//************************
//Configura sensores e joga erros na tela
//************************
void F_STATE_CONFIG()
{
MTASK_SET_RUN(MT_BEEP);
//Enquanto o estado atual for o estado target
eraseDisplay();
nxtDisplayCenteredBigTextLine(3, "WAIT");
while(ESTADO_IS_CURRENT())
{
//=====================================
wait10Msec(100);
//Seta os tipos de porta no NXT
SensorType[PORT_ARD] = sensorI2CCustom;
SensorType[PORT_ACC] = sensorI2CCustom;
SensorType[PORT_COMP] = sensorI2CCustom;
//Inicia Arduino
while(!ERRO_SET_CODE(" CF: ARDU ERR",ARDUinit(PORT_ARD)));
//Inicia Acc Sensor
while(!ERRO_SET_CODE(" CF: ACC ERR",HTACinit(PORT_ACC)));
HTACreadAllAxes(PORT_ACC,ACCEL[0],ACCEL[1],ACCEL[2]);
ACCEL_Offset=ACCEL[ACCEL_AXIS_RAMPA];
//Inicia Line Leader
while(!ERRO_SET_CODE(" CF: LL ERR",LLinit(PORT_LL)));
//Inicia Bussola
while(!ERRO_SET_CODE(" CF: COMP ERR",HTMCreadHeading(PORT_COMP)>=0));
//Testa motores
while(!ERRO_SET_CODE(" CF: MOTOR A",TEST_MOTOR(MA)));
while(!ERRO_SET_CODE(" CF: MOTOR C",TEST_MOTOR(MC)));
bMotorReflected[MA] = true;
bMotorReflected[MC] = true;
GARRA_H(PORT_ARD, GARRA_H_FECHA);
wait10Msec(20);
GARRA_V(PORT_ARD,GARRA_V_SOBE);
wait10Msec(30);
GARRA_V(PORT_ARD,GARRA_V_PARA);
GARRA_H(PORT_ARD, GARRA_H_PARA);
setSafe(3,300);
setSafe(4,300);
ESTADO_SET_TARGET(ST_WAIT);
//=====================================
}
}
//************************
// Entra na Sala
//************************
void F_STATE_ENTRA()
{
PlayTone(500,10);
MTASK_SET_RUN(MT_STOP_BUTTON);
while(ESTADO_IS_CURRENT())
{
//=====================================
MV_StopMotors();
GARRA_V(PORT_ARD,GARRA_V_SOBE);
wait10Msec(50);
GARRA_V(PORT_ARD,GARRA_V_PARA);
setSafe(0,5000);
MV_Reto_Unlimited(60);
while(getSafe(0) && !ReadTouch(PORT_ARD)==0);
MV_Reto(80,0,7);
MV_Reto(-60,100);
ESTADO_SET_TARGET(ST_WAIT);
//=====================================
}
}
SafeListView::SafeListView(QWidget *parent, const char *name, Safe *safe)
: Q3ListView(parent, name), m_target_is_child(false)
{
setShowSortIndicator(true);
setAllColumnsShowFocus(true);
setAcceptDrops(true);
viewport()->setAcceptDrops(true);
setRootIsDecorated(false);
addColumn(tr("Name"), 150);
addColumn(tr("User"), 100);
addColumn(tr("Notes"), 150);
addColumn(tr("Last Modified"), 100);
addColumn(tr("Accessed on"), 100);
addColumn(tr("Created on"), 100);
addColumn(tr("Lifetime"), 100);
#ifdef DEBUG
addColumn(tr("Group"));
#endif
setSafe(safe);
connect(this, SIGNAL(dropped(QDropEvent *)), SLOT(dropped(QDropEvent *)));
}
void cTerritory::processNode( const cElement* Tag, uint hash )
{
QString TagName( Tag->name() );
QString Value( Tag->value() );
//<guards>
// <npc mult="2">npcsection</npc> (mult inserts 2 same sections into the list so the probability rises!
// <npc><random list="npcsectionlist" /></npc>
// <list id="npcsectionlist" />
//</guards>
if ( TagName == "guards" )
{
for ( uint i = 0; i < Tag->childCount(); ++i )
{
const cElement* childNode = Tag->getChild( i );
if ( childNode->name() == "npc" )
{
uint mult = childNode->getAttribute( "mult" ).toInt();
if ( mult < 1 )
mult = 1;
for ( uint j = 0; j < mult; j++ )
this->guardSections_.push_back( childNode->value() );
}
else if ( childNode->name() == "list" && childNode->hasAttribute( "id" ) )
{
QStringList NpcList = Definitions::instance()->getList( childNode->getAttribute( "id" ) );
QStringList::const_iterator it( NpcList.begin() );
for ( ; it != NpcList.end(); ++it )
this->guardSections_.push_back( *it );
}
}
}
// <fixedlight>number</fixedlight>
else if ( TagName == "fixedlight" )
this->fixedlight_ = Value.toShort();
// <guardowner>text</guardowner>
else if ( TagName == "guardowner" )
if ( Value == "the town" )
this->guardowner_ = "";
else
this->guardowner_ = Value;
// <resores>ORES</resores>
else if ( TagName == "resores" )
this->resores_ = Value;
// <firstcoin>IDofCOIN</firstcoin>
else if ( TagName == "firstcoin" )
this->firstcoin_ = Value;
// <secondcoin>IDofCOIN</secondcoin>
else if ( TagName == "secondcoin" )
this->secondcoin_ = Value;
// <thirdcoin>IDofCOIN</thirdcoin>
else if ( TagName == "thirdcoin" )
this->thirdcoin_ = Value;
// <midilist>MIDI_COMBAT</midilist>
else if ( TagName == "midilist" )
this->midilist_ = Value;
// <extraflags>ExtraFlags</extraflags>
else if ( TagName == "extraflags" )
this->extraflags_ = Value.toUShort();
else if ( TagName == "flags" )
{
flags_ = 0;
for ( unsigned int i = 0; i < Tag->childCount(); ++i )
{
const cElement* childNode = Tag->getChild( i );
if ( childNode->name() == "guarded" )
setGuarded( true );
else if ( childNode->name() == "nomark" )
setNoMark( true );
else if ( childNode->name() == "nogate" )
setNoGate( true );
else if ( childNode->name() == "norecallout" )
setNoRecallOut( true );
else if ( childNode->name() == "norecallin" )
setNoRecallIn( true );
else if ( childNode->name() == "recallshield" )
setRecallShield( true );
else if ( childNode->name() == "noagressivemagic" )
setNoAgressiveMagic( true );
else if ( childNode->name() == "antimagic" )
setAntiMagic( true );
else if ( childNode->name() == "escortregion" )
setValidEscortRegion( true );
else if ( childNode->name() == "cave" )
setCave( true );
else if ( childNode->name() == "nomusic" )
setNoMusic( true );
else if ( childNode->name() == "noguardmessage" )
setNoGuardMessage( true );
else if ( childNode->name() == "noentermessage" )
setNoEnterMessage( true );
else if ( childNode->name() == "nohousing" )
setNoHousing( true );
else if ( childNode->name() == "nodecay" )
setNoDecay( true );
else if ( childNode->name() == "instalogout" )
setInstaLogout( true );
else if ( childNode->name() == "noteleport" )
setNoTeleport( true );
else if ( childNode->name() == "safe" )
setSafe( true );
else if ( childNode->name() == "nocriminalcombat" )
setNoCriminalCombat( true );
else if ( childNode->name() == "nokillcount" )
setNoKillCount( true );
}
}
// <snowchance>50</snowchance>
else if ( TagName == "snowchance" )
{
this->snowchance_ = Value.toUShort();
}
// <rainchance>50</rainchance>
else if ( TagName == "rainchance" )
{
this->rainchance_ = Value.toUShort();
}
// <rainduration>2</rainduration>
else if ( TagName == "rainduration" )
{
this->rainduration_ = Value.toUShort();
}
// <snowduration>2</snowduration>
else if ( TagName == "snowduration" )
{
this->snowduration_ = Value.toUShort();
}
// <dryduration>4</dryduration>
else if ( TagName == "dryduration" )
{
this->dryduration_ = Value.toUShort();
}
// <rainrangeduration>1</rainrangeduration>
else if ( TagName == "rainrangeduration" )
{
this->rainrangeduration_ = Value.toUShort();
}
// <snowrangeduration>1</snowrangeduration>
else if ( TagName == "snowrangeduration" )
{
this->snowrangeduration_ = Value.toUShort();
}
// <dryrangeduration>1</dryrangeduration>
else if ( TagName == "dryrangeduration" )
{
this->dryrangeduration_ = Value.toUShort();
}
// <minintensity>1</minintensity>
else if ( TagName == "minintensity" )
{
this->minintensity_ = Value.toUShort();
}
// <maxintensity>1</maxintensity>
else if ( TagName == "maxintensity" )
{
this->maxintensity_ = Value.toUShort();
}
// <tradesystem>
// <good num="1">
// <buyable>10</buyable>
// <sellable>20</sellable>
// <randomvalue min="10" max="20" />
// </good>
// <good ...>
// ...
// </good>
// </tradesystem>
else if ( TagName == "tradesystem" )
{
for ( unsigned int i = 0; i < Tag->childCount(); ++i )
{
const cElement* childNode = Tag->getChild( i );
good_st goods;
goods.buyable = 0;
goods.sellable = 0;
goods.rndmin = 0;
goods.rndmax = 0;
uint num = 0xFFFFFFFF;
if ( childNode->name() == "good" )
{
if ( childNode->hasAttribute( "num" ) )
num = childNode->getAttribute( "num" ).toInt();
for ( unsigned int j = 0; j < childNode->childCount(); ++j )
{
const cElement* chchildNode = childNode->getChild( j );
QString childValue = chchildNode->value();
if ( chchildNode->name() == "buyable" )
goods.buyable = childValue.toInt();
else if ( chchildNode->name() == "sellable" )
goods.sellable = childValue.toInt();
else if ( chchildNode->name() == "randomvalue" )
{
goods.rndmin = chchildNode->getAttribute( "min" ).toInt();
goods.rndmax = chchildNode->getAttribute( "max" ).toInt();
}
}
}
if ( num != 0xFFFFFFFF )
this->tradesystem_[num] = goods;
}
}
// <region id="Cove Market Place">
// ...region nodes...
// </region>
else if ( TagName == "region" )
{
cTerritory* toinsert_ = new cTerritory( Tag, this );
this->subregions_.push_back( toinsert_ );
}
else if ( TagName == "teleport" )
{
if ( !Tag->hasAttribute( "source" ) )
{
Console::instance()->log( LOG_ERROR, tr("processing teleport tag, missing source attribute") );
return;
}
if ( !Tag->hasAttribute( "destination" ) )
{
Console::instance()->log( LOG_ERROR, tr("processing teleport tag, missing destination attribute") );
return;
}
Coord source, destination;
if ( !parseCoordinates( Tag->getAttribute( "source" ), source ) )
{
Console::instance()->log( LOG_ERROR, tr("parsing source attribute, not a valid coordinate vector") );
return;
}
if ( !parseCoordinates( Tag->getAttribute( "destination" ), destination ) )
{
Console::instance()->log( LOG_ERROR, tr("parsing destination attribute, not a valid coordinate vector") );
return;
}
bool bothways = Tag->hasAttribute( "bothways" );
teleporters_st teleporter;
teleporter.source = source;
teleporter.destination = destination;
teleporters.append( teleporter );
if ( bothways )
{
teleporter.source = destination;
teleporter.destination = source;
teleporters.append( teleporter );
}
}
else
cBaseRegion::processNode( Tag, hash );
}
tentacle* RecoverySet::recover(std::vector<grid_cart_point> collision_points)
{
setSafe(collision_points);
return getBestTent();
}
//************************
// Passa do GAP
//************************
void F_STATE_GAP()
{
MTASK_SET_RUN(MT_ACCEL,MT_LL,MT_STOP_BUTTON);
int ZZDir = 1;
int Move = 90;
int MA_enc;
int MC_enc;
/*
* Checa se foi uma curva de 90o
* e se alinha na linha
*/
if(getSafe(2)){
TryAlign++;
}else{
TryAlign = 0;
}
setSafe(1,4000);
if(TryAlign==0){
nMotorEncoder[MA] = 0;
nMotorEncoder[MC] = 0;
for(int i = 0; i < 90; i++){
while(getSafe(1) && abs(nMotorEncoder[MA]) <i && !ACCEL_Rampa){
motor[MA]=-50;
motor[MC]=0;
}
while(getSafe(1) && abs(nMotorEncoder[MC]) <i && !ACCEL_Rampa){
motor[MA]=0;
motor[MC]=-50;
}
MV_StopMotors();
if(LL_Avr > 0){
MV_Reto(-50,40);
break;
}
}
}
setSafe(2,2000);
MC_enc = nMotorEncoder[MC];
motor[MA] = 0;
motor[MC] = 50*ZZDir;
while(getSafe(1) && abs(nMotorEncoder[MC] - MC_enc) < Move/2 && !ACCEL_Rampa){
if(LL_Avr > 0){
ESTADO_SET_TARGET(ST_LINHA);
break;
}
}
MV_StopMotors();
while(ESTADO_IS_CURRENT())
{
//=====================================
//Faz um zigue zague
MA_enc = nMotorEncoder[MA];
motor[MA] = 50*ZZDir;
motor[MC] = 0;
while(getSafe(1) && abs(nMotorEncoder[MA] - MA_enc) < Move && !ACCEL_Rampa){
if(LL_Avr > 0){
ESTADO_SET_TARGET(ST_LINHA);
break;
}
}
MV_StopMotors();
MC_enc = nMotorEncoder[MC];
motor[MA] = 0;
motor[MC] = 50*ZZDir;
while(getSafe(1) && abs(nMotorEncoder[MC] - MC_enc) < Move && !ACCEL_Rampa){
if(LL_Avr > 0){
ESTADO_SET_TARGET(ST_LINHA);
break;
}
}
MV_StopMotors();
if(!getSafe(1)){
ZZDir = ZZDir*-1;
setSafe(1,5000);
}
//Se detectou rampa com acceleracao, sobe a rampa
if(ACCEL_Rampa)ESTADO_SET_TARGET(ST_SOBE);
//=====================================
}
}
sub MTASK_DOTASK(int MTASK_ID){
switch (MTASK_ID)
{
//********
case MT_DEFAULT:
wait1Msec(1);
break;
//********
case MT_BEEP:
PlayTone(200, 12);
wait10Msec(120);
break;
//********
case MT_STOP_BUTTON:
if(nNxtButtonPressed==BT_ENTER)
{
int static TimeDif;
TimeDif=time10[T4];
while(nNxtButtonPressed==BT_ENTER){
if(time10[T4]-TimeDif>50)
{
MV_StopMotors();
ClearSounds();
PlaySound(soundBlip);
ESTADO_SET_TARGET(ST_WAIT);
break;
}
}
}
break;
//********
case MT_ACCEL:
if(!getSafe(3))
{
hogCPU();
HTACreadAllAxes(PORT_ACC,ACCEL[0],ACCEL[1],ACCEL[2]);
releaseCPU();
if(abs(ACCEL[ACCEL_AXIS_RAMPA]-ACCEL_Offset)>ACCEL_DELTA){
if (ACCEL_Filter++ > 2){
ACCEL_Rampa = true;
ACCEL_Filter = 3;
}
}else{
if (ACCEL_Filter-- < 2){
ACCEL_Filter = 0;
ACCEL_Rampa = false;
}
}
setSafe(3,300);
}
break;
//********
case MT_TOQUE:
wait1Msec(1);
break;
//********
case MT_LL:
hogCPU();
LL_Avr = LLreadAverage(PORT_LL);
LL_IO = LLreadResult(PORT_LL);
releaseCPU();
wait1Msec(5);
break;
//********
case MT_US:
wait10Msec(3);
hogCPU();
ReadAllUS_short(PORT_ARD,USwall);
releaseCPU();
break;
}
}
