void gotoIsland()
{
start_request = 1;
TransmitSensor(0);
sensorfront = shortsensor(storedValues[3]);
while(sensorfront > 15) // Kör tills roboten står vid ön
{
driveF();
traveledDist();
TransmitSensor(0);
sensorfront = shortsensor(storedValues[3]);
}
if(posdistance > 25) // korrigering för om vi inte har hamnat mitt i ruta
{
updatepos();
}
rotate90left(); // ställ dig längsvägg
start_request = 1;
TransmitSensor(0);
sensor1r = shortsensor(storedValues[1]);
sensor2r = shortsensor(storedValues[2]);
// räta upp roboten om du har kontakt med fram och bak sensor höger
if(sensor2r < 20 && sensor1r < 20)
{
straight();
}
}
/************************POSITIONSHANTERING**********************/
void traveledDist()
{
char i = 0;
if(n == 0)
{
i = 0;
}
else
{
i = 1;
}
if(posdistance > 31 + i) //40/2.55125)*0.9
{
updatepos();
if(n != 4)
{
n = n + 1;
}
else
{
n = 0;
}
}
}
void location::play(bool loop)
{
if(stale) return;
updatepos();
if(loop) src->looping(loop);
if(src->play()) playmillis = totalmillis;
}
newlevel ()
{ int i, j;
initstufflist (); /* Delete the list of items */
droppedscare = 0; /* Old stuff gone */
maxobj = 22; /* Reset maximum # of objs */
newmonsterlevel (); /* Do new monster stuff */
exploredlevel = 0; /* New level */
aggravated = 0; /* Old monsters gone */
beingstalked = 0; /* Old monsters gone */
darkdir = NONE; darkturns = 0; /* Not arching old monster */
stairrow = NONE; staircol = 0; /* Get rid of old stairs */
missedstairs = 0;
newdoors = doorlist; /* Clear door list */
goalr = goalc = NONE; /* Old goal invalid */
trapr = trapc = NONE; /* Old traps are gone */
foundarrowtrap = foundtrapdoor = 0; /* Old traps are gone */
teleported = 0; /* Not teleported yet */
attempt = 0; /* Haven't search for doors yet */
usesynch = 0; /* Force a new inventory */
compression = Level < 13; /* Set move compression */
newarmor = newweapon = newring = 1; /* Reevaluate our items */
foundnew (); /* Reactivate all rules */
/*
* Clear the highlevel map
*/
for (i = 0; i < 9; i++) levelmap[i] = 0;
for (i = 0; i < 9; i ++) for (j = 0; j < 9; j ++) zonemap[i][j] = (i == j);
zone = NONE;
/*
* Clear the lowlevel map
*/
for (i = 1; i < 23; i++)
for (j = 0; j < 80; j++) /* Forall screen positions */
{ scrmap[i][j] = 0;
timessearched[i][j] = 0;
updatepos (screen[i][j], i, j);
}
atrow0 = atrow;
atcol0 = atcol;
set (ROOM);
setnewgoal ();
timestosearch = k_door / 5;
}
void location::update()
{
if(stale) return;
switch(src->state())
{
case AL_PLAYING:
updatepos();
break;
case AL_STOPPED:
case AL_PAUSED:
case AL_INITIAL:
stale = true;
DEBUG("location is stale");
break;
}
}
void localservertoclient(uchar *buf, int len) // processes any updates from the server
{
if(ENET_NET_TO_HOST_16(*(ushort *)buf)!=len) neterr("packet length");
incomingdemodata(buf, len);
uchar *end = buf+len;
uchar *p = buf+2;
char text[MAXTRANS];
int cn = -1, type;
dynent *d = NULL;
bool mapchanged = false;
while(p<end) switch(type = getint(p))
{
case SV_INITS2C: // welcome messsage from the server
{
cn = getint(p);
int prot = getint(p);
if(prot!=PROTOCOL_VERSION)
{
conoutf("you are using a different game protocol (you: %d, server: %d)", PROTOCOL_VERSION, prot);
disconnect();
return;
};
toservermap[0] = 0;
clientnum = cn; // we are now fully connected
if(!getint(p)) strcpy_s(toservermap, getclientmap()); // we are the first client on this server, set map
sgetstr();
if(text[0] && strcmp(text, clientpassword))
{
conoutf("you need to set the correct password to join this server!");
disconnect();
return;
};
if(getint(p)==1)
{
conoutf("server is FULL, disconnecting..");
};
break;
};
case SV_POS: // position of another client
{
cn = getint(p);
d = getclient(cn);
if(!d) return;
d->o.x = getint(p)/DMF;
d->o.y = getint(p)/DMF;
d->o.z = getint(p)/DMF;
d->yaw = getint(p)/DAF;
d->pitch = getint(p)/DAF;
d->roll = getint(p)/DAF;
d->vel.x = getint(p)/DVF;
d->vel.y = getint(p)/DVF;
d->vel.z = getint(p)/DVF;
int f = getint(p);
d->strafe = (f&3)==3 ? -1 : f&3;
f >>= 2;
d->move = (f&3)==3 ? -1 : f&3;
d->onfloor = (f>>2)&1;
int state = f>>3;
if(state==CS_DEAD && d->state!=CS_DEAD) d->lastaction = lastmillis;
d->state = state;
if(!demoplayback) updatepos(d);
break;
};
case SV_SOUND:
playsound(getint(p), &d->o);
break;
case SV_TEXT:
sgetstr();
conoutf("%s:\f %s", d->name, text);
break;
case SV_MAPCHANGE:
sgetstr();
changemapserv(text, getint(p));
mapchanged = true;
break;
case SV_ITEMLIST:
{
int n;
if(mapchanged) { senditemstoserver = false; resetspawns(); };
while((n = getint(p))!=-1) if(mapchanged) setspawn(n, true);
break;
};
case SV_MAPRELOAD: // server requests next map
{
getint(p);
sprintf_sd(nextmapalias)("nextmap_%s", getclientmap());
char *map = getalias(nextmapalias); // look up map in the cycle
changemap(map ? map : getclientmap());
break;
};
case SV_INITC2S: // another client either connected or changed name/team
{
sgetstr();
if(d->name[0]) // already connected
{
if(strcmp(d->name, text))
conoutf("%s is now known as %s", d->name, text);
}
else // new client
{
c2sinit = false; // send new players my info again
conoutf("connected: %s", text);
};
strcpy_s(d->name, text);
sgetstr();
strcpy_s(d->team, text);
d->lifesequence = getint(p);
break;
};
case SV_CDIS:
cn = getint(p);
if(!(d = getclient(cn))) break;
conoutf("player %s disconnected", d->name[0] ? d->name : "[incompatible client]");
zapdynent(players[cn]);
break;
case SV_SHOT:
{
int gun = getint(p);
vec s, e;
s.x = getint(p)/DMF;
s.y = getint(p)/DMF;
s.z = getint(p)/DMF;
e.x = getint(p)/DMF;
e.y = getint(p)/DMF;
e.z = getint(p)/DMF;
if(gun==GUN_SG) createrays(s, e);
shootv(gun, s, e, d);
break;
};
case SV_DAMAGE:
{
int target = getint(p);
int damage = getint(p);
int ls = getint(p);
if(target==clientnum) { if(ls==player1->lifesequence) selfdamage(damage, cn, d); }
else playsound(S_PAIN1+rnd(5), &getclient(target)->o);
break;
};
case SV_DIED:
{
int actor = getint(p);
if(actor==cn)
{
conoutf("%s suicided", d->name);
}
else if(actor==clientnum)
{
int frags;
if(isteam(player1->team, d->team))
{
frags = -1;
conoutf("you fragged a teammate (%s)", d->name);
}
else
{
frags = 1;
conoutf("you fragged %s", d->name);
};
addmsg(1, 2, SV_FRAGS, player1->frags += frags);
}
else
{
dynent *a = getclient(actor);
if(a)
{
if(isteam(a->team, d->name))
{
conoutf("%s fragged his teammate (%s)", a->name, d->name);
}
else
{
conoutf("%s fragged %s", a->name, d->name);
};
};
};
playsound(S_DIE1+rnd(2), &d->o);
d->lifesequence++;
break;
};
case SV_FRAGS:
players[cn]->frags = getint(p);
break;
case SV_ITEMPICKUP:
setspawn(getint(p), false);
getint(p);
break;
case SV_ITEMSPAWN:
{
uint i = getint(p);
setspawn(i, true);
if(i>=(uint)ents.length()) break;
vec v = { ents[i].x, ents[i].y, ents[i].z };
playsound(S_ITEMSPAWN, &v);
break;
};
case SV_ITEMACC: // server acknowledges that I picked up this item
realpickup(getint(p), player1);
break;
case SV_PING:
getint(p);
break;
case SV_PONG:
addmsg(0, 2, SV_CLIENTPING, player1->ping = (player1->ping*5+lastmillis-getint(p))/6);
break;
case SV_CLIENTPING:
players[cn]->ping = getint(p);
break;
case SV_GAMEMODE:
nextmode = getint(p);
break;
case SV_TIMEUP:
timeupdate(getint(p));
break;
case SV_RECVMAP:
{
sgetstr();
conoutf("received map \"%s\" from server, reloading..", text);
int mapsize = getint(p);
writemap(text, mapsize, p);
p += mapsize;
changemapserv(text, gamemode);
break;
};
case SV_SERVMSG:
sgetstr();
conoutf("%s", text);
break;
case SV_EXT: // so we can messages without breaking previous clients/servers, if necessary
{
for(int n = getint(p); n; n--) getint(p);
break;
};
default:
neterr("type");
return;
};
};
void regulateright()
{
transmit();
//REGLERING
//Omvandling till centimeter
sensor1r = shortsensor(storedValues[1]);
sensor2r = shortsensor(storedValues[2]);
sensorfront = shortsensor(storedValues[3]);
sensormeanr = ((sensor1r + sensor2r) / 2) + 4 ;
// Uppdatera kommunikationsmodulen med sensorvärden innan reglering börjar
if(firstRR == 1)
{
firstRR = 0;
TransmitComm(update);
stopp();
}
else
{
//till PD-reglering
Td = 5; //85000000; //128000000
K = 5;
if(sensorfront <= 15)
{
if(posdistance > 25)
{
updatepos();
}
straight();
rotate90left();
straight();
}
if(sensor1r < 25 && sensor2r < 25)
{
startregulate = 1;
PORTC = 0x01;
PORTD = 0x20;
rightpwm = speed + K * ((15 - sensormeanr)) + Td * (sensor2r - sensor1r);
leftpwm = speed - K * ((15 - sensormeanr)) - Td * (sensor2r - sensor1r);
if (rightpwm > 150)
{
OCR2B = 150;
}
else if(rightpwm < 0)
{
OCR2B = 0;
}
else
{
OCR2B = rightpwm;
}
if (leftpwm > 150)
{
OCR2A = 150;
}
else if (leftpwm < 0)
{
OCR2A = 0;
}
else
{
OCR2A = leftpwm;
}
}// Tappat konakt med bakhöger men inte framhöger
else if(sensor2r > 20 && sensor1r < 20 )
{
driveF();
}
else // Tappat kontakt med framhöger
{
//har vi reglerat mot vägg innan
if(startregulate == 1)
{
startregulate = 0;
drive(20); // Kör fram till mitten av ruta
updatepos();
rotate90right(); // sväng höger
drivefromstill(35); // Kör så att du har vägg att reglera mot
updatepos();
straight(); // korrigera om roboten står snett efter sväng
}
else
{
stopp();
}
}
}
}
int main(void)
{
initiate_variables();
initiation();
int fjarrstyrt = (PIND & 0x01); //1 då roboten är i fjärrstyrt läge
initiate_request_timer();
if(fjarrstyrt == 1) // fjärrstyrt läge
{
for(long i = 0; i < 480000; i++){}
remotecontrol();
}
else // Autonom
{
MasterInit();
for(long i = 0; i < 480000; i++){}
while(home == 0)
{
TransmitSensor(0);
char i = 0;
if(n == 0)
{
i = 0;
}
else
{
i = 1;
}
if(posdistance > 31 + i) //40/2.55125)*0.9
{
updatepos();
if(n != 4)
{
n = n + 1;
}
else
{
n = 0;
}
}
if(!onelap)
{
firstlap();
}
else if(1) // else vill inte fungera på atmegan
{
secondlap();
}
}
stopp();
// Liten dans när den är på startpositionen
while(1)
{
rotate90right();
rotate90left();
}
}
return 0;
}
void localservertoclient(uchar *buf, int len) // processes any updates from the server
{
if (ENET_NET_TO_HOST_16(*(ushort *)buf) != len)
neterr("packet length");
incomingdemodata(buf, len);
uchar *end = buf + len;
uchar *p = buf + 2;
char text[MAXTRANS];
int cn = -1, type;
Sprite *spr = NULL;
bool mapchanged = false;
while (p < end)
switch (type = getint(p)) {
case SV_INITS2C: // welcome messsage from the server
{
cn = getint(p);
int prot = getint(p);
if (prot != PROTOCOL_VERSION) {
conoutf( "you are using a different game protocol (you: %d, server: %d)", PROTOCOL_VERSION, prot);
disconnect();
return;
};
toservermap = "";
clientnum = cn; // we are now fully connected
if (!getint(p)) {
toservermap = getclientmap(); // we are the first client on this server, set map
}
sgetstr();
if (text[0] && strcmp(text, clientpassword)) {
conoutf( "you need to set the correct password to join this server!");
disconnect();
return;
};
if (getint(p) == 1) {
conoutf("server is FULL, disconnecting..");
};
break;
}
case SV_POS: // position of another client
{
cn = getint(p);
spr = getclient(cn);
if (!spr)
return;
spr->o.x = getint(p) / DMF;
spr->o.y = getint(p) / DMF;
spr->o.z = getint(p) / DMF;
spr->yaw = getint(p) / DAF;
spr->pitch = getint(p) / DAF;
spr->roll = getint(p) / DAF;
spr->vel.x = getint(p) / DVF;
spr->vel.y = getint(p) / DVF;
spr->vel.z = getint(p) / DVF;
int f = getint(p);
spr->strafe = (f & 3) == 3 ? -1 : f & 3;
f >>= 2;
spr->move = (f & 3) == 3 ? -1 : f & 3;
spr->onfloor = (f >> 2) & 1;
int state = f >> 3;
if (state == CS_DEAD && spr->state != CS_DEAD)
spr->lastaction = lastmillis;
spr->state = state;
if (!demoplayback)
updatepos(spr);
break;
}
case SV_SOUND:
playsound(getint(p), &spr->o);
break;
case SV_TEXT:
sgetstr();
conoutf("%s:\f %s", spr->name, text);
break;
case SV_MAPCHANGE:
sgetstr();
changemapserv(text, getint(p));
mapchanged = true;
break;
case SV_ITEMLIST: {
int n;
if (mapchanged) {
senditemstoserver = false;
resetspawns();
};
while ((n = getint(p)) != -1) {
if (mapchanged)
setspawn(n, true);
}
break;
}
case SV_MAPRELOAD: // server requests next map
{
getint(p);
std::string nextmapalias = std::string("nextmap_") + getclientmap();
std::string map = getalias(nextmapalias); // look up map in the cycle
changemap(map.empty() ? getclientmap() : map);
break;
}
case SV_INITC2S: // another client either connected or changed name/team
{
sgetstr();
if (spr->name[0]) { // already connected
if (strcmp(spr->name, text))
conoutf("%s is now known as %s", spr->name, text);
} else { // new client
c2sinit = false; // send new players my info again
conoutf("connected: %s", text);
};
strcpy_s(spr->name, text);
sgetstr();
strcpy_s(spr->team, text);
spr->lifesequence = getint(p);
break;
}
case SV_CDIS:
cn = getint(p);
if (!(spr = getclient(cn)))
break;
conoutf("player %s disconnected", spr->name[0] ? spr->name : "[incompatible client]");
zapSprite(players[cn]);
break;
case SV_SHOT: {
int gun = getint(p);
Vec3 s, e;
s.x = getint(p) / DMF;
s.y = getint(p) / DMF;
s.z = getint(p) / DMF;
e.x = getint(p) / DMF;
e.y = getint(p) / DMF;
e.z = getint(p) / DMF;
if (gun == GUN_SG)
createrays(s, e);
shootv(gun, s, e, spr);
break;
}
case SV_DAMAGE: {
int target = getint(p);
int damage = getint(p);
int ls = getint(p);
if (target == clientnum) {
if (ls == player1->lifesequence)
selfdamage(damage, cn, spr);
} else
playsound(S_PAIN1 + rnd(5), &getclient(target)->o);
break;
}
case SV_DIED: {
int actor = getint(p);
if (actor == cn) {
conoutf("%s suicided", spr->name);
} else if (actor == clientnum) {
int frags;
if (isteam(player1->team, spr->team)) {
frags = -1;
conoutf("you fragged a teammate (%s)", spr->name);
} else {
frags = 1;
conoutf("you fragged %s", spr->name);
};
addmsg(1, 2, SV_FRAGS, player1->frags += frags);
} else {
Sprite *a = getclient(actor);
if (a) {
if (isteam(a->team, spr->name)) {
conoutf("%s fragged his teammate (%s)", a->name, spr->name);
} else {
conoutf("%s fragged %s", a->name, spr->name);
};
};
};
playsound(S_DIE1 + rnd(2), &spr->o);
spr->lifesequence++;
break;
}
case SV_FRAGS:
players[cn]->frags = getint(p);
break;
case SV_ITEMPICKUP:
setspawn(getint(p), false);
getint(p);
break;
case SV_ITEMSPAWN: {
int i = getint(p);
setspawn(i, true);
if (i >= entityList.size())
break;
Vec3 v = { entityList[i].x, entityList[i].y, entityList[i].z };
playsound(S_ITEMSPAWN, &v);
break;
}
case SV_ITEMACC: // server acknowledges that I picked up this item
realpickup(getint(p), player1);
break;
case SV_EDITH: // coop editing messages, should be extended to include all possible editing ops
case SV_EDITT:
case SV_EDITS:
case SV_EDITD:
case SV_EDITE: {
int x = getint(p);
int y = getint(p);
int xs = getint(p);
int ys = getint(p);
int v = getint(p);
Rect b = { x, y, xs, ys };
switch (type) {
case SV_EDITH:
editheightxy(v != 0, getint(p), b);
break;
case SV_EDITT:
edittexxy(v, getint(p), b);
break;
case SV_EDITS:
edittypexy(v, b);
break;
case SV_EDITD:
setvdeltaxy(v, b);
break;
case SV_EDITE:
editequalisexy(v != 0, b);
break;
};
break;
}
case SV_EDITENT: // coop edit of ent
{
int i = getint(p);
while (entityList.size() <= i) {
entityList.emplace_back(Entity());
entityList.back().type = NOTUSED;
}
int to = entityList[i].type;
entityList[i].type = getint(p);
entityList[i].x = getint(p);
entityList[i].y = getint(p);
entityList[i].z = getint(p);
entityList[i].attr1 = getint(p);
entityList[i].attr2 = getint(p);
entityList[i].attr3 = getint(p);
entityList[i].attr4 = getint(p);
entityList[i].spawned = false;
if (entityList[i].type == LIGHT || to == LIGHT)
calclight();
break;
}
case SV_PING:
getint(p);
break;
case SV_PONG:
addmsg(0, 2, SV_CLIENTPING, player1->ping = (player1->ping * 5 + lastmillis - getint(p)) / 6);
break;
case SV_CLIENTPING:
players[cn]->ping = getint(p);
break;
case SV_GAMEMODE:
nextmode = getint(p);
break;
case SV_TIMEUP:
timeupdate(getint(p));
break;
case SV_RECVMAP: {
sgetstr();
conoutf("received map \"%s\" from server, reloading..", text);
int mapsize = getint(p);
writemap(text, mapsize, p);
p += mapsize;
changemapserv(text, gamemode);
break;
}
case SV_SERVMSG:
sgetstr();
conoutf("%s", text);
break;
case SV_EXT: // so we can messages without breaking previous clients/servers, if necessary
{
for (int n = getint(p); n; n--)
getint(p);
break;
}
default:
neterr("type");
return;
}
}
