void Mobile::simulate( ftype dt )
{
//world perception
simSensors( dt );
//simulate AI of the bot
simBrain( dt );
//simulate movement
pos += speed*dt;
rot.add( dt*rotationSpeed );
applyLimits();
//Simulate forces
simMotors( dt );
//friction
simFriction( dt );
//food eating behavior
if (foodEatingTicker.step( dt ))
tryEatFood();
energy -= world->getIdleEnergyConsumptionRate()*dt;
if (energy <= 0){//Bot is dead.
world->reportDeadBot( *this );
}
}
void Dribbler::step(float dt) {
Wheel::step(dt);
double delayStopPeriod = 0.1;
if (stopRequestedTime != -1.0 && Util::duration(stopRequestedTime) >= delayStopPeriod) {
setTargetOmega(0);
//setTargetOmega(-Config::robotDribblerSpeed / 5);
stopRequestedTime = -1.0;
}
if (ballDetected) {
ballInDribblerTime += dt;
if (ballInDribblerTime >= Config::ballInDribblerThreshold) {
ballLostTime = -1.0f;
}
} else {
if (everDetectedBall) {
if (ballLostTime == -1.0f) {
ballLostTime = dt;
} else {
ballLostTime += dt;
}
}
if (ballLostTime >= Config::dribblerBallLostThreshold) {
ballInDribblerTime = 0.0f;
}
}
if (isRaiseRequested) {
timeSinceRaised += dt;
timeSinceLowered = 0.0f;
} else {
timeSinceLowered += dt;
timeSinceRaised = 0.0f;
}
// apply limits just in case periodically
if (timeSinceLimitsApplied > 1.0f) {
applyLimits();
}
timeSinceLimitsApplied += dt;
useChipKickLimitsMissedFrames++;
/*if (useChipKickLimitsMissedFrames >= 2) {
useNormalLimits();
}*/
//std::cout << "ballInDribblerTime: " << ballInDribblerTime << ", ballLostTime: " << ballLostTime << ", got ball: " << (gotBall() ? "yes" : "no") << std::endl;
}
Dribbler::Dribbler(int id, AbstractCommunication* com, Coilgun* coilgun, Configuration* conf) : Wheel(id, 10000, conf->robot.wheelSpeedToMetric), com(com), coilgun(coilgun), conf(conf), ballDetected(false), everDetectedBall(false), isRaiseRequested(false), timeSinceRaised(0.0f), timeSinceLowered(0.0f), timeSinceLimitsApplied(0.0f), ballInDribblerTime(0.0), ballLostTime(-1.0f), stopRequestedTime(-1.0), useChipKickLimitsMissedFrames(0) {
lowerLimit = conf->robot.dribblerNormalLowerLimit;
upperLimit = conf->robot.dribblerNormalUpperLimit;
applyLimits();
};
void Dribbler::setLimits(int lower, int upper) {
lowerLimit = (int)Util::limit((float)lower, 0.0f, 100.0f);
upperLimit = (int)Util::limit((float)upper, 0.0f, 100.0f);
applyLimits();
}
void Dribbler::setUpperLimit(int limit) {
upperLimit = (int)Util::limit((float)limit, 0.0f, 100.0f);
applyLimits();
}
static int execute_cgi(lscgid_t *pCGI)
{
char ch;
if (setpriority(PRIO_PROCESS, 0, pCGI->m_data.m_priority))
perror("lscgid: setpriority()");
applyLimits(&pCGI->m_data);
#ifdef HAS_CLOUD_LINUX
#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__)
if (s_lve && pCGI->m_data.m_uid) //root user should not do that
{
uint32_t cookie;
int ret = -1;
int count;
//for( count = 0; count < 10; ++count )
{
ret = (*fp_lve_enter)(s_lve, pCGI->m_data.m_uid, -1, -1, &cookie);
//if ( !ret )
// break;
//usleep( 10000 );
}
if (ret < 0)
{
fprintf(stderr, "lscgid (%d): enter LVE (%d) : result: %d !\n", getpid(),
pCGI->m_data.m_uid, ret);
set_cgi_error("lscgid: lve_enter() failure, reached resource limit.",
NULL);
return 500;
}
}
#endif
#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__gnu_linux__)
if (!s_uid && pCGI->m_data.m_uid && fp_lve_jail)
{
char error_msg[1024] = "";
int ret;
struct passwd *pw = getpwuid(pCGI->m_data.m_uid);
if (pw)
{
ret = (*fp_lve_jail)(pw, error_msg);
if (ret < 0)
{
fprintf(stderr, "lscgid (%d): LVE jail(%d) ressult: %d, error: %s !\n",
getpid(), pCGI->m_data.m_uid, ret, error_msg);
set_cgi_error("lscgid: jail() failure.", NULL);
return 500;
}
}
}
#endif
#endif
if ((!s_uid) && (pCGI->m_data.m_uid || pCGI->m_data.m_gid))
{
if (setUIDs(pCGI->m_data.m_uid, pCGI->m_data.m_gid,
pCGI->m_pChroot) == -1)
return 403;
}
ch = *(pCGI->m_argv[0]);
* pCGI->m_argv[0] = 0;
if (chdir(pCGI->m_pCGIDir) == -1)
{
int error = errno;
set_cgi_error((char *)"lscgid: chdir()", pCGI->m_pCGIDir);
switch (error)
{
case ENOENT:
return 404;
case EACCES:
return 403;
default:
return 500;
}
}
*(pCGI->m_argv[0]) = ch;
if (ch == '&')
{
static const char sHeader[] = "Status: 200\r\n\r\n";
writeall(STDOUT_FILENO, sHeader, sizeof(sHeader) - 1);
pCGI->m_pCGIDir = (char *)"/bin/sh";
pCGI->m_argv[0] = (char *)"/bin/sh";
}
else
{
//pCGI->m_argv[0] = strdup( pCGI->m_pCGIDir );
pCGI->m_argv[0] = pCGI->m_pCGIDir;
}
umask(pCGI->m_data.m_umask);
//fprintf( stderr, "execute_cgi m_umask=%03o\n", pCGI->m_data.m_umask );
if (execve(pCGI->m_pCGIDir, pCGI->m_argv, pCGI->m_env) == -1)
{
set_cgi_error((char *)"lscgid: execve()", pCGI->m_pCGIDir);
return 500;
}
return 0;
}