void Prey::Behavior_Hide()
{
CONSTRUCT_BEHAVIOR_BEGIN
m_hidingtime = 0;
Debugger::GetInstance().Output("Prey - Hide\n");
SetInfoText("Hiding");
CONSTRUCT_BEHAVIOR_END
TICK_BEHAVIOR_BEGIN
{
list<Square> l_detectedprdt;
m_visibility.GetSeenObjects(e_predator,l_detectedprdt);
GetHeardPrdt(l_detectedprdt);//if always here predators, consider stopping the latter
//from continuing it's way when it's memory is lost.
if(l_detectedprdt.size())
{
CHANGE_BEHAVIOR(Prey,Flee);
}
else
{
m_hidingtime++;
if(m_hidingtime > Prey::HidingTime())
{
CHANGE_BEHAVIOR(Prey,Idle);
}
}
}
TICK_BEHAVIOR_END
DESTRUCT_BEHAVIOR_BEGIN
DESTRUCT_BEHAVIOR_END
}
void Prey::Behavior_Idle()
{
CONSTRUCT_BEHAVIOR_BEGIN
GetAnyPath();
m_path.StartWalk();
Debugger::GetInstance().Output("Prey - Idle\n");
SetInfoText("");
CONSTRUCT_BEHAVIOR_END
TICK_BEHAVIOR_BEGIN
list<Square> l_detectedprdt;
m_visibility.GetSeenObjects(e_predator,l_detectedprdt);
GetHeardPrdt(l_detectedprdt);
if(l_detectedprdt.size())
{
CHANGE_BEHAVIOR(Prey,Flee);
}
else if(m_path.Completed())
{
GetAnyPath();
m_path.StartWalk();
}
else
{
m_path.Walk(this);
}
TICK_BEHAVIOR_END
DESTRUCT_BEHAVIOR_BEGIN
DESTRUCT_BEHAVIOR_END
}
bool CStudio::EventProcess(const Event &event)
{
CWindow* pw;
CEdit* edit;
CSlider* slider;
if ( m_dialog != SD_NULL ) // dialogue exists?
{
return EventDialog(event);
}
if ( event.type == EVENT_FRAME )
{
EventFrame(event);
}
pw = static_cast< CWindow* >(m_interface->SearchControl(EVENT_WINDOW3));
if ( pw == nullptr ) return false;
edit = static_cast<CEdit*>(pw->SearchControl(EVENT_STUDIO_EDIT));
if ( edit == nullptr ) return false;
if ( event.type == pw->GetEventTypeClose() )
{
Event newEvent = event;
newEvent.type = EVENT_STUDIO_OK;
m_event->AddEvent(newEvent);
}
if ( event.type == EVENT_STUDIO_EDIT ) // text modifief?
{
ColorizeScript(edit);
}
if ( event.type == EVENT_STUDIO_LIST ) // list clicked?
{
m_main->StartDisplayInfo(const_cast<char *>(m_helpFilename.c_str()), -1); // TODO change to std::string when RobotMain changes
}
if ( event.type == EVENT_STUDIO_NEW ) // new?
{
m_script->New(edit, "");
}
if ( event.type == EVENT_STUDIO_OPEN ) // open?
{
StartDialog(SD_OPEN);
}
if ( event.type == EVENT_STUDIO_SAVE ) // save?
{
StartDialog(SD_SAVE);
}
if ( event.type == EVENT_STUDIO_UNDO ) // undo?
{
edit->Undo();
}
if ( event.type == EVENT_STUDIO_CUT ) // cut?
{
edit->Cut();
}
if ( event.type == EVENT_STUDIO_COPY ) // copy?
{
edit->Copy();
}
if ( event.type == EVENT_STUDIO_PASTE ) // paste?
{
edit->Paste();
}
if ( event.type == EVENT_STUDIO_SIZE ) // size?
{
slider = static_cast< CSlider* >(pw->SearchControl(EVENT_STUDIO_SIZE));
if ( slider == nullptr ) return false;
m_main->SetFontSize(9.0f+slider->GetVisibleValue()*12.0f);
ViewEditScript();
}
if ( event.type == EVENT_STUDIO_TOOL && // instructions?
m_dialog == SD_NULL )
{
m_main->StartDisplayInfo(SATCOM_HUSTON, false);
}
if ( event.type == EVENT_STUDIO_HELP && // help?
m_dialog == SD_NULL )
{
m_main->StartDisplayInfo(SATCOM_PROG, false);
}
if ( event.type == EVENT_STUDIO_COMPILE ) // compile?
{
if ( m_script->GetScript(edit) ) // compile
{
std::string res;
GetResource(RES_TEXT, RT_STUDIO_COMPOK, res);
SetInfoText(res, false);
}
else
{
std::string error;
m_script->GetError(error);
SetInfoText(error, false);
}
}
if ( event.type == EVENT_STUDIO_RUN ) // run/stop?
{
if ( m_script->IsRunning() )
{
Event newEvent = event;
newEvent.type = EVENT_OBJECT_PROGSTOP;
m_event->AddEvent(newEvent); // stop
}
else
{
if ( m_script->GetScript(edit) ) // compile
{
SetInfoText("", false);
Event newEvent = event;
newEvent.type = EVENT_OBJECT_PROGSTART;
m_event->AddEvent(newEvent); // start
}
else
{
std::string error;
m_script->GetError(error);
SetInfoText(error, false);
}
}
}
if ( event.type == EVENT_STUDIO_REALTIME ) // real time?
{
m_bRealTime = !m_bRealTime;
m_script->SetStepMode(!m_bRealTime);
UpdateFlux();
UpdateButtons();
}
if ( event.type == EVENT_STUDIO_STEP ) // step?
{
m_script->Step(event);
}
if ( event.type == EVENT_KEY_DOWN )
{
if ( event.key.key == m_main->GetInputBinding(INPUT_SLOT_CBOT).primary ||
event.key.key == m_main->GetInputBinding(INPUT_SLOT_CBOT).secondary )
{
if ( m_helpFilename.length() > 0 )
{
m_main->StartDisplayInfo(const_cast<char *>(m_helpFilename.c_str()), -1); // TODO change to std::string when RobotMain changes
}
}
}
if ( event.type == EVENT_WINDOW3 ) // window is moved?
{
m_editActualPos = m_editFinalPos = pw->GetPos();
m_editActualDim = m_editFinalDim = pw->GetDim();
m_main->SetWindowPos(m_editActualPos);
m_main->SetWindowDim(m_editActualDim);
AdjustEditScript();
}
if ( event.type == pw->GetEventTypeReduce() )
{
if ( m_bEditMinimized )
{
m_editFinalPos = m_main->GetWindowPos();
m_editFinalDim = m_main->GetWindowDim();
m_bEditMinimized = false;
m_bEditMaximized = false;
}
else
{
m_editFinalPos.x = 0.00f;
m_editFinalPos.y = -0.44f;
m_editFinalDim.x = 1.00f;
m_editFinalDim.y = 0.50f;
m_bEditMinimized = true;
m_bEditMaximized = false;
}
m_main->SetEditFull(m_bEditMaximized);
pw = static_cast< CWindow* >(m_interface->SearchControl(EVENT_WINDOW3));
if ( pw != nullptr )
{
pw->SetMaximized(m_bEditMaximized);
pw->SetMinimized(m_bEditMinimized);
}
}
if ( event.type == pw->GetEventTypeFull() )
{
if ( m_bEditMaximized )
{
m_editFinalPos = m_main->GetWindowPos();
m_editFinalDim = m_main->GetWindowDim();
m_bEditMinimized = false;
m_bEditMaximized = false;
}
else
{
m_editFinalPos.x = 0.00f;
m_editFinalPos.y = 0.00f;
m_editFinalDim.x = 1.00f;
m_editFinalDim.y = 1.00f;
m_bEditMinimized = false;
m_bEditMaximized = true;
}
m_main->SetEditFull(m_bEditMaximized);
pw = static_cast< CWindow* >(m_interface->SearchControl(EVENT_WINDOW3));
if ( pw != nullptr )
{
pw->SetMaximized(m_bEditMaximized);
pw->SetMinimized(m_bEditMinimized);
}
}
return true;
}
void Prey::Behavior_Flee()
{
CONSTRUCT_BEHAVIOR_BEGIN
m_fleeingvector=vector2d::Invalid;
m_refuge = Square::Invalid;
m_fleeingwithoutdangertime=0;
Debugger::GetInstance().Output("Prey - Flee\n");
SetInfoText("Fleeing");
CONSTRUCT_BEHAVIOR_END
TICK_BEHAVIOR_BEGIN
{
list<Square> l_detectedprdt;
m_visibility.GetSeenObjects(e_predator,l_detectedprdt);
GetHeardPrdt(l_detectedprdt);
if(l_detectedprdt.size() || m_fleeingvector!=vector2d::Invalid)
{
bool findnewpath=false;
if(l_detectedprdt.size())
{
vector2d directionToFleeTo=GetVectorAwayFromAll(l_detectedprdt);//todo:GetVectorAwayFromAll
if(m_fleeingvector ==vector2d::Invalid)
{
m_fleeingvector=directionToFleeTo;
m_fleeingvectorangle = getangle2(m_fleeingvector);
findnewpath = true;
}
else
{
double a_new = getangle2(directionToFleeTo);
if(fabs(m_fleeingvectorangle-a_new) > PI_Over_8)
{
findnewpath = true;
m_fleeingvector=directionToFleeTo;
m_fleeingvectorangle = a_new;
}
/*
m_fleeingvector.normalize();
directionToFleeTo.normalize();
if(m_fleeingvector!=directionToFleeTo)
{
findnewpath = true;
m_fleeingvector=directionToFleeTo;
}
*/
}
//if we are near border and the m_fleeingvector is directing us out of the board
Square pos=GetPosition();
if(pos.x==15 && m_fleeingvector.x>0)
m_fleeingvector.x=0;
if(pos.x==0 && m_fleeingvector.x<0)
m_fleeingvector.x=0;
if(pos.y==15 && m_fleeingvector.y>0)
m_fleeingvector.y=0;
if(pos.y==0 && m_fleeingvector.y<0)
m_fleeingvector.y=0;
if(m_fleeingvector.x==0 && m_fleeingvector.y==0)
{
m_fleeingvector.x=1,m_fleeingvector.y=1; //just any vector, for this version
m_fleeingvectorangle=getangle2(m_fleeingvector);
}
m_fleeingvector.normalize();
assert(m_fleeingvector!=vector2d(0,0));
m_fleeingwithoutdangertime=0;
}
else
{
//we neither see nor hear any predator. may be we can stop running.
m_fleeingwithoutdangertime++;
if(m_fleeingwithoutdangertime>Prey::InFleeWithoutDangerTime())
{
CHANGE_BEHAVIOR(Prey,Idle);
}
}
if(IsAValidRefuge(m_refuge))
{
SetInfoText("Refuge");
//keep going to the refuge;
Walk(true);
}
else
{
list<Square> l_seenobstacles;
Path path(m_board);
m_visibility.GetSeenObjects(e_obstacle,l_seenobstacles);
if(l_seenobstacles.size())
{
Square nearestobstacle = super::GetNearestObject(l_seenobstacles);
FindARefuge(nearestobstacle, &path);
}
if(path.IsEmpty())
{
m_refuge = Square::Invalid;
if(findnewpath)
{
m_path.GetAStraightPathInDirection(GetSituation(),m_fleeingvector);
if(m_path.IsEmpty())
{
//if we can't find a path, get any path, for this version.
GetAnyPath();
m_fleeingvector=vector2d::Invalid;
}
assert(!m_path.IsEmpty()); //we need a path. if we can't get any here, see why this happens.
m_path.StartWalk();
Walk(false);
}
else
{
Walk(false);
}
}
else
{
m_path=path;
m_refuge = m_path.GetGoal();
m_path.StartWalk();
Walk(true);
SetInfoText("Refuge");
}
}
}
else
{
CHANGE_BEHAVIOR(Prey,Idle);
}
}
TICK_BEHAVIOR_END
DESTRUCT_BEHAVIOR_BEGIN
DESTRUCT_BEHAVIOR_END
}
int COGLWin::SetScript(const char *pcScript, bool bResetEnv, bool bReparseLatex)
{
CCodeVar Var;
//printf("Enter SetScript.\n");
// Only execute checks on change of global variables
// in idle loop after the next display operation.
m_bWaitWithIdleForNextDisplay = true;
SetTitle();
if (bReparseLatex)
{
m_Parse.OverrideSetRenderLatex(false);
m_Parse.SetRenderLatex(true);
m_Parse.OverrideSetRenderLatex(true);
}
if (bResetEnv)
{
// Switch off animation
SetAnimCode(false);
COGLWinFLTK::StopAnimation();
SetExecModeVar(EXEC_MODE_NEW);
AddExecModeVar(EXEC_MODE_CHANGE);
ResetTransformVars();
ResetLights();
m_ToolBox.ResetToolInUseFlags();
m_ToolBox.PruneToolMap();
if (!m_bKeepBGColor)
{
CCodeVar& rVarCol = m_Parse.GetVar("_BGColor");
if (rVarCol.Type() != PDT_NOTYPE)
{
rVarCol = Black;
SetBGColor(Black);
}
}
else
{
m_bKeepBGColor = false;
}
CCodeVar& rVarFBS = m_Parse.GetVar("_FrameBoxSize");
if (rVarFBS.Type() != PDT_NOTYPE)
{
rVarFBS = TCVScalar(3);
}
CCodeVar& rVar2dV = m_Parse.GetVar("_2dView");
if (rVar2dV.Type() != PDT_NOTYPE)
{
rVar2dV = 0;
}
Enable2dView(false);
/// Reset visualization mode to OPNS for all spaces.
m_Filter.SetMode(MODE_OPNS);
// Reset Code Base
m_Parse.ResetCodeBase();
}
else
{
SetExecModeVar(EXEC_MODE_CHANGE);
}
m_Parse.CollectGarbage();
m_Parse.Reset();
m_Parse.GetCodeBase().ResetInfoVars();
SetInfoText("Use <code>SetInfoText([string])</code> to put some text here. "
"The text may include some 'simple' HTML tags.");
SetInfoWidth(0);
bool bShowOutput = true;
if (m_bInFullScreenMode || m_bVizOnlyMode)
{
bShowOutput = false;
}
if (m_pOutput && bShowOutput)
{
m_pOutput->SetText("<body size=\"16\"><b>Parsing code...</b></body>");
m_pOutput->show();
}
int iLines = m_Parse.InsertText(pcScript);
if (m_pOutput && bShowOutput)
{
m_pOutput->SetText("<body size=\"14\">Parsing code...<b>finished</b>.<br>Running code after change. <b>Please wait...</b></body>");
m_pOutput->show();
}
if (!m_bInFullScreenMode)
{
if (m_bPresentationAction || m_bParseFromOGLWin || m_bVizOnlyMode)
{
ShowWindow();
}
else
m_pEditor->show();
}
m_bPresentationAction = false;
m_bParseFromOGLWin = false;
if (iLines >= 0)
{
//printf("Parsed %d lines.\n", iLines);
m_bCheckForAnimate = true;
m_bCodeChanged = true;
m_bCodeChangedForAnim = true;
//glutSetWindow(m_iHWin);
//m_pWindow->show();
m_bCheckToolBoxSize = true;
// When visualization window is iconized, the script is not executed
// because of a glutPostRedisplay(). So we have to call Display explicitly.
if (!m_pWindow->visible())
{
Display();
}
// if (!m_bIsAnimated)
// glutPostRedisplay();
}
else
{
ClearError();
m_sError = "<b>Parse Errors:</b><p>";
m_sError += m_Parse.PrintParseErrors().Str();
m_sError += "</p>";
m_bHasError = true;
if (m_pOutput && !m_bVizOnlyMode)
{
m_pOutput->SetText(m_sError.c_str());
m_pOutput->show();
}
if (m_pEditor && !m_bVizOnlyMode)
{
cStr csFilename, csPath;
int iLine, iPos, iInputPos;
if (iLines == -1)
m_Parse.GetParseErrorPos(iLine, iPos, iInputPos, csFilename);
else
{
csFilename = m_Parse.GetErrorFilename().c_str();
csPath = m_Parse.GetErrorPath().c_str();
if (csFilename.Len() == 0)
{
csFilename = m_sScriptPath.c_str();
csFilename << m_sScriptName.c_str() << ".clu";
}
char *pcName = csFilename.Str();
if (!strchr(pcName, ':') &&
!strchr(pcName, '/') &&
!strchr(pcName, '\\'))
{
csFilename = csPath + csFilename;
csFilename |= ('.' < csFilename) - csFilename.Len() - 1;
}
iInputPos = -iLines - 2;
}
m_pEditor->HighlightLinePos(csFilename.Str(), iInputPos);
m_pEditor->show();
}
//ClearError();
m_Parse.ClearError();
SetAnimCode(false);
/*
m_bCodeChanged = true;
glutSetWindow(m_iHWin);
if (!m_bIsAnimated)
glutPostRedisplay();
*/
}
if (!m_bIsAnimated)
glutPostRedisplay();
// CheckToolBoxSize();
// if (iLines >= 0 && !m_bIsAnimated)
// glutPostRedisplay();
return iLines;
}
