void kissSimInBgd()
{
int r,g,b,help=0;
static int PenPrevious=0;
while(!kiss_get_key('Q')){
if(!kiss_get_key('P')){
if(PenPrevious){
PenPrevious=0;
robot.pen=!robot.pen;
if(robot.pen && robot.pixelCount==0){
robot.pixel[0].x=robot.x;
robot.pixel[0].y=robot.y;
robot.pixelCount=1;
}
}
PenPrevious=0;
}
else PenPrevious=1;
if(kiss_get_key('H'))help=1;
else help=0;
kissSimRobotUpdate();
kissSimComputerUpdate();
if(!help && _world.simPaused)graphics_rectangle_fill(0,0,ksWindow.simWidth-1,ksWindow.simHeight-1,GRAY);
else {
if(!help){
kissSimComputerTone(&r,&g,&b);
graphics_rectangle_fill(0,0,ksWindow.simWidth-1,ksWindow.simHeight-1,r,g,b);
}
}
kissSimDrawObst();
kissSimRobotDraw();
kissSimComputerDraw();
if(help){//print help screen
graphics_rectangle_fill(0,0,ksWindow.simWidth-1,ksWindow.simHeight-1,255,200,200);// instruction background is light pink
kissSimPrintInstructions();
}
graphics_update();
msleep(20);
}
kissSim_end();
}
void kissSimDrawButton(struct __button *b, int r, int g, int bb, int rd, int gd, int bd, int rl, int gl, int bl)
{
int x,y;
kiss_get_mouse_position(&x,&y);
b->prevPushState=b->pushState;
b->pushState = kiss_get_mouse_button(0);
if(x>=b->x1 && x<=b->x2 && y>=b->y1 && y<=b->y2) {
if(!b->prevPushState && b->pushState){
if(b->sticky)b->state=!b->state;
else b->state = 1;
}
}
if(!b->sticky && !b->pushState) b->state=0;
if(b->state){
// graphics_rectangle_fill(b->x1,b->y1,b->x2-1,b->y2-1,SHADOW);
// graphics_rectangle_fill(b->x1+1,b->y1+1,b->x2-2,b->y2-2,SHADOW);
graphics_rectangle_fill(b->x1+1,b->y1+1,b->x2+1,b->y2+1,WHITE);
graphics_rectangle_fill(b->x1+2,b->y1+2,b->x2+2,b->y2+2,WHITE);
graphics_rectangle_fill(b->x1+2,b->y1+2,b->x2,b->y2,rd,gd,bd);
}
else {
graphics_rectangle_fill(b->x1+1,b->y1+1,b->x2+1,b->y2+1,SHADOW);
graphics_rectangle_fill(b->x1+2,b->y1+2,b->x2+2,b->y2+2,SHADOW);
graphics_rectangle_fill(b->x1,b->y1,b->x2,b->y2,r,g,bb);
}
BOLD g_printCharacter(b->ltr, b->x1+(b->x2-b->x1)/3, b->y1+(b->y2-b->y1)/4, rl, gl, bl, ((float)(b->y2-b->y1)/11.0));
}
void get_bgal_pod_positions()
{
// screen size (scols,srows), box size (bxcols,bxcols), separator m pixels
// random block positions p1, p2 set by function picks
int srows=120,scols=160, bpos, ppos;
graphics_close(); // close any existing graphics window
display_clear(); // prep screen
set_a_button_text("COUNTDOWN"); set_b_button_text("-"); set_c_button_text("-");
graphics_open(scols,srows);
graphics_fill(WHITE);
bpos=rand()%2;
if (bpos==0) ppos=1;
else ppos=0;
// draw field
graphics_rectangle(3,3,157,117,BLACK); // outline
graphics_rectangle(3,3,70,50,BLACK); // quads
graphics_rectangle(90,3,157,50,BLACK);
graphics_rectangle(3,70,70,117,BLACK);
graphics_rectangle(90,70,157,117,BLACK);
graphics_rectangle_fill(70,3,90,50,LTBROWN); // mesa
graphics_rectangle(70,3,90,50,BLACK);
graphics_rectangle_fill(70,70,90,117,LTBROWN);
graphics_rectangle(70,70,90,117,BLACK);
graphics_rectangle_fill(72,50,88,70,LTGRAY); // caldera
graphics_rectangle(72,50,88,70,BLACK);
graphics_rectangle_fill(20,3,25,50,TEAL); // lines
graphics_rectangle_fill(135,3,140,50,TEAL);
graphics_rectangle_fill(20,70,25,117,PINK);
graphics_rectangle_fill(135,70,140,117,PINK);
if (bpos==0) {
draw_bg(73,13,0.2);
graphics_rectangle_fill(74,87,86,102,GREEN);
}
else {
draw_bg(73,82,0.2);
graphics_rectangle_fill(74,18,86,32,GREEN);
}
graphics_update();
display_printf(2,0,"Set Botgal and Botpod ");
while(a_button()==0);
while(a_button()==1); // debounce
}
void kissSim_init(int world, int rx, int ry, float rt)
{
int i,splash=1;
if(world<0){world=-world; splash=0;}//a negative world means no splash screen
kissSimLoadWorld(world);//sets .world, .simHeight & .simWidth (leaving default values if sim is smaller)
kissSimRobotDim(&ksWindow.rWidth, &ksWindow.rHeight);//set robot window dimensions
ksWindow.height=ksWindow.simHeight+ksWindow.rHeight;//set overall window height
kissSimComputerDim(&ksWindow.cWidth, &ksWindow.cHeight);//set computer window dimentsions
ksWindow.width=ksWindow.simWidth+ksWindow.cWidth;//set overall window width
graphics_init(ksWindow.width, ksWindow.height);
graphics_fill(255,255,255);
glfwSetWindowTitle(_world.title);
// Draw the spash screen
if(splash)kissSplashBG(ksWindow.width, ksWindow.height);
robot.x=rx; robot.y=ry; robot.theta=rt;
kissSimRobotInit();
kissSimComputerInit();
graphics_rectangle_fill(0,0,ksWindow.simWidth-1,ksWindow.simHeight-1,255,200,200);// instruction background is light pink
kissSimPrintInstructions();
graphics_update();
while(!kiss_get_key(' '));while(kiss_get_key(' '));//pause until space bar is hit
start_process(kissSimInBgd);
kissSimPause();
}
void kissSimComputerDraw()
{
int oriX=ksWindow.simWidth, oriY=0, i;
static char digitals[]="0 0 0 0 0 0 0 0";
static char buttons[]="0 0 0 0 0 0 0";
static char analogs[11][10]={" "," "," "," "," "," "," "," "," "," "," "};
static char actuators[4][25]={" "," "," "," "};
static char servos[4][25]={" "," "," "," "};
if(!glfwGetWindowParam(GLFW_OPENED)) return;
graphics_rectangle_fill(oriX,oriY,oriX+1,ksWindow.height,BLACK); // draw left border
draw_bg(oriX+5,oriY+9,0.36); // Botguy
NOBOLD g_printString(" CBC SIMULATOR",oriX+25, oriY+10,TEAL,1.0);
NOBOLD g_printString(" DIGITALS ",oriX+25, oriY+40,TEAL,1.0);
NOBOLD g_printString("0 1 2 3 4 5 6 7",oriX+25, oriY+55,TEAL,1.0);
NOBOLD g_printString(" BUTTONS ",oriX+25, oriY+90,TEAL,1.0);
//NOBOLD g_printString("< ^ V > A B .",oriX+30, oriY+105,TEAL,1.0);
NOBOLD g_printString("\xb \xd \xe \xc A B .",oriX+30, oriY+105,TEAL,1.0);
// hex b, c, d, e are left, right, up, and down arrows
NOBOLD g_printString(digitals,oriX+25, oriY+70,WHITE,1.0); // erase old digital values
NOBOLD g_printString(" ANALOGS ",oriX+25, oriY+140,TEAL,1.0);
for(i=0;i<8;i++){
digitals[2*i]=48+digital(i);
}
NOBOLD g_printString(digitals,oriX+25, oriY+70,BLACK,1.0); // write new digital values
NOBOLD g_printString(buttons,oriX+30, oriY+120,WHITE,1.0); // erase old button values
buttons[0]=48+!!left_button();
buttons[2]=48+!!up_button();
buttons[4]=48+!!down_button();
buttons[6]=48+!!right_button();
buttons[8]=48+!!a_button();
buttons[10]=48+!!b_button();
_bob.button=!!kiss_get_key('.');
buttons[12]=48+black_button();
NOBOLD g_printString(buttons,oriX+30, oriY+120,BLACK,1.0); // erase old button values
for(i=8;i<16;i++){//print out analogs
analogs[i-8][1]=(i<10)?48+i:48+i-10;
analogs[i-8][0]=(i<10)?32:49;
analogs[i-8][2]=':';
analogs[i-8][3]=' ';
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),WHITE,1.0);
convertNumToString(analog10(i),4,*analogs,10,i-8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(i-8)),oriX+157, oriY+165+(15*(i-8)),GRAY);
graphics_line(oriX+30+analog(i)/2, oriY+155+(15*(i-8)),oriX+30+analog(i)/2,oriY+165+(15*(i-8)),RED);
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),BLACK,1.0);
}
analogs[8][1]='X';
analogs[8][0]='A';
analogs[8][2]=':';
analogs[8][3]=' ';
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),WHITE,1.0);
convertNumToString(accel_x(),5,*analogs,10,8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(8)),oriX+157, oriY+165+(15*(8)),GRAY);
graphics_line(oriX+30+(accel_x()+2048)/32, oriY+155+(15*(8)),oriX+30+(accel_x()+2048)/32,oriY+165+(15*(8)),RED);
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),BLACK,1.0);
analogs[9][1]='Y';
analogs[9][0]='A';
analogs[9][2]=':';
analogs[9][3]=' ';
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),WHITE,1.0);
convertNumToString(accel_y(),5,*analogs,10,9,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(9)),oriX+157, oriY+165+(15*(9)),GRAY);
graphics_line(oriX+30+(accel_y()+2048)/32, oriY+155+(15*(9)),oriX+30+(accel_y()+2048)/32,oriY+165+(15*(9)),RED);
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),BLACK,1.0);
analogs[10][1]='Z';
analogs[10][0]='A';
analogs[10][2]=':';
analogs[10][3]=' ';
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),WHITE,1.0);
convertNumToString(accel_z(),5,*analogs,10,10,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(10)),oriX+157, oriY+165+(15*(10)),GRAY);
graphics_line(oriX+30+(accel_z()+2048)/32, oriY+155+(15*(10)),oriX+30+(accel_z()+2048)/32,oriY+165+(15*(10)),RED);
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),BLACK,1.0);
NOBOLD g_printString("MOT PWM TPS ENCODER VAL",oriX+5, oriY+330,TEAL,1.0);
for(i=0;i<4;i++){
actuators[i][0]=48+i;
actuators[i][1]=':';
actuators[i][2]=' ';
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),WHITE,1.0);
convertNumToString(_bob.motor_pwm[i],4,*actuators,25,i,2);
convertNumToString(_bob.motor_tps[i],4,*actuators,25,i,7);
convertNumToString(_bob.motor_counter[i],10,*actuators,25,i,12);
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),BLACK,1.0);
}
if(_bob.enable_servos){
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,TEAL,1.0);
}
else {
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,TEAL,1.0);
}
for(i=0;i<4;i++){
servos[i][2]=49+i;//servos are 1 indexed!!
servos[i][3]=':';
servos[i][4]=' ';
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),WHITE,1.0);
convertNumToString(_bob.servo_targets[i],4,*servos,25,i,6);
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),BLACK,1.0);
}
}
