void crazyMovement()
{
int i;
for(i=0; i<1000; i++)
stopMove();
moveForward();
delay(100);
moveBackwards();
delay(100);
}
int SimpleDeadlockDetector::init(const BoardState& s) {
std::vector<int> targets;
int index = 0;
for (auto i = s.begin(); i != s.end(); ++i, ++index) {
if (!isTarget(*i) && !isPackageOnTarget(*i)) {
continue;
}
targets.push_back(index);
}
Log::debug(LOG_GAMEIMPL, "Found %i targets", (int)targets.size());
BoardState copy(s);
index = 0;
for (auto i = s.begin(); i != s.end(); ++i, ++index) {
const char field = *i;
if (isPackage(field)) {
copy.clearFieldForIndex(index);
copy.setFieldForIndex(index, Sokoban::GROUND);
Log::debug(LOG_GAMEIMPL, "replaced package with ground at %i", index);
} else if (isPackageOnTarget(field)) {
copy.clearFieldForIndex(index);
copy.setFieldForIndex(index, Sokoban::TARGET);
Log::debug(LOG_GAMEIMPL, "replaced packageontarget with target at %i", index);
}
}
#ifdef DEBUG
Log::debug(LOG_GAMEIMPL, "board state:\n%s", copy.toString().c_str());
#endif
for (int targetIndex : targets) {
moveBackwards(copy, targetIndex);
}
index = 0;
for (auto i = copy.begin(); i != copy.end(); ++i, ++index) {
const char field = *i;
if (!isGround(field) && !isPackage(field)) {
continue;
}
if (_visited.find(index) != _visited.end()) {
continue;
}
#ifdef DEBUG
int col;
int row;
s.getColRowFromIndex(index, col, row);
Log::debug(LOG_GAMEIMPL, "Simple deadlock detected at %i:%i", col, row);
#endif
_deadlocks.insert(index);
}
Log::info(LOG_GAMEIMPL, "Found %i simple deadlocks", (int)_deadlocks.size());
Log::debug(LOG_GAMEIMPL, "Visited %i fields", (int)_visited.size());
_visited.clear();
return (int)_deadlocks.size();
}
void FreeCamera::update(double deltaTime) {
float vel = inputVector.z ? slowVelocity : velocity;
if (inputVector.x < 0)
moveForwards((float)-inputVector.x * vel * (float)deltaTime);
else if (inputVector.x > 0)
moveBackwards((float)inputVector.x * vel * (float)deltaTime);
if (inputVector.y < 0)
strafeLeft((float)-inputVector.y * vel * (float)deltaTime);
else if (inputVector.y > 0)
strafeRight((float)inputVector.y * vel * (float)deltaTime);
}
void setup()
{
connect_to_robot();
initialize_robot();
set_ir_angle(LEFT, -45);
set_ir_angle(RIGHT, 45);
set_origin();
set_point(0, 0);
print_square_centres();
get_motor_encoders(&leftprev, &rightprev);
moveBackwards(PHASE1_SPEED, PHASE1_SLOW, START_OFFSET * CM_TO_ENCODER); //move robot to centre of first square.
}
// Decides which kind of movement the tank will do with the given signal read from tty port
void move(int signal) {
if(signal == 1 ){
moveForwards(1);
}else if(signal == 2){
moveBackwards(1);
}else if(signal == 3){
turnLeft(1);
}else if(signal == 4){
turnRight(1);
}else if(signal == 0){
stop();
}
}
void mediumMovement()
{
switch(direcao) {
case 1:
moveForward();
delay(1800);
stopMove();
delay(400);
break;
case 0:
moveBackwards();
delay(1800);
stopMove();
delay(400);
break;
}
}
void littleMovement()
{
switch(direcao) {
case 1:
moveForward();
delay(600);
stopMove();
delay(300);
break;
case 0:
moveBackwards();
delay(100);
stopMove();
delay(600);
break;
}
}
void turnAroundInPlace()
{
/* TURN AROUND */
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveForwardHalf();
//Current Mouse Direction
int dirx = mouse.direction.x;
int diry = mouse.direction.y;
//Reverse and go back
mouse.direction.x = -dirx;
mouse.direction.y = -diry;
//Set Position to next block
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
}
void solveMaze()
{
//Reset maze to 0
initializeMaze(&maze);
//We Know at the starting point, there's something behind us
setN(&maze[0][0], 1);
mouse.direction.x = 0;
mouse.direction.y = -1;
mouse.x = 0;
mouse.y = 0;
//Disable the mouse for now
enableDrive(0);
turnOnTimers(0, 0);
int areWeSearching = UserInterfaceIntro();
//Does the user want to skip the search phase and load a maze from EEPROM
if(areWeSearching)
{
/* SEARCH MAZE */
for(int i = 0; i < 10; i++)
{
turnOnLeds(7);
_delay_ms(10);
turnOnLeds(0);
_delay_ms(90);
}
//Init Mouse
enableDrive(1);
turnOnTimers(1, 1);
setDirection(0, 0);
//Update Sensors
updateSensors();
updateSensors();
updateWalls();
//Go Forward first block
mouse.IR_LONG_CHECK_LEFT = 2;
mouse.IR_LONG_CHECK_RIGHT = 2;
straight(480, 0, mouse.maxVelocity, mouse.maxVelocity, mouse.acceleration, mouse.deceleration);
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* SEARCH */
InitialSearchRun();
//Search is Complete!
updateWalls();
/* TURN AROUND */
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveForwardHalf();
//Current Mouse Direction
int dirx = mouse.direction.x;
int diry = mouse.direction.y;
//Reverse and go back
mouse.direction.x = -dirx;
mouse.direction.y = -diry;
//Set Position to next block
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* RETURN SEARCH*/
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
/* PICK UP AND PLACE MOUSE */
enableDrive(0);
waitForButtonPressed();
}
/* FAST RUN */
FastRun();
//Completed Search run, go back and search some more
turnAroundInPlace();
floodFill(maze, firstTurn, mouse.x, mouse.y);
/* RETURN */
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
stopMouse();
while(!isButtonPushed(1));
printMaze(maze);
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
for (int i = 0; i < MaxRecentFiles; ++i)
{
recentFileActions[i] = new QAction(this);
recentFileActions[i]->setVisible(false);
connect(recentFileActions[i], SIGNAL(triggered()), this, SLOT(openRecentFile()));
ui->menuFile->insertAction(ui->actionExit, recentFileActions[i]);
}
recentFilesSeparator = ui->menuFile->insertSeparator(ui->actionExit);
form = new Form(this);
view = new GraphicsView(form, this);
setCentralWidget(view);
itemWidget = new ItemWidget(ui->propertyWidget);
itemWidget->setHidden(true);
connect(view, SIGNAL(mouseDoubleClick()), itemWidget, SLOT(selectPicture()));
formWidget = new FormWidget(ui->propertyWidget);
formWidget->connectForm(form);
formWidget->update(form);
ui->propertyWidget->setWidget(formWidget);
fontCombo = new QFontComboBox(this);
ui->formatToolBar->insertWidget(ui->actionBold, fontCombo);
insertGroup = new QActionGroup(this);
insertGroup->addAction(ui->actionSelect);
insertGroup->addAction(ui->actionPaint);
connect(insertGroup, SIGNAL(triggered(QAction*)), this, SLOT(insertObject(QAction*)));
ui->actionLeft->setData(Qt::AlignLeft);
ui->actionCenter->setData(Qt::AlignHCenter);
ui->actionRight->setData(Qt::AlignRight);
zoomGroup = new QActionGroup(this);
zoomGroup->addAction(ui->actionActualSize);
zoomGroup->addAction(ui->actionFitWidth);
zoomGroup->addAction(ui->actionFitHeight);
connect(zoomGroup, SIGNAL(triggered(QAction*)), this, SLOT(zoom(QAction*)));
ui->actionActualSize->setData(GraphicsView::ActualSize);
ui->actionFitWidth->setData(GraphicsView::FitWidth);
ui->actionFitHeight->setData(GraphicsView::FitHeight);
horzAlignGroup = new QActionGroup(this);
horzAlignGroup->addAction(ui->actionLeft);
horzAlignGroup->addAction(ui->actionCenter);
horzAlignGroup->addAction(ui->actionRight);
connect(horzAlignGroup, SIGNAL(triggered(QAction*)), this, SLOT(horzAlign(QAction*)));
sizeGroup = new QActionGroup(this);
sizeGroup->addAction(ui->actionShrinkWidth);
sizeGroup->addAction(ui->actionGrowWidth);
sizeGroup->addAction(ui->actionPageWidth);
sizeGroup->addAction(ui->actionShrinkHeight);
sizeGroup->addAction(ui->actionGrowHeight);
sizeGroup->addAction(ui->actionPageHeight);
sizeGroup->addAction(ui->actionShrinkBoth);
sizeGroup->addAction(ui->actionGrowBoth);
sizeGroup->addAction(ui->actionPageBoth);
ui->actionShrinkWidth->setData(Form::ShrinkWidth);
ui->actionGrowWidth->setData(Form::GrowWidth);
ui->actionPageWidth->setData(Form::PageWidth);
ui->actionShrinkHeight->setData(Form::ShrinkHeight);
ui->actionGrowHeight->setData(Form::GrowHeight);
ui->actionPageHeight->setData(Form::PageHeight);
ui->actionShrinkBoth->setData(Form::ShrinkBoth);
ui->actionGrowBoth->setData(Form::GrowBoth);
ui->actionPageBoth->setData(Form::PageBoth);
connect(sizeGroup, SIGNAL(triggered(QAction*)), this, SLOT(size(QAction*)));
connect(ui->actionNew, SIGNAL(triggered()), this, SLOT(newForm()));
connect(ui->actionOpen, SIGNAL(triggered()), this, SLOT(openForm()));
connect(ui->actionReload, SIGNAL(triggered()), this, SLOT(reload()));
connect(ui->actionSave, SIGNAL(triggered()), this, SLOT(saveForm()));
connect(ui->actionSaveAs, SIGNAL(triggered()), this, SLOT(saveFormAs()));
connect(ui->actionSaveAsPDF, SIGNAL(triggered()), this, SLOT(saveFormAsPdf()));
connect(ui->actionAbout, SIGNAL(triggered()), this, SLOT(about()));
connect(ui->actionOpenPrintData, SIGNAL(triggered()), this, SLOT(openPrintData()));
connect(ui->actionPageSetup, SIGNAL(triggered()), form, SLOT(pageSetup()));
connect(ui->actionPagePreview, SIGNAL(triggered()), this, SLOT(preview()));
connect(ui->actionSend, SIGNAL(triggered()), this, SLOT(email()));
connect(ui->actionPrint, SIGNAL(triggered()), this, SLOT(print()));
connect(ui->actionFullScreen, SIGNAL(triggered()), this, SLOT(fullScreen()));
connect(ui->actionMargins, SIGNAL(toggled(bool)), form, SLOT(showMargins(bool)));
connect(ui->actionGrid, SIGNAL(toggled(bool)), form, SLOT(showGrid(bool)));
connect(ui->actionPrintData, SIGNAL(toggled(bool)), form, SLOT(showData(bool)));
connect(ui->actionSelectAll, SIGNAL(triggered()), form, SLOT(selectAll()));
connect(ui->actionDelete, SIGNAL(triggered()), form, SLOT(deleteSelected()));
connect(ui->actionProperties, SIGNAL(toggled(bool)), ui->propertyWidget, SLOT(setVisible(bool)));
connect(ui->actionMoveForwards, SIGNAL(triggered()), form, SLOT(moveForwards()));
connect(ui->actionMoveBackwards, SIGNAL(triggered()), form, SLOT(moveBackwards()));
connect(ui->actionAlignLeft, SIGNAL(triggered()), form, SLOT(alignLeft()));
connect(ui->actionAlignRight, SIGNAL(triggered()), form, SLOT(alignRight()));
connect(ui->actionAlignTop, SIGNAL(triggered()), form, SLOT(alignTop()));
connect(ui->actionAlignBottom, SIGNAL(triggered()), form, SLOT(alignBottom()));
connect(ui->actionCut, SIGNAL(triggered()), form, SLOT(cut()));
connect(ui->actionCopy, SIGNAL(triggered()), form, SLOT(copy()));
connect(ui->actionPaste, SIGNAL(triggered()), this, SLOT(paste()));
connect(ui->actionFirstPage, SIGNAL(triggered()), this, SLOT(firstPage()));
connect(ui->actionPreviousPage, SIGNAL(triggered()), this, SLOT(previousPage()));
connect(ui->actionNextPage, SIGNAL(triggered()), this, SLOT(nextPage()));
connect(ui->actionLastPage, SIGNAL(triggered()), this, SLOT(lastPage()));
connect(ui->menuView, SIGNAL(aboutToShow()), this, SLOT(updateViewMenu()));
connect(form, SIGNAL(selectionChanged()), this, SLOT(selectionChanged()));
connect(form, SIGNAL(changed()), this, SLOT(formChanged()));
connect(view, SIGNAL(doneRubberBanding(QRectF)), this, SLOT(doneRubberBanding(QRectF)));
connectForm();
loadSettings();
QTimer::singleShot(0, this, SLOT(init()));
}
