int main( const int argc, const char *argv[] )
{
fileleague_s *leagueFile;
fileleague_s before;
char home[20];
char road[20];
int i;
srand( time( NULL ) );
if ( argc < 3 )
{
printf( "Usage: %s <input file> <output file>\n", argv[0] );
return EXIT_SUCCESS;
}
if ( (leagueFile = readLeagueFile( argv[1] )) == NULL )
{
printf( "Cannot load league file." );
return EXIT_FAILURE;
}
before = *leagueFile;
for ( i = 0; i < TOTAL_TEAMS; ++i )
{
leagueFile->teams[i].color[0] = colors[i].color1;
}
for ( i = 0; i < TOTAL_TEAMS; ++i )
{
if ( before.teams[i].color[0] != leagueFile->teams[i].color[0] )
{
printf( "%s changed from %s to %s uniforms.\n",
leagueFile->teams[i].name,
getColorName( before.teams[i].color[0] ),
getColorName( leagueFile->teams[i].color[0] ) );
}
}
if ( ! writeLeagueFile( argv[2], leagueFile ) )
{
printf( "Cannot save league changes.\n" );
free( leagueFile );
return EXIT_FAILURE;
}
free( leagueFile );
return EXIT_SUCCESS;
}
void FilesManager::createDecksReport() {
readFromFile("decks.dat");
std::ofstream fileStream;
fileStream.open("report.txt", std::ios::out | std::ios::app);
if(fileStream) {
Colors colors[] = { Red, Black, Blue, White, Green };
int decksSize = getDecksNumber();
for(int i = 0; i < COLORS_COUNT; i++) {
fileStream << getColorName(matchColorByInteger(i)) << std::endl;
for(int j = 0; j < decksSize; j++) {
if(decks[j].getColor() == colors[i]) {
fileStream << "Owner: " << getPlayerNameById(decks[j].getDeckOwnerId()) << " ";
fileStream << "Card: " << decks[j].getCards()[0].getCardName() << " ";
fileStream << "Color: " << decks[j].getCards()[0].getColor() << std::endl;
}
}
}
Card mostCommonCard = getMostCommonCardIdInAllDecks();
fileStream << "Most common card: " << mostCommonCard.getCardName() << " ";
fileStream << "Color:" << mostCommonCard.getColor() << std::endl;
} else {
fileStream.clear();
fileStream.close();
throw serializable_exception;
}
}
int searchSpot() {
//menelusuri garis hitam sampai menemukan "color"
int hue,colortemp;
int threshold = 65;
resetGyro(gyroSensor);
moveMotorTarget(leftMotor,200,100);
moveMotorTarget(rightMotor,200,100);
while(getMotorMoving(leftMotor)||getMotorMoving(rightMotor))
sleep(1);
while(1)
{
// sensor sees light:
if(getColorReflected(colorSensor) < threshold) {
// counter-steer right:
motor[leftMotor] = 55;
motor[rightMotor] = 15;
}
else {// sensor sees dark:
// counter-steer left:
motor[leftMotor] = 15;
motor[rightMotor] = 55;
}
hue=getColorHue(colorSensor);
//if(hue==99 || hue==253) {
if(getColorName(colorSensor)==green) {
colortemp=hue==85?green:red;
break;
}
}
return colortemp;
}
task checkColor(){
TLegoColors tempColor = getColorName(colorSensor);
while(true){
if(tempColor != currentColor){
currentColor = tempColor;
}
wait1Msec(10);
}
}
task main()
{
if (getColorName(colorSensor) == colorBlue){
forward(300,milliseconds,10); // sudah berada di start
backward(300,milliseconds,10);
// Cari jalan
SolveDFS();
} else { // Belum berada di start
Start();
SolveDFS();
}
eraseDisplay();
if (found_end == 1) {
displayTextLine(2, "Solusi ditemukan");
displayTextLine(3, "DONE");
} else {
displayTextLine(2, "Solusi tidak ditemukan");
}
}
void FilteredColor::ensureFiltered() {
#ifndef WASABI_COMPILE_SKIN
need_filter = 0;
filteredcolor = color;
#else
// fetch iterator pointer if necessary
if (skin_iterator == NULL) {
skin_iterator = WASABI_API_SKIN->skin_getIterator();
ASSERT(skin_iterator != NULL);
}
// see if we're current
if (*skin_iterator != latest_iteration) {
need_filter = 1; // pointer now invalid, must re-get
latest_iteration = *skin_iterator; // and then we'll be current
}
if (need_filter) {
filteredcolor = WASABI_API_SKIN->filterSkinColor(color, getColorName(), group);
need_filter = 0;
}
#endif
}
int main(int argc, char *argv[]) {
Port Connection;
Field field;
RobotVision vision;
vision.init();
vision.set();
return 0;
// while(true) {
// vision.update(field, true);
// }
//vision.preprocess(field);
bool end = false;
while (!end) {
bool pause = false;
while (!pause && !end) {
int degreeAtTarget;
vector<geometry::Vector> region1, region2, region3, destPoints;
region1.push_back(geometry::Vector(50,200));
region1.push_back(geometry::Vector(50,150));
region1.push_back(geometry::Vector(0,150));
region1.push_back(geometry::Vector(0,200));
vision.showPoints(region1);
field.regions.push_back(Region(region1));
destPoints.clear();
destPoints.push_back(geometry::Vector(25,175));
vision.showPoints(destPoints);
field.regions[0].ID = 0;
field.regions[0].addDestPoints(destPoints);
region2.push_back(geometry::Vector(190,70));
region2.push_back(geometry::Vector(300,70));
region2.push_back(geometry::Vector(190,0));
region2.push_back(geometry::Vector(300,0));
vision.showPoints(region2);
field.regions.push_back(Region(region2));
destPoints.clear();
destPoints.push_back(geometry::Vector(230,35));
destPoints.push_back(geometry::Vector(270,35));
vision.showPoints(destPoints);
field.regions[1].ID = 1;
field.regions[1].addDestPoints(destPoints);
region3.push_back(geometry::Vector(300,350));
region3.push_back(geometry::Vector(360,350));
region3.push_back(geometry::Vector(300,400));
region3.push_back(geometry::Vector(360,400));
vision.showPoints(region3);
field.regions.push_back(Region(region3));
destPoints.clear();
destPoints.push_back(geometry::Vector(330,375));
vision.showPoints(destPoints);
field.regions[2].ID = 2;
field.regions[2].addDestPoints(destPoints);
field.agent.updated = false;
while (!field.agent.updated) vision.update(field,true);
cout << "obstacles size: " << field.obstacles.size() << endl;
field.agent.coords.clear();
field.agent.coords.push_back(field.agent.COM+geometry::Vector(25,25));
field.agent.coords.push_back(field.agent.COM+geometry::Vector(25,-25));
field.agent.coords.push_back(field.agent.COM+geometry::Vector(-25,-25));
field.agent.coords.push_back(field.agent.COM+geometry::Vector(-25,25));
for(int i = 0; i < field.obstacles.size(); i++){
cout << "obj#" << i << " (" << getColorName(field.obstacles[i].color) << "): " << field.obstacles[i].COM << endl;
if (field.obstacles[i].color == yellow) field.obstacles[i].regionID = 1;
else if (field.obstacles[i].color == green) field.obstacles[i].regionID = 1;
else if (field.obstacles[i].color == red) field.obstacles[i].regionID = 0;
else field.obstacles[i].regionID = 2;
}
// cin.ignore();
pair<geometry::Vector,geometry::Vector> goalDest; // first:target, second:dest
params::Color targetColor;
std::vector<geometry::Vector> path;
bool done = false;
if (field.obstacles.size() == 0) {
cout << "No obstacle found --> PAUSE mode" << endl;
pause = true;
continue;
} else {
cerr << "----after visionUpdate" << endl;
goalDest = field.bestTarget(targetColor, done);
if (done) {
cout << "end" << endl;
goalDest.first = field.regions[2].destPoints[0].first;
}
else cout << "target and dest: " << goalDest.first << " -> " << goalDest.second << " :color " << params::getColorName(targetColor) << endl;
// cin.ignore();
// if there is no more objects, break, end = true
// set degreeAtTarget
// pathfind to target
try {
field.agent.print();
path = ShortestPath(field.agent.COM, goalDest.first, field, argc, argv);
// path.push_back(field.agent.COM);
// path.push_back(field.agent.COM + geometry::Vector(-200,100));
// path.push_back(field.agent.COM + geometry::Vector(-200,0));
// path.push_back(field.agent.COM);
// path.push_back(field.agent.COM + geometry::Vector(-100,100));
// path.push_back(field.agent.COM + geometry::Vector(-200,100));
// path.push_back(field.agent.COM + geometry::Vector(-300,0));
// path.push_back(field.agent.COM + geometry::Vector(-200,-100));
// path.push_back(field.agent.COM + geometry::Vector(-100,-100));
// path.push_back(field.agent.COM);
// path.push_back(field.agent.COM + geometry::Vector(-300,0));
// path.push_back(field.agent.COM + geometry::Vector(-300,-200));
// path.push_back(field.agent.COM + geometry::Vector(-300,0));
// path.push_back(field.agent.COM + geometry::Vector(-200,0));
// path.push_back(field.agent.COM + geometry::Vector(-200,-200));
// path.push_back(field.agent.COM + geometry::Vector(-200,0));
// path.push_back(field.agent.COM + geometry::Vector(-100,0));
// path.push_back(field.agent.COM + geometry::Vector(-100,-200));
// path.push_back(field.agent.COM + geometry::Vector(-100,0));
// path.push_back(field.agent.COM + geometry::Vector(0,-0));
// path.push_back(field.agent.COM + geometry::Vector(0,-200));
// path.push_back(field.agent.COM);
// path.push_back(geometry::Vector(202,291));
vision.showPoints(path);
cout << "PATH: ";
for (geometry::Vector pt : path) {
cout << " " << pt;
}
cout << endl;
} catch (exceptions::NoPath) {
// if there is no path then what???
cout << "No Path found --> PAUSE mode" << endl;
pause = true;
continue;
}
cerr << "----end of bestTarget" << endl;
}
int x = 100;
int index = path.size()-1;
vector<int> pathSpeeds;
bool rotating = false;
preprocessPath(path, pathSpeeds);
while (!pause && Connection.move(path, pathSpeeds ,field.agent, index, rotating)) { // && not reached target
field.agent.updated = false;
while (!field.agent.updated) vision.update(field,false);
// if shasing then break
// wall check
}
cout << "----REACHED----" << endl;
Connection.fullStop();
if (done) {
cout << "-----END------" << endl;
end = true;
break;
}
// cin.ignore();
// degreeAtTarget = (goalDest.second - goalDest.first).angle();
rotating = false;
bool lost = false;
bool pushing = false;
preprocessPath(path, pathSpeeds);
while (!pause && Connection.safeMove(goalDest.second, field.agent, rotating) && !lost) { // && not reached target
field.agent.updated = false;
while (!field.agent.updated) vision.update(field,true);
for(int i = 0; i < field.obstacles.size(); i++) {
if (field.obstacles[i].color == targetColor) {
if (pushing && (field.obstacles[i].COM - field.agent.COM).size() >= params::LOST_LIMIT){
cout << "--------OBSTACLE LOST :(-----------" << params::getColorName(targetColor) << endl;
cout << (field.obstacles[i].COM - field.agent.COM).size() << endl;
lost = true;
break;
}
else if ((field.obstacles[i].COM - field.agent.COM).size() < params::LOST_LIMIT - 20) {
// Connection.fullStop();
cout << "----PUSHING-----" << endl;
// cin.ignore();
pushing = true;
}
}
}
// if shasing then break
// wall check
}
Connection.fullStop();
if (!lost) {
cout << "-----DONE------" << endl;
// cin.ignore();
}
}
while (pause && !end) {
int input = 0;
while (input != 1) {
cout << "ENTER 1 to continue: ";
cin >> input;
}
pause = false;
// full stop
// input for continue
// while pause
}
}
// float var = 25.64;
// for(int i=0 ; i<30 ; i++){
// Connection.talkToSetare(0,0,0);
// usleep(12*var*1000);
// Connection.fullStop();
// usleep(400*1000);
// }
// while(field.agent.direction < 70 ){
// Connection.talkToSetare(0,0,0);
// cout << "---- degree is :" << field.agent.direction << endl;
// vision.update(field);
// }
// Connection.fullStop();
// Connection.talkToSetare(70,0,5);
// usleep(var*10*1000);
cin.ignore();
// close port
// delete
return 0;
}
//------------------------------------------------------------------------------
// drawFunc -- draw this text field
//------------------------------------------------------------------------------
void Field::drawFunc()
{
// Get a pointer to the current display
BasicGL::Display* dsp = getDisplay();
if (dsp == 0) return;
// ---
// When our container is also a Field, get a pointer to it.
// ---
BasicGL::Field* parent = 0;
if (container() != 0) {
BasicGL::Field* fp = dynamic_cast<BasicGL::Field*>(container());
if (fp != 0) parent = fp;
}
// ---
// If we don't have a position, try to get one from our container
// ---
int ll = line();
int cc = column();
if (ll == 0 && parent != 0) {
ll = parent->line();
cc = parent->column();
}
// ---
// Select the correct font based on font name if there is one, and if not, then do it normally
// ---
if (fontName != 0) dsp->selectFont(isReversed(), isUnderlined(), dsp->getFont(fontName->getString()));
else dsp->selectFont(isReversed(), isUnderlined());
// ---
// Set the color
// ---
bool restoreColor = false;
osg::Vec4 ocolor = dsp->getCurrentColor();
// only use default colors if we aren't inheriting our container's colors
if (!isInheritColor()) {
if (getColorName() == 0 && getColor() == 0) {
const Basic::Color* cc = 0;
if (isHighLighted()) cc = dsp->getHighlightColor();
else cc = dsp->getNormColor();
if (cc != 0) {
const osg::Vec4* p = cc->getRGBA();
dsp->setColor(*p);
restoreColor = true;
}
}
}
// ---
// draw the string
// ---
if (str.len() > 0) {
// Draw the text string
const char* sp = str;
if (ll > 0 && cc > 0)
dsp->outputTextLC(ll, cc, sp, int(width()), isVertical());
else
dsp->outputText(sp, int(width()), isVertical());
}
// ---
// draw the brackets
// ---
if (areBracketsOn() && ll > 0 && cc > 0) {
if (isVertical()) {
// Position for vertical text
dsp->drawLeftBracket(ll-1, cc);
dsp->drawRightBracket(ll+int(width()), cc);
}
else {
// Position for normal text
dsp->drawLeftBracket(ll, cc-1);
dsp->drawRightBracket(ll, cc+int(width()));
}
}
// ---
// If we used default colors, restore the old value
// ---
if (restoreColor) dsp->setColor(ocolor);
}
pair<geometry::Vector,geometry::Vector> Field::bestTarget(params::Color& targetColor, bool& done){
// vector<target,dist>
vector<pair<geometry::Vector, geometry::Vector>> targetDests;
vector<params::Color> targetColors;
vector<int> cost;
// cerr << "----in bestTarget 1" << endl;
// cerr << "-------- obstacles.size " << obstacles.size() << endl;
// find target and dists
for (int i = 0; i < obstacles.size(); i++) {
int regionIndex = 0;
for(int j = 0; j < regions.size(); j++) {
if (regions[j].ID == obstacles[i].regionID) {
regionIndex = j;
break;
}
}
// cerr << "----in bestTarget 2 :regionIndex = " << regionIndex << " color: " << getColorName(obstacles[i].color) << endl;
bool inside = true;
for (int j = 0; j < obstacles[i].coords.size(); j++)
if (!regions[regionIndex].isInside(obstacles[i].coords[j])) {
inside = false;
break;
}
if (inside) {
cout << "--" << getColorName(obstacles[i].color) << " is inside." << endl;
continue;
}
for (int j = 0; j < regions[regionIndex].destPoints.size(); j++) {
cerr << regions[regionIndex].destPoints[j].first << endl;
pair<geometry::Vector, bool> dPt = regions[regionIndex].destPoints[j];
if (dPt.second == true) {
targetDests.push_back(make_pair((obstacles[i].COM - dPt.first)/(1/1.6)+dPt.first, dPt.first));
targetColors.push_back(obstacles[i].color);
cost.push_back(j*100);
}
}
// cerr << "----in bestTarget 3" << endl;
}
// cerr << "----in bestTarget 4 :targetDests.size() = " << targetDests.size() << endl;
// calculate obj intersections with lines
for (int i = 0; i < obstacles.size(); i++) {
for (int j = 0; j < targetDests.size(); j++) {
if (obstacles[i].distWithCOM(targetDests[j].first, targetDests[j].second) <= obstacles[i].radious)
cost[j] += 1000;
cost[j] += (agent.COM - targetDests[j].first).size();
if (obstacles[i].distWithCOM(targetDests[j].first, agent.COM) <= obstacles[i].radious)
cost[j] += 100;
}
}
int minIndex = 0;
for(int i = 0; i < targetDests.size(); i++) {
if (cost[minIndex] <= cost[i])
minIndex = i;
}
// cerr << "----in bestTarget 5" << endl;
if (targetColors.size() == 0) {
done = true;
return make_pair(geometry::Vector(0,0), geometry::Vector(0,0));
}
targetColor = targetColors[minIndex];
return targetDests[minIndex];
}
/*!
* \brief Get a string for displaying the card's identity
* \return QString
*/
QString Card::getLabel()
{
return getValueName() + " of " + getColorName();
}
task main()
{
//Declare variables
int targetImage[8][8] = {{1, 1, 1, 0, 0, 1, 1, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 1, 1, 0, 0, 1, 1, 1}};
int hitImage[8][8] = {{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0}};
int splashImage[8][8] = {{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0}};
int mainGrid[8][8] =
{{0, 1, 1, 1, 1, 1, 0, 0}, //[0][0-8]
{0, 0, 0, 0, 0, 0, 0, 0}, //[1][0-7]
{0, 1, 0, 0, 0, 0, 0, 0}, //[2][0-7]
{0, 1, 0, 0, 0, 1, 1, 1}, //[3][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}, //[4][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}, //[5][0-7]
{1, 0, 1, 1, 1, 0, 0, 0}, //[6][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}}; //[7][0-7]
int colourValue;
int x=10;
int y=10;
int xMove=0;
int yMove=0;
int xShip=0;
int yShip=7-yMove;
int hits=0;
//Setup colour sensor
SensorType[S3] = sensorEV3_Color;//set TYPE
SensorMode[S3] = modeEV3Color_Color;//set MODE
while(hits<17)
/*
*************************************************************
Red - 5 - SHOOT
Blue - 2 - LEFT
Yellow - 4 - RIGHT
Green - 3 - DOWN
*************************************************************
*/
{
//Erase target image
clearTarget(targetImage,x,y);
sleep(500);
//Check colour
colourValue=getColorName(S3);
sleep(50);
if (colourValue==2)
{
if(xMove>0)
{
xMove--;
}
else if(xMove==0)
{
xMove=7;
}
}
if (colourValue==4)
{
if(xMove<7)
{
xMove++;
}
else if(xMove==7)
{
xMove=0;
}
}
if (colourValue==3)
{
if(yMove>0)
{
yMove--;
}
else if(yMove==0)
{
yMove=7;
}
}
x=xMove*8+10;
y=yMove*8+10;
if (colourValue==5)
{
//Calculate Main Grid Location
xShip=xMove;
yShip=7-yMove;
//Play torpedo drop sound
torpedoSound();
if (mainGrid[yShip][xShip]==1)
{
//Play hit sound
kabloom();
//Draw hit image
kabloomDraw(hitImage,x,y);
//Increment hits
hits++;
//Remove ship
mainGrid[yShip][xShip]=0;
}
else {
//Play splash sound
sploosh();
//Draw splash image
splooshDraw(splashImage,x,y);
}
}
//Draw target image
drawTarget(targetImage,x,y);
//Sleep for a small amount of time
sleep(500);
}
displayBigTextLine(2, "Winner!");
sleep(5000);
}
