int scanNames(int argCnt, char **array, char **codes) {
FILE *fp;
fp = fopen(array[argCnt],"r");
char name[10];
while(fscanf(fp,"%s",name)!= EOF) {
doRules(codes,name);
}
return 1;
}
int main(void)
{
int output = 0, reference, steer, out_steer;
while(1)
{
pitch_angle_mf->sensor = 420;
pitch_rate_mf->sensor = 513;
roll_angle_mf->sensor = 330;
roll_rate_mf->sensor = 200;
yaw_angle_mf->sensor = 200;
yaw_rate_mf->sensor = 203;
collective_height_mf->sensor = 320;
collective_rate_mf->sensor = 500;
Fuzzification( pitch_param, pitch_angle_mf);
Fuzzification( tilt_rate_param, pitch_rate_mf);
Fuzzification( roll_param, roll_angle_mf);
Fuzzification( tilt_rate_param, roll_rate_mf);
Fuzzification( yaw_param, yaw_angle_mf);
Fuzzification( yaw_rate_param, yaw_rate_mf);
Fuzzification( collective_param, collective_height_mf);
Fuzzification( collective_rate_param, collective_rate_mf);
output = doRules(pitch_mf, PitchRule); // Kyle - changed doRules
output = doRules(roll_mf, RollRule); // Kyle - changed doRules
output = doRules(yaw_mf, YawRule); // Kyle - changed doRules
output = doRules(collective_mf, CollectiveRule); // Kyle - changed doRules
}
}
//进行规约的操作
bool LRGramar::doGuiYue(const int ruleNum)
{
switch(ruleNum)
{
case R1:
//执行进出站等相关操作
if(!doRules(A_NTERMINAL,4))
{
return false;
}
break;
case R2:
if(!doRules(B_NTERMINAL,3))
{
return false;
}
break;
case R3:
if(!doRules(C_NTERMINAL,3))
{
return false;
}
break;
case R4:
if(!doRules(C_NTERMINAL,0))
{
return false;
}
break;
case R5:
if(!doRules(D_NTERMINAL,1))
{
return false;
}
break;
case R6:
case R7:
if(!doRules(D_NTERMINAL,1))
{
return false;
}
else
{
}
break;
case R8:
if(!doRules(F_NTERMINAL,3))
{
return false;
}
else
{
//堆栈是先进先出
int argP = variableBufferPtr--;
int resultPtr = variableBufferPtr--;
emit("=",variableBuffer[argP]," ",variableBuffer[resultPtr]);
}
break;
case R9:
if(!doRules(G_NTERMINAL,2))
{
return false;
}
else
{
backPatch(trueChainHead,nextq); //回填真链头
}
break;
case R10:
if(!doRules(S_NTERMINAL,2))
{
return false;
}
else
{
backPatch(falseChain[falseChainPtr--],nextq);
}
break;
case R11:
if(!doRules(T_NTERMINAL,3))
{
return false;
}
else
{
emit("goto","","","0");
backPatch(falseChain[falseChainPtr--],nextq);
falseChain[++falseChainPtr] = nextq-1;
}
break;
case R12:
if(!doRules(S_NTERMINAL,2))
{
return false;
}
backPatch(falseChain[falseChainPtr--],nextq);
break;
case R13:
if(!doRules(W_NTERMINAL,2))
{
return false;
}
else
{
backPatch(trueChainHead,doTrue[doTruePtr--]);
backPatch(falseChain[falseChainPtr--],nextq);
}
break;
case R14:
if(!doRules(K_NTERMINAL,1))
{
return false;
}
doTrue[++doTruePtr] = nextq;//保存do后面的地址
break;
case R15:
if(!doRules(L_NTERMINAL,2))
{
return false;
}
break;
case R16:
if(!doRules(N_NTERMINAL,2))
{
return false;
}
break;
case R17:
if(!doRules(Q_NTERMINAL,3))
{
return false;
}
else
{
trueChainHead = nextq;
falseChain[++falseChainPtr]=nextq+1;
char temp[10];
int arg2 = variableBufferPtr--;
int arg1 = variableBufferPtr--;
sprintf(temp,"%s%s%s",variableBuffer[arg1],lastOp[OpPtr--],variableBuffer[arg2]);
emit("if",temp,"goto","0");
emit("goto","","","0");
}
break;
case R18:
if(!doRules(P_NTERMINAL,2))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *pPlace = newTemp();
emit(lastOp[OpPtr--],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],pPlace);
strcpy(variableBuffer[++variableBufferPtr],pPlace);
}
else {
variableBufferPtr--;
}
}
break;
case R19:
if(!doRules(H_NTERMINAL,3))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *hPlace = newTemp();
emit(lastOp[OpPtr--],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],hPlace);
strcpy(variableBuffer[++variableBufferPtr],hPlace);
}
else {
variableBufferPtr--;
}
strcpy(lastOp[++OpPtr],"+");
}
break;
case R20:
if(!doRules(H_NTERMINAL,3))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *hPlace = newTemp();
emit(lastOp[OpPtr--],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],hPlace);
strcpy(variableBuffer[++variableBufferPtr],hPlace);
}
else
{
variableBufferPtr--;
}
strcpy(lastOp[++OpPtr],"-");
}
break;
case R21:
if(!doRules(H_NTERMINAL,0))
{
return false;
}
else
{
strcpy(variableBuffer[++variableBufferPtr],"null");
}
break;
case R22:
if(!doRules(Z_NTERMINAL,2))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *zPlace = newTemp();
emit(lastOp[OpPtr--],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],zPlace);
strcpy(variableBuffer[++variableBufferPtr],zPlace);
}
else
{
variableBufferPtr--;
}
}
break;
case R23:
if(!doRules(V_NTERMINAL,3))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *vPlace = newTemp();
emit(lastOp[--OpPtr],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],vPlace);
strcpy(variableBuffer[++variableBufferPtr],vPlace);
}
else
{
variableBufferPtr--;
}
strcpy(lastOp[++OpPtr] ,"*");
}
break;
case R24:
if(!doRules(V_NTERMINAL,3))
{
return false;
}
else
{
if(strcmp(variableBuffer[variableBufferPtr],"null")!=0)
{
char *vPlace = newTemp();
emit(lastOp[--OpPtr],variableBuffer[variableBufferPtr--],variableBuffer[variableBufferPtr--],vPlace);
strcpy(variableBuffer[++variableBufferPtr],vPlace);
}
else
{
variableBufferPtr--;
}
strcpy(lastOp[++OpPtr] ,"/");
}
break;
case R25:
case R26:
if(!doRules(U_NTERMINAL,1))
{
return false;
}
break;
case R27:
if(!doRules(U_NTERMINAL,3))
{
return false;
}
break;
case R28:
strcpy(lastOp[++OpPtr],"<");
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
break;
case R29:
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
strcpy(lastOp[++OpPtr],"<=");
break;
case R30:
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
strcpy(lastOp[++OpPtr],">");
break;
case R31:
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
strcpy(lastOp[++OpPtr],">=");
break;
case R32:
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
strcpy(lastOp[++OpPtr],"==");
break;
case R33:
if(!doRules(Y_NTERMINAL,1))
{
return false;
}
strcpy(lastOp[++OpPtr],"!=");
break;
case R34:
if(!doRules(V_NTERMINAL,0))
{
return false;
}
else
{
strcpy(variableBuffer[++variableBufferPtr],"null");
}
break;
default:
return false;
}
return true;
}
int runGame(SDL_Surface* screen)
{
if(gameState==GAMESTATEPLAYING)
{
getInpPointerState()->escEnable=1;
//Handle input
int lim=1; //Limit cursor travel...
int goUp=0, goDown=0, goLeft=0, goRight=0;
if( getButton( C_UP ) )
{
restartConfirm=0;
if( getBtnTime( C_UP ) > REPEATDELAY )
{
goUp=1;
} else if(getBtnTime(C_UP)==0) {
goUp=1;
lim=0;
}
}
if( getButton( C_DOWN ) )
{
restartConfirm=0;
if( getBtnTime( C_DOWN ) > REPEATDELAY )
{
goDown=1;
} else if(getBtnTime(C_DOWN)==0) {
goDown=1;
lim=0;
}
}
if( getButton( C_LEFT ) )
{
restartConfirm=0;
if( getBtnTime( C_LEFT ) > REPEATDELAY )
{
goLeft=1;
} else if(getBtnTime(C_LEFT)==0) {
goLeft=1;
lim=0;
}
}
if( getButton( C_RIGHT ) )
{
restartConfirm=0;
if( getBtnTime( C_RIGHT ) > REPEATDELAY )
{
goRight=1;
} else if(getBtnTime(C_RIGHT)==0) {
goRight=1;
lim=0;
}
}
//Pause ?
if( getButton( C_BTNMENU ) || isPointerEscapeClicked() )
{
resetBtn( C_BTNMENU );
gamePause(screen);
return(STATEMENU);
}
//Retry
if( getButton( C_BTNSELECT ) || (getInpPointerState()->timeSinceMoved<POINTER_SHOW_TIMEOUT && isBoxClicked(&ptrRestartRect)) )
{
resetBtn( C_BTNSELECT );
resetMouseBtn();
if(!restartConfirm)
{
restartConfirm=1;
} else if(restartConfirm) {
gameRestart(screen);
}
}
//Handle mouse input
if( getInpPointerState()->timeSinceMoved==0 && !cur.lock )
{
setCursor(&cur, getInpPointerState()->curX,getInpPointerState()->curY );
}
if(!getInpPointerState()->isDown)
{
mouseGrab=0;
//Allow moving the cursor around with the input device when no brick is below, just for effect
} else {
brickType* b=brickUnderCursor(&pf, cur.x,cur.y);
//We're over a brick, tell curser it's position, it will be locked later because we grab it now
if( b )
{
getInpPointerState()->startX=b->dx;
getInpPointerState()->startY=b->dy;
if( !cur.lock )
{
mouseGrab=1;
getInpPointerState()->startX=getInpPointerState()->curX;
getInpPointerState()->startY=getInpPointerState()->curY;
} else
{
if( b->dx > getInpPointerState()->curX )
{
//Drag Left
if( b->dx == b->sx && getInpPointerState()->startX != getInpPointerState()->curX )
{
goLeft=1;
}
} else if( b->dx < getInpPointerState()->curX )
{
//Drag Right
if( b->dx == b->sx && getInpPointerState()->startX != getInpPointerState()->curX )
{
goRight=1;
}
}
}
} else {
mouseGrab=0;
}
}
// printf("x:%i\n", getInpPointerState()->curX );
//Drag
if( getButton( C_BTNX ) || getButton( C_BTNB ) || mouseGrab || isPointerClicked() )
{
//Remove "Restart" question
restartConfirm=0;
//Magnet to brick if it's moving
brickType* b=brickUnderCursor(&pf, cur.dx, cur.dy);
if( !cur.lock && b )
{
//Attach cursor
cur.lock=1;
b->curLock=1;
cur.x=cur.dx;
cur.y=cur.dy;
cur.px = b->pxx-4;
cur.py = b->pxy-4;
sndPlay( SND_BRICKGRAB, cur.px );
}
int movedBrick=0;
//We're holding a brick, and it's not falling
if( b )
{
if( (goRight && curMoveBrick(&pf,b, DIRRIGHT)) || (goLeft && curMoveBrick(&pf,b, DIRLEFT)) )
{
movedBrick=1;
b->curLock=1;
cur.lock=1;
}
}
//Moved brick
if(movedBrick)
{
player()->hsEntry.moves++;
sndPlay(SND_BRICKMOVE, cur.px);
ps.layer=PSYS_LAYER_TOP;
ps.x=b->pxx;
ps.y=b->pxy+18;
ps.vel=50;
ps.life=500;
ps.lifeVar=250;
ps.gravity=1;
ps.srcImg=stealGfxPtr()->tiles[b->type-1]->img;
ps.srcRect=stealGfxPtr()->tiles[b->type-1]->clip;
ps.srcRect.y += 18;
ps.srcRect.h = 2;
spawnParticleSystem(&ps);
}
}
else
{
cur.lock=0;
}
if(!cur.lock)
{
if( goLeft ) moveCursor(&cur, DIRLEFT, 0, lim);
if( goRight ) moveCursor(&cur, DIRRIGHT, 0, lim);
if( goUp ) moveCursor(&cur, 0, DIRUP, lim);
if( goDown ) moveCursor(&cur, 0, DIRDOWN, lim);
}
//Sim first, so moving blocks get evaluated before getting moved again
simField(&pf, &cur);
//Do rules
int ret=doRules(&pf);
//Draw scene
draw(&cur,&pf, screen);
//Draw a path to show where we are pulling the brick
if( mouseGrab )
drawPath( screen, getInpPointerState()->startX,getInpPointerState()->startY,getInpPointerState()->curX,getInpPointerState()->startY,1 );
//If no more bricks, countdown time left.
if(ret == NOBRICKSLEFT)
{
if( !justWon )
{
sndPlay(SND_WINNER,160);
}
justWon++;
pf.levelInfo->time -= 1000;
player()->hsEntry.score +=1;
if(getButton(C_BTNX) || getButton(C_BTNB) || isPointerClicked() )
{
resetBtn(C_BTNX);
resetBtn(C_BTNB);
resetMouseBtn();
while(pf.levelInfo->time > 0)
{
player()->hsEntry.score +=1;
pf.levelInfo->time -= 1000;
}
}
if(justWon > 50)
{
sndPlayOnce(SND_SCORECOUNT, 160);
}
if(pf.levelInfo->time < 1)
{
//Completed level
player()->timeouts=0;
pf.levelInfo->time=0;
sndPlay(SND_VICTORY, 160);
if(!player()->inEditor)
{
//Don't submit if it was from the leveleditor
statsSubmitBest();
setMenu(menuStateFinishedLevel);
if(pf.levelInfo->stopImg)
{
gameState=GAMESTATESTOPIMAGE;
return(STATEPLAY);
}
} else {
setLevelCompletable(pf.levelInfo->file, 1);
}
cleanUpGame();
startTransition(screen, TRANSITION_TYPE_ROLL_IN, 700);
return(STATEMENU);
}
} else if(ret > 0) //Player destroyed bricks.
{
if(ret > 2) //Check for combo's
{
///TODO: Some nice text effect? How about dissolving an image into a particle system?
printf("%i Combo!\n",ret);
player()->hsEntry.combos++;
}
player()->hsEntry.score += ret*ret*11*(player()->level+1);
}
//if ret > -1 then ret == number of bricks destroyed
if(ret>-1)
{
//Update time:
pf.levelInfo->time -= getTicks();
player()->hsEntry.time += getTicks();
if(pf.levelInfo->time < 1 && ret!=NOBRICKSLEFT )
{
countdown=4000;
gameState=GAMESTATEOUTOFTIME;
if( !player()->inEditor )
{
player()->timeouts++;
}
sndPlay(SND_TIMEOUT, 160);
}
}
//Check if level is unsolvable.
if(ret==UNSOLVABLE)
{
countdown=2000;
gameState=GAMESTATEUNSOLVABLE;
if( !player()->inEditor )
{
player()->timeouts++;
}
sndPlay(SND_LOSER, 160);
} else if(ret==LIFELOST)
{
countdown=2000;
gameState=GAMESTATELIFELOST;
if( !player()->inEditor )
{
player()->timeouts++;
}
sndPlay(SND_LOSER, 160);
}
//Draw question
if(restartConfirm)
{
sprintf(buf,STR_GAME_RESTARTWARNING);
txtWriteCenter(screen, GAMEFONTMEDIUM, buf, HSCREENW, HSCREENH-20);
sprintf(buf,STR_GAME_RESTARTCONFIRM);
txtWriteCenter(screen, GAMEFONTSMALL, buf, HSCREENW, HSCREENH);
} else {
//Draw text
drawUi(screen);
}
//Show the restart icon
if(getInpPointerState()->timeSinceMoved<POINTER_SHOW_TIMEOUT && getInpPointerState()->escEnable)
{
SDL_Rect ptrRestartRectC = ptrRestartRect;
SDL_BlitSurface( ptrRestart,NULL, screen, &ptrRestartRectC );
}
} else
if(gameState==GAMESTATECOUNTDOWN)
{
draw(&cur,&pf, screen);
countdown -=getTicks();
if( getButton( C_BTNMENU ) )
{
resetBtn( C_BTNMENU );
countdownSeconds=0;
countdown=0;
}
if( (getButton( C_BTNX ) || getButton( C_BTNB ) || getInpPointerState()->isDown ) && countdownSeconds )
{
countdownSeconds=0;
countdown=500;
}
drawShowCountDown(screen, countdownSeconds);
drawUi(screen);
if(countdown < 1)
{
countdown=1000;
countdownSeconds--;
if(countdownSeconds == -1)
{
gameState=GAMESTATEPLAYING;
return(STATEPLAY);
}
if(countdownSeconds==0)
{
countdown=500;
sndPlay(SND_START, 160);
} else {
sndPlay(SND_COUNTDOWNTOSTART, 160);
}
}
} else
if(gameState==GAMESTATEOUTOFTIME) //Menu was last in "Entering level" so it will return to that if timeout
{
draw(&cur,&pf, screen);
//drawUi(screen);
countdown-=getTicks();
//Offer to skip after dying twice on same level, but only if it is not the last level in the pack.
if( player()->timeouts > 1 && player()->level+1 < getNumLevels() )
{
int skipLevel = skipLevelDialog(screen);
if( skipLevel==1 )
{
gameState=GAMESTATESKIPLEVEL;
countdown=500;
}
txtWriteCenter(screen, GAMEFONTMEDIUM, STR_GAME_OUTOFTIME, HSCREENW,HSCREENH-24-31);
} else {
if( lostLifeMsg(&cur, &pf, screen, STR_GAME_OUTOFTIME, "lostlife-timeout" ) )
{
return(STATEMENU);
}
}
} else
if(gameState==GAMESTATEUNSOLVABLE) //The same as out-of-time, but with another graphics.
{
draw(&cur,&pf, screen);
//drawUi(screen);
countdown-=getTicks();
//Offer to skip after dying twice on same level, but only if it is not the last level in the pack.
if( player()->timeouts > 1 && player()->level+1 < getNumLevels() )
{
int skipLevel = skipLevelDialog(screen);
if( skipLevel==1 )
{
gameState=GAMESTATESKIPLEVEL;
countdown=500;
}
txtWriteCenter(screen, GAMEFONTMEDIUM, buf, HSCREENW,HSCREENH-24-31);
} else {
if( lostLifeMsg(&cur, &pf, screen, STR_GAME_UNSOLVABLE, "lostlife-unsolvable" ) )
{
return(STATEMENU);
}
}
} else
if(gameState==GAMESTATELIFELOST)
{
if( lostLifeMsg(&cur, &pf, screen, STR_GAME_LOSTLIFE, "lostlife-evilbrick" ) )
{
return(STATEMENU);
}
} else
if(gameState==GAMESTATESTARTIMAGE)
{
if(!startStopImg)
{
startStopImgCounter=0;
startStopImg = loadImg( packGetFile("themes/", pf.levelInfo->startImg) );
if(!startStopImg)
{
printf("Couldn't load '%s'\n",packGetFile("themes/", pf.levelInfo->startImg));
}
}
startStopImgCounter+=getTicks();
if((startStopImgCounter > 500 && ( getButton(C_BTNB) || isPointerClicked() ) ) || !startStopImg)
{
if(startStopImg)
SDL_FreeSurface(startStopImg);
startStopImg=0;
resetBtn(C_BTNB);
resetMouseBtn();
gameState=GAMESTATECOUNTDOWN;
}
SDL_BlitSurface( startStopImg, 0, screen, &(setting()->bgPos) );
if(startStopImgCounter>4000)
txtWriteCenter(screen, GAMEFONTSMALL, STR_GAME_PRESSB, HSCREENW,HSCREENH+80);
} else if(gameState==GAMESTATESTOPIMAGE)
{
if(!startStopImg)
{
startStopImgCounter=0;
startStopImg = loadImg( packGetFile("themes/", pf.levelInfo->stopImg) );
if(!startStopImg)
{
printf("Couldn't load '%s'\n",packGetFile("themes/", pf.levelInfo->stopImg));
}
}
startStopImgCounter+=getTicks();
if((startStopImgCounter > 500 && (getButton(C_BTNB) || isPointerClicked() ) ) || !startStopImg)
{
if(startStopImg)
SDL_FreeSurface(startStopImg);
startStopImg=0;
resetBtn(C_BTNB);
resetMouseBtn();
cleanUpGame();
startTransition(screen, TRANSITION_TYPE_ROLL_IN, 700);
return(STATEMENU);
}
SDL_BlitSurface( startStopImg, 0, screen, &(setting()->bgPos) );
if(countdownSeconds>4000)
txtWriteCenter(screen, GAMEFONTSMALL, STR_GAME_PRESSB, HSCREENW,HSCREENH+80);
} else if(gameState==GAMESTATESKIPLEVEL)
{
doRules(&pf);
simField(&pf, &cur);
draw(&cur,&pf, screen);
countdown-=getTicks();
if( countdown < 1 )
{
countdown=500;
if( boardDestroyNextBrick(&pf) == 0 )
{
//Tell that we chose to skip level
statsUpload(player()->level, player()->hsEntry.time, player()->hsEntry.moves,player()->hsEntry.combos,player()->hsEntry.score, "skip-level",0, NULL);
pf.levelInfo->time=0;
player()->hsEntry.score=0;
cleanUpGame();
startTransition(screen, TRANSITION_TYPE_ROLL_IN, 700);
clearParticles();
setMenu(menuStatePrepareNextLevel);
return(STATEMENU);
}
}
drawUi(screen);
}
return(STATEPLAY);
}