/**Part of the mouse interactor:
* Interpret mouse wheel as a zoom operation.
*/
void ViewWrapper2D::mouseWheelSlot(int x, int y, int delta, int orientation, Qt::MouseButtons buttons)
{
// scale zoom in log space
double val = log10(mZoom2D->getFactor());
val += delta / 120.0 / 20.0; // 120 is normal scroll resolution, x is zoom resolution
double newZoom = pow(10.0, val);
mZoom2D->setFactor(newZoom);
Navigation(mServices).centerToTooltip(); // side effect: center on tool
}
int Interpret(const char *cmd, int redirect,char *target,int bg)
{
//解析执行一条命令
//cmd中包含两部分,一是命令执行文件本省,第二是argv[]
if(strlen(cmd)==0) return 1;
int argc;
char **argv=ResolveCmd(cmd,&argc);
if(!strcmp(argv[0],"cd"))
{
if(argc>1) ChangeDir(argv[1]);
else //开启文件导航系统
{
char finalpath[path_max];
Navigation(finalpath);
ChangeDir(finalpath);
}
}
else if(!strcmp(argv[0],"jobs"))
{
ShowJobs();
}
else if(!strcmp(argv[0],"fg"))
{ //前台运行
ForeGround(argv[1]);
}
else if(!strcmp(argv[0],"stop"))
StopPid(argv[1]);
else if(!strcmp(argv[0],"continue"))
ContinuePid(argv[1]);
else if(!strcmp(argv[0],"bg")) //后台继续运行
ContinuePid(argv[1]);
else if(!strcmp(argv[0],"history"))
catHistory();
else if(!strcmp(argv[0],"echopath"))
EchoPath();
else if(!strcmp(argv[0],"addpath"))
AddPath(argv[1]);
else if(!strcmp(argv[0],"exit"))
return Exit();
else
{
int i=0,find=0;
char filepath[PATH_MAX+1]={'\0'};
find=isEXE(argv[0]); //输入的命令是否带'/'，可能指向EXEfile
if(find)
strcpy(filepath,argv[0]);
else //从环境变量的目录中搜索
{
while(!find && i<envpath_num)
{
//依次从各个环境变量的路径中寻找
find=SearchFile(envpath[i++],argv[0],filepath);
}
}
if(find && bg==0) //找到命令,前台运行
{
int pid=fork(); run_pid=pid; strcpy(run_cmd,cmd);
if(pid>0) {
waitpid(pid,NULL,WUNTRACED); run_pid=0; run_cmd[0]='\0';
}
else
{
if(redirect==1) OutputRedirect(target);
else if(redirect==0) InputRedirect(target);
mask_signals(); //子进程屏蔽信号
if(execv(filepath,argv)==-1)
printf("不能打开指定文件\n");
exit(0);
}
}
else if(find && bg==1) //找到命令,后台运行
{
//后台运行
int pid=fork();
if(pid>0)
{
//父进程把后台进程添加到job管理系统中
int pos=0; //找空位置,优先填满前面被删掉的位置
while(pos<jobmanager.jobnum && jobmanager.jobs[pos].status>0)
pos++;
//结果是pos占到了jobnum之前的被删位置,或者是pos==jobnum
jobmanager.jobs[pos].pid=pid;
int i=0;
for(;i<strlen(cmd);i++)
jobmanager.jobs[pos].cmd[i]=cmd[i]; //保存cmd信息
jobmanager.jobs[pos].cmd[i++]='&'; //保存cmd信息
jobmanager.jobs[pos].cmd[i]='\0'; //结尾
jobmanager.jobs[pos].status=1; //正常运行
if(pos==jobmanager.jobnum) {
jobmanager.jobnum++; //只有pos开辟了新的坑位时,才占位
if(jobmanager.jobnum>jobnum_max)
printf("jobs中的后台程序即将达到上限\n");
}
printf("[%d] %d\n",pos+1,pid);
}
else
{
//子进程负责后台执行
if(redirect==1) OutputRedirect(target);
else if(redirect==0) InputRedirect(target);
mask_signals(); //信号屏蔽
if(execv(filepath,argv)==-1)
printf("不能打开指定文件\n");
exit(0);
//有个问题:子进程退了之后,父进程怎么查询?会出现相同pid的情况吗?貌似不会
}
}
else printf("Unknwon cmd.\n");
}
//程序结束后要清理argv
int i=0;
for(;i<argc;i++)
{
free(argv[i]);
}
free(argv);
return 1;
}
//-----------------------------------------------------------------------------
// Run this Bot's AI for one tick.
//-----------------------------------------------------------------------------
void CSDKBot::BotThink()
{
// Make sure we stay being a bot
AddFlag( FL_FAKECLIENT );
if ( IsEFlagSet(EFL_BOT_FROZEN) )
return;
CUserCmd cmd;
Q_memset( &cmd, 0, sizeof( cmd ) );
ConVarRef bot_freeze("bot_freeze");
if ( !IsAlive() )
{
HandleRespawn(cmd);
}
else if (bot_mimic.GetBool())
{
CBasePlayer *pPlayer = UTIL_PlayerByIndex( bot_mimic.GetInt() );
if ( pPlayer && pPlayer->GetLastUserCommand() )
{
cmd = *pPlayer->GetLastUserCommand();
ConVarRef bot_mimic_yaw_offset("bot_mimic_yaw_offset");
cmd.viewangles[YAW] += bot_mimic_yaw_offset.GetFloat();
ConVarRef bot_crouch("bot_crouch");
if( bot_crouch.GetInt() )
cmd.buttons |= IN_DUCK;
}
}
else if (!bot_freeze.GetBool())
{
trace_t tr_front;
Vector Forward;
AngleVectors(GetLocalAngles(), &Forward);
UTIL_TraceHull( GetLocalOrigin()+Vector(0,0,5), GetLocalOrigin() + Vector(0,0,5) + (Forward * 50), GetPlayerMins(), GetPlayerMaxs(), MASK_PLAYERSOLID, this, COLLISION_GROUP_NONE, &tr_front );
// enemy acquisition
if( !GetEnemy() || RecheckEnemy() || !GetEnemy()->IsAlive() )
{
if( GetEnemy() && !GetEnemy()->IsAlive() )
ResetNavigationParams();
AcquireEnemy();
m_flTimeToRecheckEnemy = gpGlobals->curtime + 1.0f;
}
// assume we have an enemy from now on
InfoGathering();
Attack(cmd);
if( m_flTimeToRecheckStuck < gpGlobals->curtime )
CheckStuck(cmd);
if( m_flNextDealObstacles < gpGlobals->curtime )
DealWithObstacles(tr_front.m_pEnt, cmd);
Navigation(cmd);
CheckNavMeshAttrib(&tr_front, cmd);
}
// debug waypoint related position
/*for( int i=0; i<m_Waypoints.Count(); i++ )
{
NDebugOverlay::Cross3DOriented( m_Waypoints[i].Center, QAngle(0,0,0), 5*i+1, 200, 0, 0, false, -1 );
}*/
RunPlayerMove( cmd, gpGlobals->frametime );
}
int main(int argc, char** argv)
{
// Initialise le microcontroleur
Settings();
DelayN1ms(30);
// Initialise l'UART
InitTextIO();
// Initialise les interruptions
ISR_Settings();
initAsservissement();
initOdometrie();
// Configure tous les moteurs à l'arret
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 0;
// Active les modules pour les PWM
OC1CONbits.OCM = 0b110;
OC2CONbits.OCM = 0b110;
OC3CONbits.OCM = 0b110;
OC4CONbits.OCM = 0b110;
uartNextOut = 0;
uartCommande = 0;
Cycle1 = 0;
Cycle2 = 0;
CYCLE1_FLAG = 0;
CYCLE2_FLAG = 0;
// Temporisation de 1 seconde
RtTimer = 10;
// Boucle Principale
while(1)
{
if(PID_CALC_FLAG)
{
Pid1();
Pid2();
compteurVitesse ++;
if(compteurVitesse == 10)
{
Vitesse[L] = VitesseCpteur[L]/400; // 400 = 10 échantillons x 40 pour le 1/40 mm/s => Le résultat est en mm/s
Vitesse[R] = VitesseCpteur[R]/400;
compteurVitesse = 0;
VitesseCpteur[L] = 0;
VitesseCpteur[R] = 0;
}
PID_CALC_FLAG = 0;
}
if(CYCLE1_FLAG)
{
Odometrie();
if(ordreEnCours != DEBUG)
{
Orientation();
}
CYCLE1_FLAG=0;
}
if(CYCLE2_FLAG)
{
Navigation();
CYCLE2_FLAG=0;
}
// blink LED
if (RtTimer <= 0)
{
RtTimer = 10;
LED_BLINK = !LED_BLINK;
}
if( uartCommande )
{
GererCommande();
}
}
return (EXIT_SUCCESS);
}
