int main()
{
int i, off=0, on=1, lports[]=LIGHT_PORTS, pcnt, w=40, m=5;
float s;
graphics_open(320,240);
for(i=0;i<256;i+=5) {
graphics_fill(i,i,i);
graphics_update();
}
SplashBG(320, 240);
msleep(1000);
graphics_close();
pcnt=NPORTS(lports);
for(i=8;i<16;i++) { // change the digital ports to output
set_digital_output(i,1);
}
srand(time(NULL)); // prime random number generation
while(1) {
table_lights(lports,pcnt,off); // shut off table lights
setup(); // team setup (light calibration w/time out option)
// setup done, including any time outs so proceed with judge's setup
//get_shelf_positions(); // display orange/yellow block set up for judges - 2014
get_bgal_pod_positions(); // display left-right positions for Botgal & pod - 2015
set_a_button_text("QUIT"); set_b_button_text("-"); set_c_button_text("-");
graphics_close(); // close any open graphics
graphics_open(3*w,62);
display_clear();
display_printf(0,0,"************** BOTBALL 2015 **************");
display_printf(0,1," LIGHTS ON IN");
display_printf(0,2,"******************************************");
display_printf(0,9," Press QUIT to stop count down");
if (countdown_sd(5,1,BLUE,YELLOW,m,w)) continue;
s=seconds();
// 2015
table_lights(lports,pcnt,on); // on for 115 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 5");
if (countdown(120,11,GREEN,BLUE,m,w)) continue;
// end 2015
/*
// 2014
table_lights(lports,pcnt,on); // on for 15 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 105");
if (countdown(120,106,GREEN,BLUE,m,w)) continue;
table_lights(lports,pcnt,off); // of for 100 seconds
display_printf(0,1," GAME CLOCK - LIGHTS OFF TILL 5");
if (countdown(105,11,LTBLUE,RED,m,w)) continue;
// end 2014
*/
if (countdown(10,6,LTORANGE,BLUE,m,w)) continue;
display_printf(0,1," GAME CLOCK - LIGHTS BLINK TILL 0");
i=5+(seconds()-s);
if (blinkdown(5,0,RED,YELLOW,m,w,lports,pcnt)) continue;
display_printf(0,1," GAME CLOCK - %d ",i);
display_printf(0,9," ***** GAME OVER! ***** ");
table_lights(lports,pcnt,off); // shut off table lights
msleep(5000); // pause display
}
return 0;
}
/* dumpE:
*/
void dumpE(graph_t * g, int derived)
{
Agnode_t *n;
Agedge_t *e;
Agedge_t **ep;
Agedge_t *el;
int i;
int deg;
prIndent();
fprintf(stderr, "Graph %s : %d nodes %d edges\n", g->name, agnnodes(g),
agnedges(g));
for (n = agfstnode(g); n; n = agnxtnode(g, n)) {
deg = 0;
for (e = agfstout(g, n); e; e = agnxtout(g, e)) {
deg++;
prIndent();
fprintf(stderr, " %s -- %s\n", e->tail->name, e->head->name);
if (derived) {
for (i = 0, ep = (Agedge_t **) ED_to_virt(e);
i < ED_count(e); i++, ep++) {
el = *ep;
prIndent();
fprintf(stderr, " %s -- %s\n", el->tail->name,
el->head->name);
}
}
}
if (deg == 0) { /* no out edges */
if (!agfstin(g, n)) /* no in edges */
fprintf(stderr, " %s\n", n->name);
}
}
if (!derived) {
bport_t *pp;
if ((pp = PORTS(g))) {
int sz = NPORTS(g);
fprintf(stderr, " %d ports\n", sz);
while (pp->e) {
fprintf(stderr, " %s : %s -- %s\n", pp->n->name,
pp->e->tail->name, pp->e->head->name);
pp++;
}
}
}
}
/* initPositions:
* Create initial layout of nodes
* TODO :
* Position nodes near neighbors with positions.
* Use bbox to reset K.
*/
static pointf
initPositions (graph_t* g, bport_t* pp)
{
int nG = agnnodes (g) - NPORTS (g);
double size;
Agnode_t* np;
int n_pos = 0; /* no. of nodes with position info */
box bb;
pointf ctr; /* center of boundary ellipse */
long local_seed;
double PItimes2 = M_PI * 2.0;
for (np = agfstnode(g); np; np = agnxtnode(g,np)) {
if (ND_pinned(np)) {
if (n_pos) {
bb.LL.x = MIN(ND_pos(np)[0],bb.LL.x);
bb.LL.y = MIN(ND_pos(np)[1],bb.LL.y);
bb.UR.x = MAX(ND_pos(np)[0],bb.UR.x);
bb.UR.y = MAX(ND_pos(np)[1],bb.UR.y);
}
else {
bb.UR.x = bb.LL.x = ND_pos(np)[0];
bb.UR.y = bb.LL.y = ND_pos(np)[1];
}
n_pos++;
}
}
size = T_K * (sqrt((double)nG) + 1.0);
Wd = Ht = expFactor*(size/2.0);
if (n_pos == 1) {
ctr.x = bb.LL.x;
ctr.y = bb.LL.y;
}
else if (n_pos > 1) {
double alpha, area, width, height, quot;
ctr.x = (bb.LL.x + bb.UR.x)/2.0;
ctr.y = (bb.LL.y + bb.UR.y)/2.0;
width = expFactor*(bb.UR.x - bb.LL.x);
height = expFactor*(bb.UR.y - bb.LL.y);
area = 4.0*Wd*Ht;
quot = (width*height)/area;
if (quot >= 1.0) { /* If bbox has large enough area, use it */
Wd = width/2.0;
Ht = height/2.0;
}
else if (quot > 0.0) { /* else scale up to have enough area */
quot = 2.0*sqrt(quot);
Wd = width/quot;
Ht = height/quot;
}
else { /* either width or height is 0 */
if (width > 0) {
height = area/width;
Wd = width/2.0;
Ht = height/2.0;
}
else if (height > 0) {
width = area/height;
Wd = width/2.0;
Ht = height/2.0;
}
/* If width = height = 0, use Wd and Ht as defined above for
* the case the n_pos == 0.
*/
}
/* Construct enclosing ellipse */
alpha = atan2 (Ht, Wd);
Wd = Wd/cos(alpha);
Ht = Ht/sin(alpha);
}
else {
ctr.x = ctr.y = 0;
}
Wd2 = Wd*Wd;
Ht2 = Ht*Ht;
/* Set seed value */
if (smode == seed_val) local_seed = T_seed;
else {
#ifdef MSWIN32
local_seed = time(NULL);
#else
local_seed = getpid() ^ time(NULL);
#endif
}
srand48(local_seed);
/* If ports, place ports on and nodes within an ellipse centered at origin
* with halfwidth Wd and halfheight Ht.
* If no ports, place nodes within a rectangle centered at origin
* with halfwidth Wd and halfheight Ht. Nodes with a given position
* are translated. Wd and Ht are set to contain all positioned points.
* The reverse translation will be applied to all
* nodes at the end of the layout.
* TODO: place unfixed points using adjacent ports or fixed pts.
*/
if (pp) {
while (pp->e) { /* position ports on ellipse */
np = pp->n;
ND_pos(np)[0] = Wd * cos(pp->alpha);
ND_pos(np)[1] = Ht * sin(pp->alpha);
ND_pinned(np) = P_SET;
pp++;
}
for (np = agfstnode(g); np; np = agnxtnode(g,np)) {
if (IS_PORT(np)) continue;
if (ND_pinned(np)) {
ND_pos(np)[0] -= ctr.x;
ND_pos(np)[1] -= ctr.y;
}
else {
double angle = PItimes2 * drand48();
double radius = 0.9 * drand48();
ND_pos(np)[0] = radius * Wd * cos(angle);
ND_pos(np)[1] = radius * Ht * sin(angle);
}
}
}
else {
if (n_pos) { /* If positioned nodes */
for (np = agfstnode(g); np; np = agnxtnode(g,np)) {
if (ND_pinned(np)) {
ND_pos(np)[0] -= ctr.x;
ND_pos(np)[1] -= ctr.y;
}
else {
ND_pos(np)[0] = Wd * (2.0*drand48() - 1.0);
ND_pos(np)[1] = Ht * (2.0*drand48() - 1.0);
}
}
}
else { /* No ports or positions; place randomly */
for (np = agfstnode(g); np; np = agnxtnode(g,np)) {
ND_pos(np)[0] = Wd * (2.0*drand48() - 1.0);
ND_pos(np)[1] = Ht * (2.0*drand48() - 1.0);
}
}
}
return ctr;
}
