(taunt_array[12]);
}
if (taunt_array[13] != -1) {
Alert_Guards(taunt_array[13]);
}
if (taunt_array[14] != -1) {
Alert_Guards(taunt_array[14]);
}
if (taunt_array[15] != -1) {
Alert_Guards(taunt_array[15]);
}
if (taunt_array[16] != -1) {
Alert_Guards(taunt_array[16]);
}
if (taunt_array[17] != -1) {
Alert_Guards(taunt_array[17]);
}
if (taunt_array[18] != -1) {
Alert_Guards(taunt_array[18]);
}
if (taunt_array[19] != -1) {
Alert_Guards(taunt_array[19]);
}
if (taunt_array[20] != -1) {
Alert_Guards(taunt_array[20]);
}
if (taunt_array[21] != -1) {
Alert_Guards(taunt_array[21]);
}
if (taunt_array[22] != -1) {
Alert_Guards(taunt_array[22]);
}
if (taunt_array[23] != -1) {
Alert_Guards(taunt_array[23]);
}
if (taunt_array[24] != -1) {
Alert_Guards(taunt_array[24]);
}
if (taunt_array[25] != -1) {
Alert_Guards(taunt_array[25]);
}
if (taunt_array[26] != -1) {
Alert_Guards(taunt_array[26]);
}
if (taunt_array[27] != -1) {
Alert_Guards(taunt_array[27]);
}
if (taunt_array[28] != -1) {
Alert_Guards(taunt_array[28]);
}
if (taunt_array[29] != -1) {
Alert_Guards(taunt_array[29]);
}
if (taunt_array[30] != -1) {
Alert_Guards(taunt_array[30]);
}
if (taunt_array[31] != -1) {
Alert_Guards(taunt_array[31]);
}
if (taunt_array[32] != -1) {
Alert_Guards(taunt_array[32]);
}
if (taunt_array[33] != -1) {
Alert_Guards(taunt_array[33]);
}
if (taunt_array[34] != -1) {
Alert_Guards(taunt_array[34]);
}
if (taunt_array[35] != -1) {
Alert_Guards(taunt_array[35]);
}
if (taunt_array[36] != -1) {
Alert_Guards(taunt_array[36]);
}
if (taunt_array[37] != -1) {
Alert_Guards(taunt_array[37]);
}
if (taunt_array[38] != -1) {
Alert_Guards(taunt_array[38]);
}
if (taunt_array[39] != -1) {
Alert_Guards(taunt_array[39]);
}
if (taunt_array[40] != -1) {
Alert_Guards(taunt_array[40]);
}
if (taunt_array[41] != -1) {
Alert_Guards(taunt_array[41]);
}
if (taunt_array[42] != -1) {
Alert_Guards(taunt_array[42]);
}
if (taunt_array[43] != -1) {
Alert_Guards(taunt_array[43]);
}
if (taunt_array[44] != -1) {
Alert_Guards(taunt_array[44]);
}
if (taunt_array[45] != -1) {
Alert_Guards(taunt_array[45]);
}
if (taunt_array[46] != -1) {
Alert_Guards(taunt_array[46]);
}
if (taunt_array[47] != -1) {
Alert_Guards(taunt_array[47]);
}
if (taunt_array[48] != -1) {
Alert_Guards(taunt_array[48]);
}
if (taunt_array[49] != -1) {
Alert_Guards(taunt_array[49]);
}
if (taunt_array[50] != -1) {
Alert_Guards(taunt_array[50]);
}
if (taunt_array[51] != -1) {
Alert_Guards(taunt_array[51]);
}
if (taunt_array[52] != -1) {
Alert_Guards(taunt_array[52]);
}
if (taunt_array[53] != -1) {
Alert_Guards(taunt_array[53]);
}
if (taunt_array[54] != -1) {
Alert_Guards(taunt_array[54]);
}
if (taunt_array[55] != -1) {
Alert_Guards(taunt_array[55]);
}
if (taunt_array[56] != -1) {
Alert_Guards(taunt_array[56]);
}
if (taunt_array[57] != -1) {
Alert_Guards(taunt_array[57]);
}
if (taunt_array[58] != -1) {
Alert_Guards(taunt_array[58]);
}
if (taunt_array[59] != -1) {
Alert_Guards(taunt_array[59]);
}
if (taunt_array[60] != -1) {
Alert_Guards(taunt_array[60]);
}
if (taunt_array[61] != -1) {
Alert_Guards(taunt_array[61]);
}
if (taunt_array[62] != -1) {
Alert_Guards(taunt_array[62]);
}
if (taunt_array[63] != -1) {
Alert_Guards(taunt_array[63]);
}
if (taunt_array[64] != -1) {
Alert_Guards(taunt_array[64]);
}
if (taunt_array[65] != -1) {
Alert_Guards(taunt_array[65]);
}
if (taunt_array[66] != -1) {
Alert_Guards(taunt_array[66]);
}
if (taunt_array[67] != -1) {
Alert_Guards(taunt_array[67]);
}
if (taunt_array[68] != -1) {
Alert_Guards(taunt_array[68]);
}
if (taunt_array[69] != -1) {
Alert_Guards(taunt_array[69]);
}
if (taunt_array[70] != -1) {
Alert_Guards(taunt_array[70]);
}
if (taunt_array[71] != -1) {
Alert_Guards(taunt_array[71]);
}
if (taunt_array[72] != -1) {
Alert_Guards(taunt_array[72]);
}
if (taunt_array[73] != -1) {
Alert_Guards(taunt_array[73]);
}
if (taunt_array[74] != -1) {
Alert_Guards(taunt_array[74]);
}
if (taunt_array[75] != -1) {
Alert_Guards(taunt_array[75]);
}
if (taunt_array[76] != -1) {
Alert_Guards(taunt_array[76]);
}
if (taunt_array[77] != -1) {
Alert_Guards(taunt_array[77]);
}
if (taunt_array[78] != -1) {
Alert_Guards(taunt_array[78]);
}
if (taunt_array[79] != -1) {
Alert_Guards(taunt_array[79]);
}
if (taunt_array[80] != -1) {
Alert_Guards(taunt_array[80]);
}
if (taunt_array[81] != -1) {
Alert_Guards(taunt_array[81]);
}
if (taunt_array[82] != -1) {
Alert_Guards(taunt_array[82]);
}
if (taunt_array[83] != -1) {
Alert_Guards(taunt_array[83]);
}
if (taunt_array[84] != -1) {
Alert_Guards(taunt_array[84]);
}
if (taunt_array[85] != -1) {
Alert_Guards(taunt_array[85]);
}
if (taunt_array[86] != -1) {
Alert_Guards(taunt_array[86]);
}
if (taunt_array[87] != -1) {
Alert_Guards(taunt_array[87]);
}
if (taunt_array[88] != -1) {
Alert_Guards(taunt_array[88]);
}
if (taunt_array[89] != -1) {
Alert_Guards(taunt_array[89]);
}
if (taunt_array[90] != -1) {
Alert_Guards(taunt_array[90]);
}
if (taunt_array[91] != -1) {
Alert_Guards(taunt_array[91]);
}
if (taunt_array[92] != -1) {
Alert_Guards(taunt_array[92]);
}
if (taunt_array[93] != -1) {
Alert_Guards(taunt_array[93]);
}
if (taunt_array[94] != -1) {
Alert_Guards(taunt_array[94]);
}
if (taunt_array[95] != -1) {
Alert_Guards(taunt_array[95]);
}
if (taunt_array[96] != -1) {
Alert_Guards(taunt_array[96]);
}
if (taunt_array[97] != -1) {
Alert_Guards(taunt_array[97]);
}
if (taunt_array[98] != -1) {
Alert_Guards(taunt_array[98]);
}
if (taunt_array[99] != -1) {
Alert_Guards(taunt_array[99]);
}
if (taunt_array[100] != -1) {
Alert_Guards(taunt_array[100]);
}
if (taunt_array[101] != -1) {
Alert_Guards(taunt_array[101]);
}
if (taunt_array[102] != -1) {
Alert_Guards(taunt_array[102]);
}
if (taunt_array[103] != -1) {
Alert_Guards(taunt_array[103]);
}
if (taunt_array[104] != -1) {
Alert_Guards(taunt_array[104]);
}
if (taunt_array[105] != -1) {
Alert_Guards(taunt_array[105]);
}
if (taunt_array[106] != -1) {
Alert_Guards(taunt_array[106]);
}
if (taunt_array[107] != -1) {
Alert_Guards(taunt_array[107]);
}
if (taunt_array[108] != -1) {
Alert_Guards(taunt_array[108]);
}
if (taunt_array[109] != -1) {
Alert_Guards(taunt_array[109]);
}
if (taunt_array[110] != -1) {
Alert_Guards(taunt_array[110]);
}
if (taunt_array[111] != -1) {
Alert_Guards(taunt_array[111]);
}
if (taunt_array[112] != -1) {
Alert_Guards(taunt_array[112]);
}
if (taunt_array[113] != -1) {
Alert_Guards(taunt_array[113]);
}
if (taunt_array[114] != -1) {
Alert_Guards(taunt_array[114]);
}
if (taunt_array[115] != -1) {
Alert_Guards(taunt_array[115]);
}
if (taunt_array[116] != -1) {
Alert_Guards(taunt_array[116]);
}
if (taunt_array[117] != -1) {
Alert_Guards(taunt_array[117]);
}
if (taunt_array[118] != -1) {
Alert_Guards(taunt_array[118]);
}
if (taunt_array[119] != -1) {
Alert_Guards(taunt_array[119]);
}
if (taunt_array[120] != -1) {
Alert_Guards(taunt_array[120]);
}
if (taunt_array[121] != -1) {
Alert_Guards(taunt_array[121]);
}
if (taunt_array[122] != -1) {
Alert_Guards(taunt_array[122]);
}
if (taunt_array[123] != -1) {
Alert_Guards(taunt_array[123]);
}
if (taunt_array[124] != -1) {
Alert_Guards(taunt_array[124]);
}
if (taunt_array[125] != -1) {
Alert_Guards(taunt_array[125]);
}
if (taunt_array[126] != -1) {
Alert_Guards(taunt_array[126]);
}
if (taunt_array[127] != -1) {
Alert_Guards(taunt_array[127]);
}
if (taunt_array[128] != -1) {
Alert_Guards(taunt_array[128]);
}
if (taunt_array[129] != -1) {
Alert_Guards(taunt_array[129]);
}
if (taunt_array[130] != -1) {
Alert_Guards(taunt_array[130]);
}
if (taunt_array[131] != -1) {
Alert_Guards(taunt_array[131]);
}
if (taunt_array[132] != -1) {
Alert_Guards(taunt_array[132]);
}
if (taunt_array[133] != -1) {
Alert_Guards(taunt_array[133]);
}
if (taunt_array[134] != -1) {
Alert_Guards(taunt_array[134]);
}
if (taunt_array[135] != -1) {
Alert_Guards(taunt_array[135]);
}
if (taunt_array[136] != -1) {
Alert_Guards(taunt_array[136]);
}
if (taunt_array[137] != -1) {
Alert_Guards(taunt_array[137]);
}
if (taunt_array[138] != -1) {
Alert_Guards(taunt_array[138]);
}
if (taunt_array[139] != -1) {
Alert_Guards(taunt_array[139]);
}
if (taunt_array[140] != -1) {
Alert_Guards(taunt_array[140]);
}
if (taunt_array[141] != -1) {
Alert_Guards(taunt_array[141]);
}
if (taunt_array[142] != -1) {
Alert_Guards(taunt_array[142]);
}
if (taunt_array[143] != -1) {
Alert_Guards(taunt_array[143]);
}
if (taunt_array[144] != -1) {
Alert_Guards(taunt_array[144]);
}
if (taunt_array[145] != -1) {
Alert_Guards(taunt_array[145]);
}
if (taunt_array[146] != -1) {
Alert_Guards(taunt_array[146]);
}
if (taunt_array[147] != -1) {
Alert_Guards(taunt_array[147]);
}
if (taunt_array[148] != -1) {
Alert_Guards(taunt_array[148]);
}
if (taunt_array[149] != -1) {
Alert_Guards(taunt_array[149]);
}
if (taunt_array[150] != -1) {
Alert_Guards(taunt_array[150]);
}
if (taunt_array[151] != -1) {
Alert_Guards(taunt_array[151]);
}
if (taunt_array[152] != -1) {
Alert_Guards(taunt_array[152]);
}
if (taunt_array[153] != -1) {
Alert_Guards(taunt_array[153]);
}
if (taunt_array[154] != -1) {
Alert_Guards(taunt_array[154]);
}
if (taunt_array[155] != -1) {
Alert_Guards(taunt_array[155]);
}
if (taunt_array[156] != -1) {
Alert_Guards(taunt_array[156]);
}
if (taunt_array[157] != -1) {
Alert_Guards(taunt_array[157]);
}
if (taunt_array[158] != -1) {
Alert_Guards(taunt_array[158]);
}
if (taunt_array[159] != -1) {
Alert_Guards(taunt_array[159]);
}
if (taunt_array[160] != -1) {
Alert_Guards(taunt_array[160]);
}
if (taunt_array[161] != -1) {
Alert_Guards(taunt_array[161]);
}
if (taunt_array[162] != -1) {
Alert_Guards(taunt_array[162]);
}
if (taunt_array[163] != -1) {
Alert_Guards(taunt_array[163]);
}
if (taunt_array[164] != -1) {
Alert_Guards(taunt_array[164]);
}
if (taunt_array[165] != -1) {
Alert_Guards(taunt_array[165]);
}
if (taunt_array[166] != -1) {
Alert_Guards(taunt_array[166]);
}
if (taunt_array[167] != -1) {
Alert_Guards(taunt_array[167]);
}
if (taunt_array[168] != -1) {
Alert_Guards(taunt_array[168]);
}
if (taunt_array[169] != -1) {
Alert_Guards(taunt_array[169]);
}
if (taunt_array[170] != -1) {
Alert_Guards(taunt_array[170]);
}
if (taunt_array[171] != -1) {
Alert_Guards(taunt_array[171]);
}
if (taunt_array[172] != -1) {
Alert_Guards(taunt_array[172]);
}
if (taunt_array[173] != -1) {
Alert_Guards(taunt_array[173]);
}
if (taunt_array[174] != -1) {
Alert_Guards(taunt_array[174]);
}
if (taunt_array[175] != -1) {
Alert_Guards(taunt_array[175]);
}
if (taunt_array[176] != -1) {
Alert_Guards(taunt_array[176]);
}
if (taunt_array[177] != -1) {
Alert_Guards(taunt_array[177]);
}
if (taunt_array[178] != -1) {
Alert_Guards(taunt_array[178]);
}
if (taunt_array[179] != -1) {
Alert_Guards(taunt_array[179]);
}
if (taunt_array[180] != -1) {
Alert_Guards(taunt_array[180]);
}
if (taunt_array[181] != -1) {
Alert_Guards(taunt_array[181]);
}
if (taunt_array[182] != -1) {
Alert_Guards(taunt_array[182]);
}
if (taunt_array[183] != -1) {
Alert_Guards(taunt_array[183]);
}
if (taunt_array[184] != -1) {
Alert_Guards(taunt_array[184]);
}
if (taunt_array[185] != -1) {
Alert_Guards(taunt_array[185]);
}
if (taunt_array[186] != -1) {
Alert_Guards(taunt_array[186]);
}
if (taunt_array[187] != -1) {
Alert_Guards(taunt_array[187]);
}
if (taunt_array[188] != -1) {
Alert_Guards(taunt_array[188]);
}
if (taunt_array[189] != -1) {
Alert_Guards(taunt_array[189]);
}
if (taunt_array[190] != -1) {
Alert_Guards(taunt_array[190]);
}
if (taunt_array[191] != -1) {
Alert_Guards(taunt_array[191]);
}
if (taunt_array[192] != -1) {
Alert_Guards(taunt_array[192]);
}
if (taunt_array[193] != -1) {
Alert_Guards(taunt_array[193]);
}
if (taunt_array[194] != -1) {
Alert_Guards(taunt_array[194]);
}
if (taunt_array[195] != -1) {
Alert_Guards(taunt_array[195]);
}
if (taunt_array[196] != -1) {
Alert_Guards(taunt_array[196]);
}
if (taunt_array[197] != -1) {
Alert_Guards(taunt_array[197]);
}
if (taunt_array[198] != -1) {
Alert_Guards(taunt_array[198]);
}
if (taunt_array[199] != -1) {
Alert_Guards(taunt_array[199]);
}
if (taunt_array[200] != -1) {
Alert_Guards(taunt_array[200]);
}
if (taunt_array[201] != -1) {
Alert_Guards(taunt_array[201]);
}
if (taunt_array[202] != -1) {
Alert_Guards(taunt_array[202]);
}
if (taunt_array[203] != -1) {
Alert_Guards(taunt_array[203]);
}
if (taunt_array[204] != -1) {
Alert_Guards(taunt_array[204]);
}
if (taunt_array[205] != -1) {
Alert_Guards(taunt_array[205]);
}
if (taunt_array[206] != -1) {
Alert_Guards(taunt_array[206]);
}
if (taunt_array[207] != -1) {
Alert_Guards(taunt_array[207]);
}
if (taunt_array[208] != -1) {
Alert_Guards(taunt_array[208]);
}
if (taunt_array[209] != -1) {
Alert_Guards(taunt_array[209]);
}
if (taunt_array[210] != -1) {
Alert_Guards(taunt_array[210]);
}
if (taunt_array[211] != -1) {
Alert_Guards(taunt_array[211]);
}
if (taunt_array[212] != -1) {
Alert_Guards(taunt_array[212]);
}
if (taunt_array[213] != -1) {
Alert_Guards(taunt_array[213]);
}
if (taunt_array[214] != -1) {
Alert_Guards(taunt_array[214]);
}
if (taunt_array[215] != -1) {
Alert_Guards(taunt_array[215]);
}
if (taunt_array[216] != -1) {
Alert_Guards(taunt_array[216]);
}
if (taunt_array[217] != -1) {
Alert_Guards(taunt_array[217]);
}
if (taunt_array[218] != -1) {
Alert_Guards(taunt_array[218]);
}
if (taunt_array[219] != -1) {
Alert_Guards(taunt_array[219]);
}
if (taunt_array[220] != -1) {
Alert_Guards(taunt_array[220]);
}
if (taunt_array[221] != -1) {
Alert_Guards(taunt_array[221]);
}
if (taunt_array[222] != -1) {
Alert_Guards(taunt_array[222]);
}
if (taunt_array[223] != -1) {
Alert_Guards(taunt_array[223]);
}
if (taunt_array[224] != -1) {
Alert_Guards(taunt_array[224]);
}
if (taunt_array[225] != -1) {
Alert_Guards(taunt_array[225]);
}
if (taunt_array[226] != -1) {
Alert_Guards(taunt_array[226]);
}
if (taunt_array[227] != -1) {
Alert_Guards(taunt_array[227]);
}
if (taunt_array[0] != -1) {
Alert_Guards(taunt_array[0]);
}
if (taunt_array[1] != -1) {
Alert_Guards(taunt_array[1]);
}
if (taunt_array[2] != -1) {
Alert_Guards(taunt_array[2]);
}
if (taunt_array[3] != -1) {
Alert_Guards(taunt_array[3]);
}
if (taunt_array[4] != -1) {
Alert_Guards(taunt_array[4]);
}
if (taunt_array[5] != -1) {
Alert_Guards(taunt_array[5]);
}
if (taunt_array[6] != -1) {
Alert_Guards(taunt_array[6]);
}
if (taunt_array[7] != -1) {
Alert_Guards(taunt_array[7]);
}
if (taunt_array[8] != -1) {
Alert_Guards(taunt_array[8]);
}
if (taunt_array[9] != -1) {
Alert_Guards(taunt_array[9]);
}
if (taunt_array[10] != -1) {
Alert_Guards(taunt_array[10]);
}
if (taunt_array[11] != -1) {
Alert_Guards(taunt_array[11]);
}
if (taunt_array[12] != -1) {
Alert_Guards(taunt_array[12]);
}
if (taunt_array[13] != -1) {
Alert_Guards(taunt_array[13]);
}
if (taunt_array[14] != -1) {
Alert_Guards(taunt_array[14]);
}
if (taunt_array[15] != -1) {
Alert_Guards(taunt_array[15]);
}
if (taunt_array[16] != -1) {
Alert_Guards(taunt_array[16]);
}
if (taunt_array[17] != -1) {
Alert_Guards(taunt_array[17]);
}
if (taunt_array[18] != -1) {
Alert_Guards(taunt_array[18]);
}
if (taunt_array[19] != -1) {
Alert_Guards(taunt_array[19]);
}
if (taunt_array[20] != -1) {
Alert_Guards(taunt_array[20]);
}
if (taunt_array[21] != -1) {
Alert_Guards(taunt_array[21]);
}
if (taunt_array[22] != -1) {
Alert_Guards(taunt_array[22]);
}
if (taunt_array[23] != -1) {
Alert_Guards(taunt_array[23]);
}
if (taunt_array[24] != -1) {
Alert_Guards(taunt_array[24]);
}
if (taunt_array[25] != -1) {
Alert_Guards(taunt_array[25]);
}
if (taunt_array[26] != -1) {
Alert_Guards(taunt_array[26]);
}
if (taunt_array[27] != -1) {
Alert_Guards(taunt_array[27]);
}
if (taunt_array[28] != -1) {
Alert_Guards(taunt_array[28]);
}
if (taunt_array[29] != -1) {
Alert_Guards(taunt_array[29]);
}
if (taunt_array[30] != -1) {
Alert_Guards(taunt_array[30]);
}
if (taunt_array[31] != -1) {
Alert_Guards(taunt_array[31]);
}
if (taunt_array[32] != -1) {
Alert_Guards(taunt_array[32]);
}
if (taunt_array[33] != -1) {
Alert_Guards(taunt_array[33]);
}
if (taunt_array[34] != -1) {
Alert_Guards(taunt_array[34]);
}
if (taunt_array[35] != -1) {
Alert_Guards(taunt_array[35]);
}
if (taunt_array[36] != -1) {
Alert_Guards(taunt_array[36]);
}
if (taunt_array[37] != -1) {
Alert_Guards(taunt_array[37]);
}
if (taunt_array[38] != -1) {
Alert_Guards(taunt_array[38]);
}
if (taunt_array[39] != -1) {
Alert_Guards(taunt_array[39]);
}
if (taunt_array[40] != -1) {
Alert_Guards(taunt_array[40]);
}
if (taunt_array[41] != -1) {
Alert_Guards(taunt_array[41]);
}
if (taunt_array[42] != -1) {
Alert_Guards(taunt_array[42]);
}
if (taunt_array[43] != -1) {
Alert_Guards(taunt_array[43]);
}
if (taunt_array[44] != -1) {
Alert_Guards(taunt_array[44]);
}
if (taunt_array[45] != -1) {
Alert_Guards(taunt_array[45]);
}
if (taunt_array[46] != -1) {
Alert_Guards(taunt_array[46]);
}
if (taunt_array[47] != -1) {
Alert_Guards(taunt_array[47]);
}
if (taunt_array[48] != -1) {
Alert_Guards(taunt_array[48]);
}
if (taunt_array[49] != -1) {
Alert_Guards(taunt_array[49]);
}
if (taunt_array[50] != -1) {
Alert_Guards(taunt_array[50]);
}
if (taunt_array[51] != -1) {
Alert_Guards(taunt_array[51]);
}
if (taunt_array[52] != -1) {
Alert_Guards(taunt_array[52]);
}
if (taunt_array[53] != -1) {
Alert_Guards(taunt_array[53]);
}
if (taunt_array[54] != -1) {
Alert_Guards(taunt_array[54]);
}
if (taunt_array[55] != -1) {
Alert_Guards(taunt_array[55]);
}
if (taunt_array[56] != -1) {
Alert_Guards(taunt_array[56]);
}
if (taunt_array[57] != -1) {
Alert_Guards(taunt_array[57]);
}
if (taunt_array[58] != -1) {
Alert_Guards(taunt_array[58]);
}
if (taunt_array[59] != -1) {
Alert_Guards(taunt_array[59]);
}
if (taunt_array[60] != -1) {
Alert_Guards(taunt_array[60]);
}
if (taunt_array[61] != -1) {
Alert_Guards(taunt_array[61]);
}
if (taunt_array[62] != -1) {
Alert_Guards(taunt_array[62]);
}
if (taunt_array[63] != -1) {
Alert_Guards(taunt_array[63]);
}
if (taunt_array[64] != -1) {
Alert_Guards(taunt_array[64]);
}
if (taunt_array[65] != -1) {
Alert_Guards(taunt_array[65]);
}
if (taunt_array[66] != -1) {
Alert_Guards(taunt_array[66]);
}
if (taunt_array[67] != -1) {
Alert_Guards(taunt_array[67]);
}
if (taunt_array[68] != -1) {
Alert_Guards(taunt_array[68]);
}
if (taunt_array[69] != -1) {
Alert_Guards(taunt_array[69]);
}
if (taunt_array[70] != -1) {
Alert_Guards(taunt_array[70]);
}
if (taunt_array[71] != -1) {
Alert_Guards(taunt_array[71]);
}
if (taunt_array[72] != -1) {
Alert_Guards(taunt_array[72]);
}
if (taunt_array[73] != -1) {
Alert_Guards(taunt_array[73]);
}
if (taunt_array[74] != -1) {
Alert_Guards(taunt_array[74]);
}
if (taunt_array[75] != -1) {
Alert_Guards(taunt_array[75]);
}
if (taunt_array[76] != -1) {
Alert_Guards(taunt_array[76]);
}
if (taunt_array[77] != -1) {
Alert_Guards(taunt_array[77]);
}
if (taunt_array[78] != -1) {
Alert_Guards(taunt_array[78]);
}
if (taunt_array[79] != -1) {
Alert_Guards(taunt_array[79]);
}
if (taunt_array[80] != -1) {
Alert_Guards(taunt_array[80]);
}
if (taunt_array[81] != -1) {
Alert_Guards(taunt_array[81]);
}
if (taunt_array[82] != -1) {
Alert_Guards(taunt_array[82]);
}
if (taunt_array[83] != -1) {
Alert_Guards(taunt_array[83]);
}
if (taunt_array[84] != -1) {
Alert_Guards(taunt_array[84]);
}
if (taunt_array[85] != -1) {
Alert_Guards(taunt_array[85]);
}
if (taunt_array[86] != -1) {
Alert_Guards(taunt_array[86]);
}
if (taunt_array[87] != -1) {
Alert_Guards(taunt_array[87]);
}
if (taunt_array[88] != -1) {
Alert_Guards(taunt_array[88]);
}
if (taunt_array[89] != -1) {
Alert_Guards(taunt_array[89]);
}
if (taunt_array[90] != -1) {
Alert_Guards(taunt_array[90]);
}
if (taunt_array[91] != -1) {
Alert_Guards(taunt_array[91]);
}
if (taunt_array[92] != -1) {
Alert_Guards(taunt_array[92]);
}
if (taunt_array[93] != -1) {
Alert_Guards(taunt_array[93]);
}
if (taunt_array[94] != -1) {
Alert_Guards(taunt_array[94]);
}
if (taunt_array[95] != -1) {
Alert_Guards(taunt_array[95]);
}
if (taunt_array[96] != -1) {
Alert_Guards(taunt_array[96]);
}
if (taunt_array[97] != -1) {
Alert_Guards(taunt_array[97]);
}
if (taunt_array[98] != -1) {
Alert_Guards(taunt_array[98]);
}
if (taunt_array[99] != -1) {
Alert_Guards(taunt_array[99]);
}
if (taunt_array[100] != -1) {
Alert_Guards(taunt_array[100]);
}
if (taunt_array[101] != -1) {
Alert_Guards(taunt_array[101]);
}
if (taunt_array[102] != -1) {
Alert_Guards(taunt_array[102]);
}
if (taunt_array[103] != -1) {
Alert_Guards(taunt_array[103]);
}
if (taunt_array[104] != -1) {
Alert_Guards(taunt_array[104]);
}
if (taunt_array[105] != -1) {
Alert_Guards(taunt_array[105]);
}
if (taunt_array[106] != -1) {
Alert_Guards(taunt_array[106]);
}
if (taunt_array[107] != -1) {
Alert_Guards(taunt_array[107]);
}
if (taunt_array[108] != -1) {
Alert_Guards(taunt_array[108]);
}
if (taunt_array[109] != -1) {
Alert_Guards(taunt_array[109]);
}
if (taunt_array[110] != -1) {
Alert_Guards(taunt_array[110]);
}
if (taunt_array[111] != -1) {
Alert_Guards(taunt_array[111]);
}
if (taunt_array[112] != -1) {
Alert_Guards(taunt_array[112]);
}
if (taunt_array[113] != -1) {
Alert_Guards(taunt_array[113]);
}
if (taunt_array[114] != -1) {
Alert_Guards(taunt_array[114]);
}
if (taunt_array[115] != -1) {
Alert_Guards(taunt_array[115]);
}
if (taunt_array[116] != -1) {
Alert_Guards(taunt_array[116]);
}
if (taunt_array[117] != -1) {
Alert_Guards(taunt_array[117]);
}
if (taunt_array[118] != -1) {
Alert_Guards(taunt_array[118]);
}
if (taunt_array[119] != -1) {
Alert_Guards(taunt_array[119]);
}
if (taunt_array[120] != -1) {
Alert_Guards(taunt_array[120]);
}
if (taunt_array[121] != -1) {
Alert_Guards(taunt_array[121]);
}
if (taunt_array[122] != -1) {
Alert_Guards(taunt_array[122]);
}
if (taunt_array[123] != -1) {
Alert_Guards(taunt_array[123]);
}
if (taunt_array[124] != -1) {
Alert_Guards(taunt_array[124]);
}
if (taunt_array[125] != -1) {
Alert_Guards(taunt_array[125]);
}
if (taunt_array[126] != -1) {
Alert_Guards(taunt_array[126]);
}
if (taunt_array[127] != -1) {
Alert_Guards(taunt_array[127]);
}
if (taunt_array[128] != -1) {
Alert_Guards(taunt_array[128]);
}
if (taunt_array[129] != -1) {
Alert_Guards(taunt_array[129]);
}
if (taunt_array[130] != -1) {
Alert_Guards(taunt_array[130]);
}
if (taunt_array[131] != -1) {
Alert_Guards(taunt_array[131]);
}
if (taunt_array[132] != -1) {
Alert_Guards(taunt_array[132]);
}
if (taunt_array[133] != -1) {
Alert_Guards(taunt_array[133]);
}
if (taunt_array[134] != -1) {
Alert_Guards(taunt_array[134]);
}
if (taunt_array[135] != -1) {
Alert_Guards(taunt_array[135]);
}
if (taunt_array[136] != -1) {
Alert_Guards(taunt_array[136]);
}
if (taunt_array[137] != -1) {
Alert_Guards(taunt_array[137]);
}
if (taunt_array[138] != -1) {
Alert_Guards(taunt_array[138]);
}
if (taunt_array[139] != -1) {
Alert_Guards(taunt_array[139]);
}
if (taunt_array[140] != -1) {
Alert_Guards(taunt_array[140]);
}
if (taunt_array[141] != -1) {
Alert_Guards(taunt_array[141]);
}
if (taunt_array[142] != -1) {
Alert_Guards(taunt_array[142]);
}
if (taunt_array[143] != -1) {
Alert_Guards(taunt_array[143]);
}
if (taunt_array[144] != -1) {
Alert_Guards(taunt_array[144]);
}
if (taunt_array[145] != -1) {
Alert_Guards(taunt_array[145]);
}
if (taunt_array[146] != -1) {
Alert_Guards(taunt_array[146]);
}
if (taunt_array[147] != -1) {
Alert_Guards(taunt_array[147]);
}
if (taunt_array[148] != -1) {
Alert_Guards(taunt_array[148]);
}
if (taunt_array[149] != -1) {
Alert_Guards(taunt_array[149]);
}
if (taunt_array[150] != -1) {
Alert_Guards(taunt_array[150]);
}
if (taunt_array[151] != -1) {
Alert_Guards(taunt_array[151]);
}
if (taunt_array[152] != -1) {
Alert_Guards(taunt_array[152]);
}
if (taunt_array[153] != -1) {
Alert_Guards(taunt_array[153]);
}
if (taunt_array[154] != -1) {
Alert_Guards(taunt_array[154]);
}
if (taunt_array[155] != -1) {
Alert_Guards(taunt_array[155]);
}
if (taunt_array[156] != -1) {
Alert_Guards(taunt_array[156]);
}
if (taunt_array[157] != -1) {
Alert_Guards(taunt_array[157]);
}
if (taunt_array[158] != -1) {
Alert_Guards(taunt_array[158]);
}
if (taunt_array[159] != -1) {
Alert_Guards(taunt_array[159]);
}
if (taunt_array[160] != -1) {
Alert_Guards(taunt_array[160]);
}
if (taunt_array[161] != -1) {
Alert_Guards(taunt_array[161]);
}
if (taunt_array[162] != -1) {
Alert_Guards(taunt_array[162]);
}
if (taunt_array[163] != -1) {
Alert_Guards(taunt_array[163]);
}
if (taunt_array[164] != -1) {
Alert_Guards(taunt_array[164]);
}
if (taunt_array[165] != -1) {
Alert_Guards(taunt_array[165]);
}
if (taunt_array[166] != -1) {
Alert_Guards(taunt_array[166]);
}
if (taunt_array[167] != -1) {
Alert_Guards(taunt_array[167]);
}
if (taunt_array[168] != -1) {
Alert_Guards(taunt_array[168]);
}
if (taunt_array[169] != -1) {
Alert_Guards(taunt_array[169]);
}
if (taunt_array[170] != -1) {
Alert_Guards(taunt_array[170]);
}
if (taunt_array[171] != -1) {
Alert_Guards(taunt_array[171]);
}
if (taunt_array[172] != -1) {
Alert_Guards(taunt_array[172]);
}
if (taunt_array[173] != -1) {
Alert_Guards(taunt_array[173]);
}
if (taunt_array[174] != -1) {
Alert_Guards(taunt_array[174]);
}
if (taunt_array[175] != -1) {
Alert_Guards(taunt_array[175]);
}
if (taunt_array[176] != -1) {
Alert_Guards(taunt_array[176]);
}
if (taunt_array[177] != -1) {
Alert_Guards(taunt_array[177]);
}
if (taunt_array[178] != -1) {
Alert_Guards(taunt_array[178]);
}
if (taunt_array[179] != -1) {
Alert_Guards(taunt_array[179]);
}
if (taunt_array[180] != -1) {
Alert_Guards(taunt_array[180]);
}
if (taunt_array[181] != -1) {
Alert_Guards(taunt_array[181]);
}
if (taunt_array[182] != -1) {
Alert_Guards(taunt_array[182]);
}
if (taunt_array[183] != -1) {
Alert_Guards(taunt_array[183]);
}
if (taunt_array[184] != -1) {
Alert_Guards(taunt_array[184]);
}
if (taunt_array[185] != -1) {
Alert_Guards(taunt_array[185]);
}
if (taunt_array[186] != -1) {
Alert_Guards(taunt_array[186]);
}
if (taunt_array[187] != -1) {
Alert_Guards(taunt_array[187]);
}
if (taunt_array[188] != -1) {
Alert_Guards(taunt_array[188]);
}
if (taunt_array[189] != -1) {
Alert_Guards(taunt_array[189]);
}
if (taunt_array[190] != -1) {
Alert_Guards(taunt_array[190]);
}
if (taunt_array[191] != -1) {
Alert_Guards(taunt_array[191]);
}
if (taunt_array[192] != -1) {
Alert_Guards(taunt_array[192]);
}
if (taunt_array[193] != -1) {
Alert_Guards(taunt_array[193]);
}
if (taunt_array[194] != -1) {
Alert_Guards(taunt_array[194]);
}
if (taunt_array[195] != -1) {
Alert_Guards(taunt_array[195]);
}
if (taunt_array[196] != -1) {
Alert_Guards(taunt_array[196]);
}
if (taunt_array[197] != -1) {
Alert_Guards(taunt_array[197]);
}
if (taunt_array[198] != -1) {
Alert_Guards(taunt_array[198]);
}
if (taunt_array[199] != -1) {
Alert_Guards(taunt_array[199]);
}
if (taunt_array[200] != -1) {
Alert_Guards(taunt_array[200]);
}
if (taunt_array[201] != -1) {
Alert_Guards(taunt_array[201]);
}
if (taunt_array[202] != -1) {
Alert_Guards(taunt_array[202]);
}
if (taunt_array[203] != -1) {
Alert_Guards(taunt_array[203]);
}
if (taunt_array[204] != -1) {
Alert_Guards(taunt_array[204]);
}
if (taunt_array[205] != -1) {
Alert_Guards(taunt_array[205]);
}
if (taunt_array[206] != -1) {
Alert_Guards(taunt_array[206]);
}
if (taunt_array[207] != -1) {
Alert_Guards(taunt_array[207]);
}
if (taunt_array[208] != -1) {
Alert_Guards(taunt_array[208]);
}
if (taunt_array[209] != -1) {
Alert_Guards(taunt_array[209]);
}
if (taunt_array[210] != -1) {
Alert_Guards(taunt_array[210]);
}
if (taunt_array[211] != -1) {
Alert_Guards(taunt_array[211]);
}
if (taunt_array[212] != -1) {
Alert_Guards(taunt_array[212]);
}
if (taunt_array[213] != -1) {
Alert_Guards(taunt_array[213]);
}
if (taunt_array[214] != -1) {
Alert_Guards(taunt_array[214]);
}
if (taunt_array[215] != -1) {
Alert_Guards(taunt_array[215]);
}
if (taunt_array[216] != -1) {
Alert_Guards(taunt_array[216]);
}
if (taunt_array[217] != -1) {
Alert_Guards(taunt_array[217]);
}
if (taunt_array[218] != -1) {
Alert_Guards(taunt_array[218]);
}
if (taunt_array[219] != -1) {
Alert_Guards(taunt_array[219]);
}
if (taunt_array[220] != -1) {
Alert_Guards(taunt_array[220]);
}
if (taunt_array[221] != -1) {
Alert_Guards(taunt_array[221]);
}
if (taunt_array[222] != -1) {
Alert_Guards(taunt_array[222]);
}
if (taunt_array[223] != -1) {
Alert_Guards(taunt_array[223]);
}
if (taunt_array[224] != -1) {
Alert_Guards(taunt_array[224]);
}
if (taunt_array[225] != -1) {
Alert_Guards(taunt_array[225]);
}
if (taunt_array[226] != -1) {
Alert_Guards(taunt_array[226]);
}
if (taunt_array[227] != -1) {
Alert_Guards(taunt_array[227]);
}
}
// Align pointers as follows:
// Cores 0/1: Write to opponents' data segment
// Cores 2/3: Write to home data segment
unsigned int *ptr;
ptr = HOME_DATA_SEGMENT;
if (core_id == 0 || core_id == 1) {
ptr = OPPONENT_DATA_SEGMENT;
}
ptr += (core_id % 4) * (64);
// Write words rather than bytes
unsigned int pbyte = (unsigned int) payload;
unsigned int pword = pbyte | pbyte << 8 | pbyte << 16 | pbyte << 24;
// Set up while loop
while(1) {
// Cores 0/1 write to opponents' data segment
if (core_id == 0 || core_id == 1) {
Sneak_Attack();
}
ptr[0] = pword;
// Prefetch cache line
prefetch(ptr+128);
// Write payload to cache
ptr[1] = pword; ptr[2] = pword; ptr[3] = pword; ptr[4] = pword;
ptr[5] = pword; ptr[6] = pword; ptr[7] = pword; ptr[8] = pword;
ptr[9] = pword; ptr[10] = pword; ptr[11] = pword; ptr[12] = pword;
ptr[13] = pword; ptr[14] = pword; ptr[15] = pword; ptr[16] = pword;
ptr[17] = pword; ptr[18] = pword; ptr[19] = pword; ptr[20] = pword;
ptr[21] = pword; ptr[22] = pword; ptr[23] = pword; ptr[24] = pword;
ptr[25] = pword; ptr[26] = pword; ptr[27] = pword; ptr[28] = pword;
ptr[29] = pword; ptr[30] = pword; ptr[31] = pword; ptr[32] = pword;
ptr[33] = pword; ptr[34] = pword; ptr[35] = pword; ptr[36] = pword;
ptr[37] = pword; ptr[38] = pword; ptr[39] = pword; ptr[40] = pword;
ptr[41] = pword; ptr[42] = pword; ptr[43] = pword; ptr[44] = pword;
ptr[45] = pword; ptr[46] = pword; ptr[47] = pword; ptr[48] = pword;
ptr[49] = pword; ptr[50] = pword; ptr[51] = pword; ptr[52] = pword;
ptr[53] = pword; ptr[54] = pword; ptr[55] = pword; ptr[56] = pword;
ptr[57] = pword; ptr[58] = pword; ptr[59] = pword; ptr[60] = pword;
ptr[61] = pword; ptr[62] = pword; ptr[63] = pword;
// Advance pointer & prefetch
ptr += 128;
prefetch(ptr+128);
// Retreat to avoid detection after each cycle
if (core_id == 0 || core_id == 1) {
retreat();
}
}
}
