void invaders_shot() {
register char *p;
byte i;
if (inv_shot_y > 0) {
SET_PIXEL(inv_shot_x, inv_shot_y);
SET_PIXEL(inv_shot_x, inv_shot_y - 1);
inv_shot_y += 3;
if (inv_shot_y >= 100)
inv_shot_y = 0;
} else {
if (tank_pos >= inv_pos_x && tank_pos < inv_pos_x + 6 * (inv_x_last - inv_x_first + 1)) {
i = inv_x_first + (tank_pos - inv_pos_x) / 6;
if (invaders_alive[i][2]) {
inv_shot_y = inv_pos_y * 3 + 30;
inv_shot_x = inv_pos_x * 2 + (i - inv_x_first) * 12 + 6;
} else if (invaders_alive[i][1]) {
inv_shot_y = inv_pos_y * 3 + 20;
inv_shot_x = inv_pos_x * 2 + (i - inv_x_first) * 12 + 6;
} else if (invaders_alive[i][0]) {
inv_shot_y = inv_pos_y * 3 + 10;
inv_shot_x = inv_pos_x * 2 + (i - inv_x_first) * 12 + 6;
}
}
}
}
void antigravity(uint8_t interval = 200 /* ms */) {
// move all of the LED's upwards (we can move them in other directions in the future)
for (uint8_t iteration = 0; iteration < 5; iteration++) {
mp_hal_delay_ms(interval);
bool wait = false;
for (uint8_t row = 1; row < 5 - iteration; row++) {
for (uint8_t col = 0; col < 5; col++) {
// move this bit down if possible
uint8_t val = GET_PIXEL(col, row);
if (val) {
// this is why the row for loop starts at one
if (!GET_PIXEL(col, row - 1)) {
SET_PIXEL(col, row, 0);
SET_PIXEL(col, row - 1, val);
wait = true;
}
} // we don't care if the LED is off
}
}
if (!wait) {
continue;
}
}
}
void samples2coefficients(FloatImage *inbuf, char dimension)
{
int ii, kk;
float z = sqrt(3.0) - 2.0;
float lambda = (1.0 - z) * (1.0 - 1.0/z);
float value;
// Apply overall gain
for (ii=0; ii<inbuf->size_x; ii++)
for (kk=0; kk<inbuf->size_y; kk++) {
value = GET_PIXEL(ii,kk) * lambda;
SET_PIXEL(ii,kk,value);
}
for (kk=0; kk<inbuf->size_y; kk++) {
// Causal initialization (first pixel of line)
}
// Causal recursion
// Anticausal initialization
// Anticausal recursion
}
/*
KITECH_TopologicalGlobalMapComp의 onInitialize()에서
bmp 파일의 비트맵 읽어 세선화 알고리즘을 수행하여 처리하기 때문에
수행속도가 오래 걸림.
bmp 비트맵의 크기와 형태에 따라 세선화 알고리즘의 수행속도가 틀려짐.
<환경 조건>
1. Tetra 로봇 플렛폼
2. Intel Core2Duo 2.1GHz
3. 950 x 850 크기의 map
<실험>
1. onInitialize() 수행 속도 측정
26047ms
26078ms
26093ms
26125ms
26031ms
26031ms
26094ms
26078ms
26125ms
26047ms
*/
ReturnType KITECH_TopologicalGlobalMapComp::onInitialize()
{
PrintMessage ("KITECH_TopologicalGlobalMapComp::onInitialize()\n");
#define GET_PIXEL(image, x, y) (*(image + mapWidth * y + x))
#define SET_PIXEL(image, x, y, value) (*(image + mapWidth * y + x) = value)
parameter.SetProperty(getPropertyMap());
if (!LoadProperty()) {
error = -1;
return OPROS_FIND_PROPERTY_ERROR;
}
gridBasedGlobalMap = new GridBasedGlobalMap (mapFileName.c_str(), mapResolution);
if (gridBasedGlobalMap == NULL) {
error = -1;
return OPROS_INTERNAL_FAULT;
}
gridBasedGlobalMap->ExpandObstacle (1, 1, 255);
gridBasedGlobalMap->ExpandObstacle (1, 255, 127);
gridBasedGlobalMap->ExpandObstacle (1, 127, 63);
gridBasedGlobalMap->ExpandObstacle (INTEGER(mobileSafeRadius/mapResolution), 1, 10);
int mapWidth = gridBasedGlobalMap->_width;
int mapHeight = gridBasedGlobalMap->_height;
BYTE *inBuff = new BYTE [mapWidth*mapHeight];
BYTE *outBuff = new BYTE [mapWidth*mapHeight];
int x, y;
for (y = 0; y < mapHeight; y++) {
for (x = 0; x < mapWidth; x++) {
BYTE pixel = gridBasedGlobalMap->GetPixelCELL (x, y);
SET_PIXEL (inBuff, x, y, ((0 < pixel) ? 0 : 4));
}
}
CThinning thinnig;
if (thinnig.MakeThinning (outBuff, inBuff, mapWidth, mapHeight) < 0) {
delete [] inBuff;
delete [] outBuff;
error = -1;
return OPROS_INTERNAL_FAULT;
}
for (y = 0; y < mapHeight; y++) {
for (x = 0; x < mapWidth; x++) {
BYTE pixel = GET_PIXEL (outBuff, x, y);
BYTE pixel2 = gridBasedGlobalMap->GetPixelCELL (x, y);
gridBasedGlobalMap->SetPixelCELL (x, y, pixel | pixel2);
}
}
delete [] inBuff;
delete [] outBuff;
error = 0;
return OPROS_SUCCESS;
}
void tank_shot() {
register char *p;
byte x, y, i;
if (shot_y > 0) {
SET_PIXEL(shot_x, shot_y);
SET_PIXEL(shot_x, shot_y + 1);
if (shot_y > 3) {
shot_y -= 3;
// test if an invader was hit
if (getpixel(shot_x, shot_y)) {
x = (shot_x - inv_pos_x * 2) / 12 + inv_x_first;
y = (shot_y - inv_pos_y * 3) / 10;
if (y < 3 && x >= inv_x_first && x <= inv_x_last) {
invaders_alive[x][y] = 0;
inv_count--;
if (x == inv_x_first) {
i = inv_x_first;
while (!invaders_alive[i][0] && !invaders_alive[i][1] && !invaders_alive[i][2] && i < INV_X_COUNT)
i++;
inv_pos_x += 6 * (i - inv_x_first);
inv_x_first = i;
} else if (x == inv_x_last) {
i = inv_x_last;
while (!invaders_alive[i][0] && !invaders_alive[i][1] && !invaders_alive[i][2] && i > 0)
i--;
inv_x_last = i;
}
}
shot_y = 0;
}
}
else
shot_y = 0;
}
}
void draw_invader(byte xpos, byte ypos, byte no) {
register char *p;
register byte *ip;
byte x, y;
ip = &invader[no * 2 + inv_look][0][0];
for (y = ypos; y < ypos + 9; y++) {
for (x = xpos; x < xpos + 10; x++) {
if (*ip == 1) {
SET_PIXEL(x, y);
}
ip++;
}
}
}
void init_game() {
byte x, y;
byte *ip;
register char *p;
for (x = 0; x < INV_X_COUNT; x++)
for (y = 0; y < INV_Y_COUNT; y++)
invaders_alive[x][y] = 1;
inv_x_first = 0;
inv_x_last = INV_X_COUNT - 1;
inv_pos_x = 1;
inv_pos_y = 3;
inv_dir = 1;
inv_look = 0;
inv_count = INV_X_COUNT * INV_Y_COUNT;
tank_pos = 38;
ip = &tank[0][0];
for (y = 0; y < 8; y++) {
for (x = 0; x < 7; x++) {
if (*ip == 1) {
SET_PIXEL(x, y);
}
ip++;
}
}
ip = &tank_char[0][0];
for (y = 0; y < 2; y++) {
for (x = 0; x < 4; x++) {
*ip = V_GETCHAR_BUF(x, y);
ip++;
V_SETCHAR_BUF(x, y, 0);
}
}
}
