void PlayerInterface::netMessageAllianceRequest( NetMessage *message )
{
PlayerAllianceRequest *allie_request;
PlayerState *player_state;
allie_request = (PlayerAllianceRequest *) message;
if ( allie_request->alliance_request_type == _player_make_alliance ) {
setAlliance( allie_request->allie_by_player_index, allie_request->allie_with_player_index );
if( (allie_request->allie_by_player_index == local_player_index) ) {
player_state = getPlayerState( allie_request->allie_with_player_index );
ConsoleInterface::postMessage( "Alliance created with %s.",
player_state->getName().c_str() );
} else
if( (allie_request->allie_with_player_index == local_player_index) ) {
player_state = getPlayerState( allie_request->allie_by_player_index );
ConsoleInterface::postMessage( "%s has allied with you.",
player_state->getName().c_str() );
}
} else {
clearAlliance( allie_request->allie_by_player_index, allie_request->allie_with_player_index );
if( (allie_request->allie_by_player_index == local_player_index) ) {
player_state = getPlayerState( allie_request->allie_with_player_index );
ConsoleInterface::postMessage( "Alliance broken with %s.",
player_state->getName().c_str() );
} else
if( (allie_request->allie_with_player_index == local_player_index) ) {
player_state = getPlayerState( allie_request->allie_by_player_index );
ConsoleInterface::postMessage(
"%s has broken their alliance with you.",
player_state->getName().c_str() );
}
}
PlayerAllianceUpdate allie_update;
allie_update.allie_by_player_index = allie_request->allie_by_player_index;
allie_update.allie_with_player_index = allie_request->allie_with_player_index;
allie_update.alliance_update_type = allie_request->alliance_request_type;
SERVER->sendMessage( &allie_update, sizeof( PlayerAllianceUpdate ), 0 );
}
void PlayerInterface::netMessageAllianceUpdate( NetMessage *message )
{
PlayerAllianceUpdate *allie_update;
PlayerState *player_state;
allie_update = (PlayerAllianceUpdate *) message;
if ( allie_update->alliance_update_type == _player_make_alliance ) {
setAlliance( allie_update->allie_by_player_index, allie_update->allie_with_player_index );
if( (allie_update->allie_by_player_index == local_player_index) ) {
player_state = getPlayerState( allie_update->allie_with_player_index );
ConsoleInterface::postMessage( "Alliance created with %s.",
player_state->getName().c_str() );
} else
if( (allie_update->allie_with_player_index == local_player_index) ) {
player_state = getPlayerState( allie_update->allie_by_player_index );
ConsoleInterface::postMessage( "%s has allied with you.",
player_state->getName().c_str() );
}
} else {
clearAlliance( allie_update->allie_by_player_index, allie_update->allie_with_player_index );
if( (allie_update->allie_by_player_index == local_player_index) ) {
player_state = getPlayerState( allie_update->allie_with_player_index );
ConsoleInterface::postMessage( "Alliance broken with %s.",
player_state->getName().c_str() );
} else
if( (allie_update->allie_with_player_index == local_player_index) ) {
player_state = getPlayerState( allie_update->allie_by_player_index );
ConsoleInterface::postMessage(
"%s has broken their alliance with you.",
player_state->getName().c_str() );
}
}
}
static void handleAllianceMessage(const int type,
const int by_player,
const int with_player)
{
const int local_player = PlayerInterface::getLocalPlayerIndex();
PlayerState *player_state;
if ( type == _player_make_alliance )
{
setAlliance(by_player, with_player);
if ( by_player == local_player )
{
player_state = PlayerInterface::getPlayer(with_player);
if ( PlayerInterface::isSingleAllied(player_state->getID(), local_player) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You accepted %s alliance request.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You request alliance with %s.",
player_state->getName().c_str());
}
}
else if ( with_player == local_player )
{
player_state = PlayerInterface::getPlayer(by_player);
if ( PlayerInterface::isSingleAllied( local_player, player_state->getID()) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s accepted your alliance request.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s request to ally with you.",
player_state->getName().c_str());
}
}
}
else
{
// break alliance cancels both alliances
clearAlliance(by_player, with_player);
if ( by_player == local_player )
{
player_state = PlayerInterface::getPlayer(with_player);
if ( PlayerInterface::isSingleAllied(player_state->getID(), local_player) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You broke the alliance with %s.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You cancel your alliance request with %s.",
player_state->getName().c_str());
}
}
else if ( with_player == local_player )
{
player_state = PlayerInterface::getPlayer(by_player);
if ( PlayerInterface::isSingleAllied( local_player, player_state->getID()) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s broke the alliance with you.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s cancelled the alliance request with you.",
player_state->getName().c_str());
}
}
clearAlliance(with_player, by_player);
}
}
void PlayerInterface::netMessageAllianceUpdate(const NetMessage* message)
{
PlayerState *player_state;
const PlayerAllianceUpdate* allie_update
= (const PlayerAllianceUpdate *) message;
if(allie_update->getAllieByPlayerIndex() >= max_players
|| allie_update->getAllieWithPlayerIndex() >= max_players) {
LOGGER.warning("Invalid alliance update message");
return;
}
SDL_mutexP(mutex);
if (allie_update->alliance_update_type == _player_make_alliance)
{
setAlliance( allie_update->getAllieByPlayerIndex(),
allie_update->getAllieWithPlayerIndex());
if ( allie_update->getAllieByPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_update->getAllieWithPlayerIndex() );
if ( isSingleAllied( player_state->getID(), local_player_index) )
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "You accepted %s alliance request.",
player_state->getName().c_str() );
}
else
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "You request alliance with %s.",
player_state->getName().c_str() );
}
}
else if ( allie_update->getAllieWithPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_update->getAllieByPlayerIndex() );
if ( isSingleAllied( local_player_index, player_state->getID() ) )
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "%s accepted your alliance request.",
player_state->getName().c_str() );
}
else
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "%s request to ally with you.",
player_state->getName().c_str() );
}
}
}
else
{
// break alliance cancels both alliances
clearAlliance( allie_update->getAllieByPlayerIndex(),
allie_update->getAllieWithPlayerIndex());
if ( allie_update->getAllieByPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_update->getAllieWithPlayerIndex() );
if ( isSingleAllied( player_state->getID(), local_player_index) )
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "You broke the alliance with %s.",
player_state->getName().c_str() );
}
else
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "You cancel your alliance request with %s.",
player_state->getName().c_str() );
}
}
else if ( allie_update->getAllieWithPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_update->getAllieByPlayerIndex() );
if ( isSingleAllied( local_player_index, player_state->getID()) )
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "%s broke the alliance with you.",
player_state->getName().c_str() );
}
else
{
ConsoleInterface::postMessage( Color::yellow, false, 0, "%s cancelled the alliance request with you.",
player_state->getName().c_str() );
}
}
clearAlliance( allie_update->getAllieWithPlayerIndex(),
allie_update->getAllieByPlayerIndex() );
}
SDL_mutexV(mutex);
}
void PlayerInterface::netMessageAllianceRequest(const NetMessage *message)
{
if ( gameconfig->allowallies == false )
{
return;
}
PlayerState *player_state;
const PlayerAllianceRequest *allie_request
= (const PlayerAllianceRequest *) message;
if(allie_request->getAllieByPlayerIndex() >= max_players
|| allie_request->getAllieWithPlayerIndex() >= max_players)
{
LOGGER.warning("Invalid alliance request message");
return;
}
SDL_mutexP(mutex);
if ( allie_request->alliance_request_type == _player_make_alliance )
{
setAlliance(allie_request->getAllieByPlayerIndex(),
allie_request->getAllieWithPlayerIndex());
if ( allie_request->getAllieByPlayerIndex() == local_player_index )
{
player_state = getPlayer(allie_request->getAllieWithPlayerIndex());
if ( isSingleAllied( player_state->getID(), local_player_index) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You accepted %s alliance request.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You request alliance with %s.",
player_state->getName().c_str());
}
}
else if ( allie_request->getAllieWithPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_request->getAllieByPlayerIndex() );
if ( isSingleAllied( local_player_index, player_state->getID()) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s accepted your alliance request.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s request to ally with you.",
player_state->getName().c_str());
}
}
}
else
{
// break alliance cancels both alliances
clearAlliance( allie_request->getAllieByPlayerIndex(),
allie_request->getAllieWithPlayerIndex());
if ( allie_request->getAllieByPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_request->getAllieWithPlayerIndex() );
if ( isSingleAllied( player_state->getID(), local_player_index) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You broke the alliance with %s.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"You cancel your alliance request with %s.",
player_state->getName().c_str());
}
}
else if ( allie_request->getAllieWithPlayerIndex() == local_player_index )
{
player_state = getPlayer( allie_request->getAllieByPlayerIndex() );
if ( isSingleAllied( local_player_index, player_state->getID()) )
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s broke the alliance with you.",
player_state->getName().c_str());
}
else
{
ConsoleInterface::postMessage(Color::yellow, false, 0,
"%s cancelled the alliance request with you.",
player_state->getName().c_str());
}
}
clearAlliance(allie_request->getAllieWithPlayerIndex(),
allie_request->getAllieByPlayerIndex());
}
SDL_mutexV(mutex);
PlayerAllianceUpdate allie_update;
allie_update.set(allie_request->getAllieByPlayerIndex(),
allie_request->getAllieWithPlayerIndex(),
allie_request->alliance_request_type);
//NetworkServer::broadcastMessage(&allie_update, sizeof(PlayerAllianceUpdate));
if ( allie_request->getAllieByPlayerIndex() != local_player_index )
{
NetworkServer::sendMessage(allie_request->getAllieByPlayerIndex(),
&allie_update, sizeof(PlayerAllianceUpdate));
}
if ( allie_request->getAllieWithPlayerIndex() != local_player_index )
{
NetworkServer::sendMessage(allie_request->getAllieWithPlayerIndex(),
&allie_update, sizeof(PlayerAllianceUpdate));
}
}
void DriverStation::setAlliance (int alliance)
{
setAlliance ((DS_Alliance) alliance);
}
int main(int argc, char* argv[]) {
printf("SimpleDS\n");
printf("Build: " VERSION_STR " (" SYSTEM_NAME " " SYSTEM_PROCESSOR ")");
#ifdef SDL_HAPTIC_DISABLED
printf(" - No Haptic");
#endif
printf("\nAuthors: " VERSION_AUTHORS "\n");
args = std::vector<const char*>(argv, argv + argc);
int offset = 1;
std::string configFile = "./simpleds.conf";
if (hasOpt("-c") || hasOpt("--config")) {
configFile = getOpt("-c");
if (configFile.size() == 0) {
configFile = getOpt("--config");
}
offset += 2;
}
config = new Config(configFile);
if (config->loaded) {
printf("Config: %s\n", configFile.c_str());
if (config->has("DS.foo")) {
printf("Foo: %s\n", config->getString("DS.foo").c_str());
}
} else {
printf("Config file couldn't be loaded, won't be able to save\n");
}
uint16_t teamNum = (uint16_t)config->getInt32("DS.team");
verbose = (hasOpt("-v") || hasOpt("--verbose"));
if (hasOpt("-V") || hasOpt("--version")) {
return 0;
}
if (hasOpt("-h") || hasOpt("--help")) {
printUsage();
printf("Options:\n");
printf(" -h, --help Prints this message\n");
printf(" -v, --verbose Output debugging information\n");
printf(" -V, --version Prints version info and exits\n");
printf(" -c, --config Sets the config file to use [default: ./simpleds.conf]\n");
printf(" teamNum The team number to use, must be provided here or in configuration file\n");
return 0;
}
if (teamNum == 0 && args.begin() + offset == args.end()) { // We're out of arguments
printUsage();
return 1;
} else {
char* endptr;
uint16_t argTeamNum = (uint16_t)std::strtol(args[offset], &endptr, 10);
if (endptr == args[offset] || *endptr != '\0') { // No team number in config, and none provided
if (teamNum == 0) {
printUsage();
return 1;
}
} else {
teamNum = argTeamNum;
}
}
printf("Team Number: %d\n", teamNum);
bool quit = false;
SDL_Event e;
auto gui = new GUI();
if (!gui->isValid()) {
return 1;
}
config->setInt32("DS.team", teamNum);
config->initInt32("DS.alliance", Alliance::RED);
config->initInt32("DS.position", 1);
DS::initialize(teamNum);
auto ds = DS::getInstance();
enum GUIMode { MAIN, INFO, JOYSTICKS, CONTROL, HELP, COUNT };
GUIMode mode = GUIMode::MAIN;
auto runner = std::async(std::launch::async, &DS::run, ds);
std::map<GUIMode, Screen*> screens;
screens[MAIN] = new ScreenMain();
screens[INFO] = new ScreenInfo();
screens[JOYSTICKS] = new ScreenJoysticks();
screens[CONTROL] = new ScreenControl();
screens[HELP] = new ScreenHelp();
while (!quit) {
while (gui->pollEvent(&e) != 0) {
if (e.type == SDL_QUIT) {
quit = true;
} else if (e.type == SDL_JOYDEVICEREMOVED || e.type == SDL_JOYDEVICEADDED) {
ds->setEnable(false);
ds->loadJoysticks();
} else if (e.type == SDL_KEYDOWN && e.key.repeat == 0) {
auto key = e.key.keysym;
if (key.sym == SDLK_e) {
ds->toggleEnable();
} else if (key.sym == SDLK_SPACE) {
ds->setEnable(false);
} else if (key.sym == SDLK_0) {
ds->setEStop();
} else if (key.sym == SDLK_q) {
quit = true;
} else if (key.sym == SDLK_r) {
if (key.mod & KMOD_SHIFT) {
ds->reboot();
} else {
ds->restartCode();
}
} else if (key.sym == SDLK_BACKQUOTE) {
ds->setAlliance(ds->getAlliance() == Alliance::BLUE ? Alliance::RED : Alliance::BLUE);
} else if (key.sym >= SDLK_1 && key.sym <= SDLK_9) {
uint8_t keyNum = (uint8_t)(1 + key.sym - SDLK_1);
if (key.mod & KMOD_CTRL && keyNum >= 1 && keyNum <= 3) {
ds->setPosition(keyNum);
} else if (key.mod & KMOD_SHIFT && keyNum >= 1 && keyNum <= 3) {
ds->setEnable(false);
ds->setMode((Mode)(keyNum - 1));
} else if (keyNum >= 1 && keyNum <= GUIMode::COUNT) {
mode = (GUIMode)(keyNum - 1);
}
}
}
screens[mode]->update(e);
}
if (gui->readyToDraw()) {
gui->setOffset(10, 10);
gui->clear();
gui->drawScreen(screens[mode]);
gui->setOffset(10, gui->getHeight() - gui->getCharSize().y);
gui->drawText(0, 0, "1: Main", mode == GUIMode::MAIN ? Colors::BLACK : Colors::DISABLED);
gui->drawTextRel(9, 0, "2: Info", mode == GUIMode::INFO ? Colors::BLACK : Colors::DISABLED);
gui->drawTextRel(9, 0, "3: Joysticks", mode == GUIMode::JOYSTICKS ? Colors::BLACK : Colors::DISABLED);
gui->drawTextRel(14, 0, "4: Control", mode == GUIMode::CONTROL ? Colors::BLACK : Colors::DISABLED);
gui->drawTextRel(12, 0, "5: Help", mode == GUIMode::HELP ? Colors::BLACK : Colors::DISABLED);
gui->render();
}
std::string s = narf::util::format("Team %d", teamNum);
if (ds->isConnected()) {
auto rio = ds->getRoboRIO();
s += " - ";
if (rio->getEStop()) {
s += "E-Stopped";
} else {
s += narf::util::format("%s %s", modeNames[rio->getMode()].c_str(), rio->getEnable() ? "Enabled" : "Disabled");
}
s += narf::util::format(" - %s %d", allianceNames[ds->getAlliance()].c_str(), ds->getPosition());
if (!rio->getCode()) {
s += " - No Code";
}
} else {
s += " - No Comms";
}
gui->setTitle(s);
ds->updateJoysticks();
SDL_Delay(25);
}
ds->saveJoysticks();
ds->stop();
SDL_Quit();
return 0;
}
