void Vehicles::update(double dt){
if (health <= 0){
isDead = true;
}
if (!isDead){
speedControl(dt);
newVehicle.pathRoute(dt);
Pos = newVehicle.getCurrentLocation();
updateHitbox();
SetInteraction(AABB(Vector3(Pos.x - InteractionMin.x, Pos.y - InteractionMin.y, Pos.z - InteractionMin.z), Vector3(Pos.x + InteractionMax.x, Pos.y + InteractionMax.y, Pos.z + InteractionMax.z)));
Yaw = getRotationAngle();
if (currAttackTarget != nullptr){
newVehicle.updateWayPoints(currAttackTarget->Pos);
}
Pos.y = 0;
}
bulletCurrCooldown += dt;
}
void idleDisplay() {
speedControl();
if (displayMode == 1) {
verticalBar();
} else if (displayMode == 2) {
sineGradient();
} else if (displayMode == 3) {
horizontalBar();
} else if (displayMode == 4) {
solidCircle();
}
if (runMode == 1) {
glutPostRedisplay();
}
}
qglviewer::Vec PosInterpolator::getPositionAt(int frame, bool* valid) {
if(frame<start_frame_ or frame>last_frame_){
if(valid!=NULL) *valid = false;
return qglviewer::Vec();
}
int interval = chooseInterval(frame,PosInterpolator::kFrameBased);
if(interval==-1 or interval==0){
if(valid!=NULL) *valid = false;
return qglviewer::Vec();
}
int interval_start_frame = steps_.at(interval -1).frame_;
int interval_end_frame = steps_.at(interval).frame_;
double current_step = (((double)(frame)) - ((double)(interval_start_frame)))/((double)(interval_end_frame - interval_start_frame));
if(current_step>1.0) current_step = 1.0;
current_step = speedControl(current_step);
std::pair<Curve*,ArcLength*> curve_and_length = curves_.at(interval-1);
if(valid!=NULL) *valid = true;
return curve_and_length.second->getByNormalizedS(current_step);
}
void doSpeed() {
speedControl(fanSpeed, fanDirection);
}
void setupSpeed() {
speedAddr = sw1type;
sprintf(str,"Fan speed control enabled, using device %u.", speedAddr);
mqtt.publish(mqttpub, str);
speedControl(0,0); // direction 0, speed 0
}
void STORCommand::Execute()
{
namespace pt = boost::posix_time;
namespace gd = boost::gregorian;
fs::VirtualPath path(fs::PathFromUser(argStr));
util::Error e(acl::path::Filter(client.User(), path.Basename()));
if (!e)
{
control.Reply(ftp::ActionNotOkay, "File name contains one or more invalid characters.");
throw cmd::NoPostScriptError();
}
off_t offset = data.RestartOffset();
if (offset > 0 && data.DataType() == ftp::DataType::ASCII)
{
control.Reply(ftp::BadCommandSequence, "Resume not supported on ASCII data type.");
throw cmd::NoPostScriptError();
}
if (!exec::PreCheck(client, path)) throw cmd::NoPostScriptError();
switch(ftp::Counter::Upload().Start(client.User().ID(),
client.User().MaxSimUp(),
client.User().HasFlag(acl::Flag::Exempt)))
{
case ftp::CounterResult::PersonalFail :
{
std::ostringstream os;
os << "You have reached your maximum of " << client.User().MaxSimUp()
<< " simultaneous uploads(s).";
control.Reply(ftp::ActionNotOkay, os.str());
throw cmd::NoPostScriptError();
}
case ftp::CounterResult::GlobalFail :
{
control.Reply(ftp::ActionNotOkay,
"The server has reached it's maximum number of simultaneous uploads.");
throw cmd::NoPostScriptError();
}
case ftp::CounterResult::Okay :
break;
}
auto countGuard = util::MakeScopeExit([&]{ ftp::Counter::Upload().Stop(client.User().ID()); });
if (data.DataType() == ftp::DataType::ASCII && !cfg::Get().AsciiUploads().Allowed(path.ToString()))
{
control.Reply(ftp::ActionNotOkay, "File can't be uploaded in ASCII, change to BINARY.");
throw cmd::NoPostScriptError();
}
fs::FileSinkPtr fout;
try
{
if (data.RestartOffset() > 0)
fout = fs::AppendFile(client.User(), path, data.RestartOffset());
else
fout = fs::CreateFile(client.User(), path);
}
catch (const util::SystemError& e)
{
if (data.RestartOffset() == 0 && e.Errno() == EEXIST)
{
DupeMessage(path);
}
else
{
std::ostringstream os;
os << "Unable to " << (data.RestartOffset() > 0 ? "append" : "create")
<< " file: " << e.Message();
control.Reply(ftp::ActionNotOkay, os.str());
}
throw cmd::NoPostScriptError();
}
catch (const util::RuntimeError& e)
{
std::ostringstream os;
os << "Unable to " << (data.RestartOffset() > 0 ? "append" : "create")
<< " file: " << e.Message();
control.Reply(ftp::ActionNotOkay, os.str());
throw cmd::NoPostScriptError();
}
bool fileOkay = data.RestartOffset() > 0;
auto fileGuard = util::MakeScopeExit([&]
{
if (!fileOkay)
{
try
{
fs::DeleteFile(fs::MakeReal(path));
}
catch (std::exception& e)
{
logs::Error("Failed to delete failed upload: %1%", e.what());
}
}
});
std::stringstream os;
os << "Opening " << (data.DataType() == ftp::DataType::ASCII ? "ASCII" : "BINARY")
<< " connection for upload of "
<< fs::MakePretty(path).ToString();
if (data.Protection()) os << " using TLS/SSL";
os << ".";
control.Reply(ftp::TransferStatusOkay, os.str());
try
{
data.Open(ftp::TransferType::Upload);
}
catch (const util::net::NetworkError&e )
{
if (!data.RestartOffset()) fs::DeleteFile(fs::MakeReal(path));
control.Reply(ftp::CantOpenDataConnection,
"Unable to open data connection: " + e.Message());
throw cmd::NoPostScriptError();
}
auto dataGuard = util::MakeScopeExit([&]
{
if (data.State().Type() != ftp::TransferType::None)
{
data.Close();
if (data.State().Bytes() > 0)
{
db::stats::Upload(client.User(), data.State().Bytes() / 1024,
data.State().Duration().total_milliseconds());
}
}
});
if (!data.ProtectionOkay())
{
std::ostringstream os;
os << "TLS is enforced on " << (data.IsFXP() ? "FXP" : "data") << " transfers.";
control.Reply(ftp::ProtocolNotSupported, os.str());
return;
}
auto section = cfg::Get().SectionMatch(path.ToString());
auto transferLogGuard = util::MakeScopeExit([&]
{
if (cfg::Get().TransferLog().Uploads())
{
bool okay = !std::uncaught_exception();
logs::Transfer(fs::MakeReal(path).ToString(), "up", client.User().Name(), client.User().PrimaryGroup(),
(data.State().StartTime() - pt::ptime(gd::date(1970, 1, 1))).total_microseconds() / 1000000.0,
data.State().Bytes() / 1024, data.State().Duration().total_microseconds() / 1000000.0,
okay, section ? section->Name() : std::string());
}
});
const size_t bufferSize = cfg::Get().DataBufferSize();
bool calcCrc = CalcCRC(path);
std::unique_ptr<util::CRC32> crc32(cfg::Get().AsyncCRC() ?
new util::AsyncCRC32(bufferSize, 10) :
new util::CRC32());
bool aborted = false;
fileOkay = false;
try
{
ftp::UploadSpeedControl speedControl(client, path);
ftp::OnlineTransferUpdater onlineUpdater(boost::this_thread::get_id(), stats::Direction::Upload,
data.State().StartTime());
std::vector<char> asciiBuffer;
std::vector<char> buffer;
buffer.resize(bufferSize);
while (true)
{
size_t len = data.Read(&buffer[0], buffer.size());
const char *bufp = buffer.data();
if (data.DataType() == ftp::DataType::ASCII)
{
ftp::ASCIITranscodeSTOR(bufp, len, asciiBuffer);
len = asciiBuffer.size();
bufp = asciiBuffer.data();
}
data.State().Update(len);
fout->write(bufp, len);
if (calcCrc) crc32->Update(reinterpret_cast<const uint8_t*>(bufp), len);
onlineUpdater.Update(data.State().Bytes());
speedControl.Apply();
}
}
catch (const util::net::EndOfStream&) { }
catch (const ftp::TransferAborted&) { aborted = true; }
catch (const util::net::NetworkError& e)
{
control.Reply(ftp::DataCloseAborted,
"Error while reading from data connection: " + e.Message());
throw cmd::NoPostScriptError();
}
catch (const std::ios_base::failure& e)
{
control.Reply(ftp::DataCloseAborted,
"Error while writing to disk: " + std::string(e.what()));
throw cmd::NoPostScriptError();
}
catch (const ftp::ControlError& e)
{
e.Rethrow();
}
catch (const ftp::MinimumSpeedError& e)
{
logs::Debug("Aborted slow upload by %1%. %2% lower than %3%",
client.User().Name(),
stats::AutoUnitSpeedString(e.Speed()),
stats::AutoUnitSpeedString(e.Limit()));
aborted = true;
}
fout->close();
data.Close();
e = fs::Chmod(fs::MakeReal(path), completeMode);
if (!e) control.PartReply(ftp::DataClosedOkay, "Failed to chmod upload: " + e.Message());
auto duration = data.State().Duration();
double speed = stats::CalculateSpeed(data.State().Bytes(), duration);
if (aborted)
{
control.Reply(ftp::DataClosedOkay, "Transfer aborted @ " + stats::AutoUnitSpeedString(speed / 1024));
throw cmd::NoPostScriptError();
}
if (exec::PostCheck(client, path,
calcCrc ? crc32->HexString() : "000000", speed,
section ? section->Name() : ""))
{
fileOkay = true;
bool nostats = !section || acl::path::FileAllowed<acl::path::Nostats>(client.User(), path);
db::stats::Upload(client.User(), data.State().Bytes() / 1024,
duration.total_milliseconds(),
nostats ? "" : section->Name());
client.User().IncrSectionCredits(section && section->SeparateCredits() ? section->Name() : "",
data.State().Bytes() / 1024 * stats::UploadRatio(client.User(), path, section));
}
control.Reply(ftp::DataClosedOkay, "Transfer finished @ " + stats::AutoUnitSpeedString(speed / 1024));
(void) countGuard;
(void) fileGuard;
(void) dataGuard;
}
/* is set to 'yes' (#pragma interrupt saveall is generated before the ISR) */
void TI1_OnInterrupt(void)
{
oneMsCounter++;
//-------------------------------------------
g_nspeedControPeriod ++;
speedControlOutput();
//___________________________________________
//-------------------------------------------
g_nDirectionControlPeriod ++;
DirectionControlOutput();
//___________________________________________
if(oneMsCounter == 1)
{
if(AD_Flag) updataSensor(); //读取ADC的值
}
//--------------------------------------------------
else if(oneMsCounter == 2)
{
AngleCalculate(); //计算角度
AngleControl(); //角度的PD值控制
motorControl(); //电机输出控制
}
//-----------------------------------------------
else if(oneMsCounter == 3)
{
g_nSpeedControlCount++;
oneHundredMsCounter++;
if(g_nSpeedControlCount >= SPEED_CONTROL_COUNT)
{
speedControl(); //速度控制
g_nSpeedControlCount=0;
g_nspeedControPeriod=0;
}
if(standFlag){
if(oneHundredMsCounter == 100)
{
if(CAR_SPEED_SET < speedNeed3)
CAR_SPEED_SET += 10;
else
{
CAR_SPEED_SET = speedNeed3;
speedStarEndFlag = 1;
}
oneHundredMsCounter = 0;
}
}
else
{
CAR_SPEED_SET = 0;
oneHundredMsCounter = 0;
speedStarEndFlag = 0;
}
}
//--------------------------------------------------
else if(oneMsCounter == 4)
{
g_nDirectionControlCount ++;
DianciCalculate();
DirectionVoltageSigma();
if(g_nDirectionControlCount >= DIRECTION_CONTROL_COUNT) {
DirectionControl();
g_nDirectionControlCount = 0;
g_nDirectionControlPeriod = 0;
}
}
//-------------------------------------------------
else if(oneMsCounter >= 5)
{
oneMsCounter = 0;
GetMotorPulse();
UartFlag = 1;
}
}
