Ejemplos de waypoint_list_clear en C++ (Cpp)

Ejemplo n.º 1

Archivo: control.c Proyecto: jinyibin/uav

void waypoint_init(frame_wait_confirm *frame_wait_confirm)
{
	int i;
	int waypoint_num_this_frame ;
	int waypoint_total_num;
	uint8 *waypoint;
    // extract way point number of this frame
	waypoint_num_this_frame= frame_wait_confirm->data[CTRL_FRAME_MASK_WP_NUM+2];

	waypoint_total_num = frame_wait_confirm->data[CTRL_FRAME_MASK_WP_NUM+1] << 8 | frame_wait_confirm->data[CTRL_FRAME_MASK_WP_NUM];
	// if this is the first frame of way point packet, free the way point list in the memory
	if(frame_wait_confirm->frame_id == 1){
	   waypoint_list_clear();
	   waypoint_info.total_num = 0;
	   waypoint_info.received_num = 0;
	   // extract total number of way point
	   waypoint_info.total_num = waypoint_total_num;
	}

	if(waypoint_total_num != waypoint_info.total_num){
		/* the total way point number field in the frames of whole packet is different,
		 * which means something is wrong
		 */
		print_err("way point number err\n");
		return;
	}

	for (i = 0; i < waypoint_num_this_frame; i++) {
		waypoint = frame_wait_confirm->data + 4 + i* WAYPOINT_INFO_LEN;
		waypoint_list_add(waypoint);
	}

	if(frame_wait_confirm->frame_id == frame_wait_confirm->frame_num ){
		if(waypoint_info.received_num != waypoint_info.total_num){
		   /* the received way point is not same as total number
			* which means something is wrong
			*/
					print_err("way point missing\n");
					return;
		}


	}
    waypoint_list_current = waypoint_list_head;
}

Ejemplo n.º 2

Archivo: script_implementation.c Proyecto: italoalesil/egoboo

//--------------------------------------------------------------------------------------------
bool FindPath( waypoint_list_t& wplst, Object * pchr, float dst_x, float dst_y, bool * used_astar_ptr )
{
    // FindPath
    /// @author ZF
    /// @details Ported the A* path finding algorithm by birdsey and heavily modified it
    /// This function adds enough waypoints to get from one point to another

    int src_ix, src_iy;
    int dst_ix, dst_iy;
    line_of_sight_info_t los_info;
    bool straight_line;
    bool returncode = false;

    if ( NULL != used_astar_ptr )
    {
        *used_astar_ptr = false;
    }

    //Our current position
    src_ix = ( int )pchr->getPosX() / GRID_ISIZE;
    src_iy = ( int )pchr->getPosY() / GRID_ISIZE;

    //Destination position
    dst_ix = dst_x / GRID_ISIZE;
    dst_iy = dst_y / GRID_ISIZE;

    //Always clear any old waypoints
    waypoint_list_clear( wplst );

    //Don't do need to do anything if there is no need to move
    if ( src_ix == dst_ix && src_iy == dst_iy ) return false;

    returncode = false;

    //setup line of sight data for source
    los_info.stopped_by = pchr->stoppedby;
    los_info.x0 = pchr->getPosX();
    los_info.y0 = pchr->getPosY();
    los_info.z0 = 0;

    //setup line of sight to target
    los_info.x1 = dst_x;
    los_info.y1 = dst_y;
    los_info.z1 = 0;

    // test for the simple case... a straight line
    straight_line = !line_of_sight_blocked( &los_info );

    if ( !straight_line )
    {
#ifdef DEBUG_ASTAR
        printf( "Finding a path from %d,%d to %d,%d: \n", src_ix, src_iy, dst_ix, dst_iy );
#endif
        //Try to find a path with the AStar algorithm
        if ( AStar_find_path( _currentModule->getMeshPointer(), pchr->stoppedby, src_ix, src_iy, dst_ix, dst_iy ) )
        {
            returncode = AStar_get_path( dst_x, dst_y, wplst);
        }

        if ( NULL != used_astar_ptr )
        {
            *used_astar_ptr = true;
        }
    }

    //failed to find a path
    if ( !returncode )
    {
        // just use a straight line path
        waypoint_list_push( wplst, dst_x, dst_y );
    }

    return returncode;
}