/**
* @brief Attempts to sell a commodity.
* @param wid Window selling commodity from.
* @param str Unused.
*/
static void commodity_sell( unsigned int wid, char* str )
{
(void)str;
char *comname;
Commodity *com;
unsigned int q;
credits_t price;
HookParam hparam[3];
/* Get parameters. */
q = commodity_getMod();
comname = toolkit_getList( wid, "lstGoods" );
com = commodity_get( comname );
price = planet_commodityPrice( land_planet, com );
/* Remove commodity. */
q = pilot_cargoRm( player.p, com, q );
price = price * (credits_t)q;
player_modCredits( price );
land_checkAddRefuel();
commodity_update(wid, NULL);
/* Run hooks. */
hparam[0].type = HOOK_PARAM_STRING;
hparam[0].u.str = comname;
hparam[1].type = HOOK_PARAM_NUMBER;
hparam[1].u.num = q;
hparam[2].type = HOOK_PARAM_SENTINEL;
hooks_runParam( "comm_sell", hparam );
if (land_takeoff)
takeoff(1);
}
/**
* @brief Approaches guy in mission computer.
*/
static void bar_approach( unsigned int wid, char *str )
{
(void) str;
int pos, n;
/* Get position. */
pos = toolkit_getImageArrayPos( wid, "iarMissions" );
/* Should never happen, but in case news is selected */
if (pos == 0)
return;
/* Ignore news. */
pos--;
n = npc_getArraySize();
npc_approach( pos );
bar_genList( wid ); /* Always just in case. */
if (n == npc_getArraySize())
toolkit_setImageArrayPos( wid, "iarMissions", pos+1 );
/* Reset markers. */
mission_sysMark();
/* Mission forced take off. */
if (land_takeoff)
takeoff(0);
}
/**
* @brief Wrapper for takeoff mission button.
*
* @param wid Window causing takeoff.
* @param unused Unused.
*/
void land_buttonTakeoff( unsigned int wid, char *unused )
{
(void) wid;
(void) unused;
/* We'll want the time delay. */
takeoff(1);
}
/**
* @brief Opens up all the land dialogue stuff.
* @param p Planet to open stuff for.
* @param load Whether or not loading the game.
*/
void land( Planet* p, int load )
{
/* Do not land twice. */
if (landed)
return;
/* Stop player sounds. */
player_soundStop();
/* Load stuff */
land_planet = p;
gfx_exterior = gl_newImage( p->gfx_exterior, 0 );
/* Generate the news. */
if (planet_hasService(land_planet, PLANET_SERVICE_BAR))
news_load();
/* Clear the NPC. */
npc_clear();
/* Create all the windows. */
land_genWindows( load, 0 );
/* Mission forced take off. */
if (land_takeoff)
takeoff(0);
}
static void
mavlink_connect_cb(void *data, struct sol_mavlink *mavlink)
{
int err;
enum sol_mavlink_mode mode;
SOL_INF("mavlink connection stablished");
mode = sol_mavlink_get_mode(mavlink);
if (mode != SOL_MAVLINK_MODE_GUIDED) {
err = sol_mavlink_set_mode(mavlink, SOL_MAVLINK_MODE_GUIDED);
if (err < 0) {
SOL_ERR("Could not set mode: %s", sol_util_strerrora(-err));
}
return;
}
if (!sol_mavlink_check_armed(mavlink)) {
err = sol_mavlink_set_armed(mavlink, true);
if (err < 0) {
SOL_ERR("Could not arm vechicle: %s", sol_util_strerrora(-err));
}
return;
}
takeoff(mavlink);
}
/**
* @brief Opens up all the land dialogue stuff.
* @param p Planet to open stuff for.
* @param load Whether or not loading the game.
*/
void land( Planet* p, int load )
{
/* Do not land twice. */
if (landed)
return;
/* Resets the player's heat. */
pilot_heatReset( player.p );
/* Stop player sounds. */
player_soundStop();
/* Load stuff */
land_planet = p;
gfx_exterior = gl_newImage( p->gfx_exterior, 0 );
/* Generate the news. */
if (planet_hasService(land_planet, PLANET_SERVICE_BAR))
news_load();
/* Clear the NPC. */
npc_clear();
/* Create all the windows. */
land_genWindows( load, 0 );
/* Hack so that load can run player.takeoff(). */
if (load)
hooks_run( "load" );
/* Mission forced take off. */
if (land_takeoff)
takeoff(0);
}
::Ice::DispatchStatus
jderobot::Quadrotor::___takeoff(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
{
__checkMode(::Ice::Normal, __current.mode);
__inS.is()->skipEmptyEncaps();
takeoff(__current);
return ::Ice::DispatchOK;
}
static void
armed_cb(void *data, struct sol_mavlink *mavlink)
{
enum sol_mavlink_mode mode;
SOL_DBG("vehicle just armed");
mode = sol_mavlink_get_mode(mavlink);
if (mode == SOL_MAVLINK_MODE_GUIDED) {
takeoff(mavlink);
}
}
int
main ()
{
int j;
pthread_t t[30], te[3];
printf
("\n This is Airport Terminal !! \n 20 Flights are going to send their request. \n In addition to that, 2 emergency landing will be shown. \n");
sleep (2);
printf
(" \n After sucessful execution of Landing, the flights will be asked to take off, one by one at the interval of 2 sec.! \n");
sleep (2);
for (i = 0; i < 30; i++) //WE GENERATE 30 THREADS , WHICH ARE SENDING A REQUEST TO LAND .
{
pthread_create (&t[i], NULL, send_request, NULL);
}
for (j = 0; j < 3; j++) //THESE 3 THREADS ARE SENDING A REQUEST FOR EMERGENCY LANDING.
{
pthread_create (&te[j], NULL, send_emergencyrequest, NULL);
}
sleep (15);
printf ("\n The landing is finished sucessfully !\n\n\n");
sleep (2);
takeoff (); //ALL THE FLIGHTS WHICH HAD LANDED WILL NOW TAKEOFF.
for (i = 0; i < 30; i++)
{
pthread_join (t[i], NULL); // MAIN WAITS UNTIL ALL 30 THREADS ARE TERMINATED !
}
for (j = 0; j < 3; j++)
{
pthread_join (te[j], NULL);
}
printf
("\n All the flights have taken off.\n The Airport Terminal is free now!!\n");
return 0;
}
/**
* @brief Buys the selected commodity.
* @param wid Window buying from.
* @param str Unused.
*/
static void commodity_buy( unsigned int wid, char* str )
{
(void)str;
char *comname;
Commodity *com;
unsigned int q;
credits_t price;
HookParam hparam[3];
/* Get selected. */
q = commodity_getMod();
comname = toolkit_getList( wid, "lstGoods" );
com = commodity_get( comname );
price = planet_commodityPrice( land_planet, com );
price *= q;
/* Check stuff. */
if (!player_hasCredits( price )) {
dialogue_alert( "Insufficient credits!" );
return;
}
else if (pilot_cargoFree(player.p) <= 0) {
dialogue_alert( "Insufficient free space!" );
return;
}
/* Make the buy. */
q = pilot_cargoAdd( player.p, com, q );
player_modCredits( -price );
land_checkAddRefuel();
commodity_update(wid, NULL);
/* Run hooks. */
hparam[0].type = HOOK_PARAM_STRING;
hparam[0].u.str = comname;
hparam[1].type = HOOK_PARAM_NUMBER;
hparam[1].u.num = q;
hparam[2].type = HOOK_PARAM_SENTINEL;
hooks_runParam( "comm_buy", hparam );
if (land_takeoff)
takeoff(1);
}
/* ----- [ step ] ----------------------------------------------------------- */
Uint32 step(Uint32 interv,void *param)
{
struct Var_conf *config = param;
SDL_Rect pos;
if(config->state == J_PLAY)
{
// No current piece
if(config->pc_cur_id == PCMPTY)
{
add(config);
if(config->state != J_LOST) disp_gamepanel(config);
return interv;
}
// A current piece
else
{
pos.x = config->piece_pos.x;
pos.y = config->piece_pos.y + 1;
// Check new position
if(check_pc(config,
config->model,
config->pieces[config->pc_cur_id],
pos))
{
config->piece_pos.y++;
disp_gamepanel(config);
}
else
{
// Take off current piece
takeoff(config,config->model,&(config->pc_cur_id),
config->piece_pos,1);
disp_gamepanel(config);
check(config);
}
return interv;
}
}
}
/**
* @brief Saves the last place the player was.
*
* @param wid Unused.
* @param wgt Unused.
* @param tab Tab changed to.
*/
static void land_changeTab( unsigned int wid, char *wgt, int tab )
{
int i;
(void) wid;
(void) wgt;
unsigned int w;
const char *torun_hook;
unsigned int to_visit;
/* Sane defaults. */
torun_hook = NULL;
to_visit = 0;
/* Find what switched. */
for (i=0; i<LAND_NUMWINDOWS; i++) {
if (land_windowsMap[i] == tab) {
last_window = i;
w = land_getWid( i );
/* Must regenerate outfits. */
switch (i) {
case LAND_WINDOW_MAIN:
land_checkAddRefuel();
break;
case LAND_WINDOW_OUTFITS:
outfits_update( w, NULL );
outfits_updateQuantities( w );
to_visit = VISITED_OUTFITS;
torun_hook = "outfits";
break;
case LAND_WINDOW_SHIPYARD:
shipyard_update( w, NULL );
to_visit = VISITED_SHIPYARD;
torun_hook = "shipyard";
break;
case LAND_WINDOW_BAR:
bar_update( w, NULL );
to_visit = VISITED_BAR;
torun_hook = "bar";
break;
case LAND_WINDOW_MISSION:
misn_update( w, NULL );
to_visit = VISITED_MISSION;
torun_hook = "mission";
break;
case LAND_WINDOW_COMMODITY:
commodity_update( w, NULL );
to_visit = VISITED_COMMODITY;
torun_hook = "commodity";
break;
case LAND_WINDOW_EQUIPMENT:
equipment_updateShips( w, NULL );
equipment_updateOutfits( w, NULL );
to_visit = VISITED_EQUIPMENT;
torun_hook = "equipment";
break;
default:
break;
}
/* Clear markers if closing Mission Computer. */
if (i != LAND_WINDOW_MISSION) {
space_clearComputerMarkers();
}
break;
}
}
/* Check land missions - always run hooks. */
/*if ((to_visit != 0) && !has_visited(to_visit)) {*/
{
/* Run hooks, run after music in case hook wants to change music. */
if (torun_hook != NULL)
if (hooks_run( torun_hook ) > 0)
bar_genList( land_getWid(LAND_WINDOW_BAR) );
visited(to_visit);
if (land_takeoff)
takeoff(1);
}
}
/** \fn void main(void)
\ingroup Rabbit
\brief Fonction principal : gestion du pilotage du drone en fonctions des entrées/sorties
\author Baudouin Feildel
\author Thibaut Marty
**/
void main(void)
{
etat_commandes ec;
ardrone droneV;
ardrone* drone = &droneV;
char cptPassErr = 0;
wifi_status status;
int initOk;
/// Initialise les ports de la carte et les entrées/sorties
brdInit(); // fonction de base de Rabbit
BRDInit(); // fonction pour les bits utilisés
init_etat_commandes(&ec);
lireCommandes(&ec);
/// Crée la structure du drone
newARDrone(drone);
/// Initialise la connexion (tant que toutes les étapes ne sont pas réussies) :
do
{
printf("tentative d'initialisation\n");
initOk = 0;
/// .... Initialise le driver TCP
if(sock_init())
printf("erreur de sock_init()\n");
else
initOk++;
/// .... Initialise la socket de connexion avec le drone
if(!connectToDrone(drone))
printf("erreur connectToDrone()\n");
else
initOk++;
/// .... Se connecte au réseau WiFi
connexion(&ec);
/// .... Initialise le drone
if(!initDrone(drone, &ec))
printf("erreur initDrone()\n");
else
initOk++;
} while(initOk < 3);
printf("tentative d'initialisation reussie\n");
/// Vérifie que l'on n'est pas déjà en position 'vol', sinon indique à l'utilisateur de changer le switch en faisant clignoter la LED erreur
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(300));
}
} while(ec.switch_land == 0);
ec.led_erreur = 0;
ecrireCommandes(&ec);
/// Boucle principale (déroulement) :
for(;;)
{
/// .... Tâche de gestion des entrées/sorties et de l'envoi de commandes au drone
costate
{
tcp_tick(NULL);
// Lit les entrées
lireCommandes(&ec);
/// ........ Si le bouton d'arrêt d'urgence est actif :
if(!ec.bp_arret_urgence)
{
/// ............ Envoie la commande d'arrêt d'urgence
aru(drone);
drone->fly = false;
/// ............ Attend le relâchement du bouton en faisant clignoter la LED debug
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED de debug
{
ec.led_debug = ec.led_debug ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(100));
}
yield; // Pour la tâche de vérification de la connexion WiFi
} while(!ec.bp_arret_urgence);
ec.led_debug = 0;
ecrireCommandes(&ec);
/// ............ Renvoie la commande (pour sortir du mode d'arrêt d'urgence)
aru(drone);
}
/// ........ Sinon (traitement de tous les cas position du switch / vol en cours) :
else
{
// pour plus tard :
// if(ec.bp_video) { }
/// ............ Si le bouton trim est actif et que l'on n'est pas en cours de vol, réinitialise le drone
if(!ec.bp_trim && !drone->fly)
initDrone(drone, &ec);
/// ............ Si le switch est en position haute et que l'on ne vole pas
if(ec.switch_land == 0 && !drone->fly)
{
/// ................ Fait décoler le drone. S'il y a une erreur : attend que l'utilisateur repasse le switch en position basse en faisant clignoter la LED erreur
if(!(initDrone(drone, &ec) && takeoff(drone)))
{
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(100));
}
} while(ec.switch_land == 0);
}
}
/// ............ Si le switch est en position basse et que l'on vole
else if(ec.switch_land == 1 && drone->fly)
{
/// ................ Fait atterrir le drone. S'il y a une erreur : attend que l'utilisateur passe le switch en position haute
if(!land(drone))
{
do
{
costate
{
lireCommandes(&ec);
yield;
}
costate // Fait clignoter la LED d'erreur
{
ec.led_erreur = ec.led_erreur ? 0 : 1;
ecrireCommandes(&ec);
waitfor(DelayMs(300));
}
} while(ec.switch_land == 1);
}
}
/// ............ Les autres cas sont normaux et ne nécessitent pas de traitement particulier
/// ............ Si on est en vol :
if(drone->fly)
{
/// ................ Traite la valeur des joysticks et la stock dans la structure ardrone
setGoUpDown(drone, (float)(ec.joystick_2x - 2048) / 2048);
setTurnLeftRight(drone, (float)(ec.joystick_2y - 2048) / 2048);
setTiltFrontBack(drone, (float)(ec.joystick_1x - 2048) / 2048);
setTiltLeftRight(drone, (float)(ec.joystick_1y - 2048) / 2048);
/// ................ Envoie la commande avec les valeurs : s'il y a une erreur on incrémente un compteur d'erreurs. Au delà de dix erreurs de suite on tente de faire atterir le drone. S'il n'y a pas d'erreurs, on attend 30ms avant le prochain envoi
if(!(volCommand(drone, drone->tiltLeftRight, drone->tiltFrontBack, drone->goUpDown, drone->turnLeftRight)))
{
if(cptPassErr > 10)
land(drone);
else
cptPassErr++;
}
else
{
cptPassErr = 0; // Remise à zéro du compteur d'erreur en cas de réussite
waitfor(DelayMs(30)); // prochain envoi de commande dans 30 ms
}
}
else
yield;
}
void FlyLine::localCallBack(const geometry_msgs::PoseStampedConstPtr &msg)
{
double roll, pitch, yaw;
tf::Quaternion q;
tf::quaternionMsgToTF(msg->pose.orientation, q);
tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
if(fabs(msg->pose.position.x) < AllowError_d
&& fabs(msg->pose.position.y) < AllowError_d
&& fabs(msg->pose.position.z - beginpoint_(2)) < AllowError_d
&& fabs(yaw) < AllowError_rad
&& !in_line
&& !in_land)
{
in_line = true;
ROS_INFO("Begin to fly line!!!");
}
if(in_line == false && in_land == false)
{
ROS_INFO("Taking off to beginpoint, waiting line!!!! ");
takeoff(beginpoint_);
}
if(in_line == true)
{
t_now = ros::Time::now();
double dt = (t_now.toNSec() - t_prev.toNSec())/1e+9;
dt = dt < 0.1 ? dt : 0;
line_t += dt;
if(line_t < loiter_t)
{
ROS_INFO("Waiting 5 second in begin point!!!");
loiter(beginpoint_);
}
else if(line_t >= loiter_t && line_t <= allline_t + loiter_t)
{
ROS_INFO("Fly line!!!");
line(beginpoint_, line_t, endpoint_);
}
else if(line_t > allline_t + loiter_t && line_t <= allline_t + 2 * loiter_t)
{
ROS_INFO("line end!!!Waiting endpoint 5 second!!!");
loiter(endpoint_);
}
else
{
in_land = true;
in_line = false;
}
}
if(in_land == true)
{
ROS_INFO("it is landing!!!");
t_now = ros::Time::now();
double dt = (t_now.toNSec() - t_prev.toNSec())/1e+9;
dt = dt < 0.1 ? dt : 0;
land_t += dt;
land(endpoint_, land_t);
}
t_prev = t_now;
publish();
}
void execute() override {
takeoff();
}
int
cypher(void)
{
int n;
int junk;
int lflag;
char buffer[10];
lflag = -1;
while (wordtype[wordnumber] == ADJS)
wordnumber++;
while (wordnumber <= wordcount) {
switch (wordvalue[wordnumber]) {
case UP:
if (location[position].access || wiz || tempwiz) {
if (!location[position].access)
puts("Zap! A gust of wind lifts you up.");
if (!battlestar_move(location[position].up, AHEAD))
return (-1);
} else {
puts("There is no way up");
return (-1);
}
lflag = 0;
break;
case DOWN:
if (!battlestar_move(location[position].down, AHEAD))
return (-1);
lflag = 0;
break;
case LEFT:
if (!battlestar_move(left, LEFT))
return (-1);
lflag = 0;
break;
case RIGHT:
if (!battlestar_move(right, RIGHT))
return (-1);
lflag = 0;
break;
case AHEAD:
if (!battlestar_move(ahead, AHEAD))
return (-1);
lflag = 0;
break;
case BACK:
if (!battlestar_move(back, BACK))
return (-1);
lflag = 0;
break;
case SHOOT:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(location[position].objects,
n) && objsht[n]) {
wordvalue[wordnumber + 1] = n;
wordnumber = shoot();
}
wordnumber++;
wordnumber++;
} else
shoot();
break;
case TAKE:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(location[position].objects,
n) && objsht[n]) {
wordvalue[wordnumber + 1] = n;
wordnumber =
take(location[position].objects);
}
wordnumber++;
wordnumber++;
} else
take(location[position].objects);
break;
case DROP:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(inven, n)) {
wordvalue[wordnumber + 1] = n;
wordnumber = drop("Dropped");
}
wordnumber++;
wordnumber++;
} else
drop("Dropped");
break;
case KICK:
case THROW:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++) {
if ((testbit(inven, n) ||
testbit(location[position].objects, n)) && objsht[n]) {
wordvalue[wordnumber + 1] = n;
wordnumber = throw(wordvalue[wordnumber] ==
KICK ? "Kicked" : "Thrown");
}
}
wordnumber += 2;
} else
throw(wordvalue[wordnumber] == KICK ? "Kicked" : "Thrown");
break;
case TAKEOFF:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(wear, n)) {
wordvalue[wordnumber + 1] = n;
wordnumber = takeoff();
}
wordnumber += 2;
} else
takeoff();
break;
case DRAW:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(wear, n)) {
wordvalue[wordnumber + 1] = n;
wordnumber = draw();
}
wordnumber += 2;
} else
draw();
break;
case PUTON:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(location[position].objects,
n) && objsht[n]) {
wordvalue[wordnumber + 1] = n;
wordnumber = puton();
}
wordnumber += 2;
} else
puton();
break;
case WEARIT:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(inven, n)) {
wordvalue[wordnumber + 1] = n;
wordnumber = wearit();
}
wordnumber += 2;
} else
wearit();
break;
case EAT:
if (wordnumber < wordcount &&
wordvalue[wordnumber + 1] == EVERYTHING) {
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(inven, n)) {
wordvalue[wordnumber + 1] = n;
wordnumber = eat();
}
wordnumber += 2;
} else
eat();
break;
case PUT:
put();
break;
case INVEN:
if (ucard(inven)) {
puts("You are holding:\n");
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(inven, n))
printf("\t%s\n", objsht[n]);
printf("\n= %d kilogram%s (%d%%)\n", carrying,
(carrying == 1 ? "." : "s."),
(WEIGHT ? carrying * 100 / WEIGHT : -1));
printf("Your arms are %d%% full.\n",
encumber * 100 / CUMBER);
} else
puts("You aren't carrying anything.");
if (ucard(wear)) {
puts("\nYou are wearing:\n");
for (n = 0; n < NUMOFOBJECTS; n++)
if (testbit(wear, n))
printf("\t%s\n", objsht[n]);
} else
puts("\nYou are stark naked.");
if (card(injuries, NUMOFINJURIES)) {
puts("\nYou have suffered:\n");
for (n = 0; n < NUMOFINJURIES; n++)
if (injuries[n])
printf("\t%s\n", ouch[n]);
printf("\nYou can still carry up to %d kilogram%s\n",
WEIGHT, (WEIGHT == 1 ? "." : "s."));
} else
puts("\nYou are in perfect health.");
break;
case USE:
lflag = use();
break;
case LOOK:
if (!notes[CANTSEE] || testbit(inven, LAMPON) ||
testbit(location[position].objects, LAMPON) ||
matchlight) {
beenthere[position] = 2;
writedes();
printobjs();
if (matchlight) {
puts("\nYour match splutters out.");
matchlight = 0;
}
} else
puts("I can't see anything.");
return (-1);
break;
case SU:
if (wiz || tempwiz) {
printf("\nRoom (was %d) = ", position);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &position);
printf("Time (was %d) = ", gtime);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", >ime);
printf("Fuel (was %d) = ", fuel);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &fuel);
printf("Torps (was %d) = ", torps);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &torps);
printf("CUMBER (was %d) = ", CUMBER);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &CUMBER);
printf("WEIGHT (was %d) = ", WEIGHT);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &WEIGHT);
printf("Clock (was %d) = ", gclock);
fgets(buffer, 10, stdin);
if (*buffer != '\n')
sscanf(buffer, "%d", &gclock);
printf("Wizard (was %d, %d) = ", wiz, tempwiz);
fgets(buffer, 10, stdin);
if (*buffer != '\n') {
sscanf(buffer, "%d", &junk);
if (!junk)
tempwiz = wiz = 0;
}
printf("\nDONE.\n");
return (0);
} else
puts("You aren't a wizard.");
break;
case SCORE:
printf("\tPLEASURE\tPOWER\t\tEGO\n");
printf("\t%3d\t\t%3d\t\t%3d\n\n", pleasure, power, ego);
printf("This gives you the rating of %s in %d turns.\n",
rate(), gtime);
printf("You have visited %d out of %d rooms this run (%d%%).\n",
card(beenthere, NUMOFROOMS), NUMOFROOMS,
card(beenthere, NUMOFROOMS) * 100 / NUMOFROOMS);
break;
case KNIFE:
case KILL:
murder();
break;
case UNDRESS:
case RAVAGE:
ravage();
break;
case SAVE:
save();
break;
case FOLLOW:
lflag = follow();
break;
case GIVE:
give();
break;
case KISS:
kiss();
break;
case LOVE:
love();
break;
case RIDE:
lflag = ride();
break;
case DRIVE:
lflag = drive();
break;
case LIGHT:
light();
break;
case LAUNCH:
if (!launch())
return (-1);
else
lflag = 0;
break;
case LANDIT:
if (!land())
return (-1);
else
lflag = 0;
break;
case TIME:
chime();
break;
case SLEEP:
zzz();
break;
case DIG:
dig();
break;
case JUMP:
lflag = jump();
break;
case BURY:
bury();
break;
case SWIM:
puts("Surf's up!");
break;
case DRINK:
drink();
break;
case QUIT:
die(0);
default:
puts("How's that?");
return (-1);
break;
}
if (wordnumber < wordcount && *words[wordnumber++] == ',')
continue;
else
return (lflag);
}
return (lflag);
}
/* ----- [ ai_best_pos ] ---------------------------------------------------- */
void ai_best_pos(struct Var_conf *config,struct model *model_tmp,
SDL_Rect *position, int *turning)
{
enum Piece_bloc piece_id = config->pc_cur_id;
enum Piece_bloc piece_next_id = config->pc_next_id;
SDL_Rect pos;
SDL_Rect next_pos;
int score_tmp;
int i = 0, j = 0, k = 0, l = 0;
int sum = 0;
int max_score = 0;
// Init table of scores
int scores[4*4][((int)PNL_LB+4)*((int)PNL_LB+4)];
for(i = 0;i < 4*4;i++)
for(j = 0;j < (PNL_LB+4)*(PNL_LB+4);j++)
scores[i][j] = 0;
// Init position
pos.x = 0;
pos.y = config->piece_pos.y;
// Checking each configuration
// checking each position
// checking holes
// checking lines
// checking each rotation
// checking holes
// checking lines
for(i = 0;i < 4;i++)
{
for(j = 0;j < PNL_LB+4;j++)
{
// Update position
pos.x = j-4;
pos.y = config->piece_pos.y;
score_tmp = ai_score_pos(config,model_tmp,piece_id,pos);
for(k = 0;k < 4;k++)
for(l = 0;l < PNL_LB+4;l++)
scores[i*4+k][(int)(j*(PNL_LB+4)+l)] = score_tmp;
// Get dropped position
if(check_pc(config,model_tmp,config->pieces[piece_id],pos))
{
while(check_pc(config,model_tmp,config->pieces[piece_id],pos)
&& pos.y != PNL_HB)
pos.y++;
pos.y--;
// Take off piece in temporary model
takeoff(config,model_tmp,&piece_id,pos,0);
// Remove lines
remove_lines(config,model_tmp,0);
// Get next piece
piece_next_id = config->pc_next_id;
// For all turns
for(k = 0;k < 4;k++)
{
// For all positions
for(l = 0;l < (PNL_LB+4);l++)
{
// Get new position
next_pos.x = l-4;
next_pos.y = 1;
// Calculate score for new piece position
score_tmp = ai_score_pos(config,model_tmp,
piece_next_id,next_pos);
scores[i*4+k][(int)(j*(PNL_LB+4)+l)] += score_tmp;
}
// Turn new piece
next_pos.x = config->piece_pos.x;
turn(config,model_tmp,&piece_next_id,&next_pos,HORLO,0,0);
}
// Copy model
for(k = 0;k < PNL_HB;k++)
for(l = 0;l < PNL_LB;l++)
model_set(model_tmp,k,l,model_get(config->model,k,l));
}
}
// Turn
turn(config,model_tmp,&piece_id,&(config->piece_pos),
HORLO,0,0);
}
// Get best position
pos.x = 0;
*turning = 0;
max_score = scores[0][0];
for(i = 0;i < 4;i++)
{
for(j = 0;j < PNL_LB+4;j++)
{
for(k = 0;k < 4;k++)
for(l = 0;l < (PNL_LB+4);l++)
//printf("%d ",scores[i][j]);
if(scores[i*4+k][(int)(j*(PNL_LB+4)+l)] > max_score)
{
max_score = scores[i*4+k][(int)(j*(PNL_LB+4)+l)];
pos.x = j-4;
*turning = i;
}
}
//printf("\n");
}
// Print scores table
/*for(i = 0;i < 4;i++)
{
for(j = 0;j < PNL_LB+4;j++)
{
for(k = 0;k < 4;k++)
{
for(l = 0;l < PNL_LB+4;l++)
{
if( 3 < j & j < 10) printf("%d ",scores[i*4+k][(int)(j*(PNL_LB+4)+l)]);
}
if( 3 < j & j < 10) printf("\n");
}
if( 3 < j & j < 10) printf("\n\n");
}
if( 3 < j & j < 10) printf("\n\n");
}*/
position->x = pos.x;
//printf("i = %d j = %d \n",pos->x,*turning);
}
