int prim_mst(int src) {
IIS q;
IV dis(n, INF);
BV flg(n);
dis[src] = 0;
q.insert(II(0, src));
int mst = 0;
while (! q.empty()) {
int d = q.begin()->first;
int v = q.begin()->second;
q.erase(q.begin());
if (flg[v]) continue;
flg[v] = true;
mst += d;
For (EL, e, adj[v])
if (!flg[e->v] && e->w < dis[e->v]) {
dis[e->v] = e->w;
q.insert(II(dis[e->v], e->v));
}
}
return mst;
}
void CMultipleParticleFilter::update(CLaser *Laser)
{
m_pLaser = Laser;
double obs[2], p[2];
for (int n = 0; n < 1; n++){
if (m_pLaser->m_bNodeActive[n]){
std::vector<int> label(m_pLaser->m_LRFClsPoints[n].size(), -1); // クラスタに対応するパーティクルフィルタの番号
int pn = m_ParticleFilter.size(); // 現在のパーティクルフィルタの個数
for (int j = 0; j < m_pLaser->m_LRFClsPoints[n].size(); j++){
// クラスタ代表点
obs[0] = m_pLaser->m_LRFClsPoints[n][j].x;
obs[1] = m_pLaser->m_LRFClsPoints[n][j].y;
// クラスタ毎に，一番近いパーティクルフィルタを探す
double min_r = 1e10;
int np = 0;
for (vector<CPF>::iterator it = m_ParticleFilter.begin(); it != m_ParticleFilter.end(); ++it, ++np) {
p[0] = it->state[0];
p[1] = it->state[1];
double r = sqrt(pow(p[0] - obs[0], 2) + pow(p[1] - obs[1], 2));
if (min_r > r && r < m_min_distance){
min_r = r;
label[j] = np;
}
}
// もし，クラスタに対応するパーティクルフィルタがなかったとき
if (min_r >= m_min_distance){
label[j] = pn++;
}
}
std::vector<int> flg(pn, -1); // クラスタに対応するパーティクルフィルタの番号
for (int j = 0; j < m_pLaser->m_LRFClsPoints[n].size(); j++){
if (label[j] < 0){
std::cout << "Error" << std::endl;
}
else if (label[j] < m_ParticleFilter.size()){
obs[0] = m_pLaser->m_LRFClsPoints[n][j].x;
obs[1] = m_pLaser->m_LRFClsPoints[n][j].y;
m_ParticleFilter[label[j]].SetTarget(obs);
m_ParticleFilter[label[j]].update();
}
else{
CPF pf;
int d = Config::is()->particle_area * 1000;
obs[0] = m_pLaser->m_LRFClsPoints[n][j].x;
obs[1] = m_pLaser->m_LRFClsPoints[n][j].y;
int area[4] = {obs[0]-m_initial_dist/2, obs[1]-m_initial_dist/2, obs[0]+m_initial_dist/2, obs[1]+m_initial_dist/2};
pf.initialize(area);
pf.SetTarget(obs);
pf.SetID(m_ID++);
pf.update();
m_ParticleFilter.push_back(pf);
}
flg[label[j]] = 1;
}
int np = 0;
for (vector<CPF>::iterator it = m_ParticleFilter.begin(); it != m_ParticleFilter.end(); ++it, ++np) {
if (flg[np] < 0) {
it->clear();
it = m_ParticleFilter.erase(it);
if (it == m_ParticleFilter.end()) break;
}
}
for (int i = 0; i < MAX_TRACKING_OBJECT; i++){
delete m_pLaser->m_pTarget[i];
m_pLaser->m_pTarget[i] = NULL;
}
np = 0;
for (vector<CPF>::iterator it = m_ParticleFilter.begin(); it != m_ParticleFilter.end(); ++it, ++np) {
m_pLaser->m_pTarget[np] = new CTarget();
m_pLaser->m_pTarget[np]->id = it->GetID();
m_pLaser->m_pTarget[np]->cnt = it->GetCnt();
m_pLaser->m_pTarget[np]->SetPosi(it->state[0], it->state[1]);
}
}
}
}
void SessionServer::addUsr()
{
class EmptyAuth
{
public:
int operator () (SafeInfo* info, fdtype_t type) { return 0; }
};
char username[_MAXUNAMESIZE];
char password[_MAXPSDSIZE];
if(!readSBuf(username, _MAXUNAMESIZE))
return;
if(!readSBuf(password, _MAXPSDSIZE))
return;
if(userId != 1)
{
int rs = ERR_OPERATOR_DENY;
writeSBuf((char*) &rs, sizeof(rs));
return;
}
std::lock_guard<XHYFileManager> flg(*manager);
if(!addableUser(username))
{
int merr = err;
writeSBuf((char*) &merr, sizeof(merr));
return;
}
int fd = manager->open("/sys/user.d", OPTYPE_READ | OPTYPE_WRITE, EmptyAuth());
if(fd == 0)
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
FileGuard<XHYFileManager, int> fgrd(*manager, fd);
int tx = manager->seek(fd, 0, XHYFileManager::end);
if(tx < 0)
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
tx = manager->tell(fd);
if(tx < 0)
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
uidsize_t id = tx / (sizeof(uidsize_t) + _MAXUNAMESIZE + _MAXPSDSIZE) + 1;
if(!writeFBuf(fd, (char*) &id, sizeof(id)))
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
if(!writeFBuf(fd, username, _MAXUNAMESIZE))
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
if(!writeFBuf(fd, password, _MAXPSDSIZE))
{
int merr = manager->getErrno();
writeSBuf((char*) &merr, sizeof(merr));
return;
}
int rs = 0;
writeSBuf((char*) &rs, sizeof(rs));
}
void wait::join_game(bool observe)
{
const bool download_res = download_level_data();
if (!download_res) {
DBG_MP << "mp wait: could not download level data, quitting...";
set_result(QUIT);
return;
} else if (!get_scenario()["allow_new_game"].to_bool(true) && !level_.child_or_empty("multiplayer")["savegame"].to_bool(false)) {
set_result(PLAY);
return;
}
if (first_scenario_) {
state_ = saved_game();
state_.classification().campaign_type = game_classification::CAMPAIGN_TYPE::MULTIPLAYER;
const config* campaign = &game_config_manager::get()->
game_config().find_child("campaign", "id",
level_.child("multiplayer")["mp_campaign"]);
const config* scenario = &game_config_manager::get()->
game_config().find_child("multiplayer", "id",
level_.child(lexical_cast<std::string>(game_classification::CAMPAIGN_TYPE::MULTIPLAYER))["id"]);
const config* era = &game_config_manager::get()->
game_config().find_child("era", "id", level_.child("era")["id"]);
if (*campaign) {
state_.classification().difficulty =
level_.child("multiplayer")["difficulty_define"].str();
state_.classification().campaign_define =
(*campaign)["define"].str();
state_.classification().campaign_xtra_defines =
utils::split((*campaign)["extra_defines"]);
}
if (*scenario)
state_.classification().scenario_define =
(*scenario)["define"].str();
if (*era)
state_.classification().era_define =
(*era)["define"].str();
BOOST_FOREACH(const config& mod, level_.child_range("modification")) {
const config* modification = &game_config_manager::get()->
game_config().find_child("modification", "id", mod["id"]);
if (*modification) {
state_.classification().mod_defines.push_back(
(*modification)["define"].str());
}
}
// Make sure that we have the same config as host, if possible.
game_config_manager::get()->
load_game_config_for_game(state_.classification());
}
// Add the map name to the title.
append_to_title(": " + get_scenario()["name"].t_str());
if (!observe) {
//search for an appropriate vacant slot. If a description is set
//(i.e. we're loading from a saved game), then prefer to get the side
//with the same description as our login. Otherwise just choose the first
//available side.
const config *side_choice = NULL;
int side_num = -1, nb_sides = 0;
BOOST_FOREACH(const config &sd, get_scenario().child_range("side"))
{
DBG_MP << "*** side " << nb_sides << "***\n" << sd.debug() << "***\n";
if (sd["controller"] == "reserved" && sd["current_player"] == preferences::login())
{
side_choice = &sd;
side_num = nb_sides;
break;
}
if (sd["controller"] == "network" && sd["player_id"].empty())
{
if (!side_choice) { // found the first empty side
side_choice = &sd;
side_num = nb_sides;
}
if (sd["current_player"] == preferences::login()) {
side_choice = &sd;
side_num = nb_sides;
break; // found the preferred one
}
}
++nb_sides;
}
if (!side_choice) {
size_t count = 0;
for(config::child_itors its = get_scenario().child_range("side"); its.second != its.first; ++its.first) {
++count;
}
DBG_MP << "could not find a side, all " << count << " sides were unsuitable\n";
set_result(QUIT);
return;
}
bool allow_changes = (*side_choice)["allow_changes"].to_bool(true);
//if the client is allowed to choose their team, instead of having
//it set by the server, do that here.
if(allow_changes) {
events::event_context context;
const config &era = level_.child("era");
/** @todo Check whether we have the era. If we don't inform the user. */
if (!era)
throw config::error(_("No era information found."));
config::const_child_itors possible_sides = era.child_range("multiplayer_side");
if (possible_sides.first == possible_sides.second) {
set_result(QUIT);
throw config::error(_("No multiplayer sides found"));
}
int color = side_num;
const std::string color_str = (*side_choice)["color"];
if (!color_str.empty())
color = game_config::color_info(color_str).index() - 1;
std::vector<const config*> era_factions;
BOOST_FOREACH(const config &side, possible_sides) {
era_factions.push_back(&side);
}
const bool lock_settings =
get_scenario()["force_lock_settings"].to_bool();
const bool use_map_settings =
level_.child("multiplayer")["mp_use_map_settings"].to_bool();
const bool saved_game =
level_.child("multiplayer")["savegame"].to_bool();
ng::flg_manager flg(era_factions, *side_choice, lock_settings, use_map_settings,
saved_game, color);
std::vector<std::string> choices;
BOOST_FOREACH(const config *s, flg.choosable_factions())
{
const config &side = *s;
const std::string &name = side["name"];
const std::string &icon = side["image"];
if (!icon.empty()) {
std::string rgb = side["flag_rgb"];
if (rgb.empty())
rgb = "magenta";
choices.push_back(IMAGE_PREFIX + icon + "~RC(" + rgb + ">" +
lexical_cast<std::string>(color+1) + ")" + COLUMN_SEPARATOR + name);
} else {
choices.push_back(name);
}
}
std::vector<gui::preview_pane* > preview_panes;
leader_preview_pane leader_selector(disp(), flg, color);
preview_panes.push_back(&leader_selector);
const int faction_choice = gui::show_dialog(disp(), NULL,
_("Choose your faction:"), _("Starting position: ") +
lexical_cast<std::string>(side_num + 1), gui::OK_CANCEL,
&choices, &preview_panes);
if(faction_choice < 0) {
set_result(QUIT);
return;
}
config faction;
config& change = faction.add_child("change_faction");
change["change_faction"] = true;
change["name"] = preferences::login();
change["faction"] = flg.current_faction()["id"];
change["leader"] = flg.current_leader();
change["gender"] = flg.current_gender();
network::send_data(faction, 0);
}
}
