void
BasicDeviceDriver::consume(const IMC::LoggingControl* msg)
{
if ((msg->getDestination() != getSystemId())
|| (msg->getDestinationEntity() != getEntityId()))
return;
switch (msg->op)
{
case IMC::LoggingControl::COP_CURRENT_NAME:
if (m_log_name_pending)
{
m_log_name_pending = false;
openLog(m_ctx.dir_log / msg->name);
}
break;
case IMC::LoggingControl::COP_STARTED:
openLog(m_ctx.dir_log / msg->name);
break;
case IMC::LoggingControl::COP_STOPPED:
closeLog();
break;
}
}
void
consume(const IMC::VehicleCommand* vc)
{
if (vc->type == IMC::VehicleCommand::VC_REQUEST)
return;
if ((vc->getDestination() != getSystemId()) ||
(vc->getDestinationEntity() != getEntityId()) ||
(m_vreq_ctr != vc->request_id))
return;
if (!pendingReply())
return;
m_vc_reply_deadline = -1;
bool error = vc->type == IMC::VehicleCommand::VC_FAILURE;
// Ignore failure if it failed to stop calibration
if (error && (vc->command == IMC::VehicleCommand::VC_STOP_CALIBRATION))
{
debug("%s", vc->info.c_str());
error = false;
}
if (initMode() || execMode())
{
if (error)
changeMode(IMC::PlanControlState::PCS_READY, vc->info, false);
return;
}
}
void
Daemon::consume(const DUNE::IMC::EntityParameters* msg)
{
if (msg->getDestination() != getSystemId())
return;
if (msg->getDestinationEntity() != getEntityId())
return;
std::string task_name;
try
{
task_name = m_ctx.entities.resolveTaskName(msg->name);
}
catch (...)
{
return;
}
IMC::MessageList<IMC::EntityParameter>::const_iterator itr = msg->params.begin();
for ( ; itr != msg->params.end(); ++itr)
{
if (m_ctx.config.get(task_name, (*itr)->name) != (*itr)->value)
m_scfg.set(task_name, (*itr)->name, (*itr)->value);
}
m_scfg.writeToFile(m_scfg_file.c_str());
}
void
consume(const IMC::SonarConfig* msg)
{
if (msg->getDestinationEntity() != getEntityId())
return;
setRange(msg->max_range);
}
void PyService::sendPyInfo(const python::object& py_info,
const Time time,
const python::tuple& dest_ent,
const long dest_serv ) {
Logger::debug3() << "PyService: (" << getName() << ") on Entity"
<< getEntityId() << "sending PyInfo" << endl;
fPyEnt.sendPyInfo( py_info, time, dest_ent, dest_serv);
// return;
// EntityID e_id = py2EntityId( dest_ent );
// #ifdef SIMX_USE_PRIME
// if ( theEntityManager().findEntityLpId(e_id) !=
// Control::getRank() )
// {
// Logger::debug3() << "PyService on Entity " << getEntityId()
// << " : Sending remotely, proceeding to pickle Python object" << endl;
// shared_ptr<PyRemoteInfo> info;
// theInfoManager().createInfo( info );
// if ( ! info->pickleData( py_info ) )
// {
// Logger::error() << "PyService.C: Service on entity " << getEntityId()
// << ": Error while pickling info. Not sending" << endl;
// return;
// }
// else // succesful pickling, send it off
// {
// sendInfo( info, time, e_id,
// static_cast<ServiceAddress>( dest_serv ) );
// }
// }
// else // destination entity lives on the same LP. Use regular PyInfo for sending
// {
// Logger::debug3() << "PyService on Entity " << getEntityId()
// << " : Sending locally" << endl;
// #endif
// // either we are using SimEngine -- in which case sending local
// // and remote infos use the same procedure -- or
// // we are using SSF and sending locally.
// shared_ptr<PyInfo> info;
// theInfoManager().createInfo( info );
// info->setData( py_info );
// sendInfo( info, time, e_id,
// static_cast<ServiceAddress>( dest_serv ) );
// #ifdef SIMX_USE_PRIME
// } //close-out else block
// #endif
// //info->fData = boost::make_shared<boost::python::object>(py_info);
}
//! Get the PlanSpecification from IMC::Message
//! @param[in] plan_id ID of the plan
//! @param[in] arg pointer to arg message
//! @param[out] info string with the error in case of failure
//! @return false if unable to get the spec
bool
parseArg(const std::string& plan_id, const IMC::Message* arg,
std::string& info)
{
if (arg)
{
if (arg->getId() == DUNE_IMC_PLANSPECIFICATION)
{
const IMC::PlanSpecification* given_plan = static_cast<const IMC::PlanSpecification*>(arg);
m_spec = *given_plan;
m_spec.setSourceEntity(getEntityId());
}
else
{
// Quick plan
IMC::PlanManeuver spec_man;
const IMC::Maneuver* man = static_cast<const IMC::Maneuver*>(arg);
if (man)
{
spec_man.maneuver_id = arg->getName();
spec_man.data.set(*man);
m_spec.clear();
m_spec.maneuvers.setParent(&m_spec);
m_spec.plan_id = plan_id;
m_spec.start_man_id = arg->getName();
m_spec.maneuvers.push_back(spec_man);
}
else
{
info = "undefined maneuver or plan";
return false;
}
}
}
else
{
// Search DB
m_spec.clear();
if (!lookForPlan(plan_id, m_spec))
{
info = m_reply.info;
return false;
}
}
return true;
}
void CTDMServer::endGame() {
_inEndGame = true;
// Tiempo de espera hasta la siguiente partida
_gameTime = _voteMap ? 40000 : 15000;
// Notificar a los clientes de que estamos en la fase endGame
Net::NetMessageType endGameMsg = Net::END_GAME;
_netMgr->broadcast( &endGameMsg, sizeof(endGameMsg) );
// Desactivamos los componentes relevantes en el servidor para asegurarnos
// de que aunque el cliente haga chetos no se muevan los jugadores sin permiso
// ni se hagan daño.
Logic::CEntity* player;
std::vector<std::string> componentList;
componentList.reserve(4);
componentList.push_back("CAvatarController");
componentList.push_back("CPhysicController");
componentList.push_back("CLife");
componentList.push_back("CSpawnPlayer");
for(auto it = _playersMgr->begin(); it != _playersMgr->end(); ++it) {
if( it->getEntityId().second ) {
player = _map->getEntityByID( it->getEntityId().first );
player->deactivateComponents(componentList);
}
}
// @todo
// Parar la partida (el server y el cliente ya no hacen tick)
// Poner la cámara mirando al jugador y que al girar el ratón rote alrededor
// del player - cliente
// Poner la cámara de los demás jugadores mirando al ganador - cliente
// Mostrar el scoreboard durante unos 10 segundos - cliente
// Si votemap está activo mostrar el menú de votemap durante unos 30 segs
// Si votemap no está activo entonces pasar al siguiente mapa de los configurados
// y si no ha habido ningun mapa puesto en lista salir
}
void
handleCAMUA(std::auto_ptr<NMEAReader>& stn)
{
unsigned src = 0;
*stn >> src;
unsigned dst = 0;
*stn >> dst;
// Get value.
std::string val;
*stn >> val;
unsigned value = 0;
std::sscanf(val.c_str(), "%04X", &value);
if (value == c_code_abort_ack)
{
m_acop_out.op = IMC::AcousticOperation::AOP_ABORT_ACKED;
m_acop_out.system = m_acop.system;
dispatch(m_acop_out);
resetOp();
}
if (value == c_code_plan_ack)
{
inf(DTR("plan started"));
m_pc->setDestination(m_pc->getSource());
m_pc->setDestinationEntity(m_pc->getSourceEntity());
m_pc->setSource(getSystemId());
m_pc->setSourceEntity(getEntityId());
m_pc->type = IMC::PlanControl::PC_SUCCESS;
m_pc->flags = 0;
dispatch(*m_pc);
}
else if (value & c_mask_qtrack)
{
unsigned beacon = (value & c_mask_qtrack_beacon) >> 10;
unsigned range = (value & c_mask_qtrack_range);
IMC::LblRangeAcceptance msg;
msg.setSource(m_mimap[src]);
msg.id = beacon;
msg.range = range;
msg.acceptance = IMC::LblRangeAcceptance::RR_ACCEPTED;
dispatch(msg);
inf("%s %u: %u", DTR("range to"), beacon, range);
}
void
consume(const IMC::EntityControl* msg)
{
if (msg->getDestinationEntity() != getEntityId())
return;
m_active = (msg->op == IMC::EntityControl::ECO_ACTIVATE);
if (m_active)
{
setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_ACTIVE);
if (!m_log_file.is_open())
m_log_file.open((m_ctx.dir_log / m_log_filename / "Data.837").c_str(), std::ios::binary);
}
else
{
setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_IDLE);
}
}
//! Load a plan into the vehicle
//! @param[in] plan_id name of the plan
//! @param[in] arg argument which may either be a maneuver or a plan specification
//! @param[in] plan_startup true if a plan will start right after
//! @return true if plan is successfully loaded
bool
loadPlan(const std::string& plan_id, const IMC::Message* arg,
bool plan_startup = false)
{
if ((initMode() && !plan_startup) || execMode())
{
onFailure(DTR("cannot load plan now"));
return false;
}
if (arg)
{
if (arg->getId() == DUNE_IMC_PLANSPECIFICATION)
{
const IMC::PlanSpecification* given_plan = static_cast<const IMC::PlanSpecification*>(arg);
m_spec = *given_plan;
m_spec.setSourceEntity(getEntityId());
}
else
{
// Quick plan
IMC::PlanManeuver spec_man;
const IMC::Maneuver* man = static_cast<const IMC::Maneuver*>(arg);
if (man)
{
spec_man.maneuver_id = arg->getName();
spec_man.data.set(*man);
m_spec.clear();
m_spec.maneuvers.setParent(&m_spec);
m_spec.plan_id = plan_id;
m_spec.start_man_id = arg->getName();
m_spec.maneuvers.push_back(spec_man);
}
else
{
changeMode(IMC::PlanControlState::PCS_READY,
DTR("plan load failed: undefined maneuver or plan"));
return false;
}
}
}
else
{
// Search DB
m_spec.clear();
if (!lookForPlan(plan_id, m_spec))
{
changeMode(IMC::PlanControlState::PCS_READY,
DTR("plan load failed: ") + m_reply.info);
return false;
}
}
if (!parsePlan(plan_startup))
{
changeMode(IMC::PlanControlState::PCS_READY,
DTR("plan validation failed: ") + m_reply.info);
return false;
}
m_pcs.plan_id = m_spec.plan_id;
if (plan_startup)
onSuccess(DTR("plan loaded"), false);
else
changeMode(IMC::PlanControlState::PCS_READY, DTR("plan loaded"));
return true;
}
