void PingPong::loseGame(int id)
{
GameMode::Inst().mode = GameMode::GM_WAIT;
_informer->setScale(1.0f);
_informer->setOpacity(255);
_informer->setString(_players[id]->getName() + " Is Lose");
this->runAction(Sequence::create(
DelayTime::create(4.f),
CallFunc::create([=] { waitStart(); }),
nullptr));
}
void operator()() {
waitStart(); // barrier
while(active) {
value_type * i;
while(q.pop(i)) {
value_type * e = i+4000;
for (value_type * k=i; k!=e; k++)
++hist[*k];
}
}
}
bool PingPong::init()
{
if ( !Layer::init())
return false;
GameMode::Inst().mode = GameMode::GM_WAIT;
_mainBackgroundDN = DrawNode::create();
this->addChild(_mainBackgroundDN);
auto screenSize = Director::getInstance()->getWinSize();
// –исуем фон
std::array<Vec2, 4> points = {
Vec2(0, 0),
Vec2(screenSize.width, 0),
Vec2(screenSize.width, screenSize.height),
Vec2(0, screenSize.height)};
_mainBackgroundDN->drawPolygon(points.data(), points.size(), Color4F(0.1f, 0.1f, 0.1f, 1.0f), 0, Color4F::GREEN);
// —оздаем стены
for (int i = 0; i < _walls.size(); ++i)
{
_walls[i] = Wall::create(GlobalValues::cWallWidth, screenSize.height);
_walls[i]->setPosition(Vec2(
_walls[i]->getWidth() / 2 + i * (screenSize.width - _walls[i]->getWidth()),
_walls[i]->getHeight() / 2));
this->addChild(_walls[i]);
}
// —оздаем Ball(м¤чик)
_ball = Ball::create(15.0f);
this->addChild(_ball);
_ball->setPosition(Vec2(screenSize.width / 2, screenSize.height / 2));
// —оздаем игроков
for (unsigned int i = 0; i < _players.size(); ++i)
{
_players[i] = Player::create(100.f, 25.f);
this->addChild(_players[i]);
_players[i]->setPosition(Vec2(screenSize.width / 2, 13.5f + i * (screenSize.height - 27) ));
_players[i]->setName("Player " + std::to_string(i + 1));
}
// Ѕиндим контроллеры
helper::PlayerControllerBind(_players[PC_KEYBOARD], ControllerFactory::makeKeyboard());
helper::PlayerControllerBind(_players[PC_MOUSE], ControllerFactory::makeMouse());
// “екстовый информер
_informer = Label::create();
_informer->setPosition( screenSize.width / 2, screenSize.height / 2 );
_informer->setColor(Color3B::GREEN);
_informer->setSystemFontSize(60.0f);
this->addChild(_informer);
auto listener = EventListenerKeyboard::create();
listener->onKeyPressed = CC_CALLBACK_1(PingPong::onKeyPressed, this);
_eventDispatcher->addEventListenerWithSceneGraphPriority(listener, this);
scheduleUpdate();
waitStart();
return true;
}
int main(int argc, char* argv[])
{
ExplorationShared shared;
EBehavior behavior(&shared);
EBWaitIdle waitStart("Start");
EBWaitIdle waitMotion1("ArmPositioning");
EBWaitIdle waitMotion2("Turn1");
EBWaitIdle waitMotion3("Turn2");
EBWaitIdle waitMotion4("Turn3");
EBWaitIdle waitMotion5("Turn4");
EBWaitIdle waitMotion6("Turn5");
EBWaitIdle waitMotion7("Final pos");
EBWaitIdle waitMotion8("Going back to rest");
EBWaitIdle endState1("end1");
EBWaitIdle endState2("end2");
EBWaitIdle stateInhibitHandTracking("Inhibit hand tracking");
EBWaitIdle stateEnableHandTracking("Enable hand tracking");
EBWaitIdle position1Wait("Position1 done");
EBWaitIdle position2Wait("Position2 done");
EBWaitIdle position3Wait("Position3 done");
EBWaitDeltaT position2Train(6);
EBWaitDeltaT position3Train(6);
EBWaitDeltaT position4Train(6);
EBWaitIdle position2("Waiting arm done");
EBWaitIdle position3("Waiting arm done");
EBWaitIdle position4("Waiting arm done");
EBWaitIdle waitArmAck("Wait armAck");
EBWaitDeltaT dT1(6);
EBWaitDeltaT dT2(0.2);
EBWaitDeltaT dT3OneSecond(3);
EBWaitDeltaT dTHandClosing(0.1);
EBWaitDeltaT waitArmSeemsToRest(5);
EBBehaviorOutput startTrain(YBVKFTrainStart);
EBBehaviorOutput startSequence(YBVKFStart);
EBBehaviorOutput stopTrain(YBVKFTrainStop);
EBBehaviorOutput stop(YBVKFStop);
EBSimpleOutput forceOpen(YBVGraspRflxForceOpen);
EBSimpleOutput parkArm(YBVArmForceRestingTrue);
// output: enable and disable hand tracking system
EBEnableTracker enableHandTracking;
EBInhibitTracker inhibitHandTracking;
EBOutputCommand cmd1(YBVArmForceNewCmd, YVector(_nJoints, pos1));
EBOutputCommand cmd2(YBVArmForceNewCmd, YVector(_nJoints, pos2));
EBOutputCommand cmd3(YBVArmForceNewCmd, YVector(_nJoints, pos3));
// EBOutputCommand cmd4(YBVArmForceNewCmd, YVector(_nJoints, pos4));
// EBOutputCommand cmd5(YBVArmForceNewCmd, YVector(_nJoints, pos5));
// EBOutputCommand cmd6(YBVArmForceNewCmd, YVector(_nJoints, pos6));
EBOutputCommand cmd7(YBVArmForceNewCmd, YVector(_nJoints, pos7));
EBOutputCommand cmd8(YBVArmForceNewCmd, YVector(_nJoints, pos8));
EBOutputCommand cmd9(YBVArmForceNewCmd, YVector(_nJoints, pos9));
EBOutputCommand cmd10(YBVArmForceNewCmd, YVector(_nJoints, pos10));
EBSimpleInput armDone(YBVArmDone);
EBSimpleInput handDone(YBVHandDone);
EBSimpleInput start(YBVKFExplorationStart);
EBSimpleInput start2(YBVGraspRflxClutch);
EBSimpleInput armAck(YBVArmIssuedCmd);
EBSimpleInput armNAck(YBVArmIsBusy);
behavior.setInitialState(&waitStart);
behavior.add(&start, &waitStart, &waitMotion1, &cmd1);
behavior.add(&start2, &waitStart, &dTHandClosing, &enableHandTracking);
behavior.add(NULL, &dTHandClosing, &waitArmAck, &cmd1);
behavior.add(&armAck, &waitArmAck, &stateEnableHandTracking, &startSequence);
behavior.add(&armNAck, &waitArmAck, &waitArmSeemsToRest, &inhibitHandTracking);
behavior.add(NULL, &waitArmSeemsToRest, &waitStart, &forceOpen);
behavior.add(NULL, &stateEnableHandTracking, &waitMotion1, &enableHandTracking);
behavior.add(&armDone, &waitMotion1, &dT3OneSecond);
// wait some extra time before issueing the startKF signal
behavior.add(NULL, &dT3OneSecond, &dT1, &startTrain);
// july 21/04
behavior.add(NULL, &dT1, &waitMotion6);
behavior.add(NULL, &waitMotion6, &position1Wait, &stopTrain);
// position2
behavior.add(NULL, &position1Wait, &position2, &cmd7);
behavior.add(&armDone, &position2, &position2Train, &startTrain);
behavior.add(NULL, &position2Train, &position2Wait, &stopTrain);
//position3
behavior.add(NULL, &position2Wait, &position3, &cmd8);
behavior.add(&armDone, &position3, &position3Train, &startTrain);
behavior.add(NULL, &position3Train, &position3Wait, &stopTrain);
//position 4
behavior.add(NULL, &position3Wait, &position4, &cmd9);
behavior.add(&armDone, &position4, &position4Train, &startTrain);
behavior.add(NULL, &position4Train, &stateInhibitHandTracking, &stopTrain);
behavior.add(NULL, &stateInhibitHandTracking, &dT2);
/*
behavior.add(NULL, &dT1, &waitMotion2, &cmd2);
// behavior.add(&armDone, &waitMotion1, &waitMotion2, &cmd2);
behavior.add(&armDone, &waitMotion2, &waitMotion3, &cmd3);
behavior.add(&armDone, &waitMotion3, &waitMotion4, &cmd4);
behavior.add(&armDone, &waitMotion4, &waitMotion5, &cmd5);
behavior.add(&armDone, &waitMotion5, &waitMotion6, &cmd6);
behavior.add(&armDone, &waitMotion6, &dT2, &stopKF);
*/
behavior.add(NULL, &dT2, &waitMotion7, &cmd10);
behavior.add(&armDone, &waitMotion7, &waitMotion8, &forceOpen);
behavior.add(&handDone, &waitMotion8, &endState1, &parkArm);
behavior.add(NULL, &endState1, &endState2, &inhibitHandTracking);
behavior.add(NULL, &endState2, &waitStart, &stop);
behavior.Begin();
behavior.loop();
return 0;
}
