void BPlusTree::remove(int val) {
if (!root) {
// tree is empty
throw new std::exception();
}
BTreeNode *tp = root;
while (!tp->isLeaf) {
for(ListNode* lp = tp->children.begin(); lp->next; lp = lp->next) {
if (val < lp->index) {
tp = lp->child;
break;
}
}
}
tp->children.remove(val);
// if less then A*D keys are in this Node take fuse
if (tp->children.getLength() <= D*A) {
if (tp->lbro && tp->lbro->children.getLength() > D*A+1) {
share(tp, tp->lbro);
} else if (tp->rbro && tp->rbro->children.getLength() > D*A+1) {
share(tp, tp->rbro);
} else if (tp->lbro && tp->lbro->children.getLength() <= D*A+1) {
fuse(tp, tp->lbro);
} else if (tp->rbro && tp->rbro->children.getLength() <= D*A+1) {
fuse(tp, tp->rbro);
} else {
for(ListNode *lp = tp->children.begin(); lp; lp = lp->next) {
tp->parent->children.insert(lp->index, lp->child);
}
}
}
}
/*
* whgtchk:
* See if the hero can carry his pack
*/
void
wghtchk(void)
{
reg int dropchk, err = TRUE;
reg int ch;
inwhgt = TRUE;
if (pstats.s_pack > pstats.s_carry) {
ch = CCHAR( mvwinch(stdscr, hero.y, hero.x) );
if((ch != FLOOR && ch != PASSAGE)) {
extinguish(wghtchk);
fuse(wghtchk,(void *)TRUE,1,AFTER);
inwhgt = FALSE;
return;
}
extinguish(wghtchk);
msg("Your pack is too heavy for you.");
do {
dropchk = drop(NULL);
if(dropchk == 0) {
mpos = 0;
msg("You must drop something.");
}
if(dropchk == TRUE)
err = FALSE;
} while(err);
}
inwhgt = FALSE;
}
FuelUses ErrorEstimation::getUses(const std::string &t_sourceName, const isomodel::UserModel &t_userModel, const isomodel::ISOResults &t_results) const
{
auto itr = m_confidences.find(t_sourceName);
if (itr == m_confidences.end())
{
throw std::runtime_error("Unknown source name, no registered confidence level");
}
FuelUses retval(itr->second);
std::vector<EndUseFuelType> fuelTypes = EndUses::fuelTypes();
for (const auto & fuelType : fuelTypes)
{
double value = 0;
for (const auto & monthlyResult : t_results.monthlyResults)
{
value += monthlyResult.getEndUseByFuelType(fuelType);
}
LOG(Debug, "Read fuel use of " << value << " For " << fuelType.valueName());
try {
// the fuel uses in this case seem to be stored in kWh/m2
FuelUse fuse(openstudio::FuelType(fuelType.valueName()), value * 3600000 * t_userModel.floorArea(), *openstudio::createUnit("J"));
retval += fuse;
} catch (const std::exception &e) {
LOG(Error, "Unmatched fuel type " << e.what());
}
}
return retval;
}
FuelUses ErrorEstimation::getUses(const std::string &t_sourceName, const SqlFile &t_sql) const
{
auto itr = m_confidences.find(t_sourceName);
if (itr == m_confidences.end())
{
throw std::runtime_error("Unknown source name, no registered confidence level");
}
std::vector<SummaryData> sd = t_sql.getSummaryData();
FuelUses retval(itr->second);
for (std::vector<SummaryData>::const_iterator itr = sd.begin();
itr != sd.end();
++itr)
{
if (itr->reportingFrequency == openstudio::ReportingFrequency::Hourly)
{
FuelUse fuse(itr->fuelType, itr->value, itr->units);
retval += fuse;
}
}
return retval;
}
void AHRSClass::update(float dt)
{
getSensors();
MerayoCalibClass::apply(&scaledSensorData.x, &scaledSensorData.y, &scaledSensorData.z, &accCalibData);
fuse(dt);
transformOrientation();
}
/*
* main:
* The main program, of course
*/
int main(int argc, char **argv)
{
md_init();
initJedi();
/*
* get home and options from environment
*/
#ifdef __linux__
strcpy(file_name, "/var/lib/griffin/rogue.save");
#else
strcpy(file_name, "rogue.save");
#endif
open_score();
/*
* check for print-score option
*/
if (argc == 2)
{
if (strcmp(argv[1], "-s") == 0)
{
score(0, -1, 0);
exit(0);
}
}
init_check(); /* check for legal startup */
restore("-r");
init_probs(); /* Set up prob tables for objects */
init_player(); /* Set up initial player stats */
init_names(); /* Set up names of scrolls */
init_colors(); /* Set up colors of potions */
init_stones(); /* Set up stone settings of rings */
init_materials(); /* Set up materials of wands */
setup();
displayMessage("WELCOME TO THE DUNGEONS OF DOOM");
new_level(); /* Draw current level */
/*
* Start up daemons and fuses
*/
start_daemon(runners, 0, AFTER);
start_daemon(doctor, 0, AFTER);
fuse(swander, 0, WANDERTIME, AFTER);
start_daemon(stomach, 0, AFTER);
playit();
return(0);
}
static void PointsImageCallback(const autoware_msgs::PointsImage& points_image)
{
sensor_header = points_image.header;
setPointsImage(points_image);
if (ready_) {
fuse();
publishTopic();
ready_ = false;
return;
}
ready_ = true;
}
static void DetectedObjectsCallback(const autoware_msgs::ImageObj& image_object)
{
sensor_header = image_object.header;
setDetectedObjects(image_object);
if (ready_) {
fuse();
publishTopic();
ready_ = false;
return;
}
ready_ = true;
}
rollwand()
{
if (++between >= 4)
{
if (roll(1, 6) == 4)
{
wanderer();
kill_daemon(rollwand);
fuse(swander, 0, WANDERTIME, BEFORE);
}
between = 0;
}
}
void CommunicationInterface::handleMessage(std::shared_ptr<Message> message)
{
auto entity = message->getEntity();
_log->info("Received Message with id '%v' from %v", std::to_string(message->getId()), entity->toString());
entity->setActiveTimestamp();
switch (message->getId())
{
case (SCMD_IDS_REQUEST):
this->onRequestIds(entity);
break;
case (SCMD_IDS_RESPONSE):
{
entity->fuse(std::static_pointer_cast<IdMessage>(message)->getIds());
entity->checkIce();
break;
}
case (SCMD_ID_REQUEST):
// TODO
break;
case (SCMD_ID_RESPONSE):
// TODO
break;
case (SCMD_OFFERS_REQUEST):
this->onRequestOffers(entity);
break;
case (SCMD_OFFERS_RESPONSE):
entity->addOfferedInformation(std::static_pointer_cast<OffersMessage>(message)->getOfferes());
break;
case (SCMD_INFORMATION_REQUEST):
this->onRequestInformation(entity, std::static_pointer_cast<RequestMessage>(message)->getRequests());
break;
case (SCMD_INFORMATION_RESPONSE):
this->onInformation(entity, std::static_pointer_cast<InformationMessage>(message)->getInformations());
break;
default:
_log->error("Unknown command '%v', message will be skipped", std::to_string(message->getId()));
break;
}
}
/*
* rollwand:
* Called to roll to see if a wandering monster starts up
*/
void
rollwand(void)
{
if (++between >= 4)
{
/* Theives may not awaken a monster */
if ((roll(1, 6) == 4) &&
((player.t_ctype != C_THIEF) || (rnd(30) >= pstats.s_dext))) {
if (levtype != POSTLEV)
wanderer();
kill_daemon(rollwand);
fuse(swander, 0, WANDERTIME, BEFORE);
}
between = 0;
}
}
TopoDS_Shape Fuse::execute(const TopoDS_Shape& shape1, const TopoDS_Shape& shape2) const
{
try
{
BRepAlgoAPI_Fuse fuse(shape1, shape2);
return fuse.Shape();
}
catch(const StdFail_NotDone& ex)
{
throw Common::Exception(QObject::tr("Ошибка выполнения операции"));
}
catch(const Standard_ConstructionError&)
{
throw Common::Exception(QObject::tr("Невозможно создать фигуру"));
}
}
void IdentityRequest::onResponsIds(std::shared_ptr<IdMessage> const &message)
{
if (this->stateIR != IdentityRequestState::IRS_REQUEST_IDS && this->stateIR != IdentityRequestState::IRS_RESPONS_IDS)
{
_log->warn("Received ids message in wrong state '%v' from '%v'", this->stateIR, entity->toString());
return;
}
// duplicated message
if (this->stateIR == IdentityRequestState::IRS_RESPONS_IDS
&& false == this->timeFactory->checkTimeout(this->timestampLastActive, 100))
{
_log->debug("Received duplicated ids message from '%v'", entity->toString());
return;
}
_log->info("Received ids from %v", this->entity->toString());
this->updateActiveTime();
this->stateIR = IdentityRequestState::IRS_RESPONS_IDS;
auto entity = message->getEntity();
entity->fuse(message->getIds());
entity->checkDirectory();
bool hasIri = entity->getId(EntityDirectory::ID_ONTOLOGY, this->iri);
// if not an ice engine stop here
if (false == hasIri)
{
this->finish();
return;
}
// ontology iris known?
if (entity->getOntologyIds().size() > 0)
{
this->checkOntologyIris();
return;
}
// request ontology ids
this->stateIR = IdentityRequestState::IRS_REQUEST_ONT_IRI;
this->sendCommand(IceMessageIds::IMI_ONTOLOGY_IDS_REQUEST);
this->state = CJState::CJ_WAITING;
}
void
do_pot(int type, bool knowit)
{
PACT *pp;
int t;
pp = &p_actions[type];
if (!pot_info[type].oi_know)
pot_info[type].oi_know = knowit;
t = spread(pp->pa_time);
if (!on(player, pp->pa_flags))
{
player.t_flags |= pp->pa_flags;
fuse(pp->pa_daemon, 0, t, AFTER);
look(FALSE);
}
else
lengthen(pp->pa_daemon, t);
msg(choose_str(pp->pa_high, pp->pa_straight));
}
bool ElevationMap::fuseArea(const Eigen::Vector2d& position, const Eigen::Array2d& length)
{
ROS_DEBUG("Requested to fuse an area of the elevation map with center at (%f, %f) and side lengths (%f, %f)",
position[0], position[1], length[0], length[1]);
Index topLeftIndex;
Index submapBufferSize;
// These parameters are not used in this function.
Position submapPosition;
Length submapLength;
Index requestedIndexInSubmap;
boost::recursive_mutex::scoped_lock scopedLock(fusedMapMutex_);
getSubmapInformation(topLeftIndex, submapBufferSize, submapPosition, submapLength,
requestedIndexInSubmap, position, length, rawMap_.getLength(),
rawMap_.getPosition(), rawMap_.getResolution(), rawMap_.getSize(),
rawMap_.getStartIndex());
return fuse(topLeftIndex, submapBufferSize);
}
/*
* quaff:
* Let the hero drink a potion
*/
int quaff()
{
struct object *obj;
struct linked_list *item, *titem;
struct thing *th;
int wh;
char buf[LINLEN];
bool bless, curse;
/*
* Make certain that it is somethings that we want to drink
*/
if ((item = get_item("quaff", POTION)) == NULL)
return 0;
obj = OBJPTR(item);
if (obj->o_type != POTION) {
msg("That's undrinkable!");
after = FALSE;
return 0;
}
wh = obj->o_which;
bless = o_on(obj, ISBLESS);
curse = o_on(obj, ISCURSED);
del_pack(item); /* get rid of it */
/*
* Calculate the effect it has on the poor guy.
*/
switch(wh) {
case P_CONFUSE:
if (!bless) {
if (pl_on(ISINVINC))
msg("You remain level-headed.");
else {
chg_abil(WIS,-1,TRUE); /* confuse his mind */
if (pl_off(ISHUH)) {
msg("Wait, what's going on here. Huh? What? Who?");
if (pl_on(ISHUH))
lengthen(unconfuse,rnd(8)+HUHDURATION);
else
fuse(unconfuse,TRUE,rnd(8)+HUHDURATION);
player.t_flags |= ISHUH;
}
}
p_know[P_CONFUSE] = TRUE;
}
when P_POISON:
if (!bless) {
if (pl_off(ISINVINC) && !iswearing(R_SUSTSTR) &&
!iswearing(R_SUSAB)) {
chg_abil(CON,-1,TRUE);
chg_abil(STR,-(rnd(3)+1),TRUE);
msg("You feel very sick now.");
}
else
msg("You feel momentarily sick.");
p_know[P_POISON] = TRUE;
}
when P_HEALING:
if (!curse) {
heal_self(4, TRUE);
msg("You begin to feel better.");
if (!iswearing(R_SLOW))
notslow(FALSE);
sight(FALSE);
p_know[P_HEALING] = TRUE;
}
when P_STRENGTH:
if (!curse) {
msg("You feel stronger, now. What bulging muscles!");
chg_abil(STR,1,TRUE);
p_know[P_STRENGTH] = TRUE;
}
when P_MFIND:
/*
* Potion of monster detection - find all monsters
*/
if (mlist != NULL && !curse) {
dispmons();
mpos = 0;
msg("You begin to sense the presence of monsters--More--");
p_know[P_MFIND] = TRUE;
wait_for(cw,' ');
msg(""); /* clear line */
}
else
msg("You have a strange feeling for a moment, then it passes.");
when P_TFIND:
/*
* Potion of magic detection. Show the potions and scrolls
*/
if (lvl_obj != NULL && !curse) {
struct linked_list *mobj;
struct object *tp;
bool show;
show = FALSE;
wclear(hw);
for (mobj = lvl_obj; mobj != NULL; mobj = next(mobj)) {
tp = OBJPTR(mobj);
if (is_magic(tp)) {
show = TRUE;
mvwaddch(hw, tp->o_pos.y, tp->o_pos.x, MAGIC);
}
}
for(titem = mlist; titem != NULL; titem = next(titem)) {
struct linked_list *pitem;
th = THINGPTR(titem);
for(pitem=th->t_pack;pitem!=NULL;pitem=next(pitem)) {
if (is_magic(ldata(pitem))) {
show = TRUE;
mvwaddch(hw,th->t_pos.y, th->t_pos.x, MAGIC);
}
}
}
if (show) {
msg("You begin to sense the presence of magic.");
overlay(hw,cw);
p_know[P_TFIND] = TRUE;
break;
}
}
msg("You have a strange feeling for a moment, then it passes.");
when P_PARALYZE:
if (!bless) {
if (pl_on(ISINVINC))
msg("You feel numb for a moment.");
else {
msg("You can't move.");
player.t_nocmd = HOLDTIME;
}
p_know[P_PARALYZE] = TRUE;
}
when P_SEEINVIS:
if (!curse) {
int invlen = roll(40,20);
msg("This potion tastes like %s juice.", fruit);
if (pl_off(CANSEE)) {
player.t_flags |= CANSEE;
fuse(unsee, TRUE, invlen);
light(&hero);
}
else
lengthen(unsee, invlen);
sight(FALSE);
}
when P_RAISE:
if (!curse) {
msg("You suddenly feel much more skillful.");
p_know[P_RAISE] = TRUE;
chg_abil(DEX,1,TRUE);
chg_abil(WIS,1,TRUE);
chg_abil(CON,1,TRUE);
raise_level();
}
when P_XHEAL:
if (!curse) {
heal_self(8, TRUE);
if (rnd(100) < 50)
chg_abil(CON,1,TRUE);
msg("You begin to feel much better.");
p_know[P_XHEAL] = TRUE;
if (!iswearing(R_SLOW))
notslow(FALSE);
unconfuse();
extinguish(unconfuse);
sight(FALSE);
}
when P_HASTE:
if (!curse) {
add_haste(TRUE);
msg("You feel yourself moving much faster.");
p_know[P_HASTE] = TRUE;
}
when P_INVINC:
if (!curse) {
int time = rnd(400) + 350;
msg("You feel invincible.");
if (player.t_flags & ISINVINC)
lengthen(notinvinc,time);
else
fuse(notinvinc,TRUE,time);
player.t_flags |= ISINVINC;
p_know[P_INVINC] = TRUE;
}
when P_SMART:
if (!curse) {
msg("You feel more perceptive.");
p_know[P_SMART] = TRUE;
chg_abil(WIS,1,TRUE);
}
when P_RESTORE:
if (!curse) {
msg("Hey, this tastes great. You feel warm all over.");
him->s_re = max_stats.s_re;
him->s_ef = max_stats.s_re;
ringabil(); /* add in rings */
updpack(); /* update weight */
p_know[P_RESTORE] = TRUE;
extinguish(rchg_str); /* kill restore in from ulodyte */
}
when P_BLIND:
if (!bless) {
if (pl_on(ISINVINC))
msg("The light dims for a moment.");
else {
chg_abil(WIS,-1,TRUE);
msg("A cloak of darkness falls around you.");
if (pl_off(ISBLIND)) {
player.t_flags |= ISBLIND;
fuse(sight, TRUE, rnd(400) + 450);
light(&hero);
}
}
p_know[P_BLIND] = TRUE;
}
when P_ETH:
if (!curse) {
int ethlen = roll(40,20);
msg("You feel more vaporous.");
if (pl_on(ISETHER))
lengthen(noteth,ethlen);
else
fuse(noteth,TRUE,ethlen);
player.t_flags |= ISETHER;
p_know[P_ETH] = TRUE;
}
when P_NOP:
msg("This potion tastes extremely dull.");
when P_DEX:
if (!curse) {
chg_abil(DEX,1,TRUE); /* increase dexterity */
p_know[P_DEX] = TRUE;
msg("You feel much more agile.");
}
when P_REGEN:
if (!curse) {
int reglen = rnd(450) + 450;
if (pl_on(ISREGEN))
lengthen(notregen, reglen);
else
fuse(notregen, TRUE, reglen);
player.t_flags |= ISREGEN;
msg("You feel yourself improved.");
p_know[P_REGEN] = TRUE;
}
when P_DECREP:
case P_SUPHERO: {
int howmuch = rnd(3) + 1;
if (wh == P_DECREP) {
if (!bless) {
if (iswearing(R_SUSAB) || pl_on(ISINVINC)) {
msg("You feel momentarily woozy.");
howmuch = 0;
}
else {
msg("You feel crippled.");
howmuch = -howmuch;
if (!iswearing(R_SUSTSTR))
chg_abil(STR,howmuch,TRUE);
}
}
else
howmuch = 0;
}
else { /* potion of superhero */
if (curse)
howmuch = 0;
msg("You feel invigorated.");
chg_abil(STR,howmuch,TRUE);
}
chg_abil(CON,howmuch,TRUE);
chg_abil(DEX,howmuch,TRUE);
chg_abil(WIS,howmuch,TRUE); /* change abilities */
p_know[wh] = TRUE;
}
otherwise:
msg("What an odd tasting potion!");
return 0;
}
nochange = FALSE;
if (p_know[wh] && p_guess[wh]) {
free(p_guess[wh]);
p_guess[wh] = NULL;
}
else if(!p_know[wh] && p_guess[wh] == NULL) {
strcpy(buf, p_colors[wh]);
msg(callit);
if (get_str(buf, cw) == NORM) {
p_guess[wh] = new(strlen(buf) + 1);
strcpy(p_guess[wh], buf);
}
bool ElevationMap::fuseAll()
{
ROS_DEBUG("Requested to fuse entire elevation map.");
boost::recursive_mutex::scoped_lock scopedLock(fusedMapMutex_);
return fuse(Index(0, 0), fusedMap_.getSize());
}
void Ekf::fuseAirspeed()
{
// Initialize variables
float vn; // Velocity in north direction
float ve; // Velocity in east direction
float vd; // Velocity in downwards direction
float vwn; // Wind speed in north direction
float vwe; // Wind speed in east direction
float v_tas_pred; // Predicted measurement
float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f,
10.0f)); // Variance for true airspeed measurement - (m/sec)^2
float SH_TAS[3] = {}; // Varialbe used to optimise calculations of measurement jacobian
float H_TAS[24] = {}; // Observation Jacobian
float SK_TAS[2] = {}; // Varialbe used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
// Copy required states to local variable names
vn = _state.vel(0);
ve = _state.vel(1);
vd = _state.vel(2);
vwn = _state.wind_vel(0);
vwe = _state.wind_vel(1);
// Calculate the predicted airspeed
v_tas_pred = sqrtf((ve - vwe) * (ve - vwe) + (vn - vwn) * (vn - vwn) + vd * vd);
// Perform fusion of True Airspeed measurement
if (v_tas_pred > 1.0f) {
// Calculate the observation jacobian
// intermediate variable from algebraic optimisation
SH_TAS[0] = 1.0f/v_tas_pred;
SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2.0f*vwe))*0.5f;
SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2.0f*vwn))*0.5f;
for (uint8_t i = 0; i < _k_num_states; i++) {
H_TAS[i] = 0.0f;
}
H_TAS[4] = SH_TAS[2];
H_TAS[5] = SH_TAS[1];
H_TAS[6] = vd*SH_TAS[0];
H_TAS[22] = -SH_TAS[2];
H_TAS[23] = -SH_TAS[1];
// We don't want to update the innovation variance if the calculation is ill conditioned
float _airspeed_innov_var_temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[22][4]*SH_TAS[2] - P[23][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[22][5]*SH_TAS[2] - P[23][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][22]*SH_TAS[2] + P[5][22]*SH_TAS[1] - P[22][22]*SH_TAS[2] - P[23][22]*SH_TAS[1] + P[6][22]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][23]*SH_TAS[2] + P[5][23]*SH_TAS[1] - P[22][23]*SH_TAS[2] - P[23][23]*SH_TAS[1] + P[6][23]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[22][6]*SH_TAS[2] - P[23][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
if (_airspeed_innov_var_temp >= R_TAS) { // Check for badly conditioned calculation
SK_TAS[0] = 1.0f / _airspeed_innov_var_temp;
_fault_status.flags.bad_airspeed = false;
} else { // Reset the estimator covarinace matrix
_fault_status.flags.bad_airspeed = true;
initialiseCovariance();
ECL_ERR("EKF airspeed fusion numerical error - covariance reset");
return;
}
SK_TAS[1] = SH_TAS[1];
Kfusion[0] = SK_TAS[0]*(P[0][4]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][5]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][6]*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS[0]*(P[1][4]*SH_TAS[2] - P[1][22]*SH_TAS[2] + P[1][5]*SK_TAS[1] - P[1][23]*SK_TAS[1] + P[1][6]*vd*SH_TAS[0]);
Kfusion[2] = SK_TAS[0]*(P[2][4]*SH_TAS[2] - P[2][22]*SH_TAS[2] + P[2][5]*SK_TAS[1] - P[2][23]*SK_TAS[1] + P[2][6]*vd*SH_TAS[0]);
Kfusion[3] = SK_TAS[0]*(P[3][4]*SH_TAS[2] - P[3][22]*SH_TAS[2] + P[3][5]*SK_TAS[1] - P[3][23]*SK_TAS[1] + P[3][6]*vd*SH_TAS[0]);
Kfusion[4] = SK_TAS[0]*(P[4][4]*SH_TAS[2] - P[4][22]*SH_TAS[2] + P[4][5]*SK_TAS[1] - P[4][23]*SK_TAS[1] + P[4][6]*vd*SH_TAS[0]);
Kfusion[5] = SK_TAS[0]*(P[5][4]*SH_TAS[2] - P[5][22]*SH_TAS[2] + P[5][5]*SK_TAS[1] - P[5][23]*SK_TAS[1] + P[5][6]*vd*SH_TAS[0]);
Kfusion[6] = SK_TAS[0]*(P[6][4]*SH_TAS[2] - P[6][22]*SH_TAS[2] + P[6][5]*SK_TAS[1] - P[6][23]*SK_TAS[1] + P[6][6]*vd*SH_TAS[0]);
Kfusion[7] = SK_TAS[0]*(P[7][4]*SH_TAS[2] - P[7][22]*SH_TAS[2] + P[7][5]*SK_TAS[1] - P[7][23]*SK_TAS[1] + P[7][6]*vd*SH_TAS[0]);
Kfusion[8] = SK_TAS[0]*(P[8][4]*SH_TAS[2] - P[8][22]*SH_TAS[2] + P[8][5]*SK_TAS[1] - P[8][23]*SK_TAS[1] + P[8][6]*vd*SH_TAS[0]);
Kfusion[9] = SK_TAS[0]*(P[9][4]*SH_TAS[2] - P[9][22]*SH_TAS[2] + P[9][5]*SK_TAS[1] - P[9][23]*SK_TAS[1] + P[9][6]*vd*SH_TAS[0]);
Kfusion[10] = SK_TAS[0]*(P[10][4]*SH_TAS[2] - P[10][22]*SH_TAS[2] + P[10][5]*SK_TAS[1] - P[10][23]*SK_TAS[1] + P[10][6]*vd*SH_TAS[0]);
Kfusion[11] = SK_TAS[0]*(P[11][4]*SH_TAS[2] - P[11][22]*SH_TAS[2] + P[11][5]*SK_TAS[1] - P[11][23]*SK_TAS[1] + P[11][6]*vd*SH_TAS[0]);
Kfusion[12] = SK_TAS[0]*(P[12][4]*SH_TAS[2] - P[12][22]*SH_TAS[2] + P[12][5]*SK_TAS[1] - P[12][23]*SK_TAS[1] + P[12][6]*vd*SH_TAS[0]);
Kfusion[13] = SK_TAS[0]*(P[13][4]*SH_TAS[2] - P[13][22]*SH_TAS[2] + P[13][5]*SK_TAS[1] - P[13][23]*SK_TAS[1] + P[13][6]*vd*SH_TAS[0]);
Kfusion[14] = SK_TAS[0]*(P[14][4]*SH_TAS[2] - P[14][22]*SH_TAS[2] + P[14][5]*SK_TAS[1] - P[14][23]*SK_TAS[1] + P[14][6]*vd*SH_TAS[0]);
Kfusion[15] = SK_TAS[0]*(P[15][4]*SH_TAS[2] - P[15][22]*SH_TAS[2] + P[15][5]*SK_TAS[1] - P[15][23]*SK_TAS[1] + P[15][6]*vd*SH_TAS[0]);
Kfusion[16] = SK_TAS[0]*(P[16][4]*SH_TAS[2] - P[16][22]*SH_TAS[2] + P[16][5]*SK_TAS[1] - P[16][23]*SK_TAS[1] + P[16][6]*vd*SH_TAS[0]);
Kfusion[17] = SK_TAS[0]*(P[17][4]*SH_TAS[2] - P[17][22]*SH_TAS[2] + P[17][5]*SK_TAS[1] - P[17][23]*SK_TAS[1] + P[17][6]*vd*SH_TAS[0]);
Kfusion[18] = SK_TAS[0]*(P[18][4]*SH_TAS[2] - P[18][22]*SH_TAS[2] + P[18][5]*SK_TAS[1] - P[18][23]*SK_TAS[1] + P[18][6]*vd*SH_TAS[0]);
Kfusion[19] = SK_TAS[0]*(P[19][4]*SH_TAS[2] - P[19][22]*SH_TAS[2] + P[19][5]*SK_TAS[1] - P[19][23]*SK_TAS[1] + P[19][6]*vd*SH_TAS[0]);
Kfusion[20] = SK_TAS[0]*(P[20][4]*SH_TAS[2] - P[20][22]*SH_TAS[2] + P[20][5]*SK_TAS[1] - P[20][23]*SK_TAS[1] + P[20][6]*vd*SH_TAS[0]);
Kfusion[21] = SK_TAS[0]*(P[21][4]*SH_TAS[2] - P[21][22]*SH_TAS[2] + P[21][5]*SK_TAS[1] - P[21][23]*SK_TAS[1] + P[21][6]*vd*SH_TAS[0]);
Kfusion[22] = SK_TAS[0]*(P[22][4]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][5]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][6]*vd*SH_TAS[0]);
Kfusion[23] = SK_TAS[0]*(P[23][4]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][5]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][6]*vd*SH_TAS[0]);
// Calculate measurement innovation
_airspeed_innov = v_tas_pred -
_airspeed_sample_delayed.true_airspeed;
// Calculate the innovation variance
_airspeed_innov_var = 1.0f / SK_TAS[0];
// Compute the ratio of innovation to gate size
_tas_test_ratio = sq(_airspeed_innov) / (sq(fmaxf(_params.tas_innov_gate, 1.0f)) * _airspeed_innov_var);
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_innov_check_fail_status.flags.reject_airspeed = true;
return;
}
else {
_innov_check_fail_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it
_time_last_arsp_fuse = _time_last_imu;
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
for (unsigned row = 0; row < _k_num_states; row++) {
KH[row][4] = Kfusion[row] * H_TAS[4];
KH[row][5] = Kfusion[row] * H_TAS[5];
KH[row][6] = Kfusion[row] * H_TAS[6];
KH[row][22] = Kfusion[row] * H_TAS[22];
KH[row][23] = Kfusion[row] * H_TAS[23];
}
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[row][4] * P[4][column];
tmp += KH[row][5] * P[5][column];
tmp += KH[row][6] * P[6][column];
tmp += KH[row][22] * P[22][column];
tmp += KH[row][23] * P[23][column];
KHP[row][column] = tmp;
}
}
// if the covariance correction will result in a negative variance, then
// the covariance marix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_airspeed = false;
for (int i = 0; i < _k_num_states; i++) {
if (P[i][i] < KHP[i][i]) {
// zero rows and columns
zeroRows(P,i,i);
zeroCols(P,i,i);
//flag as unhealthy
healthy = false;
// update individual measurement health status
_fault_status.flags.bad_airspeed = true;
}
}
// only apply covariance and state corrrections if healthy
if (healthy) {
// apply the covariance corrections
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
P[row][column] = P[row][column] - KHP[row][column];
}
}
// correct the covariance marix for gross errors
fixCovarianceErrors();
// apply the state corrections
fuse(Kfusion, _airspeed_innov);
}
}
}
/*
* wake_monster:
* What to do when the hero steps next to a monster
*/
const THING *
wake_monster(int y, int x)
{
THING *tp;
struct room *rp;
int ch;
const char *mname;
if ((tp = moat(y, x)) == NULL) {
#ifdef MASTER
msg("can't find monster in wake_monster");
#endif
return NULL;
}
ch = tp->t_type;
/*
* Every time he sees mean monster, it might start chasing him
*/
if (!on(*tp, ISRUN) && rnd(3) != 0 && on(*tp, ISMEAN) && !on(*tp, ISHELD)
&& !ISWEARING(R_STEALTH) && !on(player, ISLEVIT))
{
tp->t_dest = &hero;
tp->t_flags |= ISRUN;
}
if (ch == 'M' && !on(player, ISBLIND) && !on(player, ISHALU)
&& !on(*tp, ISFOUND) && !on(*tp, ISCANC) && on(*tp, ISRUN))
{
rp = proom;
if ((rp != NULL && !(rp->r_flags & ISDARK))
|| dist(y, x, hero.y, hero.x) < LAMPDIST)
{
tp->t_flags |= ISFOUND;
if (!save(VS_MAGIC))
{
if (on(player, ISHUH))
lengthen(unconfuse, spread(HUHDURATION));
else
fuse(unconfuse, 0, spread(HUHDURATION), AFTER);
player.t_flags |= ISHUH;
mname = set_mname(tp);
addmsg("%s", mname);
if (strcmp(mname, "it") != 0)
addmsg("'");
msg("s gaze has confused you");
}
}
}
/*
* Let greedy ones guard gold
*/
if (on(*tp, ISGREED) && !on(*tp, ISRUN))
{
tp->t_flags |= ISRUN;
if (proom->r_goldval)
tp->t_dest = &proom->r_gold;
else
tp->t_dest = &hero;
}
return tp;
}
constexpr operator To()
{
return fuse(typename boost::mpl::apply<Lam, To>::type())(std::tuple<Args &&...>(m_args));
}
void egg_example()
{
BOOST_CHECK( 1+2+3 == fuse(&unfused_plus)(boost::make_tuple(1,2,3)) );
}
void
quaff()
{
THING *obj, *tp, *mp;
bool discardit = FALSE;
bool show, trip;
obj = get_item("quaff", POTION);
/*
* Make certain that it is somethings that we want to drink
*/
if (obj == NULL)
return;
if (obj->o_type != POTION)
{
if (!terse)
msg("yuk! Why would you want to drink that?");
else
msg("that's undrinkable");
return;
}
if (obj == cur_weapon)
cur_weapon = NULL;
/*
* Calculate the effect it has on the poor guy.
*/
trip = on(player, ISHALU);
discardit = (bool)(obj->o_count == 1);
leave_pack(obj, FALSE, FALSE);
switch (obj->o_which)
{
case P_CONFUSE:
do_pot(P_CONFUSE, !trip);
when P_POISON:
pot_info[P_POISON].oi_know = TRUE;
if (ISWEARING(R_SUSTSTR))
msg("you feel momentarily sick");
else
{
chg_str(-(rnd(3) + 1));
msg("you feel very sick now");
come_down();
}
when P_HEALING:
pot_info[P_HEALING].oi_know = TRUE;
if ((pstats.s_hpt += roll(pstats.s_lvl, 4)) > max_hp)
pstats.s_hpt = ++max_hp;
sight();
msg("you begin to feel better");
when P_STRENGTH:
pot_info[P_STRENGTH].oi_know = TRUE;
chg_str(1);
msg("you feel stronger, now. What bulging muscles!");
when P_MFIND:
player.t_flags |= SEEMONST;
fuse((void(*)())turn_see, TRUE, HUHDURATION, AFTER);
if (!turn_see(FALSE))
msg("you have a %s feeling for a moment, then it passes",
choose_str("normal", "strange"));
when P_TFIND:
/*
* Potion of magic detection. Show the potions and scrolls
*/
show = FALSE;
if (lvl_obj != NULL)
{
wclear(hw);
for (tp = lvl_obj; tp != NULL; tp = next(tp))
{
if (is_magic(tp))
{
show = TRUE;
wmove(hw, tp->o_pos.y, tp->o_pos.x);
waddch(hw, MAGIC);
pot_info[P_TFIND].oi_know = TRUE;
}
}
for (mp = mlist; mp != NULL; mp = next(mp))
{
for (tp = mp->t_pack; tp != NULL; tp = next(tp))
{
if (is_magic(tp))
{
show = TRUE;
wmove(hw, mp->t_pos.y, mp->t_pos.x);
waddch(hw, MAGIC);
}
}
}
}
if (show)
{
pot_info[P_TFIND].oi_know = TRUE;
show_win("You sense the presence of magic on this level.--More--");
}
else
msg("you have a %s feeling for a moment, then it passes",
choose_str("normal", "strange"));
when P_LSD:
if (!trip)
{
if (on(player, SEEMONST))
turn_see(FALSE);
start_daemon(visuals, 0, BEFORE);
seenstairs = seen_stairs();
}
do_pot(P_LSD, TRUE);
when P_SEEINVIS:
sprintf(prbuf, "this potion tastes like %s juice", fruit);
show = on(player, CANSEE);
do_pot(P_SEEINVIS, FALSE);
if (!show)
invis_on();
sight();
when P_RAISE:
pot_info[P_RAISE].oi_know = TRUE;
msg("you suddenly feel much more skillful");
raise_level();
when P_XHEAL:
pot_info[P_XHEAL].oi_know = TRUE;
if ((pstats.s_hpt += roll(pstats.s_lvl, 8)) > max_hp)
{
if (pstats.s_hpt > max_hp + pstats.s_lvl + 1)
++max_hp;
pstats.s_hpt = ++max_hp;
}
sight();
come_down();
msg("you begin to feel much better");
when P_HASTE:
pot_info[P_HASTE].oi_know = TRUE;
after = FALSE;
if (add_haste(TRUE))
msg("you feel yourself moving much faster");
when P_RESTORE:
if (ISRING(LEFT, R_ADDSTR))
add_str(&pstats.s_str, -cur_ring[LEFT]->o_arm);
if (ISRING(RIGHT, R_ADDSTR))
add_str(&pstats.s_str, -cur_ring[RIGHT]->o_arm);
if (pstats.s_str < max_stats.s_str)
pstats.s_str = max_stats.s_str;
if (ISRING(LEFT, R_ADDSTR))
add_str(&pstats.s_str, cur_ring[LEFT]->o_arm);
if (ISRING(RIGHT, R_ADDSTR))
add_str(&pstats.s_str, cur_ring[RIGHT]->o_arm);
msg("hey, this tastes great. It make you feel warm all over");
when P_BLIND:
do_pot(P_BLIND, TRUE);
when P_LEVIT:
do_pot(P_LEVIT, TRUE);
#ifdef MASTER
otherwise:
msg("what an odd tasting potion!");
return;
#endif
}
status();
/*
* Throw the item away
*/
call_it(&pot_info[obj->o_which]);
if (discardit)
discard(obj);
return;
}
/*
* quaff:
* Quaff a potion from the pack
*/
quaff()
{
register THING *obj, *th;
register bool discardit = FALSE;
obj = get_item("quaff", POTION);
/*
* Make certain that it is somethings that we want to drink
*/
if (obj == NULL)
return;
if (obj->o_type != POTION)
{
if (!terse)
msg("yuk! Why would you want to drink that?");
else
msg("that's undrinkable");
return;
}
if (obj == cur_weapon)
cur_weapon = NULL;
/*
* Calculate the effect it has on the poor guy.
*/
switch (obj->o_which)
{
case P_CONFUSE:
p_know[P_CONFUSE] = TRUE;
if (!on(player, ISHUH))
{
if (on(player, ISHUH))
lengthen(unconfuse, rnd(8)+HUHDURATION);
else
fuse(unconfuse, 0, rnd(8)+HUHDURATION, AFTER);
player.t_flags |= ISHUH;
msg("wait, what's going on here. Huh? What? Who?");
}
when P_POISON:
p_know[P_POISON] = TRUE;
if (!ISWEARING(R_SUSTSTR))
{
chg_str(-(rnd(3)+1));
msg("you feel very sick now");
}
else
msg("you feel momentarily sick");
when P_HEALING:
p_know[P_HEALING] = TRUE;
if ((pstats.s_hpt += roll(pstats.s_lvl, 4)) > max_hp)
pstats.s_hpt = ++max_hp;
sight();
msg("you begin to feel better");
when P_STRENGTH:
p_know[P_STRENGTH] = TRUE;
chg_str(1);
msg("you feel stronger, now. What bulging muscles!");
when P_MFIND:
player.t_flags |= SEEMONST;
fuse(turn_see, TRUE, HUHDURATION, AFTER);
if (mlist == NULL)
msg("you have a strange feeling for a moment");
else
p_know[P_MFIND] |= turn_see(FALSE);
when P_TFIND:
/*
* Potion of magic detection. Show the potions and scrolls
*/
if (lvl_obj != NULL)
{
register THING *tp;
register bool show;
show = FALSE;
wclear(hw);
for (tp = lvl_obj; tp != NULL; tp = next(tp))
{
if (is_magic(tp))
{
show = TRUE;
mvwaddch(hw, tp->o_pos.y, tp->o_pos.x, MAGIC);
p_know[P_TFIND] = TRUE;
}
}
for (th = mlist; th != NULL; th = next(th))
{
for (tp = th->t_pack; tp != NULL; tp = next(tp))
{
if (is_magic(tp))
{
show = TRUE;
mvwaddch(hw, th->t_pos.y, th->t_pos.x, MAGIC);
p_know[P_TFIND] = TRUE;
}
}
}
if (show)
{
show_win(hw,
"You sense the presence of magic on this level.--More--");
break;
}
}
msg("you have a strange feeling for a moment, then it passes");
when P_PARALYZE:
p_know[P_PARALYZE] = TRUE;
no_command = HOLDTIME;
player.t_flags &= ~ISRUN;
msg("you can't move");
when P_SEEINVIS:
if (!on(player, CANSEE))
{
fuse(unsee, 0, SEEDURATION, AFTER);
look(FALSE);
invis_on();
}
sight();
msg("this potion tastes like %s juice", fruit);
when P_RAISE:
p_know[P_RAISE] = TRUE;
msg("you suddenly feel much more skillful");
raise_level();
when P_XHEAL:
p_know[P_XHEAL] = TRUE;
if ((pstats.s_hpt += roll(pstats.s_lvl, 8)) > max_hp)
{
if (pstats.s_hpt > max_hp + pstats.s_lvl + 1)
++max_hp;
pstats.s_hpt = ++max_hp;
}
sight();
msg("you begin to feel much better");
when P_HASTE:
p_know[P_HASTE] = TRUE;
if (add_haste(TRUE))
msg("you feel yourself moving much faster");
when P_RESTORE:
if (ISRING(LEFT, R_ADDSTR))
add_str(&pstats.s_str, -cur_ring[LEFT]->o_ac);
if (ISRING(RIGHT, R_ADDSTR))
add_str(&pstats.s_str, -cur_ring[RIGHT]->o_ac);
if (pstats.s_str < max_stats.s_str)
pstats.s_str = max_stats.s_str;
if (ISRING(LEFT, R_ADDSTR))
add_str(&pstats.s_str, cur_ring[LEFT]->o_ac);
if (ISRING(RIGHT, R_ADDSTR))
add_str(&pstats.s_str, cur_ring[RIGHT]->o_ac);
msg("hey, this tastes great. It make you feel warm all over");
when P_BLIND:
p_know[P_BLIND] = TRUE;
if (!on(player, ISBLIND))
{
player.t_flags |= ISBLIND;
fuse(sight, 0, SEEDURATION, AFTER);
look(FALSE);
}
msg("a cloak of darkness falls around you");
when P_NOP:
msg("this potion tastes extremely dull");
otherwise:
msg("what an odd tasting potion!");
return;
}
status();
/*
* Throw the item away
*/
inpack--;
if (obj->o_count > 1)
obj->o_count--;
else
{
detach(pack, obj);
discardit = TRUE;
}
call_it(p_know[obj->o_which], &p_guess[obj->o_which]);
if (discardit)
discard(obj);
}
/*
* ring_on:
* Put on a ring
*/
int ring_on()
{
struct object *obj;
struct linked_list *item;
int ring, wh;
char buf[LINLEN];
bool okring;
if (cur_ring[LEFT] != NULL && cur_ring[RIGHT] != NULL) {
msg("Already wearing two rings.");
after = FALSE;
return 0;
}
/*
* Make certain that it is somethings that we want to wear
*/
if ((item = get_item("put on", RING)) == NULL)
return 0;
obj = OBJPTR(item);
if (obj->o_type != RING) {
msg("That won't fit on your finger.");
return 0;
}
/*
* find out which hand to put it on
*/
if (is_current(obj))
return 0;
if (cur_ring[LEFT] == NULL && cur_ring[RIGHT] == NULL) {
if ((ring = gethand(FALSE)) < 0)
return 0;
} else if (cur_ring[LEFT] == NULL)
ring = LEFT;
else
ring = RIGHT;
cur_ring[ring] = obj;
wh = obj->o_which;
/*
* okring = FALSE when:
* 1) ring is cursed and benefit = plus
* 2) ring is blessed and benefit = minus
*/
okring = !((obj->o_ac > 0 && o_on(obj, ISCURSED)) ||
(obj->o_ac < 0 && o_on(obj, ISBLESS)));
/*
* Calculate the effect it has on the poor guy (if possible).
*/
if (okring) {
switch (wh) {
case R_SPEED:
if (--obj->o_ac < 0) {
obj->o_ac = 0;
setoflg(obj, ISCURSED);
} else {
add_haste(FALSE);
msg("You find yourself moving must faster.");
}
when R_GIANT : /* to 24 */
him->s_ef.a_str = MAXSTR;
when R_ADDSTR : chg_abil(STR, obj->o_ac, FROMRING);
when R_KNOW : chg_abil(WIS, obj->o_ac, FROMRING);
when R_DEX : chg_abil(DEX, obj->o_ac, FROMRING);
when R_CONST : chg_abil(CON, obj->o_ac, FROMRING);
when R_SEEINVIS : player.t_flags |= CANSEE;
light(&hero);
mvwaddch(cw, hero.y, hero.x, PLAYER);
when R_AGGR : aggravate();
when R_HEAVY : updpack(); /* new pack weight */
when R_BLIND : r_know[R_BLIND] = TRUE;
player.t_flags |= ISBLIND;
look(FALSE);
when R_SLOW : player.t_flags |= ISSLOW;
when R_SAPEM : fuse(sapem, TRUE, 150);
when R_LIGHT:
{
struct room *rop;
r_know[R_LIGHT] = TRUE;
if ((rop = player.t_room) != NULL) {
rop->r_flags &= ~ISDARK;
light(&hero);
mvwaddch(cw, hero.y, hero.x, PLAYER);
}
}
}
}
if (r_know[wh] && r_guess[wh]) {
free(r_guess[wh]);
r_guess[wh] = NULL;
} else if (!r_know[wh] && r_guess[wh] == NULL) {
mpos = 0;
strcpy(buf, r_stones[wh]);
msg(callit);
if (get_str(buf, cw) == NORM) {
r_guess[wh] = new (strlen(buf) + 1);
strcpy(r_guess[wh], buf);
}
/*
* main:
* The main program, of course
*/
int
main(int argc, char **argv)
{
char *env;
time_t lowtime;
md_init();
#ifdef MASTER
/*
* Check to see if he is a wizard
*/
if (argc >= 2 && argv[1][0] == '\0')
if (strcmp(PASSWD, md_crypt(md_getpass("wizard's password: "******"mT")) == 0)
{
wizard = TRUE;
player.t_flags |= SEEMONST;
argv++;
argc--;
}
#endif
/*
* get home and options from environment
*/
strcpy(home, md_gethomedir());
if (strlen(home) > MAXSTR - strlen("rogue.save") - 1)
*home = 0;
strcpy(file_name, home);
strcat(file_name, "rogue.save");
if ((env = getenv("ROGUEOPTS")) != NULL)
parse_opts(env);
if (env == NULL || whoami[0] == '\0')
strucpy(whoami, md_getusername(), strlen(md_getusername()));
lowtime = time(NULL);
if (getenv("SEED") != NULL)
{
dnum = atoi(getenv("SEED"));
noscore = 1;
}
else
dnum = (unsigned int) lowtime + md_getpid();
seed = dnum;
open_score();
/*
* Drop setuid/setgid after opening the scoreboard file.
*/
md_normaluser();
/*
* check for print-score option
*/
md_normaluser(); /* we drop any setgid/setuid priveldges here */
if (argc == 2)
{
if (strcmp(argv[1], "-s") == 0)
{
noscore = TRUE;
score(0, -1, 0);
exit(0);
}
else if (strcmp(argv[1], "-d") == 0)
{
dnum = rnd(100); /* throw away some rnd()s to break patterns */
while (--dnum)
rnd(100);
purse = rnd(100) + 1;
level = rnd(100) + 1;
initscr();
getltchars();
death(death_monst());
exit(0);
}
}
init_check(); /* check for legal startup */
if (argc == 2)
if (!restore(argv[1])) /* Note: restore will never return */
my_exit(1);
#ifdef MASTER
if (wizard)
printf("Hello %s, welcome to dungeon #%d", whoami, dnum);
else
#endif
printf("Hello %s, just a moment while I dig the dungeon...", whoami);
fflush(stdout);
initscr(); /* Start up cursor package */
init_probs(); /* Set up prob tables for objects */
init_player(); /* Set up initial player stats */
init_names(); /* Set up names of scrolls */
init_colors(); /* Set up colors of potions */
init_stones(); /* Set up stone settings of rings */
init_materials(); /* Set up materials of wands */
setup();
/*
* The screen must be at least NUMLINES x NUMCOLS
*/
if (LINES < NUMLINES || COLS < NUMCOLS)
{
printf("\nSorry, the screen must be at least %dx%d\n", NUMLINES, NUMCOLS);
endwin();
my_exit(1);
}
/*
* Set up windows
*/
hw = newwin(LINES, COLS, 0, 0);
idlok(stdscr, TRUE);
idlok(hw, TRUE);
#ifdef MASTER
noscore = wizard;
#endif
new_level(); /* Draw current level */
/*
* Start up daemons and fuses
*/
start_daemon(runners, 0, AFTER);
start_daemon(doctor, 0, AFTER);
fuse(swander, 0, WANDERTIME, AFTER);
start_daemon(stomach, 0, AFTER);
playit();
return(0);
}
