cv::Mat draw_board(const baxter_tictactoe::MsgBoard::ConstPtr& msg) const
{
ROS_DEBUG("@display_board");
cv::Mat img(height,width,CV_8UC3,white);
// 3x3 tic tac toe board
unsigned short int col, row;
this->draw_lines(img);
for (size_t i = 0; i < msg->cells.size(); ++i) {
ROS_DEBUG_STREAM("Processing Cell " << i);
if(msg->cells[i].state>0)
{
col=i%n_cols;
row=i/n_rows;
cv::Point center_cell(cols_cell_img/2 + cols_cell_img*col, rows_cell_img/2 + rows_cell_img*row);
cv::Point bottom_left_corner;
cv::Point top_right_corner(cols_cell_img*5/6 + cols_cell_img*col, rows_cell_img*5/6 + rows_cell_img*row);
ROS_DEBUG_STREAM("Center point in cell " << i << " (" << center_cell.x << "," << center_cell.y << ")");
draw_tile(img,i,msg->cells[i].state);
}
}
return img;
}
int main(int, char const**)
{
// Create the main window
sf::RenderWindow window(sf::VideoMode(TILE_WIDTH*28, TILE_WIDTH*31), "PAC MAN");
window.setFramerateLimit(FRAME_RATE);
// Set the Icon
sf::Image icon;
if (!icon.loadFromFile(resourcePath() + "icon.png")) {
return EXIT_FAILURE;
}
window.setIcon(icon.getSize().x, icon.getSize().y, icon.getPixelsPtr());
// Try to open the given texture
sf::Texture tileset_texture;
if (!tileset_texture.loadFromFile(resourcePath() + "data/full_texture_x3.png")) {
return EXIT_FAILURE;
}
// More importantly, let's generate our tileset from that texture.
AssetManager assetManager(TILE_WIDTH);
std::map<sf::String, sf::Sprite> spriteSet = assetManager.generateSpriteSet(&tileset_texture);
std::map<sf::String, PacTile*> tileSet;
PacTile outer_top_left_corner(spriteSet["outer_top_left_corner"], "WALL");
tileSet["outer_top_left_corner"] = &outer_top_left_corner;
PacTile weird_north_left_corner(spriteSet["weird_north_left_corner"], "WALL");
tileSet["weird_north_left_corner"] = &weird_north_left_corner;
PacTile weird_west_upper_corner(spriteSet["weird_west_upper_corner"], "WALL");
tileSet["weird_west_upper_corner"] = &weird_west_upper_corner;
PacTile weird_east_upper_corner(spriteSet["weird_east_upper_corner"], "WALL");
tileSet["weird_east_upper_corner"] = &weird_east_upper_corner;
PacTile weird_west_lower_corner(spriteSet["weird_west_lower_corner"], "WALL");
tileSet["weird_west_lower_corner"] = &weird_west_lower_corner;
PacTile weird_east_lower_corner(spriteSet["weird_east_lower_corner"], "WALL");
tileSet["weird_east_lower_corner"] = &weird_east_lower_corner;
PacTile box_top_left_corner(spriteSet["box_top_left_corner"], "WALL");
tileSet["box_top_left_corner"] = &box_top_left_corner;
PacTile top_right_corner(spriteSet["top_right_corner"], "WALL");
tileSet["top_right_corner"] = &top_right_corner;
PacTile weird_north_right_corner(spriteSet["weird_north_right_corner"], "WALL");
tileSet["weird_north_right_corner"] = &weird_north_right_corner;
PacTile box_top_right_corner(spriteSet["box_top_right_corner"], "WALL");
tileSet["box_top_right_corner"] = &box_top_right_corner;
PacTile bottom_right_corner(spriteSet["bottom_right_corner"], "WALL");
tileSet["bottom_right_corner"] = &bottom_right_corner;
PacTile box_bottom_right_corner(spriteSet["box_bottom_right_corner"], "WALL");
tileSet["box_bottom_right_corner"] = &box_bottom_right_corner;
PacTile bottom_left_corner(spriteSet["bottom_left_corner"], "WALL");
tileSet["bottom_left_corner"] = &bottom_left_corner;
PacTile box_bottom_left_corner(spriteSet["box_bottom_left_corner"], "WALL");
tileSet["box_bottom_left_corner"] = &box_bottom_left_corner;
PacTile top_edge(spriteSet["top_edge"], "WALL");
tileSet["top_edge"] = &top_edge;
PacTile box_top_edge(spriteSet["box_top_edge"], "WALL");
tileSet["box_top_edge"] = &box_top_edge;
PacTile left_edge(spriteSet["left_edge"], "WALL");
tileSet["left_edge"] = &left_edge;
PacTile inner_left_edge(spriteSet["inner_left_edge"], "WALL");
tileSet["inner_left_edge"] = &inner_left_edge;
PacTile right_edge(spriteSet["right_edge"], "WALL");
tileSet["right_edge"] = &right_edge;
PacTile inner_right_edge(spriteSet["inner_right_edge"], "WALL");
tileSet["inner_right_edge"] = &inner_right_edge;
PacTile bottom_edge(spriteSet["bottom_edge"], "WALL");
tileSet["bottom_edge"] = &bottom_edge;
PacTile box_bottom_edge(spriteSet["box_bottom_edge"], "WALL");
tileSet["box_bottom_edge"] = &box_bottom_edge;
// House tiles!
PacTile house_top_right_corner(spriteSet["house_top_right_corner"], "WALL");
tileSet["house_top_right_corner"] = &house_top_right_corner;
PacTile house_bottom_right_corner(spriteSet["house_bottom_right_corner"], "WALL");
tileSet["house_bottom_right_corner"] = &house_bottom_right_corner;
PacTile house_top_left_corner(spriteSet["house_top_left_corner"], "WALL");
tileSet["house_top_left_corner"] = &house_top_left_corner;
PacTile house_bottom_left_corner(spriteSet["house_bottom_left_corner"], "WALL");
tileSet["house_bottom_left_corner"] = &house_bottom_left_corner;
PacTile door(spriteSet["door"], "WALL");
tileSet["door"] = &door;
PacTile floor(spriteSet["floor"], "FLOOR");
tileSet["floor"] = &floor;
// Load up the map!
Map map(sf::Vector2<double>(0, 0), sf::Vector2<int>(28, 31), TILE_WIDTH);
map.configureMap(tileSet);
// Create a graphical text to display
/*sf::Font font;
if (!font.loadFromFile(resourcePath() + "sansation.ttf")) {
return EXIT_FAILURE;
}
// Load a music to play
sf::Music music;
if (!music.openFromFile(resourcePath() + "nice_music.ogg")) {
return EXIT_FAILURE;
}*/
// Declare the ghosts!
Pinky pinky(sf::Vector2<double>(0, 0), "HOME");
Blinky blinky(sf::Vector2<double>(0, 0), "HOME");
Inky inky(sf::Vector2<double>(0, 0), "HOME");
Sue sue(sf::Vector2<double>(0, 0), "HOME");
// Game variables
// Assemble the PacMan!
PacMan pacman(1, 1, 1, 60, map);
std::vector<sf::Sprite> pacUpSprites;
std::vector<sf::Sprite> pacDownSprites;
std::vector<sf::Sprite> pacLeftSprites;
std::vector<sf::Sprite> pacRightSprites;
pacUpSprites.push_back(spriteSet["pacUp0"]);
pacUpSprites.push_back(spriteSet["pacUp1"]);
pacUpSprites.push_back(spriteSet["pacUp2"]);
pacUpSprites.push_back(spriteSet["pacUp1"]);
pacDownSprites.push_back(spriteSet["pacDown0"]);
pacDownSprites.push_back(spriteSet["pacDown1"]);
pacDownSprites.push_back(spriteSet["pacDown2"]);
pacDownSprites.push_back(spriteSet["pacDown1"]);
pacLeftSprites.push_back(spriteSet["pacLeft0"]);
pacLeftSprites.push_back(spriteSet["pacLeft1"]);
pacLeftSprites.push_back(spriteSet["pacLeft2"]);
pacLeftSprites.push_back(spriteSet["pacLeft1"]);
pacRightSprites.push_back(spriteSet["pacRight0"]);
pacRightSprites.push_back(spriteSet["pacRight1"]);
pacRightSprites.push_back(spriteSet["pacRight2"]);
pacRightSprites.push_back(spriteSet["pacRight1"]);
pacman.setUpSprites(pacUpSprites, 4);
pacman.setDownSprites(pacDownSprites, 4);
pacman.setLeftSprites(pacLeftSprites, 4);
pacman.setRightSprites(pacRightSprites, 4);
pacman.setVelocity(sf::Vector2<double>(0.0, 1.0));
pacman.initialize("RIGHT");
// Play the music
// music.play();
// Start the game loop
while (window.isOpen()) {
// Process events
sf::Event event;
while (window.pollEvent(event)) {
// Close window: exit
if (event.type == sf::Event::Closed) {
window.close();
}
// Escape pressed: exit
if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Escape) {
window.close();
}
}
pacman.update(map);
// DRAWING THE SCREEN
window.clear();
// Draw the map
drawMap(&window, map);
// Then, draw any pellets / fruits, those type things
// Then, draw the ghosts
// Then, draw pacman
window.draw(pacman.getSprite());
// Update the window
window.display();
}
return EXIT_SUCCESS;
}