void servo_out_handler(const lcm_recv_buf_t *rbuf, const char* channel, const lcmt_deltawing_u *msg, void *user) {
Hud *hud = (Hud*)user;
hud->SetServoCommands((msg->throttle - 1100) * 100/797, (msg->elevonL-1000)/10.0, (msg->elevonR-1000)/10.0);
hud->SetAutonomous(msg->is_autonomous);
}
int main(int argc, char *argv[])
{
Q_INIT_RESOURCE(basicdrawing);
QApplication app(argc, argv);
Hud window;
window.show();
return app.exec();
}
void log_size_handler(const lcm_recv_buf_t *rbuf, const char* channel, const lcmt_log_size *msg, void *user) {
Hud *hud = (Hud*)user;
// plane number is the last character of the channel name
char last_char = channel[strlen(channel)-1];
int plane_number = last_char - '0'; // this converts a single character to an integer
// and is standards conforming C
hud->SetPlaneNumber(plane_number);
hud->SetLogNumber(msg->log_number);
}
void RealTimeTest::run() {
game.initialize();
game.getPopupHelpScreen()->hide();
Hud *testingHud = game.getHudsManager()->createHud(HudAlignment::RIGHT);
testingHud->setText("TESTING...");
std::thread startHoverTest(RealTimeTest::hover);
std::thread startMaxSpeadTest(RealTimeTest::maxSpead);
game.run();
startHoverTest.join();
startMaxSpeadTest.join();
delete testingHud;
}
void RealTimeTest::maxSpead() {
Hud *maxSpeadTestingHud = game.getHudsManager()->createHud(HudAlignment::RIGHT);
maxSpeadTestingHud->setText("MAX SPEAD TESTING STARTED...");
DelayCommand dc(15);
dc.execute();
Helicopter *helicopter = game.getHelicopter();
JoystickMoveForward jmf(helicopter->getJoystick());
RotorNeutral rn(helicopter->getMainRotor());
float oldV = 0;
float newV = 0;
std::cout << "\nmaxSpead test started:" << std::endl;
game.getConfiguration()->activateFriction();
helicopter->reset();
helicopter->setPosistion(osg::Vec3f(0, 0, 600));
jmf.execute();
rn.execute();
do {
oldV = newV;
dc.execute();
newV = helicopter->getVelocity().x();
} while (oldV < newV);
// viscous resistance = v * (6 * WORLD_PI * 0.001 * 4)
// if joystick(theta = 15, phi = 0) and throttle(9.8), then
// ax = sin15 * 9.8 = 0.2588 * 9.8 = 2.53624
// viscous resistance should be equal 2.53624
// v * (6 * WORLD_PI * 0.001 * 4) = 2.53624 <= now solve for v
// v = 2.53624 / (6 * WORLD_PI * 0.001 * 4)
// v = 33.6379
Assert(33.6379, helicopter->getVelocity().x(), 0.01);
std::cout << "maxSpead test passed" << std::endl;
std::cout << "maxSpead test results:" << std::endl;
std::cout << "vx = " << helicopter->getVelocity().x() << std::endl;
maxSpeadTestingHud->setText("HOVER TESTING PASSED...");
}
void RealTimeTest::hover() {
Hud *hoverTestingHud = game.getHudsManager()->createHud(HudAlignment::RIGHT);
hoverTestingHud->setText("HOVER TESTING STARTED...");
DelayCommand dc(2);
DelayCommand wait10s(10);
dc.execute();
std::cout << "\nhover test started:" << std::endl;
game.getConfiguration()->deactivateFriction();
Helicopter *helicopter = game.getHelicopter();
helicopter->reset();
helicopter->setPosistion(osg::Vec3f(0, 0, 0));
helicopter->getMainRotor()->increaseMagnitude();
helicopter->getMainRotor()->increaseMagnitude();
helicopter->getMainRotor()->increaseMagnitude();
wait10s.execute();
// after 10s should be at position 15m
// a = 0.3
// x = 0 + 0*10 + 0.5 * 0.3 * (10)^2 = 15
// v = 0 + a * t
// v = 0.3 * 10 = 3
Assert(15.0, helicopter->getPosistion().z(), 1.0e-1);
Assert(3.0, helicopter->getVelocity().z(), 1.0e-1);
Assert(0.3, helicopter->getAcceleration().z(), 1.0e-1);
std::cout << "hover test passed" << std::endl;
std::cout << "hover test results:" << std::endl;
std::cout << "pz = " << helicopter->getPosistion().z() << std::endl;
std::cout << "vz = " << helicopter->getVelocity().z() << std::endl;
std::cout << "az = " << helicopter->getAcceleration().z() << std::endl;
hoverTestingHud->setText("HOVER TESTING PASSED...");
}
Hud* HudsManager::createHud(HudAlignment hudAlignment) {
Hud *hud = new Hud();
unsigned long hudPosition;
hud->initializeHudText();
if (hudAlignment == HudAlignment::LEFT) {
this->leftHuds.push_back(hud);
hud->setPosition(osg::Vec3(10, this->initial_Y_Position, 0));
} else {
this->rightHuds.push_back(hud);
hud->setPosition(osg::Vec3(900, this->initial_Y_Position, 0));
}
hud->setText("");
osg::Camera *hudCamera = hud->getHudCamera();
game->getRoot()->addChild(hudCamera);
// update huds positions
hudPosition = this->leftHuds.size();
for (Hud* h : this->leftHuds)
h->setPosition(osg::Vec3(h->getPosition().x(), ((hudPosition--) * 25) + this->initial_Y_Position + 10, 0));
hudPosition = this->rightHuds.size();
for (Hud* h : this->rightHuds)
h->setPosition(osg::Vec3(h->getPosition().x(), ((hudPosition--) * 25) + this->initial_Y_Position + 10, 0));
return hud;
}
void mav_pose_t_handler(const lcm_recv_buf_t *rbuf, const char* channel, const mav_pose_t *msg, void *user) {
Hud *hud = (Hud*)user;
hud->SetAltitude(msg->pos[2]);
hud->SetOrientation(msg->orientation[0], msg->orientation[1], msg->orientation[2], msg->orientation[3]);
hud->SetAcceleration(msg->accel[0], msg->accel[1], msg->accel[2]);
hud->SetAirspeed(msg->vel[0]);
hud->SetTimestamp(msg->utime);
}
void onDisplay(void) {
// cams.projection(winW, winH);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
cams.look();
lights.display(&pacman);
//draw stuff
maze.draw();
if (!maze.getPacmanDeathTime()) { //pacman is alive
pacman.draw();
}
else particles.draw();
mazeFloor.draw();
ghosts.draw();
hud.draw(winW, winH, &maze);
glFlush();
}
int main(int argc, char *argv[])
{
// get input arguments
string configFile = "";
string video_file_left = "", video_file_right = "", video_directory = "";
int starting_frame_number = 0;
bool enable_gamma = false;
float random_results = -1.0;
int last_frame_number = -1;
int last_playback_frame_number = -2;
ConciseArgs parser(argc, argv);
parser.add(configFile, "c", "config", "Configuration file containing camera GUIDs, etc.", true);
parser.add(show_display, "d", "show-dispaly", "Enable for visual debugging display. Will reduce framerate significantly.");
parser.add(show_display_wait, "w", "show-display-wait", "Optional argument to decrease framerate for lower network traffic when forwarding the display.");
parser.add(show_unrectified, "u", "show-unrectified", "When displaying images, do not apply rectification.");
parser.add(disable_stereo, "s", "disable-stereo", "Disable online stereo processing.");
parser.add(force_brightness, "b", "force-brightness", "Force a brightness setting.");
parser.add(force_exposure, "e", "force-exposure", "Force an exposure setting.");
parser.add(quiet_mode, "q", "quiet", "Reduce text output.");
parser.add(video_file_left, "l", "video-file-left", "Do not use cameras, instead use this video file (also requires a right video file).");
parser.add(video_file_right, "t", "video-file-right", "Right video file, only for use with the -l option.");
parser.add(video_directory, "i", "video-directory", "Directory to search for videos in (for playback).");
parser.add(starting_frame_number, "f", "starting-frame", "Frame to start at when playing back videos.");
parser.add(display_hud, "v", "hud", "Overlay HUD on display images.");
parser.add(record_hud, "x", "record-hud", "Record the HUD display.");
parser.add(file_frame_skip, "p", "skip", "Number of frames skipped in recording (for playback).");
parser.add(enable_gamma, "g", "enable-gamma", "Turn gamma on for both cameras.");
parser.add(random_results, "R", "random-results", "Number of random points to produce per frame. Can be a float in which case we'll take a random sample to decide if to produce the last one. Disables real stereo processing. Only for debugging / analysis!");
parser.add(publish_all_images, "P", "publish-all-images", "Publish all images to LCM");
parser.parse();
// parse the config file
if (ParseConfigFile(configFile, &stereoConfig) != true)
{
fprintf(stderr, "Failed to parse configuration file, quitting.\n");
return -1;
}
if (video_file_left.length() > 0
&& video_file_right.length() <= 0) {
fprintf(stderr, "Error: for playback you must specify both "
"a right and left video file. (Only got a left one.)\n");
return -1;
}
if (video_file_left.length() <= 0
&& video_file_right.length() > 0) {
fprintf(stderr, "Error: for playback you must specify both "
"a right and left video file. (Only got a right one.)\n");
return -1;
}
recording_manager.Init(stereoConfig);
// attempt to load video files / directories
if (video_file_left.length() > 0) {
if (recording_manager.LoadVideoFiles(video_file_left, video_file_right) != true) {
// don't have videos, bail out.
return -1;
}
}
if (video_directory.length() > 0) {
if (recording_manager.SetPlaybackVideoDirectory(video_directory) != true) {
// bail
return -1;
}
}
recording_manager.SetQuietMode(quiet_mode);
recording_manager.SetPlaybackFrameNumber(starting_frame_number);
uint64 guid = stereoConfig.guidLeft;
uint64 guid2 = stereoConfig.guidRight;
// start up LCM
lcm_t * lcm;
lcm = lcm_create (stereoConfig.lcmUrl.c_str());
unsigned long elapsed;
Hud hud;
// --- setup control-c handling ---
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = control_c_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
// --- end ctrl-c handling code ---
dc1394error_t err;
dc1394error_t err2;
// tell opencv to use only one core so that we can manage our
// own threading without a fight
setNumThreads(1);
if (recording_manager.UsingLiveCameras()) {
d = dc1394_new ();
if (!d)
cerr << "Could not create dc1394 context" << endl;
d2 = dc1394_new ();
if (!d2)
cerr << "Could not create dc1394 context for camera 2" << endl;
camera = dc1394_camera_new (d, guid);
if (!camera)
{
cerr << "Could not create dc1394 camera... quitting." << endl;
exit(1);
}
camera2 = dc1394_camera_new (d2, guid2);
if (!camera2)
cerr << "Could not create dc1394 camera for camera 2" << endl;
// reset the bus
dc1394_reset_bus(camera);
dc1394_reset_bus(camera2);
// setup
err = setup_gray_capture(camera, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not setup camera");
err2 = setup_gray_capture(camera2, DC1394_VIDEO_MODE_FORMAT7_1);
DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not setup camera number 2");
// enable camera
err = dc1394_video_set_transmission(camera, DC1394_ON);
DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not start camera iso transmission");
err2 = dc1394_video_set_transmission(camera2, DC1394_ON);
DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not start camera iso transmission for camera number 2");
InitBrightnessSettings(camera, camera2, enable_gamma);
}
if (show_display) {
namedWindow("Input", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Input2", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Stereo", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Left Block", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Right Block", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Debug 1", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
namedWindow("Debug 2", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO);
setMouseCallback("Input", onMouse); // for drawing disparity lines
setMouseCallback("Stereo", onMouseStereo, &hud); // for drawing disparity lines
moveWindow("Input", stereoConfig.displayOffsetX + 100, stereoConfig.displayOffsetY + 100);
moveWindow("Stereo", stereoConfig.displayOffsetX + 100, stereoConfig.displayOffsetY + 370);
moveWindow("Input2", stereoConfig.displayOffsetX + 478, stereoConfig.displayOffsetY + 100);
moveWindow("Left Block", stereoConfig.displayOffsetX + 900, stereoConfig.displayOffsetY + 100);
moveWindow("Right Block", stereoConfig.displayOffsetX + 1400, stereoConfig.displayOffsetY + 100);
moveWindow("Debug 1", stereoConfig.displayOffsetX + 900, stereoConfig.displayOffsetY + 670);
moveWindow("Debug 2", stereoConfig.displayOffsetX + 1400, stereoConfig.displayOffsetY + 670);
} // show display
if (show_display || publish_all_images) {
// if a channel exists, subscribe to it
if (stereoConfig.stereo_replay_channel.length() > 0) {
stereo_replay_sub = lcmt_stereo_subscribe(lcm, stereoConfig.stereo_replay_channel.c_str(), &stereo_replay_handler, &hud);
}
if (stereoConfig.pose_channel.length() > 0) {
mav_pose_t_sub = mav_pose_t_subscribe(lcm, stereoConfig.pose_channel.c_str(), &mav_pose_t_handler, &hud);
}
if (stereoConfig.gps_channel.length() > 0) {
mav_gps_data_t_sub = mav_gps_data_t_subscribe(lcm, stereoConfig.gps_channel.c_str(), &mav_gps_data_t_handler, &hud);
}
if (stereoConfig.baro_airspeed_channel.length() > 0) {
baro_airspeed_sub = lcmt_baro_airspeed_subscribe(lcm, stereoConfig.baro_airspeed_channel.c_str(), &baro_airspeed_handler, &hud);
}
if (stereoConfig.servo_out_channel.length() > 0) {
servo_out_sub = lcmt_deltawing_u_subscribe(lcm, stereoConfig.servo_out_channel.c_str(), &servo_out_handler, &hud);
}
if (stereoConfig.battery_status_channel.length() > 0) {
battery_status_sub = lcmt_battery_status_subscribe(lcm, stereoConfig.battery_status_channel.c_str(), &battery_status_handler, &hud);
}
if (stereoConfig.cpu_info_channel1.length() > 0) {
cpu_info_sub1 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel1.c_str(), &cpu_info_handler, &recording_manager);
cpu_info_sub2 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel2.c_str(), &cpu_info_handler, &recording_manager);
cpu_info_sub3 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel3.c_str(), &cpu_info_handler, &recording_manager);
}
if (stereoConfig.log_size_channel1.length() > 0) {
log_size_sub1 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel1.c_str(), &log_size_handler, &hud);
log_size_sub2 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel2.c_str(), &log_size_handler, &hud);
log_size_sub3 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel3.c_str(), &log_size_handler, &hud);
}
} // end show_display || publish_all_images
// load calibration
OpenCvStereoCalibration stereoCalibration;
if (LoadCalibration(stereoConfig.calibrationDir, &stereoCalibration) != true)
{
cerr << "Error: failed to read calibration files. Quitting." << endl;
return -1;
}
int inf_disparity_tester, disparity_tester;
disparity_tester = GetDisparityForDistance(10, stereoCalibration, &inf_disparity_tester);
std::cout << "computed disparity is = " << disparity_tester << ", inf disparity = " << inf_disparity_tester << std::endl;
// subscribe to the stereo control channel
stereo_control_sub = lcmt_stereo_control_subscribe(lcm, stereoConfig.stereoControlChannel.c_str(), &lcm_stereo_control_handler, NULL);
Mat imgDisp;
Mat imgDisp2;
// initilize default parameters
//PushbroomStereoState state; // HACK
state.disparity = stereoConfig.disparity;
state.zero_dist_disparity = stereoConfig.infiniteDisparity;
state.sobelLimit = stereoConfig.interestOperatorLimit;
state.horizontalInvarianceMultiplier = stereoConfig.horizontalInvarianceMultiplier;
state.blockSize = stereoConfig.blockSize;
state.random_results = random_results;
state.check_horizontal_invariance = true;
if (state.blockSize > 10 || state.blockSize < 1)
{
fprintf(stderr, "Warning: block size is very large "
"or small (%d). Expect trouble.\n", state.blockSize);
}
state.sadThreshold = stereoConfig.sadThreshold;
state.mapxL = stereoCalibration.mx1fp;
state.mapxR = stereoCalibration.mx2fp;
state.Q = stereoCalibration.qMat;
state.show_display = show_display;
state.lastValidPixelRow = stereoConfig.lastValidPixelRow;
Mat matL, matR;
bool quit = false;
if (recording_manager.UsingLiveCameras()) {
matL = GetFrameFormat7(camera);
matR = GetFrameFormat7(camera2);
if (recording_manager.InitRecording(matL, matR) != true) {
// failed to init recording, things are going bad. bail.
return -1;
}
// before we start, turn the cameras on and set the brightness and exposure
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
// grab a few frames and send them over LCM for the user
// to verify that everything is working
if (!show_display && !publish_all_images) {
printf("Sending init images over LCM... ");
fflush(stdout);
for (int i = 0; i < 5; i++) {
matL = GetFrameFormat7(camera);
SendImageOverLcm(lcm, "stereo_image_left", matL, 50);
matR = GetFrameFormat7(camera2);
SendImageOverLcm(lcm, "stereo_image_right", matR, 50);
// don't send these too fast, otherwise we'll flood the ethernet link
// and not actually be helpful
// wait one second
printf(".");
fflush(stdout);
sleep(1);
}
printf(" done.\n");
}
} // recording_manager.UsingLiveCameras()
// spool up worker threads
PushbroomStereo pushbroom_stereo;
// start the framerate clock
struct timeval start, now;
gettimeofday( &start, NULL );
while (quit == false) {
// get the frames from the camera
if (recording_manager.UsingLiveCameras()) {
// we would like to match brightness every frame
// but that would really hurt our framerate
// match brightness every 10 frames instead
if (numFrames % MATCH_BRIGHTNESS_EVERY_N_FRAMES == 0)
{
MatchBrightnessSettings(camera, camera2);
}
// capture images from the cameras
matL = GetFrameFormat7(camera);
matR = GetFrameFormat7(camera2);
// record video
recording_manager.AddFrames(matL, matR);
} else {
// using a video file -- get the next frame
recording_manager.GetFrames(matL, matR);
}
cv::vector<Point3f> pointVector3d;
cv::vector<uchar> pointColors;
cv::vector<Point3i> pointVector2d; // for display
cv::vector<Point3i> pointVector2d_inf; // for display
// do the main stereo processing
if (disable_stereo != true) {
gettimeofday( &now, NULL );
double before = now.tv_usec + now.tv_sec * 1000 * 1000;
pushbroom_stereo.ProcessImages(matL, matR, &pointVector3d, &pointColors, &pointVector2d, state);
gettimeofday( &now, NULL );
double after = now.tv_usec + now.tv_sec * 1000 * 1000;
timer_sum += after-before;
timer_count ++;
}
// build an LCM message for the stereo data
lcmt_stereo msg;
if (recording_manager.UsingLiveCameras() || stereo_lcm_msg == NULL) {
msg.timestamp = getTimestampNow();
} else {
// if we are replaying videos, preserve the timestamp of the original video
msg.timestamp = stereo_lcm_msg->timestamp;
}
msg.number_of_points = (int)pointVector3d.size();
float x[msg.number_of_points];
float y[msg.number_of_points];
float z[msg.number_of_points];
uchar grey[msg.number_of_points];
for (unsigned int i=0;i<pointVector3d.size();i++) {
x[i] = pointVector3d[i].x / stereoConfig.calibrationUnitConversion;
y[i] = pointVector3d[i].y / stereoConfig.calibrationUnitConversion;
z[i] = pointVector3d[i].z / stereoConfig.calibrationUnitConversion;
grey[i] = pointColors[i];
}
msg.x = x;
msg.y = y;
msg.z = z;
msg.grey = grey;
msg.frame_number = recording_manager.GetFrameNumber();
if (recording_manager.UsingLiveCameras()) {
msg.frame_number = msg.frame_number - 1; // minus one since recording manager has
// already recorded this frame (above in
// AddFrames) but we haven't made a message
// for it yet
}
msg.video_number = recording_manager.GetRecVideoNumber();
// publish the LCM message
if (last_frame_number != msg.frame_number) {
lcmt_stereo_publish(lcm, "stereo", &msg);
last_frame_number = msg.frame_number;
}
if (publish_all_images) {
if (recording_manager.GetFrameNumber() != last_playback_frame_number) {
SendImageOverLcm(lcm, "stereo_image_left", matL, 80);
SendImageOverLcm(lcm, "stereo_image_right", matR, 80);
last_playback_frame_number = recording_manager.GetFrameNumber();
}
//process LCM until there are no more messages
// this allows us to drop frames if we are behind
while (NonBlockingLcm(lcm)) {}
}
Mat matDisp, remapL, remapR;
if (show_display) {
// we remap again here because we're just in display
Mat remapLtemp(matL.rows, matL.cols, matL.depth());
Mat remapRtemp(matR.rows, matR.cols, matR.depth());
remapL = remapLtemp;
remapR = remapRtemp;
remap(matL, remapL, stereoCalibration.mx1fp, Mat(), INTER_NEAREST);
remap(matR, remapR, stereoCalibration.mx2fp, Mat(), INTER_NEAREST);
remapL.copyTo(matDisp);
//process LCM until there are no more messages
// this allows us to drop frames if we are behind
while (NonBlockingLcm(lcm)) {}
} // end show_display
if (show_display) {
for (unsigned int i=0;i<pointVector2d.size();i++) {
int x2 = pointVector2d[i].x;
int y2 = pointVector2d[i].y;
//int sad = pointVector2d[i].z;
rectangle(matDisp, Point(x2,y2), Point(x2+state.blockSize, y2+state.blockSize), 0, CV_FILLED);
rectangle(matDisp, Point(x2+1,y2+1), Point(x2+state.blockSize-1, y2-1+state.blockSize), 255);
}
// draw pixel blocks
if (lineLeftImgPosition >= 0 && lineLeftImgPositionY > 1) {
DisplayPixelBlocks(remapL, remapR, lineLeftImgPosition - state.blockSize/2, lineLeftImgPositionY - state.blockSize/2, state, &pushbroom_stereo);
}
// draw a line for the user to show disparity
DrawLines(remapL, remapR, matDisp, lineLeftImgPosition, lineLeftImgPositionY, state.disparity, state.zero_dist_disparity);
if (visualize_stereo_hits == true && stereo_lcm_msg != NULL) {
// transform the points from 3D space back onto the image's 2D space
vector<Point3f> lcm_points;
Get3DPointsFromStereoMsg(stereo_lcm_msg, &lcm_points);
// draw the points on the unrectified image (to see these
// you must pass the -u flag)
Draw3DPointsOnImage(matL, &lcm_points, stereoCalibration.M1, stereoCalibration.D1, stereoCalibration.R1, 128);
}
if (show_unrectified == false) {
imshow("Input", remapL);
imshow("Input2", remapR);
} else {
imshow("Input", matL);
imshow("Input2", matR);
}
if (display_hud) {
Mat with_hud;
recording_manager.SetHudNumbers(&hud);
hud.DrawHud(matDisp, with_hud);
if (record_hud) {
// put this frame into the HUD recording
recording_manager.RecFrameHud(with_hud);
}
imshow("Stereo", with_hud);
} else {
imshow("Stereo", matDisp);
}
char key = waitKey(show_display_wait);
if (key != 255 && key != -1)
{
cout << endl << key << endl;
}
switch (key)
{
case 'T':
state.disparity --;
break;
case 'R':
state.disparity ++;
break;
case 'w':
state.sobelLimit += 10;
break;
case 's':
state.sobelLimit -= 10;
break;
case 'd':
state.horizontalInvarianceMultiplier -= 0.1;
break;
case 'D':
state.horizontalInvarianceMultiplier += 0.1;
break;
case 'g':
state.blockSize ++;
break;
case 'b':
state.blockSize --;
if (state.blockSize < 1) {
state.blockSize = 1;
}
break;
case 'Y':
state.sadThreshold += 50;
break;
case 'y':
state.sadThreshold ++;
break;
case 'h':
state.sadThreshold --;
break;
case 'H':
state.sadThreshold -= 50;
break;
case 'm':
if (recording_manager.UsingLiveCameras()) {
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
}
break;
case '1':
force_brightness --;
if (recording_manager.UsingLiveCameras()) {
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
}
break;
case '2':
force_brightness ++;
if (recording_manager.UsingLiveCameras()) {
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
}
break;
case '3':
force_exposure --;
if (recording_manager.UsingLiveCameras()) {
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
}
break;
case '4':
force_exposure ++;
if (recording_manager.UsingLiveCameras()) {
MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure);
}
break;
case '5':
// to show SAD boxes
state.sobelLimit = 0;
state.sadThreshold = 255;
break;
case 'I':
state.check_horizontal_invariance = !state.check_horizontal_invariance;
break;
case '.':
recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() + 1);
break;
case ',':
recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() - 1);
break;
case '>':
recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() + 50);
break;
case '<':
recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() - 50);
break;
//case 'k':
// state.zero_dist_disparity ++;
// break;
case 'l':
state.zero_dist_disparity --;
break;
case 'o':
inf_sad_add --;
break;
case 'p':
inf_sad_add ++;
break;
case '[':
y_offset --;
if (y_offset < 0) {
y_offset = 0;
}
break;
case ']':
y_offset ++;
break;
case 'v':
display_hud = !display_hud;
break;
case 'c':
hud.SetClutterLevel(hud.GetClutterLevel() + 1);
break;
case 'C':
hud.SetClutterLevel(hud.GetClutterLevel() - 1);
break;
case '}':
hud.SetPitchRangeOfLens(hud.GetPitchRangeOfLens() + 1);
break;
case '{':
hud.SetPitchRangeOfLens(hud.GetPitchRangeOfLens() - 1);
break;
case 'S':
// take a screen cap of the left and right images
// useful for putting into a stereo tuner
printf("\nWriting left.ppm...");
imwrite("left.ppm", remapL);
printf("\nWriting right.ppm...");
imwrite("right.ppm", remapR);
printf("\ndone.");
break;
case 'V':
// record the HUD
record_hud = true;
recording_manager.RestartRecHud();
break;
/*
case 'j':
state.debugJ --;
break;
case 'J':
state.debugJ ++;
break;
case 'i':
state.debugI --;
break;
case 'I':
state.debugI ++;
break;
case 'k':
state.debugDisparity --;
break;
case 'K':
state.debugDisparity ++;
break;
*/
case 'q':
quit = true;
break;
}
if (key != 255 && key != -1)
{
cout << "sadThreshold = " << state.sadThreshold << endl;
cout << "sobelLimit = " << state.sobelLimit << endl;
cout << "horizontalInvarianceMultiplier = " << state.horizontalInvarianceMultiplier << endl;
cout << "brightness: " << force_brightness << endl;
cout << "exposure: " << force_exposure << endl;
cout << "disparity = " << state.disparity << endl;
cout << "inf_disparity = " << state.zero_dist_disparity << endl;
cout << "inf_sad_add = " << inf_sad_add << endl;
cout << "blockSize = " << state.blockSize << endl;
cout << "frame_number = " << recording_manager.GetFrameNumber() << endl;
cout << "y offset = " << y_offset << endl;
cout << "PitchRangeOfLens = " << hud.GetPitchRangeOfLens() << endl;
}
} // end show_display
numFrames ++;
// check for new LCM messages
NonBlockingLcm(lcm);
if (quiet_mode == false || numFrames % 100 == 0) {
// compute framerate
gettimeofday( &now, NULL );
elapsed = (now.tv_usec / 1000 + now.tv_sec * 1000) -
(start.tv_usec / 1000 + start.tv_sec * 1000);
printf("\r%d frames (%lu ms) - %4.1f fps | %4.1f ms/frame, stereo: %f", numFrames, elapsed, (float)numFrames/elapsed * 1000, elapsed/(float)numFrames, timer_sum/(double)timer_count);
fflush(stdout);
}
} // end main while loop
printf("\n\n");
destroyWindow("Input");
destroyWindow("Input2");
destroyWindow("Stereo");
// close camera
if (recording_manager.UsingLiveCameras()) {
StopCapture(d, camera);
StopCapture(d2, camera2);
}
return 0;
}
void mav_gps_data_t_handler(const lcm_recv_buf_t *rbuf, const char* channel, const mav_gps_data_t *msg, void *user) {
Hud *hud = (Hud*)user;
hud->SetGpsSpeed(msg->speed);
hud->SetGpsHeading(msg->heading);
}
int IndieLib()
{
// ----- IndieLib intialization -----
CIndieLib *mI = CIndieLib::instance();
if (!mI->init()) return 0;
// ----- Get Window Dimensions
int winWidth = mI->_window->getWidth();
int winHeight = mI->_window->getHeight();
srand(static_cast<unsigned int>(time(0)));
// ----- Surface loading -----
IND_Surface *mSurfaceBack = IND_Surface::newSurface();
if (!mI->_surfaceManager->add(mSurfaceBack, "../SpaceGame/resources/Backgrounds/18.jpg", IND_OPAQUE, IND_32)) return 0;
/*IND_Animation* mTestA = IND_Animation::newAnimation();
if (!mI->_animationManager->addToSurface(mTestA, "resources/animations/dust.xml", IND_ALPHA, IND_32, 255, 0, 255)) return 0;
mTestA->getActualFramePos(0);*/
// Loading 2D Entities
// Background
IND_Entity2d* mBack = IND_Entity2d::newEntity2d();
mI->_entity2dManager->add(mBack);
mBack->setSurface(mSurfaceBack);
mBack->setScale((float)winWidth / mSurfaceBack->getWidth(), (float)winHeight / mSurfaceBack->getHeight());
Controls* controls = new Controls();
controls->loadSettings();
ErrorHandler* error = new ErrorHandler();
error->initialize(mI);
Hud* mHud = new Hud();
mHud->createHud(mI);
Menu* mMenu = new Menu();
mMenu->createMenu(mI);
Save* quickSave = new Save();
if (!SoundEngine::initialize())
{
error->writeError(200, 100, "Error", "SoundEngine");
}
vector<Planet*> mPlanets;
Ship* mShip = NULL;
bool loadSave = false;
float mDelta = 0.0f;
IND_Timer* mTimer = new IND_Timer;
mTimer->start();
while (!mI->_input->onKeyPress(IND_ESCAPE) && !mI->_input->quit() && !mMenu->isExit())
{
// get delta time
mDelta = mI->_render->getFrameTime() / 1000.0f;
if (mI->_input->isKeyPressed(controls->getMenu()))
{
mMenu->show();
SoundEngine::getSoundEngine()->setAllSoundsPaused(true);
}
if (!mMenu->isHidden())
{
mMenu->updateMenu(mHud, quickSave, mPlanets, mShip);
loadSave = mHud->getLoadingText()->isShow();
}
else
{
if (loadSave)
{
mDelta = 0.0;
loadSave = false;
SoundEngine::getSoundEngine()->setAllSoundsPaused(true);
mHud->getLoadingText()->setShow(false);
quickSave->loadSave(mI, mShip, mPlanets);
mHud->showHud();
}
if (mShip != NULL)
{
if (mI->_input->onKeyPress(controls->getQuickSave()))
{
quickSave->makeSave(mI, mShip, mPlanets);
}
mHud->updateHud(mShip);
if (mI->_input->onKeyPress(controls->getQuickLoad()))
{
deleteObjects(mHud, mShip, mPlanets);
loadSave = true;
}
if (mShip->isDestroyed())
{
SoundEngine::getSoundEngine()->setAllSoundsPaused(true);
mHud->updateGameOverText(mShip->getScore());
deleteObjects(mHud, mShip, mPlanets);
mHud->getLoadingText()->setShow(false);
mHud->getGameOverText()->setShow(true);
mMenu->show();
}
if(mShip!=NULL)
{
//----- Collisions -----
checkShipPlanetsCollisions(mI, mPlanets, mShip);
checkBulletsPlanetsCollisions(mI, mPlanets, mShip);
checkBulletsShipCollisions(mI, mPlanets, mShip);
//----- Movement update -----
mShip->updateShip(controls, mDelta);
if ((mTimer->getTicks() / 1000.0f) >= 3.0f)
{
mTimer->start();
mPlanets.at(rand() % mPlanets.size())->addSatellite();
}
for (vector<Planet*>::iterator it = mPlanets.begin(); it != mPlanets.end(); ++it)
{
(*it)->updatePlanet(mDelta, (mShip->getPosX() + 0.25f * mShip->getHeight() * cos(mShip->getAngleZRadian())), (mShip->getPosY() - 0.25f * mShip->getHeight() * sin(mShip->getAngleZRadian())));
}
}
}
}
//mI->_render->showFpsInWindowTitle();
mI->_input->update();
mI->_render->beginScene();
mI->_entity2dManager->renderEntities2d();
mI->_render->endScene();
}
// ----- Free -----
delete controls;
delete error;
delete mHud;
delete mMenu;
delete quickSave;
mI->_surfaceManager->remove(mSurfaceBack);
mI->_entity2dManager->remove(mBack);
deleteObjects(mHud, mShip, mPlanets);
mI->end();
return 0;
}
void Game::initializePopupHelpScreen() {
if (popupHelpScreen)
delete popupHelpScreen;
this->popupHelpScreen = new HudsManager(this, this->configuration->getScreenHeight() / 2);
Hud *titleHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *mouseHud;
Hud *movementHud;
if (this->configuration->isMouseControl())
mouseHud = popupHelpScreen->createHud(HudAlignment::LEFT);
else
movementHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *resetJoystickHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *zeroRotorSpeedHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *increase_decreaseRotorSpeedHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *neutralRotorModeHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *rotationHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *fireHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *increment_decrementInclinationAngleHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *increment_decrementMissileInitialSpeedHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *frictionEnable_DisableHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *startLoggingHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *stopLoggingHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *updateHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *showHelpHud = popupHelpScreen->createHud(HudAlignment::LEFT);
Hud *hideHelpHud = popupHelpScreen->createHud(HudAlignment::LEFT);
titleHud->setText("Settings");
if (this->configuration->isMouseControl())
mouseHud->setText("Mouse contorl the joystick");
else {
movementHud->setText(
std::string(1, this->configuration->getKeySettings().movingForward) + ", " +
std::string(1, this->configuration->getKeySettings().movingRight) + ", " +
std::string(1, this->configuration->getKeySettings().movingLeft) + ", " +
std::string(1, this->configuration->getKeySettings().movingBackward) +
": moving forward, left, right, backward"
);
}
resetJoystickHud->setText(
std::string(1, this->configuration->getKeySettings().resetJoystick) + ": reset joystick");
zeroRotorSpeedHud->setText(
std::string(1, this->configuration->getKeySettings().zeroRotorSpeed) + ": zero rotor speed");
increase_decreaseRotorSpeedHud->setText(
std::string(1, this->configuration->getKeySettings().increaseRotorSpeed) + "/" +
std::string(1, this->configuration->getKeySettings().decreaseRotorSpeed) + ": +/- rotor speed");
neutralRotorModeHud->setText(
std::string(1, this->configuration->getKeySettings().neutralRotorMode) + ": neutral rotor mode");
rotationHud->setText(
std::string(1, this->configuration->getKeySettings().rotateLeft) + "/" +
std::string(1, this->configuration->getKeySettings().rotateRight) + ": rotate left/right");
fireHud->setText(
std::string(1, this->configuration->getKeySettings().fire) + ": fire");
increment_decrementInclinationAngleHud->setText(
std::string(1, this->configuration->getKeySettings().incrementInclinationAngle) + "/" +
std::string(1, this->configuration->getKeySettings().decrementInclinationAngle) +
": +/- inclination angle");
increment_decrementMissileInitialSpeedHud->setText(
std::string(1, this->configuration->getKeySettings().incrementMissileInitialSpeed) + "/" +
std::string(1, this->configuration->getKeySettings().decrementMissileInitialSpeed) +
+ ": +/- increment missile initial speed");
frictionEnable_DisableHud->setText(
std::string(1, this->configuration->getKeySettings().frictionEnable) + "/" +
std::string(1, this->configuration->getKeySettings().frictionDisable) +
+ ": enable/disable friction");
startLoggingHud->setText(
std::string(1, this->configuration->getKeySettings().startLogging) + ": start logging");
stopLoggingHud->setText(
std::string(1, this->configuration->getKeySettings().stopLogging) + ": stop logging");
updateHud->setText(
std::string(1, this->configuration->getKeySettings().updateKeySettings) + ": updste key settings");
showHelpHud->setText(
std::string(1, this->configuration->getKeySettings().showPopupHelpScreen) + ": show help screen");
hideHelpHud->setText(
std::string(1, this->configuration->getKeySettings().hidePopupHelpScreen) + ": hide help screen");
}
void ScreenOverlay::Register(Hud& _hud)
{
_hud.RegisterElement(*this);
}
Level::Level( int which ) {
Starfield starfield( 350 );
Hud hud;
Timer *timer = Timer::Instance();
Video *video = Video::Instance();
SpriteList *spriteList = SpriteList::Instance();
Ship *player = new Ship(); // the player sprite
bool quit = false;
SDL_Event event;
camera = Camera::Instance();
camera->Follow( player );
player->UseAI( false );
player->IsPlayer( true );
player->SetThrust( 5. );
// add player
spriteList->Add( player );
Ship *test = new Ship( 15, 15 );
spriteList->Add( test );
if( SDL_Init( SDL_INIT_JOYSTICK ) != 0 )
cout << "massive joystick error" << endl; // move to an input class
timer->Reset();
hud.Message( HUD_MSG_COMMAND, "Good morning, pilot." );
while( !quit ) {
// erase
video->Blank();
// update
// get user input
while( SDL_PollEvent( &event ) ) {
switch( event.type ) {
case SDL_QUIT:
quit = true;
break;
case SDL_JOYAXISMOTION:
cout << "joystick motion!" << endl;
if(event.jaxis.which == 0)
player->Turn( (float)-20 * 0.15f );
break;
case SDL_KEYDOWN:
switch( event.key.keysym.sym ) {
case SDLK_ESCAPE:
quit = true;
break;
case SDLK_w:
player->ThrottleUp();
break;
case SDLK_s:
player->ThrottleDown();
break;
default:
break;
}
break;
case SDL_MOUSEMOTION:
if(( event.motion.xrel ) && ( event.motion.xrel != 160 )) {
if( abs(event.motion.xrel) > 20 )
if(event.motion.xrel < 0)
player->Turn( (float)-20 * 0.15f );
else
player->Turn( (float)20 * 0.15f );
else
player->Turn( (float)event.motion.xrel * 0.15f );
}
break;
case SDL_MOUSEBUTTONDOWN:
if( event.button.button == 1) player->Fire();
if( event.button.button == 4) player->ThrottleUp();
if( event.button.button == 5) player->ThrottleDown();
break;
default:
break;
}
}
for( int n = timer->GetLoops(); n ; --n ) {
// update various systems
camera->Update();
starfield.Update();
spriteList->Update();
hud.Update();
}
// draw
starfield.Draw();
spriteList->Draw();
hud.Draw();
video->Update();
timer->Delay();
}
}
int main(int argc, char ** argv)
{
SDL_Surface * psdlsScreen = NULL;
SDL_Surface * psdlsWMIcon = NULL;
int nVideoMode = MODE_WINDOWED;
bool bDone = false;
char szFilename[512] = {"default.lvl\0"};
Level level("fuckyou");
Cursor cursor(0, 0);
Hud hud;
// deal with command line shit
if(argc > 2)
{
ShowUsage();
exit(1);
}
if(argc == 2)
{
if(!strcmp("--help", argv[1]) || !strcmp("-h", argv[1]) || !strcmp("-help", argv[1]))
{
ShowUsage();
exit(0);
}
sprintf(szFilename, "%s", argv[1]);
if(!level.ReadFromFile(szFilename))
fprintf(stderr, "Couldn't read level from: %s, assuming file doesn't exist yet\n", szFilename);
else
fprintf(stderr, "Level read successfully from: %s\n", szFilename);
}
else
fprintf(stderr, "No file name specified, using: %s\n", szFilename);
InitSDL();
// SetVideoMode(psdlsScreen, nVideoMode);
fprintf(stderr, "Setting window icon... ");
psdlsWMIcon = SDL_LoadBMP(LoadResource("bomn32.bmp", RESOURCE_GRAPHIC));
if(psdlsWMIcon)
{
Uint32 colorkey;
colorkey = SDL_MapRGB(psdlsWMIcon->format, 0, 0, 0);
SDL_SetColorKey(psdlsWMIcon, SDL_SRCCOLORKEY, colorkey);
SDL_WM_SetIcon(psdlsWMIcon, NULL);
fprintf(stderr, "Success!\n");
}
else
fprintf(stderr, "AW JUNK! Something fishy happened...\n");
// can't f*****g use SetVideoMode here, for SOME REASON
fprintf(stderr, "Setting video mode to 800x600 %s mode... ", (nVideoMode == MODE_WINDOWED ? "windowed" : "fullscreen"));
SDL_WM_SetCaption("Bomns for Linux Level Editor", "Bomns for Linux Level Editor");
if(nVideoMode == MODE_WINDOWED)
psdlsScreen = SDL_SetVideoMode(800, 600, 0, SDL_HWSURFACE | SDL_DOUBLEBUF);
else if(nVideoMode == MODE_FULLSCREEN)
psdlsScreen = SDL_SetVideoMode(800, 600, 0, SDL_HWSURFACE | SDL_DOUBLEBUF | SDL_FULLSCREEN);
else
QuitWithError("Que?\n");
if(!psdlsScreen)
QuitWithError("Error setting GODDAM VIDEO MODE... for some f*****g reason!\n");
else
fprintf(stderr, "Success!\n");
SDL_ShowCursor(false);
// do this here so the surfaces can read the display format
cursor.CreateSurfaces();
hud.CreateSurfaces();
level.CreateSurfaces();
// main input loop
while(!bDone)
{
SDL_Event sdleEvent;
Uint8 * anKeyState = NULL;
Uint8 nMouseState = 0;
while(SDL_PollEvent(&sdleEvent))
{
if(sdleEvent.type == SDL_QUIT)
bDone = true;
// TODO: use relative mouse motion so it doesn't jump around
if(sdleEvent.type == SDL_MOUSEMOTION)
cursor.SetPosition(sdleEvent.motion.x / 10, sdleEvent.motion.y / 10);
// process mouse input
nMouseState = SDL_GetMouseState(NULL, NULL);
if(nMouseState & SDL_BUTTON_LMASK)
cursor.StampCurrentObject(&level);
if(nMouseState & SDL_BUTTON_RMASK)
cursor.DeleteUnderCursor(&level);
if(sdleEvent.type == SDL_MOUSEBUTTONDOWN)
{
switch(sdleEvent.button.button)
{
case SDL_BUTTON_WHEELUP:
cursor.ForwardObject();
break;
case SDL_BUTTON_WHEELDOWN:
cursor.BackwardObject();
break;
}
}
// process keyboard state data
anKeyState = SDL_GetKeyState(NULL);
if(anKeyState[SDLK_UP])
cursor.MoveUp();
if(anKeyState[SDLK_DOWN])
cursor.MoveDown();
if(anKeyState[SDLK_LEFT])
cursor.MoveLeft();
if(anKeyState[SDLK_RIGHT])
cursor.MoveRight();
if(anKeyState[SDLK_SPACE] || anKeyState[SDLK_RETURN] || anKeyState[SDLK_s])
cursor.StampCurrentObject(&level);
if(anKeyState[SDLK_DELETE] || anKeyState[SDLK_d])
cursor.DeleteUnderCursor(&level);
if(anKeyState[SDLK_PAGEUP])
cursor.ForwardObject();
if(anKeyState[SDLK_PAGEDOWN])
cursor.BackwardObject();
// 1 - 9 keys select object
if(anKeyState[SDLK_1])
cursor.SelectObject(0);
if(anKeyState[SDLK_2])
cursor.SelectObject(1);
if(anKeyState[SDLK_3])
cursor.SelectObject(2);
if(anKeyState[SDLK_4])
cursor.SelectObject(3);
if(anKeyState[SDLK_5])
cursor.SelectObject(4);
if(anKeyState[SDLK_6])
cursor.SelectObject(5);
if(anKeyState[SDLK_7])
cursor.SelectObject(6);
if(anKeyState[SDLK_8])
cursor.SelectObject(7);
if(anKeyState[SDLK_9])
cursor.SelectObject(8);
// buttons that should only be pressed, never held down (keyboard event data)
if(sdleEvent.key.state == SDL_PRESSED)
{
switch(sdleEvent.key.keysym.sym)
{
case SDLK_ESCAPE:
bDone = true;
break;
case SDLK_f:
nVideoMode = !nVideoMode;
SetVideoMode(psdlsScreen, nVideoMode);
break;
case SDLK_l:
char szTmp[520];
sprintf(szTmp, "bomns %s", szFilename);
if(!level.WriteToFile(szFilename))
fprintf(stderr, "Error writing level to: %s\n", szFilename);
else
fprintf(stderr, "Level written successfully to: %s\n", szFilename);
// can't do this while editor is in fullscreen without a pretty big crash
if(nVideoMode == MODE_FULLSCREEN) // not changing the nVideoMode variable so down there...
SetVideoMode(psdlsScreen, MODE_WINDOWED);
fprintf(stderr, "Launching level in bomns...\n");
system(szTmp);
fprintf(stderr, "Back to editing!\n");
if(nVideoMode == MODE_FULLSCREEN) // ...we can just read it again and change accordingly
SetVideoMode(psdlsScreen, nVideoMode);
break;
case SDLK_F2:
if(!level.WriteToFile(szFilename))
fprintf(stderr, "Error writing level to: %s\n", szFilename);
else
fprintf(stderr, "Level successfully written to: %s\n", szFilename);
break;
case SDLK_F12: // clear the level... F12 is hard to hit by mistake, right?
level.DeleteLevel();
break;
default:
break;
}
}
} // SDL_PollEvent
ClearSurface(psdlsScreen);
if(!level.DrawLevel(psdlsScreen))
QuitWithError("Error drawing level to screen!\n");
if(!hud.DrawHUD(psdlsScreen, 0, 580))
QuitWithError("Error drawing HUD to screen!\n");
if(!cursor.DrawCursor(psdlsScreen))
QuitWithError("Error drawing cursor to screen!\n");
SDL_Flip(psdlsScreen);
} // while(!bDone)
ShutDown();
return 0;
}
void baro_airspeed_handler(const lcm_recv_buf_t *rbuf, const char* channel, const lcmt_baro_airspeed *msg, void *user) {
Hud *hud = (Hud*)user;
hud->SetAirspeed(msg->airspeed);
}
int main(int argc, char **argv) {
srand(static_cast<unsigned int>(time(nullptr))); //seed random number generator with the current time
if (SDL_Init(SDL_INIT_EVERYTHING) != 0) {
logSDLError("SDL_Init");
}
if ((IMG_Init(IMG_INIT_PNG) & IMG_INIT_PNG) != IMG_INIT_PNG) {
logSDLError("IMG_Init");
}
if (TTF_Init() == -1) {
logSDLError("TTF_Init");
}
SDL_Window *window = SDL_CreateWindow("Pong", SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED,
SCREEN_WIDTH, SCREEN_HEIGHT, SDL_WINDOW_SHOWN);
if (window == nullptr) {
logSDLError("CreateWindow");
}
//SDL_Renderer *renderer = SDL_CreateRenderer(window, -1, SDL_RENDERER_ACCELERATED | SDL_RENDERER_PRESENTVSYNC);
SDL_Renderer *renderer = SDL_CreateRenderer(window, -1, SDL_RENDERER_ACCELERATED);
if (renderer == nullptr) {
logSDLError("CreateRenderer");
}
FpsTracker fpsTracker(100);
WorldState currentWorldState;
World *world = new World(renderer, SCREEN_WIDTH, SCREEN_HEIGHT, currentWorldState);
world->startRound(currentWorldState);
WorldState previousWorldState=currentWorldState;
Hud *hud = new Hud(renderer, SCREEN_WIDTH, SCREEN_HEIGHT);
drawUI(hud, currentWorldState);
float dt = PHYSICS_TIMESTEP;
Uint64 currentTime = SDL_GetPerformanceCounter();
float accumulator = 0;
bool quit = false;
SDL_Event event;
while (!quit) {
const Uint64 newTime = SDL_GetPerformanceCounter();
float deltaTime = static_cast<float>(newTime - currentTime) / SDL_GetPerformanceFrequency(); //aka time for this frame
currentTime = newTime;
if (deltaTime > 0.25f) {
std::cout << "limiting delta time to 0.25f" << std::endl;
deltaTime = 0.25f; // anti "spiral of death" / breakpoints
}
accumulator += deltaTime;
int simCount = 0;
while (accumulator >= dt) {
accumulator -= dt;
previousWorldState = currentWorldState;
world->update(currentWorldState, dt); //aka integrate
if (currentWorldState.humanScore != previousWorldState.humanScore
|| currentWorldState.opponentScore != previousWorldState.opponentScore) {
drawUI(hud, currentWorldState);
}
++simCount;
}
if (simCount > 1) {
std::cout << "Simulated multiple steps:" << simCount << std::endl;
}
WorldState lerped = WorldState::lerpBetween(previousWorldState, currentWorldState, accumulator/dt);
drawFps(hud, static_cast<int>(1 / fpsTracker.calculateAverageFrameTime(deltaTime)));
SDL_SetRenderDrawColor(renderer, 0, 0, 0, 0);
SDL_RenderClear(renderer);
world->render(lerped);
hud->render();
SDL_RenderPresent(renderer);
//TODO figure out where user input handling should go. @see http://gamedev.stackexchange.com/questions/8623/a-good-way-to-build-a-game-loop-in-opengl
while (SDL_PollEvent(&event)) {
switch(event.type) {
case SDL_QUIT:
quit = true;
break;
case SDL_KEYDOWN:
switch(event.key.keysym.scancode) {
case SDL_SCANCODE_ESCAPE:
quit = true;
break;
}
break;
}
}
}
std::cout << "Quitting" << std::endl;
//cleanup
delete hud;
delete world;
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
TTF_Quit();
IMG_Quit();
SDL_Quit();
return 0;
}
void battery_status_handler(const lcm_recv_buf_t *rbuf, const char* channel, const lcmt_battery_status *msg, void *user) {
Hud *hud = (Hud*)user;
hud->SetBatteryVoltage(msg->voltage);
}
// ***************************************************** //
void TextRender::Register(Hud& _hud)
{
_hud.AddTextRender(this);
}
int main(int argc, char* args[])
{
enum {MENU, RUNNING, GAMEOVER, END};
int state = MENU;
int score = 0;
int deaths = 0;
//Holds all game objects vectors
vector<Net *> nets;
vector<Coral *> corals;
vector<School *> schools;
vector<SceneryFish *> sceneryFish;
vector<GobblerFish *> gobblerFish;
//back buffer || bit messy can clean up
System system("Fishy Game", false, 640, 480, 32, 60);
if (!system.Setup())
{
MessageBox(NULL, "SDL DID NOT INITIALISE PROPERLY", NULL, MB_OK);
return -1;
}
SDL_Surface* buffer = system.GetBuffer();
Timer timer;
Timer delta;
Camera camera(640, 480);
Level level;
Menu menu;
Hud hud;
School* school;
Net* net = NULL;
Coral* coral = NULL;
Mix_Music *music = NULL;
Fish fish("Sprites/Player_Spritesheet.bmp", 64, 64, 0, 0, 200, 200);
level.LoadLevel(fish, corals, nets, sceneryFish, gobblerFish);
music = Mix_LoadMUS( "Sounds/DST-Aethereal.wav" );
delta.Start();
while(!system.Done())
{
srand(time(NULL));
if(Mix_PlayingMusic () == 0)
{
Mix_PlayMusic(music, -1);
}
switch(state)
{
case MENU:
state = (menu.Update( delta, system.GetEvent()));
menu.Draw(buffer, camera);
break;
case RUNNING:
hud.Update(score, deaths );
//update
fish.Update( delta.GetTicks() );
for( int c = 0; c < corals.size(); c++)
{
corals[c]->Update(delta.GetTicks());
}
for( int i = 0; i < schools.size(); i++)
{
schools[i]->Update( delta.GetTicks(), fish, corals);
for(int j = 0; j < 3; j++)
{
if(schools[i]->GetFish(j)->GetEaten()
&& (!schools[i]->GetFish(j)->GetScored()))
{
deaths += 1;
schools[i]->GetFish(j)->SetScored(true);
}
if(schools[i]->GetFish(j)->GetSaved()
&& (!schools[i]->GetFish(j)->GetScored()))
{
score += 10;
schools[i]->GetFish(j)->SetScored(true);
}
}
}
for( int g = 0; g < gobblerFish.size(); g++)
{
gobblerFish[g]->Update(delta.GetTicks(), schools);
}
for( int i = 0; i < nets.size(); i++)
{
nets[i]->Update(delta.GetTicks(), fish);
if(nets[i]->GetReleased())
{
school = NULL;
school = new School("Sprites/Player_SpriteSheet.bmp",
nets[i]->GetOffsetX(), nets[i]->GetOffsetY());
schools.push_back(school);
}
}
for( int f = 0; f < sceneryFish.size(); f++)
{
sceneryFish[f]->Update(delta.GetTicks(), fish);
}
camera.Update(fish.GetPosX(), fish.GetPosY(), fish.GetWidth(), fish.GetHeight());
//Draw background first
level.DrawBackdrop( buffer, camera );
for( int f = 0; f < sceneryFish.size(); f++)
{
sceneryFish[f]->Draw( buffer, camera);
}
for(int s = 0; s < schools.size(); s++)
{
schools[s]->Draw( buffer, camera );
}
level.DrawBackground( buffer, camera );
for(int i = 0; i < nets.size(); i++)
{
nets[i]->Draw( buffer, camera );
}
fish.Draw( buffer, camera );
for(int g = 0; g < gobblerFish.size(); g++)
{
gobblerFish[g]->Draw( buffer, camera );
}
for(int c = 0; c < corals.size(); c++)
{
corals[c]->Draw( buffer, camera );
}
level.DrawForeground( buffer, camera );
hud.Draw( buffer );
if(hud.GetTime() <= 0)
{
state = GAMEOVER;
}
break;
case GAMEOVER:
if(!timer.GetStarted())
{
timer.Start();
}
menu.DrawGameOver( buffer, hud.GetScore(), hud.GetDeaths());
if(timer.GetTicks() >= 5000)
{
state = MENU;
for(int i = 0; i < schools.size(); i++)
{
delete schools[i];
}
schools.clear();
score = 0;
deaths = 0;
hud.Reset();
level.ResetLevel(fish, corals, nets, sceneryFish, gobblerFish);
timer.Stop();
}
break;
case END:
Mix_FreeMusic(music);
delete net;
delete coral;
system.CleanUp(buffer);
return 0;
break;
}
delta.Start();
SDL_Flip( buffer );
SDL_FillRect(buffer, NULL, SDL_MapRGB(buffer->format, 0, 0, 0));
}
if(net != NULL)
{
delete net;
}
if(coral != NULL)
{
delete coral;
}
system.CleanUp(buffer);
return 0;
}
