/**
* @brief Main thread function for Proxy166.
* Runs forever, until MyTaskInitialized is false.
*
* @todo Update DS switch array
*/
int Proxy166::Main( int a2, int a3, int a4, int a5,
int a6, int a7, int a8, int a9, int a10) {
Robot166 *lHandle = NULL;
#if LoggingProxy
ProxyLog sl;
#endif
WaitForGoAhead();
lHandle = Robot166::getInstance();
#if LoggingProxy
lHandle->RegisterLogger(&sl);
#endif
Timer debugTimer;
debugTimer.Start();
ProxyJoystick old_sticks[NUMBER_OF_JOYSTICKS+1];
while(MyTaskInitialized) {
if(lHandle->IsOperatorControl() && true == AreSettingJoysticks()) {
for(int x = 0;x<NUMBER_OF_JOYSTICKS;x++) {
old_sticks[x] = GetJoystick(x);
}
SetJoystick(1, driveStickRight);
SetJoystick(2, driveStickLeft);
SetJoystick(3, driveStickCopilot);
if(tracker.size() > 0) {
vector<int>::iterator it = tracker.begin();
while(it != tracker.end()) {
int joy_id = *it;
int button_id = *(it+1);
bool old_button = old_sticks[joy_id].button[button_id];
bool new_button = GetButton(joy_id, button_id);
if(old_button == 1 && new_button == 0) {
// The button was previously pressed, but is now released
(*(it+2))++; // Increase the counter
}
it += 3;
}
}
if(debugTimer.HasPeriodPassed(1.0)) {
// Debug info
}
}
SetBattery(lHandle->GetBatteryVoltage());
#if LoggingProxy
sl.PutOne(Battery, GetJoystick(1), GetJoystick(2), GetJoystick(3));
#endif
// The task ends if it's not initialized
WaitForNextLoop();
}
return 0;
}
/**
* @brief Main thread function for Proxy166.
* Runs forever, until MyTaskInitialized is false.
*
* @todo Update DS switch array
*/
int Proxy::Main( int a2, int a3, int a4, int a5,
int a6, int a7, int a8, int a9, int a10) {
Robot *lHandle = NULL;
WaitForGoAhead();
lHandle = Robot::getInstance();
Timer matchTimer;
while(MyTaskInitialized) {
setNewpress();
if(lHandle->IsOperatorControl() && lHandle->IsEnabled()) {
if(manualDSIO) {
SetEnhancedIO();
}
if(manualJoystick[0]) {
SetJoystick(1, stick1);
}
if(manualJoystick[1]) {
SetJoystick(2, stick2);
}
if(manualJoystick[2]) {
SetJoystick(3, stick3);
}
if(manualJoystick[3]) {
SetJoystick(4, stick4);
}
}
if(!lHandle->IsEnabled()) {
matchTimer.Reset();
// It became disabled
matchTimer.Stop();
set("matchtimer",0);
} else {
// It became enabled
matchTimer.Start();
if(lHandle->IsAutonomous()) {
set("matchtimer",max( 15 - matchTimer.Get(),0));
} else {
set("matchtimer",max(120 - matchTimer.Get(),0));
}
}
// The task ends if it's not initialized
WaitForNextLoop();
}
return 0;
}
void TankLogic::MakeMove(Consoden::TankGame::GameStatePtr gameState)
{
GameMap gm(m_ownTankId, gameState);
auto currentPosition=gm.OwnPosition();
auto enemyPosition=gm.EnemyPosition();
BfsHelper bfs(gameState, currentPosition);
Consoden::TankGame::Direction::Enumeration moveDirection;
// Look for powerups and enemy
int enemySteps = 20000;
if (bfs.CanReachSquare(enemyPosition)) {
enemySteps = bfs.StepsToSquare(enemyPosition);
}
int powerUpSteps = 20000;
std::pair<int,int> powerUpPos;
for (int x = 0; x < gm.SizeX(); x++) {
for (int y = 0; y < gm.SizeY(); y++) {
std::pair<int,int> pos = std::make_pair(x, y);
if (!bfs.CanReachSquare(pos)) {
continue;
}
if ((gm.IsLaserAmmo(pos) || gm.IsRedeemerAmmo(pos) || gm.IsSmokeGrenade(pos)) && powerUpSteps > bfs.StepsToSquare(pos)) {
powerUpSteps = bfs.StepsToSquare(pos);
powerUpPos = pos;
}
}
}
if (powerUpSteps < enemySteps) {
// It is possible to get a power up, do it
moveDirection=bfs.FindDirection(currentPosition, bfs.BacktrackFromSquare(powerUpPos));
} else if (enemySteps < 20000) {
// It is possible to move all the way to the enemy, do it
moveDirection=bfs.FindDirection(currentPosition, bfs.BacktrackFromSquare(enemyPosition));
} else {
//Find an empty sqaure we can move to, otherwise stand still
moveDirection=Consoden::TankGame::Direction::Neutral;
if (!gm.IsWall(gm.Move(currentPosition, Consoden::TankGame::Direction::Left)) &&
!gm.IsMine(gm.Move(currentPosition, Consoden::TankGame::Direction::Left)))
{
moveDirection=Consoden::TankGame::Direction::Left;
}
else if (!gm.IsWall(gm.Move(currentPosition, Consoden::TankGame::Direction::Right)) &&
!gm.IsMine(gm.Move(currentPosition, Consoden::TankGame::Direction::Right)))
{
moveDirection=Consoden::TankGame::Direction::Right;
}
else if (!gm.IsWall(gm.Move(currentPosition, Consoden::TankGame::Direction::Up)) &&
!gm.IsMine(gm.Move(currentPosition, Consoden::TankGame::Direction::Up)))
{
moveDirection=Consoden::TankGame::Direction::Up;
}
else if (!gm.IsWall(gm.Move(currentPosition, Consoden::TankGame::Direction::Down)) &&
!gm.IsMine(gm.Move(currentPosition, Consoden::TankGame::Direction::Down)))
{
moveDirection=Consoden::TankGame::Direction::Down;
}
}
// Evaluate firing direction
int opponent_x = gm.EnemyPosition().first;
int opponent_y = gm.EnemyPosition().second;
int player_x = gm.OwnPosition().first;
int player_y = gm.OwnPosition().second;
int x_distance;
int x_wrap_distance;
Consoden::TankGame::Direction::Enumeration x_direction;
int y_distance;
int y_wrap_distance;
Consoden::TankGame::Direction::Enumeration y_direction;
Consoden::TankGame::Direction::Enumeration tower_direction;
if (opponent_x > player_x) {
// opponent to the right
x_distance = opponent_x - player_x;
x_wrap_distance = player_x - opponent_x + gm.SizeX();
if (x_distance < x_wrap_distance || !bfs.CanWrapX()) {
x_direction = Consoden::TankGame::Direction::Right; //Shortest linear path to enemy is right
} else {
x_direction = Consoden::TankGame::Direction::Left; //Shortest linear path to enemy is left
x_distance = x_wrap_distance;
}
} else {
// opponent to the left
x_distance = player_x - opponent_x;
x_wrap_distance = opponent_x - player_x + gm.SizeX();
if (x_distance < x_wrap_distance || !bfs.CanWrapX()) {
x_direction = Consoden::TankGame::Direction::Left; //Shortest linear path to enemy is left
} else {
x_direction = Consoden::TankGame::Direction::Right; //Shortest linear path to enemy is right
x_distance = x_wrap_distance;
}
}
if (opponent_y > player_y) {
// opponent is down
y_distance = opponent_y - player_y;
y_wrap_distance = player_y - opponent_y + gm.SizeY();
if (y_distance < y_wrap_distance || !bfs.CanWrapY()) {
y_direction = Consoden::TankGame::Direction::Down; //Shortest linear path to enemy is down
} else {
y_direction = Consoden::TankGame::Direction::Up; //Shortest linear path to enemy is up
y_distance = y_wrap_distance;
}
} else {
// opponent is up
y_distance = player_y - opponent_y;
y_wrap_distance = opponent_y - player_y + gm.SizeY();
if (y_distance < y_wrap_distance || !bfs.CanWrapY()) {
y_direction = Consoden::TankGame::Direction::Up; //Shortest linear path to enemy is up
} else {
y_direction = Consoden::TankGame::Direction::Down; //Shortest linear path to enemy is down
y_distance = y_wrap_distance;
}
}
if (x_distance > y_distance) {
tower_direction = x_direction;
} else {
tower_direction = y_direction;
}
// Firing logic
bool fire = false;
bool fire_redeemer = false;
int redemer_timer = 3;
bool fire_laser = false;
bool deploy_smoke = false;
bool drop_mine = false;
if (gm.HasSmoke()) {
deploy_smoke = true;
}
if (gm.HasRedeemer()) {
fire_redeemer = true;
fire = true;
redemer_timer = 4;
} else if (gm.LaserAmmoCount() > 0) {
fire_laser = true;
fire = true;
// Stand still to fire laser
moveDirection = Consoden::TankGame::Direction::Neutral;
} else {
// Go for regular missile
fire = true;
}
//Sometimes we also drop a mine
drop_mine=(static_cast<int>(gameState->ElapsedTime().GetVal()) % 3)==0;
//Move our joystick.
SetJoystick(moveDirection, tower_direction, fire, drop_mine, fire_laser,deploy_smoke,fire_redeemer, redemer_timer);
}
