/*
This function set the cursor position.
Stack:
1: the instance table
2: the accessed key
3: the new index
*/
int lui_input_set_index(lua_State *L)
{
INPUT *i;
int n;
luasoul_checkclass(L, 1, INPUT_CLASS, i); /* fill i */
luasoul_checkint(L, 3, n);
/* lua 'array' start a 1 */
set_current_position(i, n - 1);
return 0;
}
virtual void Init(RobotInfo ri, NavInfo ni){
tec_s_.Init(ri);
tec_p_.Init();
tec_r_.Init();
speed_ = 40;
local_status_ = P_REACHING;
s_time_ = clock.now();
tecType_ = TEC_P;
SeesawAng = ni.pos.Ang;
TimerStart(15000);
set_current_position(pos, ni);
edge_dir = Technic::LEFT;
}
/*
input:addch(ch)
put a wide character
*/
int lui_addch_input(lua_State *L)
{
INPUT *i;
wchar_t *wstr;
size_t len;
cchar_t ch;
luasoul_checkclass(L, 1, INPUT_CLASS, i); /* get input */
luasoul_checklwcstr(L, 2, wstr, len); /* get wstring */
/* FIXME: correct attributs to setcchar() ? */
if (setcchar(&ch, wstr, WA_NORMAL, 0, NULL) == OK
&& wins_wch(i->pad, &ch) == OK)
{
/* man setcchar()
...contain at most one spacing character, which must be the first */
len = (size_t) wcwidth(*wstr);
if (len != (size_t) -1 && len) /* don't move for 0 width */
set_current_position(i, get_current_position(i) + len);
}
return 0;
}
/*
This function return the content of the buffer.
Stack:
1: the instance table
2: the accessed key
FIXME: use win_wchnstr, handle multiple lines ?
*/
int lui_input_get_buff(lua_State *L)
{
INPUT *i;
int pos;
wchar_t *buff;
int len;
luasoul_checkclass(L, 1, INPUT_CLASS, i); /* get input */
pos = get_current_position(i); /* save cursor position */
/* assume i->height == 1 */
len = i->width * i->off;
buff = malloc((len + 1) * sizeof(*buff));
len = mvwinnwstr(i->pad, 0, 0, buff, len);
while (iswspace(buff[--len])) /* remove leading space characters */
{}
buff[len + 1] = L'\0';
luasoul_pushwstring(L, buff);
set_current_position(i, pos); /* restore cursor position */
return 1;
}
virtual bool Run(RobotInfo ri, NavInfo ni, EventFlag evf, RobotCmd& cmd ){
bool stay_mission = true;
switch (local_status_){
case P_REACHING: //シーソーに近づく
speed_ = 10;
if( evf.is_SetEvent(Robot::EVENT_GYRO)){
evf.Set(Robot::EVENT_GYRO, false);
Robot::Instance().Beep();
set_current_position(pos, ni);
local_status_ = S_APPROACH_BACK;
// 助走するために少し下がる
tec_s_.Init(ri);
tecType_ = TEC_S;
speed_ = -30;
}
break;
case S_APPROACH_BACK:
if( get_distance(pos, ni) > 100*100){
set_current_position(pos, ni);
Robot::Instance().Beep();
local_status_ = S_STAGING;
// 一気に登る
tec_s_.Init(ri);
tecType_ = TEC_S;
speed_ = 100;
}
break;
case S_STAGING: // 一気にシーソーへ登る
if( get_distance(pos, ni) > 180*180){
set_current_position(pos, ni);
Robot::Instance().Beep(Robot::B);
local_status_ = P_RECOVER_ON_SEESAW;
// とりあえずシーソー上でラインに復帰
tecType_ = TEC_P;
tec_p_.Init();
speed_ = 10;
}
break;
case P_RECOVER_ON_SEESAW: // とりあえずシーソー上でラインに復帰
if( get_distance(pos, ni) > 200*200 ){
set_current_position(pos, ni);
Robot::Instance().Beep();
local_status_ = S_GET_OFF; //左にそれながらシーソーを降りる
tec_s_.Init(ri);
tecType_ = TEC_S;
speed_ = 40;
}
break;
case S_GET_OFF:
if(get_distance(pos, ni) > 250*250){
Robot::Instance().Beep(Robot::B);
local_status_ = S_RECOVER_ON_GROUND;
// ラインに復帰を試みる
tec_s_.Init(ri);
tecType_ = TEC_S;
speed_ = 10;
}
break;
case S_RECOVER_ON_GROUND:
/* 終了条件 */
if(evf.is_SetEvent(Robot::EVENT_LIGHT_BLACK)){
set_current_position(pos, ni);
local_status_ = P_FOR_NEXT_MISSION;
Robot::Instance().Beep(Robot::G);
tecType_ = TEC_P;
tec_p_.Init();
speed_ = 20;
TimerStart(10000);
}
break;
case P_FOR_NEXT_MISSION: // 最後に安定するまでライントレースして完全復帰する
/* ミッション終了の条件 */
if(get_distance(pos, ni) > 200*200){
Robot::Instance().Beep(Robot::E);
stay_mission = false;
}
break;
default:
stay_mission = true;
break;
} // end of switch-case(local_status_)
/* 走行計算 */
if(tecType_ == TEC_S){
cmd = tec_s_.Calclate(speed_,
ri.rot_encoderL_val,
ri.rot_encoderR_val
);
if(local_status_ == S_GET_OFF){
cmd.param2 =- 3; // 左側へ降りる
}
if(local_status_ == S_RECOVER_ON_GROUND){
cmd.param2 =+ 3; // 右側のラインへ復帰する
}
}else if(tecType_ == TEC_P){
cmd = tec_p_.Calclate(ri.light_sensor_val, speed_, edge_dir);
// if(local_status_ == S_STAGING || local_status_ == P_RECOVER_ON_SEESAW){
// cmd.param2 = (S16)((F32)cmd.param2 * 0.7);
// }
}else if(tecType_ == TEC_R){
cmd = tec_r_.Calclate(speed_, rotate_, dir_);
}else if(tecType_ == TEC_T){
// しっぽの設定はcase内で設定するよ
}else{}
return stay_mission;
}
