/*
Service call when we want information
*/
bool getInfo(supervisor_msgs::GetInfo::Request &req, supervisor_msgs::GetInfo::Response &res){
if(req.info == "ALL_FACTS"){
res.facts = ms->db_.getFactsAgent(req.agent);
}else if(req.info == "FACTS_IN"){
res.answer = ms->db_.factsAreIn(req.agent, req.facts);
}else if(req.info == "AGENTS"){
res.agents = ms->db_.getAgents();
}else if(req.info == "ACTIONS_TODO"){
pair<supervisor_msgs::Action, string> answer = getActionTodo(req.agent, req.actor);
res.action = answer.first;
res.state = answer.second;
}else if(req.info == "ACTION_STATE"){
res.state = getActionState(req.agent, req.action);
}else if(req.info == "ACTIONS"){
res.actions = ms->getActionList();
}
return true;
}
void __fastcall TKeyControlForm::LineTimerTimer( TObject */*Sender*/ )
{
syncSetLines();
bool PTT = getPTT();
if ( recordWait && PTT )
{
recind->Caption = "Release PTT to stop Recording";
recordWait = false;
recording = true;
}
else
if ( recording && !PTT )
{
recind->Caption = "";
recordWait = false;
recording = false;
}
KeyerServer::publishCommand( recind->Caption.t_str() );
eMixerSets m = GetCurrentMixerSet();
std::string astate;
getActionState( astate );
// This isn't quite what we want - needs to be better english and slower changing
std::string kstatus;
if ( getKeyerStatus( kstatus ) )
Caption = String( msets[ m ] ) + " : " + astate.c_str() + " : " + kstatus.c_str();
else
Caption = String( msets[ m ] ) + " : " + astate.c_str();
static String old;
if ( Caption != old )
{
old = Caption;
CaptionTimer->Enabled = true;
}
}
void WeatherStation::run()
{
uint8_t dataType;
int16_t data;
boolean ret;
/*event*/
if (g_RTCIntFlag) //it must be at the front of processRTCAlarm()
{
g_RTCIntFlag = false;
RTCObj.clearINTStatus();
}
if ( EVENT_STATE_SET == eventRTCState )
{
processRTCAlarm();
eventRTCState = EVENT_STATE_DOING;
}
if ( EVENT_STATE_SET == eventButtonState )
{
processButton();
eventButtonState = EVENT_STATE_DOING;
}
if ( SYS_STATE_WAITING == systemState )
{
if ( STATE_DOING == getActionState()) //high priority
{
systemState = SYS_STATE_ACTION;
}
else if ( (uint8_t)((millis()/1000) - startTime) >= overTime )
{
systemState = SYS_STATE_GOTOSLEEP;
DBG_PRINTLN("goto sleep");
/**to minimize the time to sleep state, so there is not sleep state case **/
if ( (SW_RUN == digitalRead(PALETTE_PIN_SW)) && (SW_MAKE == switchState) )
{
#if !_DEBUG
dettachUSB();
#endif
switchState = SW_RUN;
}
disableBeforeSleep();
wakeFlag = false;
sleep();
enableAfterSleep();
systemState = SYS_STATE_WAITING;
DBG_PRINTLN_VAR(systemState,DEC);
}
else
{
//nothing
}
}
else if ( SYS_STATE_ACTION == systemState )
{
/*action*/
if ( STATE_DOING == a_actionList[ACTION_SAMPLE_DATA].state )
{
DBG_PRINTLN("**Sample");
ret = sensorMgt.run();
if ( ret )
{
a_actionList[ACTION_SAMPLE_DATA].state = STATE_DONE;
}
else
{
delay(10);
}
}
if ( STATE_DOING == a_actionList[ACTION_SAVE_DATA].state )
{
if ( STATE_DONE == a_actionList[ACTION_SAMPLE_DATA].state )
{
DBG_PRINTLN("**Save");
for ( uint8_t i = 0; i < DATA_TYPE_MAXNUM; i++ )
{
if ( false == a_measureData[i].valid )
{
break;
}
dataType = a_measureData[i].dataType;
data = a_measureData[i].p_sensor->getValue( dataType );
dataHouse.putData( data, dataType, currentHour );
}
a_actionList[ACTION_SAVE_DATA].state = STATE_DONE;
}
}
if ( STATE_DOING == a_actionList[ACTION_DISPLAY].state )
{
if (STATE_DONE == a_actionList[ACTION_SAMPLE_DATA].state)
{
displayMgt.state = DISPLAY_STATE_NEXT;
}
if ( DISPLAY_STATE_NEXT == displayMgt.state )
{
DBG_PRINTLN("**Display");
displayNext();
a_actionList[ACTION_DISPLAY].state = STATE_DONE;
}
}
if ( STATE_DONE == getActionState() )
{
startTime = millis()/1000;
if( (END_HOURTIME_ONEDAY == currentHour) && (EVENT_STATE_DOING == eventRTCState) )
{ //todo: muti thread
DBG_PRINTLN_VAR(currentHour,DEC);
dataHouse.updateDate( currentYear, currentMonth, currentDate );
}
eventRTCState = EVENT_STATE_DONE;
eventButtonState = EVENT_STATE_DONE;
for ( uint8_t i = 0; i < ACTION_NUMBER; i++ ) //todo
{
a_actionList[i].state = STATE_INIT;
}
systemState = SYS_STATE_WAITING;
DBG_PRINTLN_VAR(systemState,DEC);
}
}
#if 0
DateTime now = RTCObj.now();
Serial.println(now.minute(), DEC);
Serial.print(now.year(), DEC);
Serial.print('/');
Serial.print(now.month(), DEC);
Serial.print('/');
Serial.print(now.date(), DEC);
Serial.print(' ');
Serial.print(now.hour(), DEC);
Serial.print(':');
Serial.print(now.minute(), DEC);
Serial.print(':');
Serial.print(now.second(), DEC);
Serial.println(' ');
Serial.println(RTCObj.getTemperature());
#endif
}
void YYEnemy::processAI(){
if(targetSprite){
//攻击间隔计算
if (attackIntervalCounter < attackInterval) {
attackIntervalCounter ++;
}else{
attackIntervalCounter = 0;
isAttackable = true;
}
if (getActionState() != kActionAttack) {//不中断已经进行的攻击
//视距范围内发现目标
if (targetSprite->getPosition().x > getPosition().x - rangeOfVisibility.width
&& targetSprite->getPosition().x < getPosition().x + rangeOfVisibility.width
&& targetSprite->getPosition().y > getPosition().y - rangeOfVisibility.height
&& targetSprite->getPosition().y < getPosition().y + rangeOfVisibility.height)
{
setFaceToRight(targetSprite->getPosition().x > getPosition().x);//根据目标位置设置朝向
if (getPosition().y >= targetSprite->getPosition().y + VERTICAL_SPEED) {
setOffsetPerFrame(ccp(0,-VERTICAL_SPEED));
setAnimation(ACTION_WALK, true, isFaceToRight());
}else if(getPosition().y <= targetSprite->getPosition().y - VERTICAL_SPEED){
setOffsetPerFrame(ccp(0,VERTICAL_SPEED));
setAnimation(ACTION_WALK, true, isFaceToRight());
}else{
int8_t offsetX = 0;
int8_t offsetY = targetSprite->getPosition().y - getPosition().y;
if (isFaceToRight()) {
if (targetSprite->getPosition().x > getPosition().x + rangeOfAttack.width){//攻击范围外
if(targetSprite->getPosition().x >= getPosition().x + rangeOfAttack.width + HORIZONTAL_SPEED){
setOffsetPerFrame(ccp(HORIZONTAL_SPEED,offsetY));
}else{
offsetX = targetSprite->getPosition().x - getPosition().x - rangeOfAttack.width;
setOffsetPerFrame(ccp(offsetX,offsetY));
}
setAnimation(ACTION_WALK, true, isFaceToRight());
}else{
setOffsetPerFrame(ccp(0,0));
if(isAttackable){
setAnimation(ACTION_ATTACK_0, false, isFaceToRight());
setActionState(kActionAttack);
isAttackable = false;
}else{
setAnimation(ACTION_STAND, true, isFaceToRight());
}
}
}else{
if(targetSprite->getPosition().x < getPosition().x - rangeOfAttack.width){//攻击范围外
if(targetSprite->getPosition().x <= getPosition().x - rangeOfAttack.width - HORIZONTAL_SPEED){
setOffsetPerFrame(ccp(-HORIZONTAL_SPEED,offsetY));
}else{
offsetX = targetSprite->getPosition().x - (getPosition().x - rangeOfAttack.width);
setOffsetPerFrame(ccp(offsetX,offsetY));
}
setAnimation(ACTION_WALK, true, isFaceToRight());
}else{
setOffsetPerFrame(ccp(0,0));
if(isAttackable){
setAnimation(ACTION_ATTACK_0, false, isFaceToRight());
setActionState(kActionAttack);
isAttackable = false;
}else{
setAnimation(ACTION_STAND, true, isFaceToRight());
}
}
}
}
}else{
setOffsetPerFrame(ccp(0,0));
setAnimation(ACTION_STAND, true, isFaceToRight());
}
}
}
}
