/**
* toString() recursively prints this Tree234Node and its descendants as
* a string. Each node is printed in the form such as (for a 3-key node)
*
* (child1)key1(child2)key2(child3)key3(child4)
*
* where each child is a recursive call to toString, and null children
* are printed as a space with no parentheses. Here's an example.
* ((1)7(11 16)22(23)28(37 49))50((60)84(86 95 100))
*
* DO NOT CHANGE THIS METHOD.
**/
const string Tree234Node::toString() {
string s = "";
if (child1 != NULL) {
s = "(" + child1->toString() + ")";
}
s = s + int2String(key1);
if (child2 != NULL) {
s = s + "(" + child2->toString() + ")";
} else if (keys > 1) {
s = s + " ";
}
if (keys > 1) {
s = s + int2String(key2);
if (child3 != NULL) {
s = s + "(" + child3->toString() + ")";
} else if (keys > 2) {
s = s + " ";
}
}
if (keys > 2) {
s = s + int2String(key3);
if (child4 != NULL) {
s = s + "(" + child4->toString() + ")";
}
}
return s;
}
void BattleLayer::_testCode(){
Size visibleSize = Director::getInstance()->getVisibleSize();
//Add Tile Label
for (int column = 0; column < astarData.size(); ++column){
for (int row = 0; row < astarData[column].size(); ++row){
std::string labelString = int2String(column) + "," + int2String(row);
Label *tileLabel = Label::createWithSystemFont(labelString, "Arial", 10);
tileLabel->setColor(Color3B(0, 0, 0));
tileLabel->setPosition(column * _battleTileSize.width + _battleTileSize.width / 2, row * _battleTileSize.height + _battleTileSize.height / 2);
_battleMap->addChild(tileLabel, 1);
}
}
// this->schedule([&](float dt){
// CCLOG("Test Water");
// _playerWater = 2;
// }, 20, "TestWater");
//Find Path Test
// std::vector<AStarNode *> path;
// AStarDataNode beginNode = AStarDataNode(3, 0, true);
// AStarDataNode targetNode = AStarDataNode(3, 29, true);
// astar(astarData, path, beginNode, targetNode);
// for (auto iter = path.begin(); iter != path.end(); ++iter){
//// CCLOG("(%d, %d)", (*iter)->column, (*iter)->row);
// Sprite *pathNode = Sprite::createWithSpriteFrameName("battle_map_path.png");
// pathNode->setAnchorPoint(Vec2(0, 0));
// pathNode->setPosition((*iter)->column * _battleTileSize.width, (*iter)->row * _battleTileSize.height);
// _battleMap->addChild(pathNode, 1);
// }
// this->schedule([&](float deltaTime){
// playerKingTower->loseBlood(5);
// playerDefendLeftTower->loseBlood(8);
// npcKingTower->loseBlood(7);
// npcDefendRightTower->loseBlood(10);
// }, 1, "Test");
//Tower Test
// Tower *tower1 = Tower::createTower(TowerType::King, Side::Player);
// tower1->setPosition(_battleMapSize.width / 2, 0);
// _battleMap->addChild(tower1, getBattleElementZOrderOnBattleMap(tower1));
//
// Tower *tower2 = Tower::createTower(TowerType::Defend, Side::Player);
// tower2->setPosition(_battleMapSize.width / 2, _battleMapSize.height / 4);
// _battleMap->addChild(tower2, getBattleElementZOrderOnBattleMap(tower2));
//
// Tower *tower3 = Tower::createTower(TowerType::King, Side::NPC);
// tower3->setPosition(_battleMapSize.width / 2, _battleMapSize.height / 2);
// _battleMap->addChild(tower3, getBattleElementZOrderOnBattleMap(tower3));
//
// Tower *tower4 = Tower::createTower(TowerType::Defend, Side::NPC);
// tower4->setPosition(_battleMapSize.width / 2, _battleMapSize.height / 4 * 3);
// _battleMap->addChild(tower4, getBattleElementZOrderOnBattleMap(tower4));
}
UALQnx::UALQnx(ros::NodeHandle *n, int uavId, std::string qnx_host, unsigned int statePort, unsigned int commandPort):
generalCommunications(n,uavId),
qnxCommunications(n, qnx_host, commandPort, statePort),
actual_state(LANDED),
landActionServer(std::string("land"),int2String(uavId)),
takeoffActionServer(std::string("take_off"),int2String(uavId))
{
update_timer_ = n->createTimer(ros::Duration(1/UPDATE_RATE),
boost::bind(&UALQnx::updateLoop, this, _1));
}
Raid_map_table* Raid_map::getRaid_mapVo(int id)
{
auto it = m_data.find(int2String(id));
if (it == m_data.end())
{
return nullptr;
} else {
return &((*it).second);
}
}
Stage_table* Stage::getStageVo(int id)
{
auto it = m_data.find(int2String(id));
if (it == m_data.end())
{
return nullptr;
} else {
return &((*it).second);
}
}
Upgrade_table* Upgrade::getUpgradeVo(int level)
{
auto it = m_data.find(int2String(level));
if (it == m_data.end())
{
return nullptr;
} else {
return &((*it).second);
}
}
int addSigSock(int newFd, struct sockaddr_in* clientAddr, bool isProxySock)
{
if (newFd <1)
{
return -1;
}
fcntl(newFd, F_SETFL, O_NONBLOCK);
ProxySock* pProxySock = new ProxySock(newFd);
pProxySock->setIsProxySock(isProxySock);
string name;
if (clientAddr)
{
if (isProxySock)
{
name="Proxy|";
name = name+inet_ntoa(clientAddr->sin_addr)+":"+int2String(ntohs(clientAddr->sin_port));
pProxySock->setName(name);
}
else
{
name="Listen|";
name = name+inet_ntoa(clientAddr->sin_addr)+":"+int2String(ntohs(clientAddr->sin_port));
pProxySock->setName(name);
}
}
if (pthread_mutex_lock(&sockListMutex))
{
close(newFd);
return -1;
}
gSockFdList.push_back(newFd);
gProxySockMap.insert(map<int, ProxySock*>::value_type(newFd, pProxySock));
pthread_mutex_unlock(&sockListMutex);
printSysTime();
gOsLog<<"add sockfd="<<newFd<<",name="<<name<<endl;
return 0;
}
void MyGesture::drawFingerTips(MyInputImgStruct *m){
/***
*@DOC: draw small circle at each fingertips
* Points are taken from FingetTips vector
**/
Point p;
int k=0;
for(int i=0; i < FingerTips.size(); i++)
{ p = FingerTips[i];
putText(m->src, int2String(i), p-Point(0,30), fontFace, 1.2f, Scalar(200,200,200), 2);
circle( m->src, p, 5, Scalar(100,255,100), 4 );
}
} //ENDOF Method: drawFingerTips(MyInputImgStruct *m)
void PublishDialog::initPublishDialog(void) {
ui.listWidget_Weeks->clear();
const scheduleWeekVector &weeks = Controller::theSchedulerSettings.getScheduleWeeks();
QString weekStr;
for (scheduleWeekVector::const_iterator it = weeks.begin(); it != weeks.end(); ++it) {
weekStr="";
weekStr = QString(int2String(it->first).c_str()) + QString(", starting on Monday ") + QString(it->second.toString().c_str());
QListWidgetItem * item = new QListWidgetItem(weekStr);
item->setData(200, it->second.toJulian()); // store the date of Monday as an int (julian day) in the listwidget item for later comparison
ui.listWidget_Weeks->addItem(item);
}
}
void MyGesture::printGestureInfo(Mat src){
int fontFace = FONT_HERSHEY_PLAIN;
Scalar fontColor(245, 200, 200);
int xpos = src.cols / 1.5;
int ypos = src.rows / 1.6;
float fontSize = 0.7f;
int lineChange = 14;
std::string info = "Figure Info:";
putText(src, info, Point(ypos, xpos), fontFace, fontSize, fontColor);
xpos = xpos + lineChange;
info = std::string("bounding box height, width ") + std::string(int2String(numOfDefects));
putText(src, info, Point(ypos, xpos), fontFace, fontSize, fontColor);
xpos = xpos + lineChange;
info = std::string("is Hande: ") + std::string(bool2String(isHand));
putText(src, info, Point(ypos, xpos), fontFace, fontSize, fontColor);
} //ENDOF Method: printGestureInfo(Mat src)
void MyGesture::addNumberToImg(MyInputImgStruct *m){
/***
* DOC: displays the number of fingers in the image
*/
int fontFace = FONT_HERSHEY_PLAIN;
int xPos = 10, yPos = 10, offset = 30;
float fontSize = 1.5f;
for(int i=0; i<numbers2Display.size(); i++)
{
rectangle(m->src,Point(xPos,yPos),Point(xPos+offset,yPos+offset),numberOfColor, 2);
putText(m->src, int2String(numbers2Display[i]), Point(xPos+7, yPos+offset-3), fontFace, fontSize, numberOfColor);
xPos = xPos+40;
if(xPos>(m->src.cols - m->src.cols/3.2))
{
yPos+=40;
xPos=10;
}
}
}//ENDOF method: addNumberToImg()
void proxySocketThread(int argument)
{
string sMessage;
unsigned char* recvBuff = 0;
int proxyFd = 0;
int proxyRtpFd = 0;
int proxyRtcpFd = 0;
int proxyRtpPort = 0;
int listenRtpFd = 0;
int listenRtcpFd = 0;
int listenRtpPort = 0;
fd_set fds; // set of file descriptors to check.
int nread = 0; // return from read()
int nready = 0; // # fd's ready.
int maxfd = 0; // fd's 0 to maxfd-1 checked.
int proxyRtpClientInited = 0;
int listenRtpClientInited = 0;
int proxyRtcpClientInited = 0;
int listenRtcpClientInited = 0;
int result = 0;
int sock_len = sizeof(struct sockaddr);
int readMsgLen = 0;
int readStep = 0;
bool readHead = true;
struct sockaddr_in clientAddr;
struct sockaddr_in proxyRtpCliAddr;
struct sockaddr_in listenRtpCliAddr;
struct sockaddr_in proxyRtcpCliAddr;
struct sockaddr_in listenRtcpCliAddr;
proxyFd = argument;
if (0 == proxyFd)
{
gOsLog<<"argument is null ,exit from the thread!"<<endl;
pthread_exit(0); // Notice the cast
}
for(int i=0;i<10;i++)
{
proxyRtpPort = RTPPortRange.getRTPPort();
listenRtpPort = RTPPortRange.getRTPPort();
proxyRtpFd = UDPListen(proxyRtpPort);
if (1 > proxyRtpFd)
{
proxyRtpFd = 0;
continue;
}
proxyRtcpFd = UDPListen(proxyRtpPort+1);
if (1 > proxyRtcpFd)
{
close(proxyRtpFd);
proxyRtcpFd = 0;
proxyRtpFd = 0;
continue;
}
listenRtpFd = UDPListen(listenRtpPort);
if (1 > listenRtpFd)
{
close(proxyRtpFd);
close(proxyRtcpFd);
proxyRtcpFd = 0;
proxyRtpFd = 0;
listenRtpFd = 0;
continue;
}
listenRtcpFd = UDPListen(listenRtpPort+1);
if (1 > listenRtcpFd)
{
close(proxyRtpFd);
close(proxyRtcpFd);
close(listenRtpFd);
proxyRtcpFd = 0;
proxyRtpFd = 0;
listenRtpFd = 0;
listenRtcpFd = 0;
continue;
}
break;
}
if (proxyFd < 1 || proxyRtpFd < 1 || proxyRtcpFd < 1
|| listenRtpFd < 1|| listenRtcpFd < 1 )
{
if (proxyRtpFd > 0)
{
close(proxyRtpFd);
}
if (proxyRtcpFd > 0)
{
close(proxyRtcpFd);
}
if (listenRtpFd > 0)
{
close(listenRtpFd);
}
if (listenRtcpFd > 0)
{
close(listenRtcpFd);
}
close(proxyFd);
gOsLog<<"can't get 4 udp port.exit thread."<<endl;
pthread_exit(0); // Notice the cast
}
maxfd = listenRtcpFd;
if (listenRtpFd > maxfd)
{
maxfd = listenRtpFd;
}
if (proxyRtcpFd > maxfd)
{
maxfd = proxyRtcpFd;
}
if (proxyRtpFd > maxfd)
{
maxfd = proxyRtpFd;
}
if (proxyFd > maxfd)
{
maxfd = proxyFd;
}
gOsLog<<"listen UDP on proxyRtp="<<proxyRtpPort<<endl;
recvBuff = new unsigned char [MAXLINE];
maxfd ++;
while (!bSysStop)
{
// Set up polling.
FD_ZERO(&fds);
FD_SET(proxyFd,&fds);
FD_SET(proxyRtpFd,&fds);
FD_SET(proxyRtcpFd,&fds);
FD_SET(listenRtpFd,&fds);
FD_SET(listenRtcpFd,&fds);
struct timeval tv;
/* Wait up to 30*60 seconds. */
tv.tv_sec = 1800;
tv.tv_usec = 0;
//* Wait for some input.
nready = select(maxfd, &fds, (fd_set *) 0, (fd_set *) 0, &tv);
//nready = select(maxfd, &fds, (fd_set *) 0, (fd_set *) 0,NULL);
switch (nready)
{
case -1:
//error
gOsLog<<"select error:"<<strerror(errno)<<endl;
break;
case 0:
//timeout
gOsLog<<"select timeout, error:"<<strerror(errno)<<endl;
break;
default:
break;
}
if( FD_ISSET(proxyFd, &fds))
{
char tcpBuff;
nread = recv(proxyFd, &tcpBuff, 1, 0);
// If error or eof, terminate.
if(nread < 1)
{
gOsLog<<"recv proxyFd error:"<<strerror(errno)<<endl;
break;
}
if (readHead)
{
if (0 == readStep && 3 == tcpBuff)
{
readStep ++;
}
else if (1 == readStep && 0 == tcpBuff)
{
readStep++;
}
else if (2 == readStep )
{
readStep ++;
readMsgLen = tcpBuff<<8;
//gOsLog<<"readStep=2,tcpBuff="<<tcpBuff<<",readMsgLen="<<readMsgLen<<endl;
}
else if (3 == readStep )
{
readStep =0;
readMsgLen += tcpBuff;
readMsgLen -=4;//len include 03,00,LH,LL
readHead = false;
sMessage = "";
//gOsLog<<"readStep=3,tcpBuff="<<tcpBuff<<",readMsgLen="<<readMsgLen<<endl;
}
else
{
readStep = 0;
readMsgLen = 0;
readHead = true;
//no use data read
}
}
else if (readMsgLen > 0)
{
sMessage += tcpBuff;
readMsgLen --;
if (0 == readMsgLen)
{
readMsgLen = 0;
readHead = true;
//string sMessage = string((const char*)recvBuff);
printSysTime();
gOsLog<<"proxyFd="<<proxyFd<<",read message: "<<sMessage<<endl;
string sCommand = getTagContent(sMessage,"<Command>","</Command>");
if ("Close" == sCommand)
{
break;
}
else if ("Start" == sCommand)
{
int len = 0;
//<Message><ProxyRTP>RTPPort</ProxyRTP><ListenRTP>RTPPort</ListenRTP></Message>
sMessage = "<Message><ProxyRTP>";
sMessage += int2String(proxyRtpPort);
sMessage +="</ProxyRTP><ListenRTP>";
sMessage += int2String(listenRtpPort);
sMessage +="</ListenRTP></Message>";
//3,0,length(H,L),Message
len = sMessage.length()+4;
//string msg;
unsigned char sendbuf[1024];
sendbuf[0]=3;
sendbuf[1]=0;
sendbuf[2]=((len >> 8) & 0x0ff);
sendbuf[3]=(len & 0x0ff);
memcpy(sendbuf+4, sMessage.data(),len-4);
sendbuf[len] ='\0';
len = send(proxyFd, sendbuf, len+1, 0);
if (0 > len)
{
bSysStop = true;
gOsLog<<"error send msg,error:"<<strerror(errno)<<endl;
break;
}
}//end of start
else if (!listenRtpClientInited && "SetClientAddr" == sCommand)
void listenThread(void)
{
int listenSockt = 0;
int yes = 1;
// init socket to receive message from AppServer
if( (listenSockt = socket(AF_INET, SOCK_STREAM, 0) ) == -1 )
{
gOsLog<<"receive socket() error:"<<strerror(errno)<<endl;
return;
}
if( setsockopt(listenSockt, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int)) == -1 )
{
gOsLog<<"setsockopt error:"<<strerror(errno)<<endl;
close(listenSockt);
return;
}
// int appserversock_fd;
sockaddr_in myAddr,clientAddr;
// fill in connection parameters
myAddr.sin_family = AF_INET;
myAddr.sin_port = htons(PROXY_TCP_PORT);
myAddr.sin_addr.s_addr = INADDR_ANY;
bzero( &(myAddr.sin_zero), 8);
if( bind(listenSockt, (sockaddr*)&myAddr, sizeof(sockaddr)) == -1 )
{
gOsLog<<"bind() error:"<<strerror(errno)<<endl;
close(listenSockt);
return;
}
else
{
gOsLog<<"bind() on port"<<PROXY_TCP_PORT<<endl;
}
if( listen(listenSockt, MAXCONNECTION) == -1 )
{
gOsLog<<"listen() error:"<<strerror(errno)<<endl;
close(listenSockt);
return;
}
gOsLog<<"waiting for connection request from client...\n"<<endl;
int sin_size = sizeof(sockaddr_in);
int newFd = 0;
while(!bSysStop)
{
newFd = accept(listenSockt, (sockaddr*)&clientAddr, (socklen_t *)&sin_size);
if( -1 == newFd)
{
gOsLog<<"accept() error:"<<strerror(errno)<<endl;
continue; // try to get in another connection request from ep
}
else
{
gOsLog<<"got socket fd="<<newFd<<" connection from client:"<<inet_ntoa(clientAddr.sin_addr)<<":"<<int2String(ntohs(clientAddr.sin_port));
int status = 0;
do
{
pthread_t tidProxy = 0;
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
status = pthread_create(&tidProxy, &attr, (void *(*)(void*))proxySocketThread, (void*)newFd);
if (status)
{
gOsLog<<"create proxySocketThread thread fail! status="<<status<<",error:"<<strerror(errno)<<endl;
}
pthread_attr_destroy(&attr);
}while(0 != status && errno == EINTR);
}
}
close(listenSockt);
return;
}
inline void Player::draw(Coordinate unused) {
glColor3f(1,1,1);
string s;
s.assign("Score: ");
s.append(int2String(score));
renderString(412, 354, s);
int currentFps = Fps::getFps();
if (currentFps < 1) {
currentFps = 1;
}
if (l) {
if (dTheta <= 1.1) {
dTheta += 0.02;
}
}
else if (r) {
if (dTheta >= -1.1) {
dTheta -= 0.02;
}
}
else {
dTheta /= 1.1;
if (dTheta < 0.3 && dTheta > -0.3) {
dTheta = 0;
}
}
direction += dTheta;
if (direction >= 360) {
direction -= 360;
}
if (direction < 0) {
direction += 360;
}
if (f) {
dX = acceleration*cos(D2R(direction));
dY = acceleration*sin(D2R(direction));
velocity.vx += dX;
velocity.vy += dY;
}
else if (b) {
dX = -(acceleration*cos(D2R(direction)));
dY = -(acceleration*sin(D2R(direction)));
velocity.vx += dX;
velocity.vy += dY;
}
else {
velocity.vx *= ((1-deceleration));
velocity.vy *= ((1-deceleration));
}
velocity.magnitude = sqrt(velocity.vx*velocity.vx + velocity.vy*velocity.vy);
if(velocity.magnitude > 2) {
float tempDecel = (2/velocity.magnitude);
velocity.vx *= tempDecel;
velocity.vy *= tempDecel;
}
if(this->cell != -1) {
Collision collision = detectCollisions();
if(collision.happened) {
velocity.vx = collision.vx;
velocity.vy = collision.vy;
}
}
if(sucked) {
Coordinate dw;
dw.x = wpLoc.x - location.x;
dw.y = wpLoc.y - location.y;
if(abs(dw.x) < 10 && abs(dw.y) < 10) {
velocity.vx = 0;
velocity.vy = 0;
location.x = wpLoc.x;
location.y = wpLoc.y;
finishLevel();
}
else {
velocity.vx = dw.x * 0.2;
velocity.vy = dw.y * 0.2;
}
}
location.x += velocity.vx;
location.y += velocity.vy;
if(attacking) {
int atkspeed = 6;
atkspin += atkspeed;
if(atkspeed < 0) {
attacking = false;
}
if (atkspin >= 180) {
atkspeed -= 0.0001;
}
if (atkspin > 360) {
atkspin -= 360;
atkspeed -= 0.0001;
}
bbox.hheight = 42;
}
else {
bbox.hheight = 25;
}
if(hit) {
if(glutGet(GLUT_ELAPSED_TIME) - safetimer > 3000) {
hit = false;
safe = false;
}
if(!flash) {
flash = true;
}
else {
drawPlayer();
flash = false;
}
}
else {
drawPlayer();
}
};
