static void gameStateUpdate()
{
syncDebug("map = \"%s\", pseudorandom 32-bit integer = 0x%08X, allocated = %d %d %d %d %d %d %d %d %d %d, position = %d %d %d %d %d %d %d %d %d %d", game.map, gameRandU32(),
NetPlay.players[0].allocated, NetPlay.players[1].allocated, NetPlay.players[2].allocated, NetPlay.players[3].allocated, NetPlay.players[4].allocated, NetPlay.players[5].allocated, NetPlay.players[6].allocated, NetPlay.players[7].allocated, NetPlay.players[8].allocated, NetPlay.players[9].allocated,
NetPlay.players[0].position, NetPlay.players[1].position, NetPlay.players[2].position, NetPlay.players[3].position, NetPlay.players[4].position, NetPlay.players[5].position, NetPlay.players[6].position, NetPlay.players[7].position, NetPlay.players[8].position, NetPlay.players[9].position
);
for (unsigned n = 0; n < MAX_PLAYERS; ++n)
{
syncDebug("Player %d = \"%s\"", n, NetPlay.players[n].name);
}
// Add version string to desynch logs. Different version strings will not trigger a desynch dump per se, due to the syncDebug{Get, Set}Crc guard.
auto crc = syncDebugGetCrc();
syncDebug("My client version = %s", version_getVersionString());
syncDebugSetCrc(crc);
// Actually send pending droid orders.
sendQueuedDroidInfo();
sendPlayerGameTime();
NETflush(); // Make sure the game time tick message is really sent over the network.
if (!paused && !scriptPaused())
{
/* Update the event system */
if (!bInTutorial)
{
eventProcessTriggers(gameTime / SCR_TICKRATE);
}
else
{
eventProcessTriggers(realTime / SCR_TICKRATE);
}
updateScripts();
}
// Update abandoned structures
handleAbandonedStructures();
// Update the visibility change stuff
visUpdateLevel();
// Put all droids/structures/features into the grid.
gridReset();
// Check which objects are visible.
processVisibility();
// Update the map.
mapUpdate();
//update the findpath system
fpathUpdate();
// update the command droids
cmdDroidUpdate();
fireWaitingCallbacks(); //Now is the good time to fire waiting callbacks (since interpreter is off now)
for (unsigned i = 0; i < MAX_PLAYERS; i++)
{
//update the current power available for a player
updatePlayerPower(i);
DROID *psNext;
for (DROID *psCurr = apsDroidLists[i]; psCurr != nullptr; psCurr = psNext)
{
// Copy the next pointer - not 100% sure if the droid could get destroyed but this covers us anyway
psNext = psCurr->psNext;
droidUpdate(psCurr);
}
for (DROID *psCurr = mission.apsDroidLists[i]; psCurr != nullptr; psCurr = psNext)
{
/* Copy the next pointer - not 100% sure if the droid could
get destroyed but this covers us anyway */
psNext = psCurr->psNext;
missionDroidUpdate(psCurr);
}
// FIXME: These for-loops are code duplicationo
STRUCTURE *psNBuilding;
for (STRUCTURE *psCBuilding = apsStructLists[i]; psCBuilding != nullptr; psCBuilding = psNBuilding)
{
/* Copy the next pointer - not 100% sure if the structure could get destroyed but this covers us anyway */
psNBuilding = psCBuilding->psNext;
structureUpdate(psCBuilding, false);
}
for (STRUCTURE *psCBuilding = mission.apsStructLists[i]; psCBuilding != nullptr; psCBuilding = psNBuilding)
{
/* Copy the next pointer - not 100% sure if the structure could get destroyed but this covers us anyway. It shouldn't do since its not even on the map!*/
psNBuilding = psCBuilding->psNext;
structureUpdate(psCBuilding, true); // update for mission
}
}
missionTimerUpdate();
proj_UpdateAll();
FEATURE *psNFeat;
for (FEATURE *psCFeat = apsFeatureLists[0]; psCFeat; psCFeat = psNFeat)
{
psNFeat = psCFeat->psNext;
featureUpdate(psCFeat);
}
// Clean up dead droid pointers in UI.
hciUpdate();
// Free dead droid memory.
objmemUpdate();
// Must end update, since we may or may not have ticked, and some message queue processing code may vary depending on whether it's in an update.
gameTimeUpdateEnd();
// Must be at the beginning or end of each tick, since countUpdate is also called randomly (unsynchronised) between ticks.
countUpdate(true);
static int i = 0;
if (i++ % 10 == 0) // trigger every second
{
jsDebugUpdate();
}
}
static void gameStateUpdate()
{
// Can't dump isHumanPlayer, since it causes spurious desynch dumps when players leave.
// TODO isHumanPlayer should probably be synchronised, since the game state seems to depend on it, so there might also be a risk of real desynchs when players leave.
//syncDebug("map = \"%s\", humanPlayers = %d %d %d %d %d %d %d %d", game.map, isHumanPlayer(0), isHumanPlayer(1), isHumanPlayer(2), isHumanPlayer(3), isHumanPlayer(4), isHumanPlayer(5), isHumanPlayer(6), isHumanPlayer(7));
syncDebug("map = \"%s\"", game.map);
// Actually send pending droid orders.
sendQueuedDroidInfo();
sendPlayerGameTime();
gameSRand(gameTime); // Brute force way of synchronising the random number generator, which can't go out of synch.
if (!paused && !scriptPaused() && !editPaused())
{
/* Update the event system */
if (!bInTutorial)
{
eventProcessTriggers(gameTime/SCR_TICKRATE);
}
else
{
eventProcessTriggers(realTime/SCR_TICKRATE);
}
updateScripts();
}
// Update abandoned structures
handleAbandonedStructures();
// Update the visibility change stuff
visUpdateLevel();
// Put all droids/structures/features into the grid.
gridReset();
// Check which objects are visible.
processVisibility();
// Update the map.
mapUpdate();
//update the findpath system
fpathUpdate();
// update the cluster system
clusterUpdate();
// update the command droids
cmdDroidUpdate();
if(getDrivingStatus())
{
driveUpdate();
}
fireWaitingCallbacks(); //Now is the good time to fire waiting callbacks (since interpreter is off now)
for (unsigned i = 0; i < MAX_PLAYERS; i++)
{
//update the current power available for a player
updatePlayerPower(i);
//set the flag for each player
setHQExists(false, i);
setSatUplinkExists(false, i);
numCommandDroids[i] = 0;
numConstructorDroids[i] = 0;
numDroids[i]=0;
numTransporterDroids[i]=0;
DROID *psNext;
for (DROID *psCurr = apsDroidLists[i]; psCurr != NULL; psCurr = psNext)
{
// Copy the next pointer - not 100% sure if the droid could get destroyed but this covers us anyway
psNext = psCurr->psNext;
droidUpdate(psCurr);
// update the droid counts
numDroids[i]++;
switch (psCurr->droidType)
{
case DROID_COMMAND:
numCommandDroids[i] += 1;
break;
case DROID_CONSTRUCT:
case DROID_CYBORG_CONSTRUCT:
numConstructorDroids[i] += 1;
break;
case DROID_TRANSPORTER:
if( (psCurr->psGroup != NULL) )
{
DROID *psDroid = NULL;
numTransporterDroids[i] += psCurr->psGroup->refCount-1;
// and count the units inside it...
for (psDroid = psCurr->psGroup->psList; psDroid != NULL && psDroid != psCurr; psDroid = psDroid->psGrpNext)
{
if (psDroid->droidType == DROID_CYBORG_CONSTRUCT || psDroid->droidType == DROID_CONSTRUCT)
{
numConstructorDroids[i] += 1;
}
if (psDroid->droidType == DROID_COMMAND)
{
numCommandDroids[i] += 1;
}
}
}
break;
default:
break;
}
}
numMissionDroids[i]=0;
for (DROID *psCurr = mission.apsDroidLists[i]; psCurr != NULL; psCurr = psNext)
{
/* Copy the next pointer - not 100% sure if the droid could
get destroyed but this covers us anyway */
psNext = psCurr->psNext;
missionDroidUpdate(psCurr);
numMissionDroids[i]++;
switch (psCurr->droidType)
{
case DROID_COMMAND:
numCommandDroids[i] += 1;
break;
case DROID_CONSTRUCT:
case DROID_CYBORG_CONSTRUCT:
numConstructorDroids[i] += 1;
break;
case DROID_TRANSPORTER:
if( (psCurr->psGroup != NULL) )
{
numTransporterDroids[i] += psCurr->psGroup->refCount-1;
}
break;
default:
break;
}
}
for (DROID *psCurr = apsLimboDroids[i]; psCurr != NULL; psCurr = psNext)
{
/* Copy the next pointer - not 100% sure if the droid could
get destroyed but this covers us anyway */
psNext = psCurr->psNext;
// count the type of units
switch (psCurr->droidType)
{
case DROID_COMMAND:
numCommandDroids[i] += 1;
break;
case DROID_CONSTRUCT:
case DROID_CYBORG_CONSTRUCT:
numConstructorDroids[i] += 1;
break;
default:
break;
}
}
// FIXME: These for-loops are code duplicationo
/*set this up AFTER droidUpdate so that if trying to building a
new one, we know whether one exists already*/
setLasSatExists(false, i);
STRUCTURE *psNBuilding;
for (STRUCTURE *psCBuilding = apsStructLists[i]; psCBuilding != NULL; psCBuilding = psNBuilding)
{
/* Copy the next pointer - not 100% sure if the structure could get destroyed but this covers us anyway */
psNBuilding = psCBuilding->psNext;
structureUpdate(psCBuilding, false);
//set animation flag
if (psCBuilding->pStructureType->type == REF_HQ &&
psCBuilding->status == SS_BUILT)
{
setHQExists(true, i);
}
if (psCBuilding->pStructureType->type == REF_SAT_UPLINK &&
psCBuilding->status == SS_BUILT)
{
setSatUplinkExists(true, i);
}
//don't wait for the Las Sat to be built - can't build another if one is partially built
if (asWeaponStats[psCBuilding->asWeaps[0].nStat].
weaponSubClass == WSC_LAS_SAT)
{
setLasSatExists(true, i);
}
}
for (STRUCTURE *psCBuilding = mission.apsStructLists[i]; psCBuilding != NULL; psCBuilding = psNBuilding)
{
/* Copy the next pointer - not 100% sure if the structure could get destroyed but this covers us anyway. It shouldn't do since its not even on the map!*/
psNBuilding = psCBuilding->psNext;
structureUpdate(psCBuilding, true); // update for mission
if (psCBuilding->pStructureType->type == REF_HQ &&
psCBuilding->status == SS_BUILT)
{
setHQExists(true, i);
}
if (psCBuilding->pStructureType->type == REF_SAT_UPLINK &&
psCBuilding->status == SS_BUILT)
{
setSatUplinkExists(true, i);
}
//don't wait for the Las Sat to be built - can't build another if one is partially built
if (asWeaponStats[psCBuilding->asWeaps[0].nStat].
weaponSubClass == WSC_LAS_SAT)
{
setLasSatExists(true, i);
}
}
}
missionTimerUpdate();
proj_UpdateAll();
FEATURE *psNFeat;
for (FEATURE *psCFeat = apsFeatureLists[0]; psCFeat; psCFeat = psNFeat)
{
psNFeat = psCFeat->psNext;
featureUpdate(psCFeat);
}
objmemUpdate();
// Do completely useless stuff.
if (!isInSync())
{
sendCheck(); // send some pointless checking info if we're doomed anyway
}
// Must end update, since we may or may not have ticked, and some message queue processing code may vary depending on whether it's in an update.
gameTimeUpdateEnd();
}
void odometryCallback(const ras_arduino_msgs::Odometry::ConstPtr &pose_msg)
{
x_t = pose_msg->x;
y_t = pose_msg->y;
theta_t = pose_msg->theta;
// 1. Update map every time we move to another cell
x_pose_cell_map = floor((center_x + x_t)/resolution);
y_pose_cell_map = floor((center_y + y_t)/resolution);
// Initial values of previous values != than zero
if((prev_x_pose_cell != x_pose_cell_map) || (prev_y_pose_cell != y_pose_cell_map))
{
for(int i = x_pose_cell_map-(width_robot/2); i <= (x_pose_cell_map+(width_robot/2)); i++)
{
for(int j = y_pose_cell_map-floor(height_robot/2); j <= (y_pose_cell_map+floor(height_robot/2)); j++)
{
if(cost_map[i + width_map*j] == 100)
{
costMapUpdate(i, j, 0);
}
map_vector[i+width_map*j] = 1;
}
}
prev_x_pose_cell = x_pose_cell_map;
prev_y_pose_cell = y_pose_cell_map;
}
if(sensor_msg.s1 == true)
{
mapUpdate(sensor_msg.p1.point.x,sensor_msg.p1.point.y,1);
}
if(sensor_msg.s2 == true)
{
mapUpdate(sensor_msg.p2.point.x,sensor_msg.p2.point.y,2);
}
if(sensor_msg.s3 == true)
{
mapUpdate(sensor_msg.p3.point.x,sensor_msg.p3.point.y,3);
}
if(sensor_msg.s4 == true)
{
mapUpdate(sensor_msg.p4.point.x,sensor_msg.p4.point.y,4);
}
//In case we want to view our direction
//Publish pose for visualization
geometry_msgs::PoseStamped poseStamp_msg;
poseStamp_msg.header.frame_id = "robot_center";
poseStamp_msg.header.stamp = ros::Time(0);
poseStamp_msg.pose.position.x = 0;
poseStamp_msg.pose.position.y = 0;
poseStamp_msg.pose.position.z = 0;
tf::Quaternion q;
q.setEuler(0.0, 0.0, M_PI_2);
tf::quaternionTFToMsg(q, poseStamp_msg.pose.orientation);
pose_publisher.publish(poseStamp_msg);
// Estimate cells to update here
}
