std::vector<Vec2> DebugMap::getOpenTiles( Vec2 coord ){
std::vector<Vec2> result;
// 검색결과 저장 및 재검색때 사용하는 코드 추가
// 중심을 기준으로 4방향중 이동가능한 타일 좌표를 추출
Vec2 t = Vec2( coord.x, coord.y+1 );
Vec2 r = Vec2( coord.x+1, coord.y );
Vec2 b = Vec2( coord.x, coord.y-1 );
Vec2 l = Vec2( coord.x-1, coord.y );
if( !isMarkedCoord( t ) && checkLoad( coord.x, coord.y, t.x, t.y ) == D::PASS ) result.push_back( t );
if( !isMarkedCoord( r ) && checkLoad( coord.x, coord.y, r.x, r.y ) == D::PASS ) result.push_back( r );
if( !isMarkedCoord( b ) && checkLoad( coord.x, coord.y, b.x, b.y ) == D::PASS ) result.push_back( b );
if( !isMarkedCoord( l ) && checkLoad( coord.x, coord.y, l.x, l.y ) == D::PASS ) result.push_back( l );
return result;
}
void GroundContactDetector::update(GroundContactState& groundContactState)
{
MODIFY("module:GroundContactDetector:parameters", p);
PLOT("module:GroundContactDetector:groundContact", groundContactState.contact ? 0.75 : 0.25);
#ifdef TARGET_ROBOT
if(p.forceContact)
#endif
{
groundContactState.contact = true;
//groundContactState.contactSafe = true;
return;
}
// states
ContactState stateFsrLeft = checkFsr(true);
ContactState stateFsrRight = checkFsr(false);
ContactState stateLoad = checkLoad();
// contact plots
PLOT("module:GroundContactDetector:contactLoad", stateLoad.contact ? 0.75 : 0.25);
PLOT("module:GroundContactDetector:contactFsrLeft", stateFsrLeft.contact ? 0.75 : 0.25);
PLOT("module:GroundContactDetector:contactFsrRight", stateFsrRight.contact ? 0.75 : 0.25);
// confidence plots
PLOT("module:GroundContactDetector:confidenceLoad", stateLoad.confidence);
PLOT("module:GroundContactDetector:confidenceFsrLeft", stateFsrLeft.confidence);
PLOT("module:GroundContactDetector:confidenceFsrRight", stateFsrRight.confidence);
float confidenceContact = 0.f;
float confidenceNoContact = 0.f;
if(stateFsrLeft.contact) confidenceContact += stateFsrLeft.confidence;
else confidenceNoContact += stateFsrLeft.confidence;
if(stateFsrRight.contact) confidenceContact += stateFsrRight.confidence;
else confidenceNoContact += stateFsrRight.confidence;
if(stateLoad.contact) confidenceContact += stateLoad.confidence;
else confidenceNoContact += stateLoad.confidence;
confidenceContactBuffer.add(confidenceContact);
confidenceNoContactBuffer.add(confidenceNoContact);
if(confidenceContactBuffer.getSum() >= BUFFER_SIZE * p.contactThreshold)
contact = true;
else if(confidenceNoContactBuffer.getSum() >= BUFFER_SIZE * p.noContactThreshold)
contact = false;
groundContactState.contact = contact || theMotionRequest.motion == MotionRequest::specialAction || theMotionInfo.motion == MotionRequest::specialAction;
PLOT("module:GroundContactDetector:contactThreshold", BUFFER_SIZE * p.contactThreshold);
PLOT("module:GroundContactDetector:noContactThreshold", BUFFER_SIZE * p.noContactThreshold);
PLOT("module:GroundContactDetector:confidenceContact", confidenceContactBuffer.getSum());
PLOT("module:GroundContactDetector:confidenceNoContact", confidenceNoContactBuffer.getSum());
if((contact && !lastContact) || (contact && contactStartTime == 0))
contactStartTime = theFrameInfo.time;
//groundContactState.contactSafe = contact && theFrameInfo.getTimeSince(contactStartTime) >= p.safeContactTime;
if(!contact && lastContact)
{
#ifndef TARGET_SIM
if(contactStartTime != 0 && theMotionInfo.motion == MotionRequest::walk)
SoundPlayer::play("high.wav");
#endif
}
lastContact = contact;
}
/*
* main function : -> parse command line args
* -> open SNMP session
*/
int
main (int argc, char *argv[])
{
netsnmp_session session, *ss = NULL;
int opt;
int exitcode = UNKNOWN;
char *community = NULL;
char *hostname = NULL;
char *bn = argv[0];
int timeout = 0;
int version = SNMP_VERSION_1;
char *token;
/* Print the help if not arguments provided */
if(argc==1) {
usage();
return(UNKNOWN);
}
/*
* get the common command line arguments
*/
while ((opt = getopt (argc, argv, "?hVdvt:w:c:m:C:H:s:")) != -1)
{
switch (opt)
{
case '?':
case 'h':
/* print help */
usage ();
exit (UNKNOWN);
case 'V':
print_version ();
exit (UNKNOWN);
case 'd':
perfdata = 1;
break;
case 't':
/* Timeout */
if (!is_integer (optarg))
{
printf ("Timeout interval (%s)must be integer!\n", optarg);
exit (UNKNOWN);
}
timeout = atoi (optarg);
if (verbose)
printf ("%s: Timeout set to %d\n", bn, timeout);
break;
case 'C':
/* SNMP Community */
community = strdup (optarg);
if (verbose)
printf ("%s: Community set to %s\n", bn, community);
break;
case 'H':
/* SNMP Hostname */
hostname = strdup (optarg);
if (verbose)
printf ("%s: Hostname set to %s\n", bn, hostname);
break;
case 'v':
/* Verbose mode */
verbose = 1;
printf ("%s: Verbose mode\n", bn);
break;
case 'm':
/* WINDOWS / LINUX Check style */
if (strcmp (optarg, "W") == 0)
{
style = WINDOWS;
}
else if (strcmp (optarg, "L") == 0)
{
style = LINUX;
}
else
{
printf
("Format : -m [W|L] : -m W for windows\t -m L for Linux\n");
}
break;
case 's':
/* SNMP Version */
if (strcmp (optarg, "2c") == 0)
{
version = SNMP_VERSION_2c;
}
else if (strcmp (optarg, "1") == 0)
{
version = SNMP_VERSION_1;
}
else
{
printf
("Sorry, only SNMP vers. 1 and 2c are supported at this time\n");
exit (UNKNOWN);
}
break;
case 'w':
/* ARGS for warning min */
if (strlen (optarg) <= 3) /* Percent limit */
{
warningmin[0] = atoi (optarg);
/* In order to check the type of limit entered */
warningmin[1] = 9999;
break;
}
else if (strlen (optarg) <= 8) /* Load averages limits */
{
token = strtok (optarg, ",");
warningmin[0] = atoi (token);
if ((token = strtok (NULL, ",")) != NULL)
{
warningmin[1] = atoi (token);
}
if ((token = strtok (NULL, ",")) != NULL)
{
warningmin[2] = atoi (token);
break;
}
}
printf ("Format : -w xx or -w xx,xx,xx\n");
exit (UNKNOWN);
break;
case 'c':
/* CRITICAL min */
if (strlen (optarg) <= 3) /* Percent limit */
{
criticalmin[0] = atoi (optarg);
/* In order to check the type of limit entered */
criticalmin[1] = 9999;
break;
}
else if (strlen (optarg) <= 8) /* Load averages limits */
{
/* Separate with delimiter , */
token = strtok (optarg, ",");
criticalmin[0] = atoi (token);
if ((token = strtok (NULL, ",")) != NULL)
{
criticalmin[1] = atoi (token);
}
if ((token = strtok (NULL, ",")) != NULL)
{
criticalmin[2] = atoi (token);
break;
}
}
printf ("Format : -c xx or -c xx,xx,xx\n");
exit (UNKNOWN);
break;
}
}
/* If no style set */
if (style == 3)
{
printf
("You must choose between linux / windows monitoring ( -m L or -m W)\n");
exit (UNKNOWN);
}
else if ((style == WINDOWS)
&& ((warningmin[1] != 9999) || (criticalmin[1] != 9999)))
{
printf
("If you choose -m W, you must set -w xx and -c xx (xx = limit in percent\n");
exit (UNKNOWN);
}
else if ((style == LINUX)
&& ((warningmin[1] == 9999) || (criticalmin[1] == 9999)))
{
printf
("If you choose -m L, you must set -w xx,xx,xx and -c xx,xx,xx\n (xx,xx,xx = limits for load average 1,5,15 minutes\n");
exit (UNKNOWN);
}
if ((warningmin[0] == -1) || (criticalmin[0] == -1))
{
printf ("Must set the warning and critical values (-w and -c)\n");
exit (UNKNOWN);
}
if (warningmin[0] > criticalmin[0])
{
printf ("warning minimum must be lower than critical minimum\n");
exit (UNKNOWN);
}
if (!hostname || !community)
{
printf ("Both Community and Hostname must be set\n");
exit (UNKNOWN);
}
snmp_sess_init (&session);
init_snmp ("check_load");
session.version = version;
session.peername = hostname;
session.community = (unsigned char *) community;
session.community_len = strlen (community);
if (timeout)
session.timeout = timeout * 1000000L;
SOCK_STARTUP;
/*
* open an SNMP session
*/
ss = snmp_open (&session);
if (ss == NULL)
{
/*
* diagnose snmp_open errors with the input netsnmp_session pointer
*/
snmp_sess_perror ("snmp_check_process", &session);
SOCK_CLEANUP;
exit (UNKNOWN);
}
exitcode = checkLoad (ss);
snmp_close (ss);
SOCK_CLEANUP;
free (community);
free (hostname);
return exitcode;
}
