/**
* This method builds a ModificationRequest srv
* For stop operator, the path can be retreived from srv
* */
void Modifier::buildModificationRequest(const Population& pop, bool imminent_collision, ramp_msgs::ModificationRequest& result)
{
// Push the target paths onto the modification request
std::vector<int> targets;
if(!imminent_collision || (move_dist_ > 100 && move_dir_ > 100))
{
////ROS_INFO("Modifier: No IC");
result.request.op = getOperator();
targets = getTargets(result.request.op, pop);
}
else
{
////ROS_INFO("Modifier: Calling Move because IC exists");
result.request.op = "move";
targets.push_back(pop.calcBestIndex());
}
//////ROS_INFO("targets.size(): %i", (int)targets.size());
for(unsigned int i=0;i<targets.size();i++)
{
//std::cout<<"\nTarget index: "<<targets.at(i);
//std::cout<<"\nPath "<<targets.at(i)<<" size: "<<pop.paths_.at(targets.at(i)).size()<<"\n";
result.request.paths.push_back(
pop.paths_.at(targets.at(i)).buildPathMsg());
}
result.request.move_dir = move_dir_;
result.request.move_dist = move_dist_;
} // End buildModificationRequest
bool Slot::disconnect(Slot& target) {
std::set<Slot*> targets = getTargets();
if (targets.find(&target) == targets.end())
return false;
bool res = true;
res &= target._removeTarget(this);
res &= _removeTarget(&target);
return res;
}
bool Slot::disconnect() {
bool res = true;
std::set<Slot*>::iterator tIter;
std::set<Slot*> targets = getTargets();
for (tIter = targets.begin(); tIter != targets.end(); tIter++) {
res &= (*tIter)->_removeTarget(this);
res &= _removeTarget(*tIter);
}
return res;
}
vector<int> fixedTargets(vector<int> dst, FireInfo* origin, int owner, int target, int parentTarget)
{
vector<int> result;
vector<int> vaild = getAllVaildTargets(origin, owner, target, parentTarget);
for (auto it : dst)
{
if (find(vaild.begin(), vaild.end(), it) != vaild.end()) {
result.push_back(it);
}
}
if (result == dst && result.size() > 0) {
return result;
}
return getTargets(origin, owner, target, parentTarget);
}
void StateBuffRm::execute(StateBase *parent)
{
auto battleInfo = getBattleInfo();
auto dst = battleInfo->allPets[buff->belongs.owner];
// to do ...
BatSeqBuffRm* h = new BatSeqBuffRm;
h->buffId = buff->bid;
h->petUid = dst->uid;
getBattleInfo()->pushSeq(shared_ptr<ISeq>(h));
// 移除附加效果
shared_ptr<FireBuff> fireInfo(new FireBuff);
assign(fireInfo.get(), buff, buff->keyBuff, 0);
fireInfo->parent = nullptr;
fireInfo->origin = nullptr;
battleInfo->pushSkill(fireInfo);
for (auto subsk : buff->keyBuff->subs) {
fireInfo->targets = battleInfo->getTargets(fireInfo->origin, buff->belongs.owner, subsk->target, subsk->parent.lock()->target);
for (int i=0; i<fireInfo->targets.size(); i++) {
int dstuid = fireInfo->targets[i];
if (battleInfo->allPets[dstuid]->isBating) {
assign(fireInfo.get(), buff, subsk.get(), dstuid);
createUndoEffect(2, subsk->subEffId)->undoExecute();
}
}
}
battleInfo->popSkill();
// 移除buff
for (auto pit=dst->buffs.begin(); pit != dst->buffs.end(); ++pit) {
if ((*pit)->bid == buff->bid) {
dst->buffs.erase(pit);
break;
}
}
battleInfo->getTriggerCenter()->removeTrigger(buff->attached_trigger.lock());
buff->attached_trigger.reset();
exitState();
}
void RoadNavigation::planRoadDetection(const nav_msgs::Path::ConstPtr& lane_traj, const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& pose) {
nav_msgs::Path target_traj = decideTargetTrajectory(lane_traj);
geometry_msgs::Pose current_pose = pose->pose.pose;
std::vector<geometry_msgs::Pose> targets = getTargets(current_pose, target_traj);
std::vector<std::vector<PathSegment*> > paths = getPaths(current_pose, targets);
if (paths.size() == 0) {
ROS_WARN("[local_planner]: No path found");
return;
}
// nav_msgs::Path best_path;
// for (int i = 0; i < paths.size(); i++) {
// // TODO: Choose the best path
// best_path = paths[0];
// }
//
// best_path.header.stamp = ros::Time::now();
// return best_path;
}
void
load(CFBundleRef bundle, Boolean bundleVerbose)
{
CFArrayRef targets; /* The array of dictionaries representing targets
* with a "kick me" sign posted on their backs.*/
if (bundleVerbose) {
_verbose = TRUE;
}
SCLog(_verbose, LOG_DEBUG, CFSTR("load() called"));
SCLog(_verbose, LOG_DEBUG, CFSTR(" bundle ID = %@"), CFBundleGetIdentifier(bundle));
/* get the bundle's URL */
myBundleURL = CFBundleCopyBundleURL(bundle);
if (!myBundleURL) {
return;
}
/* get the targets */
targets = getTargets(bundle);
if (!targets) {
/* if nothing to do */
CFRelease(myBundleURL);
return;
}
/* start a kicker for each target */
CFArrayApplyFunction(targets,
CFRangeMake(0, CFArrayGetCount(targets)),
startKicker,
NULL);
CFRelease(targets);
return;
}
int patchEntities(double versionFile, char *mapName)
{
char patchFile[MAX_PATH_LENGTH], *line, *savePtr, itemName[MAX_VALUE_LENGTH];
char key[MAX_VALUE_LENGTH], value[MAX_VALUE_LENGTH];
int skipping = FALSE, x, y, read, found, saveMap;
unsigned char *buffer;
Entity *e;
EntityList *el, *entities;
Target *t;
savePtr = NULL;
snprintf(patchFile, sizeof(patchFile), "data/patch/%0.2f.dat", versionFile);
saveMap = TRUE;
if (existsInPak(patchFile) == TRUE)
{
buffer = loadFileFromPak(patchFile);
line = strtok_r((char *)buffer, "\n", &savePtr);
while (line != NULL)
{
if (line[strlen(line) - 1] == '\n')
{
line[strlen(line) - 1] = '\0';
}
if (line[strlen(line) - 1] == '\r')
{
line[strlen(line) - 1] = '\0';
}
sscanf(line, "%s", itemName);
if (strcmpignorecase(itemName, "MAP_NAME") == 0)
{
sscanf(line, "%*s %s\n", itemName);
skipping = strcmpignorecase(itemName, mapName) == 0 ? FALSE : TRUE;
}
else if (strcmpignorecase(itemName, "MODIFY_OBJECTIVE") == 0 && skipping == FALSE)
{
sscanf(line, "%*s \"%[^\"]\" \"%[^\"]\"", key, value);
modifyObjective(key, value);
}
else if (strcmpignorecase(itemName, "REMOVE_OBJECTIVE") == 0 && skipping == FALSE)
{
sscanf(line, "%*s \"%[^\"]\"", key);
removeObjective(key);
}
else if (strcmpignorecase(itemName, "REMOVE_TRIGGER") == 0 && skipping == FALSE)
{
sscanf(line, "%*s \"%[^\"]\"", key);
removeGlobalTrigger(key);
removeTrigger(key);
}
else if (strcmpignorecase(line, "ADD_ENTITY") == 0 && skipping == FALSE)
{
loadResources(savePtr);
}
else if (strcmpignorecase(itemName, "REMOVE_ENTITY") == 0 && skipping == FALSE)
{
read = sscanf(line, "%*s %s %d %d", itemName, &x, &y);
found = FALSE;
e = getEntityByObjectiveName(itemName);
if (e != NULL)
{
e->inUse = FALSE;
found = TRUE;
}
if (found == FALSE)
{
t = getTargetByName(itemName);
if (t != NULL)
{
t->active = FALSE;
found = TRUE;
}
}
if (found == FALSE && read == 3)
{
e = getEntityByStartXY(x, y);
if (e != NULL)
{
e->inUse = FALSE;
found = TRUE;
}
}
}
else if (strcmpignorecase(itemName, "UPDATE_ENTITY") == 0 && skipping == FALSE)
{
read = sscanf(line, "%*s %s %s %s", itemName, key, value);
if (strcmpignorecase(itemName, "PLAYER") == 0)
{
e = &player;
}
else
{
e = getEntityByObjectiveName(itemName);
}
if (e != NULL)
{
if (strcmpignorecase(value, "NULL") == 0)
{
STRNCPY(value, "", sizeof(value));
}
setProperty(e, key, value);
}
}
else if (strcmpignorecase(itemName, "UPDATE_ENTITY_BY_START") == 0 && skipping == FALSE)
{
read = sscanf(line, "%*s %d %d %s %[^\n]s", &x, &y, key, value);
e = getEntityByStartXY(x, y);
if (e != NULL)
{
setProperty(e, key, value);
}
}
else if (strcmpignorecase(itemName, "UPDATE_ENTITY_BY_XY") == 0 && skipping == FALSE)
{
read = sscanf(line, "%*s %d %d %s %[^\n]s", &x, &y, key, value);
e = getEntityByXY(x, y);
if (e != NULL)
{
setProperty(e, key, value);
}
}
else if (strcmpignorecase(itemName, "TRANSLATE_ENTITIES") == 0 && skipping == FALSE)
{
read = sscanf(line, "%*s %d %d", &x, &y);
entities = getEntities();
player.x -= x;
player.y -= y;
for (el=entities->next;el!=NULL;el=el->next)
{
e = el->entity;
e->x -= x;
e->y -= y;
if (e->startX - x > 0)
{
e->startX -= x;
}
if (e->startY - y > 0)
{
e->startY -= y;
}
if (e->endX - x > 0)
{
e->endX -= x;
}
if (e->endY - y > 0)
{
e->endY -= y;
}
}
t = getTargets();
for (x=0;x<MAX_TARGETS;x++)
{
if (t[x].active == TRUE)
{
if (t[x].x - x > 0)
{
t[x].x -= x;
}
if (t[x].y - y > 0)
{
t[x].y -= y;
}
}
}
}
else if (strcmpignorecase(itemName, "RENAME_MAP") == 0 && skipping == FALSE)
{
saveMap = FALSE;
}
line = strtok_r(NULL, "\n", &savePtr);
}
free(buffer);
}
return saveMap;
}
GIDSet BlueConfig::parseTarget(const std::string& target) const
{
return brion::Target::parse(getTargets(), target);
}
bool Slot::connected(Slot& target) const {
std::set<Slot *> targets = getTargets();
return (targets.find(&target) != targets.end());
}
bool Slot::connected() const {
return (getTargets().size() > 0);
}
void StateBuffTrigger::execute(StateBase* parent)
{
auto battle = getBattleInfo();
if (this->stage != 1) {
BatSeqBuffTrigger* tg = new BatSeqBuffTrigger;
tg->buffId = buff->bid;
tg->petUid = buff->belongs.owner;
battle->pushSeq(shared_ptr<ISeq>(tg));
}
shared_ptr<FireBuff> fireInfo(new FireBuff);
assign(fireInfo.get(), buff, buff->keyBuff, 0);
fireInfo->parent = nullptr;
fireInfo->origin = battle->topSkill() != nullptr ? battle->topSkill().get() : nullptr;
battle->pushSkill(fireInfo);
for (auto subsk : buff->keyBuff->subs) {
fireInfo->targets = battle->getTargets(fireInfo->origin, buff->belongs.owner, subsk->target, subsk->parent.lock()->target);
for (int i=0; i<fireInfo->targets.size(); i++) {
if (this->stage == subsk->triggerStage) {
int dstuid = fireInfo->targets[i];
if (getBattleInfo()->allPets[dstuid]->isBating) {
assign(fireInfo.get(), buff, subsk.get(), dstuid);
createEffect(2, subsk->subEffId)->execute();
}
}
}
battle->checkDead(fireInfo->targets);
}
// 以次计算触发的每个效果
vector<Buff*> triggerSubBuff;
for (auto sub : buff->keyBuff->subs)
{
if (stage == sub->triggerStage) {
for (auto arg : sub->triggerParams) {
if (createTriggerCondi(buff->belongs.owner, sub->triggerCondi, arg)->isTrigger(stage, fireInfo->origin)) {
triggerSubBuff.push_back(sub.get());
break;
}
}
}
}
//
for (auto& it : triggerSubBuff)
{
assign(fireInfo.get(), buff, it, 0);
fireInfo->targets = battle->getTargets(fireInfo->origin, buff->belongs.owner, it->target, it->parent.lock()->target);
for (int i=0; i<fireInfo->targets.size(); i++) {
int dstuid = fireInfo->targets[i];
if (getBattleInfo()->allPets[dstuid]->isBating) {
assign(fireInfo.get(), buff, it, dstuid);
createEffect(2, it->subEffId)->execute();
}
}
}
battle->popSkill();
exitState();
}
