bool TaskEventDetectorClient::didEventOccur(bool& event_occured,
const bool save_data_samples,
const int num_data_samples)
{
task_recorder2_msgs::DataSampleLabel label;
if(!checkForEvent(label, save_data_samples, num_data_samples))
{
return false;
}
ROS_ASSERT(label.type == task_recorder2_msgs::DataSampleLabel::BINARY_LABEL);
event_occured = (label.binary_label.label == task_recorder2_msgs::BinaryLabel::SUCCEEDED);
return true;
}
int main(void)
{
// seed pseudorandom number generator
srand48(time(NULL));
// instantiate window
GWindow window = newGWindow(WIDTH, HEIGHT);
// instantiate bricks
initBricks(window);
// instantiate ball, centered in middle of window
GOval ball = initBall(window);
// instantiate paddle, centered at bottom of window
GRect paddle = initPaddle(window);
// instantiate scoreboard, centered in middle of window, just above ball
GLabel label = initScoreboard(window);
// number of lives initially
int lives = LIVES;
// number of bricks initially
int bricks = ROWS * COLS;
// number of points initially
int points = 0;
// default ball direction is down
Velocity *velocity = (Velocity *) malloc(sizeof(Velocity));
velocity->horizontalVelocity = 0.0;
velocity->verticalVelocity = 2.0;
char *paddleDirection = malloc(sizeof(char) * 10);
Paddle *bat = (Paddle *) malloc(sizeof(Paddle));
bat->paddle = paddle;
bat->direction = paddleDirection;
bat->x = getX(paddle);
bat->y = getY(paddle);
// show the scoreboard
updateScoreboard(window, label, points);
// keep playing until game over
while (lives > 0 && bricks > 0)
{
checkForEvent(bat);
GObject object = detectCollision(window, ball);
if (object != NULL)
{
if (object == bat->paddle)
{
ballHitsPaddle(bat, velocity, ball);
}
else if (strcmp(getType(object), "GRect") == 0)
{
ballHitsBrick(velocity, &window, &object, &label, &points, &bricks);
}
}
else
{
if (hasBallHitTheSides(&ball, &window))
{
invertHorizontalDirection(velocity);
}
else if (hasBallHitTheTop(&ball, &window))
{
invertVerticalDirection(velocity);
}
else if (hasBallHitTheBottom(&ball, &window))
{
resetGameplay(velocity, &ball, bat, &lives);
}
}
move(ball, velocity->horizontalVelocity, velocity->verticalVelocity);
pause(10);
}
showGameOverMessage(window, label);
// wait for click before exiting
waitForClick();
// game over
closeGWindow(window);
return 0;
}
