void InternalHandleCommand(SRobotCommand const& cmd) {
switch(cmd.m_ecmd) {
case ecmdCONNECT:
OnConnection();
break;
case ecmdRESET:
OnDisconnection();
break;
case ecmdMOVE:
{
bool bReverse = false;
for(unsigned int i=0; i<countof(g_amotors); ++i) {
int const nSpeed = i%2==0 ? cmd.m_nSpeedLeft : cmd.m_nSpeedRight;
bReverse = bReverse || ((nSpeed < 0) != g_amotors[i].m_bReverse);
}
if(bReverse) { // stop all motors and reset PID
// Serial.println("STOP Motors");
for(unsigned int i=0; i<countof(g_amotors); ++i) {
g_amotors[i].Stop(g_apid[i]);
}
delay(200);
}
for(unsigned int i=0; i<countof(g_amotors); ++i) {
int const nSpeed = i%2==0 ? cmd.m_nSpeedLeft : cmd.m_nSpeedRight;
if(0==nSpeed) {
g_amotors[i].Stop(g_apid[i]);
} else {
g_amotors[i].SetSpeed(constrain(nSpeed, -MAX_SPEED, MAX_SPEED));
}
}
}
}
}
void loop() {
if(g_bConnected) {
g_servo.loop();
if(0<Serial.available()) {
auto readcmd = ReadCommand();
if(readcmd.m_bValid) {
HandleCommand(readcmd.m_cmd);
if(!g_bConnected) return;
}
} else if(c_nTIMETODISCONNECT < millis()-g_nLastCommand) {
OnDisconnection();
return;
} else if(c_nTIMETOSTOP < millis()-g_nLastCommand) {
InternalHandleCommand(SRobotCommand::stop());
}
for(unsigned int i=0; i<countof(g_amotors); ++i) {
g_amotors[i].ComputePID(g_apid[i]);
}
SendSensorData();
} else {
auto readcmd = ReadCommand();
if(readcmd.m_bValid && readcmd.m_cmd.m_ecmd==ecmdCONNECT) {
HandleCommand(readcmd.m_cmd);
}
}
}
void CNetPTCPConnection::Destory()
{
if(IsConnected())
{
m_Socket.Close();
OnDisconnection();
}
else
{
m_Socket.Close();
}
if(m_pEpollEventRouter)
{
m_pEpollEventRouter->SetEventHander(NULL);
GetServer()->DeleteEventRouter(m_pEpollEventRouter);
m_pEpollEventRouter=NULL;
}
CEpollEventObject * pEpollEventObject;
while(m_SendQueue.PopFront(pEpollEventObject))
{
GetServer()->DeleteEventObject(pEpollEventObject);
}
}
void CNetConnection::Destory()
{
if(IsConnected())
{
OnDisconnection();
}
m_Socket.Close();
if(m_pEpollEventRouter)
{
m_pEpollEventRouter->SetEventHander(NULL);
GetServer()->DeleteEventRouter(m_pEpollEventRouter);
m_pEpollEventRouter=NULL;
}
CEpollEventObject * pEpollEventObject;
while(m_RecvQueue.PopFront(pEpollEventObject))
{
GetServer()->DeleteEventObject(pEpollEventObject);
}
while(m_SendQueue.PopFront(pEpollEventObject))
{
GetServer()->DeleteEventObject(pEpollEventObject);
}
m_WantClose=FALSE;
}
void CNetPTCPConnection::Disconnect()
{
//PrintNetLog(0xffffffff,"(%d)Connection关闭",GetID());
//PrintNetLog(0xffffffff,"%s连接关闭",GetName());
m_Socket.Close();
CEpollEventObject * pEpollEventObject;
while(m_SendQueue.PopFront(pEpollEventObject))
{
GetServer()->DeleteEventObject(pEpollEventObject);
}
OnDisconnection();
}
void setup()
{
Serial.begin(230400);
delay(3000); //3 seconds delay for enabling to see the start up comments on the serial board
#ifdef SERIAL_TRACE
Serial.println("Hello!");
#endif
// Show we are in setup
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, HIGH);
// Port setup
pinMode(RELAY_PIN, OUTPUT);
digitalWrite(RELAY_PIN, HIGH);
// Servo & Lidar
g_servo.setup();
g_lidar.begin();
// TODO: Does this increase speed of LIDAR readings
// g_lidar.beginContinuous();
// Motor setup
for(unsigned int i=0; i<countof(g_amotors); ++i) {
g_amotors[i].setup();
attachInterrupt(g_amotors[i].ENCODER_IRQ, c_afnInterrupts[i], CHANGE);
}
// Initialise the IMU (connection is optional)
g_bBNO = g_bno.begin();
delay(1000);
if(g_bBNO) g_bno.setExtCrystalUse(true);
OnDisconnection();
}
void SSGameLobby::Startup()
{
// Seed the randomizer
const unsigned int randomSeed = static_cast<const unsigned int>( SDL_GetPerformanceCounter() );
g_Randomizer.Seed( randomSeed );
// Register subscriber
g_SSMail.RegisterSubscriber( this );
m_UserInterests = MessageTypes::COLOUR_CHANGE
| MessageTypes::TEAM_CHANGE
| MessageTypes::SPAWN_POINT_CHANGE
| MessageTypes::CHANGE_SPAWN_COUNT
| MessageTypes::RESERVE_AI_PLAYER;
// Set all player slots to not ready
for ( int i = 0; i < MAX_PLAYERS; ++i )
m_PlayersReady[i] = false;
// Register callback to network engine
m_NetworkCallbackHandle = g_NetworkEngine.RegisterCallback( NetworkCallbackEvent::Disconnection, std::bind( &SSGameLobby::OnDisconnection, this, std::placeholders::_1 ) );
// Player colours
m_ColourEntries.push_back( ColourEntry { "Green", Colours::KINDA_GREEN, Colours::KINDA_GREEN , -1 } );
m_ColourEntries.push_back( ColourEntry { "Red", Colours::KINDA_RED , Colours::KINDA_RED , -1 } );
m_ColourEntries.push_back( ColourEntry { "Blue", Colours::KINDA_BLUE , Colours::KINDA_BLUE , -1 } );
m_ColourEntries.push_back( ColourEntry { "Pink", Colours::KINDA_PINK , Colours::KINDA_PINK , -1 } );
m_ColourEntries.push_back( ColourEntry { "Yellow", Colours::VERY_YELLOW, Colours::VERY_YELLOW , -1 } );
m_ColourEntries.push_back( ColourEntry { "Cyan", Colours::LTBLUE , Colours::LTBLUE , -1 } );
// Text colour modified
m_ColourEntries.push_back( ColourEntry { "Black", Colours::BLACK , glm::vec4(0.4f, 0.4f, 0.4f, 1.0f), -1 } );
g_GameData.SetPlayerColour( 0, Colours::KINDA_GREEN );
g_GameData.SetPlayerColour( 1, Colours::KINDA_RED );
g_GameData.SetPlayerColour( 2, Colours::KINDA_BLUE );
g_GameData.SetPlayerColour( 3, Colours::KINDA_PINK );
// Set up GUI
g_GUI.UseFont( FONT_ID_LEKTON_16 );
m_ConnectionState = ConnectionState::EnteringIP;
m_ConnectionAttemptFailed = false;
g_NetworkEngine.RegisterCallback( NetworkCallbackEvent::ConnectionAttemptSuccess, std::bind( &SSGameLobby::OnConnectionSuccess, this, std::placeholders::_1 ) ); // TODODB: Check against this variable already being set eller nånting.
g_NetworkEngine.RegisterCallback( NetworkCallbackEvent::ConnectionAttemptFail, std::bind( &SSGameLobby::OnConnectionFail, this, std::placeholders::_1 ) ); // TODODB: Check against this variable already being set eller nånting.
// Button scripts
g_Script.Register( m_ScriptNameReady.c_str(), [&] ( IScriptEngine* ) -> int { OnReadyButtonClicked(); return 0; } );
g_Script.Register( m_ScriptNameStartGame.c_str(), [&] ( IScriptEngine* ) -> int { StartGame(); return 0; } );
g_Script.Register(m_ScriptChangeGameSetting.c_str(), [this](IScriptEngine* script) -> int
{
m_NumberOfSpawns += script->PopInt();
if (m_NumberOfSpawns < 1)
m_NumberOfSpawns = 1;
if (m_NumberOfSpawns > SQUAD_MAXIMUM_UNIT_COUNT)
m_NumberOfSpawns = SQUAD_MAXIMUM_UNIT_COUNT;
ChangeSpawnCount( m_NumberOfSpawns );
return 0;
} );
GUI::Window* parentWindow = g_GUI.GetWindow( m_WindowNameParent );
glm::ivec2 middleParent = glm::ivec2(parentWindow->GetBoundingBoxRef().X, parentWindow->GetBoundingBoxRef().Y) + parentWindow->GetSize() / 2;
glm::ivec2 sizeParent = parentWindow->GetSize( );
{ // Enter ip
m_WindowEnterIP = g_GUI.AddWindow( m_WindowNameEnterIP, GUI::Rectangle( middleParent.x - m_WidthEnterIP / 2, middleParent.y - m_HeightEnterIP / 2, m_WidthEnterIP, m_HeightEnterIP ), m_WindowNameParent, true );
m_TextBoxEnterIP = g_GUI.AddTextBox( "", GUI::Rectangle( m_WidthButton, m_HeightEnterIP - m_HeightTextBox, m_WidthTextBox, m_HeightTextBox) , m_WindowNameEnterIP);
// Connect
m_ButtonConnect = g_GUI.AddButton( "", GUI::Rectangle( m_WidthEnterIP - m_WidthButton * 2, m_HeightEnterIP - m_HeightButton, m_WidthButton, m_HeightButton), m_WindowNameEnterIP );
m_ButtonConnect->SetText( "Connect" );
g_Script.Register( m_ScriptNameConnect.c_str(), [this](IScriptEngine*){ ConnectToGame(m_TextBoxEnterIP->GetText()); return 0; } );
m_ButtonConnect->SetClickScript( m_ScriptNameConnect + "()" );
m_ButtonConnect->GetBackgroundRef().Texture = m_TextureNameButtons;
// Host
m_ButtonHost = g_GUI.AddButton( "", GUI::Rectangle( m_WidthEnterIP - m_WidthButton, m_HeightEnterIP - m_HeightButton, m_WidthButton, m_HeightButton), m_WindowNameEnterIP );
m_ButtonHost->SetText( "Host" );
g_Script.Register( m_ScriptNameHost.c_str(), [this](IScriptEngine*){ HostGame(); return 0; } );
m_ButtonHost->SetClickScript( m_ScriptNameHost + "()" );
m_ButtonHost->GetBackgroundRef().Texture = m_TextureNameButtons;
// Text
GUI::Text* infoText = g_GUI.AddText( "", GUI::TextDefinition( "Please enter an IP adress to connect to", 0, m_TopPadding, m_WidthEnterIP, m_HeightInfoText ), m_WindowNameEnterIP );
infoText->GetTextDefinitionRef().Alignment = GUI::ALIGNMENT_TOP_CENTER;
m_TextError = g_GUI.AddText( "", GUI::TextDefinition( "", 0, m_TopPadding + m_HeightInfoText, m_WidthEnterIP, m_HeightErrorText ), m_WindowNameEnterIP );
// Back button
m_ButtonBackEnterIP = g_GUI.AddButton( "", GUI::Rectangle( 0, m_WindowEnterIP->GetSize( ).y - m_HeightButton, m_WidthButton, m_HeightButton ), m_WindowNameEnterIP );
g_Script.Register( m_ScriptNameBackEnterIP.c_str(), [this](IScriptEngine*){ BackFromEnterIP( ); return 0; } );
m_ButtonBackEnterIP->SetClickScript( m_ScriptNameBackEnterIP + "()" );
m_ButtonBackEnterIP->SetText( "Back" );
m_ButtonBackEnterIP->GetBackgroundRef().Texture = m_TextureNameButtons;
// Enter ip is default window
m_WindowEnterIP->ToggleOpen();
// Default IP
CallbackConfig* networkConfig = g_ConfigManager.GetConfig( "network.cfg" );
int defaultPort = networkConfig->GetInt( "DefaultListeningPort", 40606, "Default port for establishing connections" );
rString savedIP = networkConfig->GetString( "SavedIP", "", "The IP of the last successfull connection attempt" );
m_TextBoxEnterIP->SetText( savedIP );
}
{ // Lobby
m_WindowLobby = g_GUI.AddWindow( m_WindowNameLobby, parentWindow->GetBoundingBoxRef(), m_WindowNameParent );
glm::ivec2 sizeLobby = m_WindowLobby->GetSize( );
// Start game (host)
m_ButtonStartGame = g_GUI.AddButton( "", GUI::Rectangle( sizeLobby.x - m_WidthButton * 2, sizeLobby.y - m_HeightButton, m_WidthButton, m_HeightButton ), m_WindowNameLobby );
m_ButtonStartGame->SetText( "Start" );
m_ButtonStartGame->SetClickScript( m_ScriptNameStartGame + "()" );
m_ButtonStartGame->SetVisible( false );
m_ButtonStartGame->SetEnabled( false );
m_ButtonStartGame->GetBackgroundRef().Texture = m_TextureNameButtons;
// Back button
m_ButtonBackLobby = g_GUI.AddButton( "", GUI::Rectangle( 0, sizeLobby.y - m_HeightButton, m_WidthButton, m_HeightButton ), m_WindowNameLobby );
g_Script.Register( m_ScriptNameBackLobby.c_str(), [this](IScriptEngine*)
{
BackFromLobby();
return 0;
} );
m_ButtonBackLobby->SetClickScript( m_ScriptNameBackLobby + "()" );
m_ButtonBackLobby->SetText( "Back" );
m_ButtonBackLobby->GetBackgroundRef().Texture = m_TextureNameButtons;
// Ready (client)
m_ButtonReady = g_GUI.AddButton( "", GUI::Rectangle( sizeLobby.x - m_WidthButton, sizeLobby.y - m_HeightButton, m_WidthButton, m_HeightButton ), m_WindowNameLobby );
m_ButtonReady->GetBackgroundRef().Texture = m_TextureNameButtons;
m_ButtonReady->SetText( "Ready" );
m_ButtonReady->SetClickScript( m_ScriptNameReady + "()" );
{ // Connected clients
m_WindowConnectedClients = g_GUI.AddWindow( m_WindowNameConnectedClients,
GUI::Rectangle( 0, 0,
sizeParent.x / 2, sizeParent.y / 2 ),
m_WindowNameLobby, true );
m_WindowConnectedClients->ToggleOpen( );
g_GUI.UseFont( FONT_ID_LEKTON_20 );
g_Script.Register( m_ScriptNameColourChange.c_str(), [this](IScriptEngine* script) -> int
{
int playerID = script->PopInt( );
assert( playerID >= 0 && playerID < MAX_PLAYERS );
int selectedIndex = m_ConnectedPlayerEntries[playerID].Colour->GetSelectedIndex( );
TryChangeColour( selectedIndex, playerID, false );
return 0;
} );
g_Script.Register( m_ScriptNameTeamChange.c_str(), [this](IScriptEngine* script) -> int
{
int playerID = script->PopInt( );
assert( playerID >= 0 && playerID < MAX_PLAYERS );
int selectedIndex = m_ConnectedPlayerEntries[playerID].Team->GetSelectedIndex( );
TryChangeTeam( selectedIndex, playerID, false );
return 0;
} );
g_Script.Register( m_ScriptNameKick.c_str( ), [this](IScriptEngine* script) -> int
{
int playerID = script->PopInt( );
if ( m_ConnectedPlayerEntries[ playerID ].IsAI )
{
ChangeReserveAI( playerID, false );
OnDisconnection( &playerID );
}
else
g_NetworkEngine.RequestDisconnection( playerID );
return 0;
} );
g_Script.Register( m_ScriptNameReserveForAI.c_str( ), [this](IScriptEngine* script) -> int
{
int playerID = script->PopInt( );
if ( !m_ConnectedPlayerEntries[playerID].IsAI )
{
OnNewClientConnect( playerID );
}
ChangeReserveAI( playerID, true );
g_NetworkEngine.RequestDisconnection( playerID );
return 0;
} );
// Players
int entryY = m_HeightPlayerEntry * (MAX_PLAYERS - 1) + m_TopPadding;
for ( int i = MAX_PLAYERS -1 ; i >= 0; --i )
{
int x = m_WindowConnectedClients->GetSize().x - m_WidthReady;
ConnectedPlayer& playerEntry = m_ConnectedPlayerEntries[i];
playerEntry.Name = g_GUI.AddText( "", GUI::TextDefinition( "TODOJM", m_LeftPadding, entryY, m_WidthName, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
playerEntry.Ready = g_GUI.AddSprite( "", GUI::SpriteDefinition( m_TextureNameReadySprite, m_WindowConnectedClients->GetSize().x - m_WidthReady, entryY, m_WidthReady, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
x -= m_WidthTeam;
playerEntry.Team = g_GUI.AddComboBox( "", GUI::Rectangle( x, entryY, m_WidthTeam, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
playerEntry.Team->AddItem( "Team 1" );
playerEntry.Team->AddItem( "Team 2" );
playerEntry.Team->AddItem( "Team 3" );
playerEntry.Team->AddItem( "Team 4" );
playerEntry.Team->SetClickScript( m_ScriptNameTeamChange + "(" + rToString( i ) + ")");
playerEntry.Team->GetBackgroundRef().Texture = m_TextureNameComboBox;
playerEntry.Team->SetItemBackgroundImage( m_TextureNameComboBoxItem );
x -= m_WidthColour;
playerEntry.Colour = g_GUI.AddComboBox( "", GUI::Rectangle( x, entryY, m_WidthColour, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
for( auto& colourEntry : m_ColourEntries )
{
playerEntry.Colour->AddItem( colourEntry.Text );
playerEntry.Colour->GetItem( playerEntry.Colour->GetNumItems() - 1 ).Text.Colour = colourEntry.TextColour;
}
playerEntry.Colour->SetClickScript( m_ScriptNameColourChange + "(" + rToString( i ) + ")" );
playerEntry.Colour->GetBackgroundRef().Texture = m_TextureNameComboBox;
playerEntry.Colour->SetItemBackgroundImage( m_TextureNameComboBoxItem );
x -= m_WidthKick;
playerEntry.Kick = g_GUI.AddButton( "", GUI::Rectangle( x, entryY, m_WidthKick, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
playerEntry.Kick->SetClickScript( m_ScriptNameKick + "(" + rToString( i ) + ")" );
playerEntry.Kick->GetBackgroundRef().Texture = m_TextureNameKickSprite;
x -= m_WidthReserveForAI;
playerEntry.ReserveForAIBtn = g_GUI.AddButton( "", GUI::Rectangle( x, entryY, m_WidthReserveForAI, m_HeightPlayerEntry ), m_WindowNameConnectedClients );
playerEntry.ReserveForAIBtn->SetClickScript( m_ScriptNameReserveForAI + "(" + rToString( i ) + ")" );
playerEntry.ReserveForAIBtn->GetBackgroundRef().Texture = m_TextureNameButtons;
playerEntry.ReserveForAIBtn->GetTextDefinitionRef().Text = "AI";
playerEntry.PlayerID = i;
entryY -= m_HeightPlayerEntry;
}
}
{ // Select level window
m_WindowSelectLevel = g_GUI.AddWindow( m_WindowNameSelectLevel,
GUI::Rectangle( sizeLobby.x / 2, 0, sizeLobby.x / 2, sizeLobby.y / 2 ),
m_WindowNameLobby, true );
glm::ivec2 slSize = m_WindowSelectLevel->GetSize();
m_WindowSelectLevel->ToggleOpen( );
m_ComboBoxSelectLevel = g_GUI.AddComboBox( "", GUI::Rectangle(
0, m_WindowSelectLevel->GetSize().y - m_HeightComboBoxSelectLevel, m_WindowSelectLevel->GetSize().x, m_HeightComboBoxSelectLevel ),
m_WindowNameSelectLevel );
m_ComboBoxSelectLevel->SetBackgroundImage( m_TextureNameSelectLevel );
m_ComboBoxSelectLevel->SetItemBackgroundImage( m_TextureNameSelectLevel );
g_Script.Register( m_ScriptClickLevelChange.c_str(), [this](IScriptEngine*){ SetLevel(m_ComboBoxSelectLevel->GetTextDefinitionRef().Text); return 0; } );
m_ComboBoxSelectLevel->SetClickScript( m_ScriptClickLevelChange + "()" );
m_SizeLevelWindow = std::min(slSize.x, slSize.y - m_HeightComboBoxSelectLevel);
m_WindowLevel = g_GUI.AddWindow( m_WindowNameLevel, GUI::Rectangle(
(slSize.x / 2) - (m_SizeLevelWindow / 2), 0, m_SizeLevelWindow, m_SizeLevelWindow ),
m_WindowNameSelectLevel );
m_WindowLevel->ToggleOpen( );
m_SpriteLevelSelected = g_GUI.AddSprite( "", GUI::SpriteDefinition(
"",
0,
0,
m_SizeLevelWindow,
m_SizeLevelWindow),
m_WindowNameLevel );
CreateSpawnPointButtons( );
LoadLevels( );
}
{ // Gameplay settings
int gpsX = sizeLobby.x / 2;
int gpsY = sizeLobby.y / 2;
int gpsW = sizeLobby.x / 2;
int gpsH = sizeLobby.y / 2;
int gpsDiff = m_HeightComboBoxSelectLevel;
int gpsStartCountW = gpsW - gpsDiff * 4 - gpsDiff * 3;
m_WindowGamePlaySettings = g_GUI.AddWindow(m_WindowNameGamePlaySettings, GUI::Rectangle(gpsX, gpsY, gpsW, gpsH -m_HeightButton), m_WindowNameLobby, true);
m_WindowGamePlaySettings->ToggleOpen();
// | Starting units count |
m_BtnSpawnCount = g_GUI.AddButton("GamePlaySettingStartCount", GUI::Rectangle(gpsDiff, gpsDiff, gpsStartCountW, gpsDiff), m_WindowNameGamePlaySettings);
m_BtnSpawnCount->GetBackgroundRef().Texture = m_TextureNameButtons;
m_BtnSpawnCount->SetText("Starting units count");
m_BtnSpawnCount->SetEnabled(false);
// | Starting units count | - |
m_BtnSpawnCountDec = g_GUI.AddButton("GamePlaySettingStartCountModDec", GUI::Rectangle(gpsStartCountW + gpsDiff, gpsDiff, gpsDiff, gpsDiff), m_WindowNameGamePlaySettings);
m_BtnSpawnCountDec->GetBackgroundRef().Texture = m_TextureNameButtons;
m_BtnSpawnCountDec->SetText("-");
m_BtnSpawnCountDec->SetClickScript(m_ScriptChangeGameSetting + "(-1)");
// | Starting units count | - | X |
m_BtnSpawnCountVal = g_GUI.AddButton("GamePlaySettingStartCountVal", GUI::Rectangle(gpsStartCountW + gpsDiff * 2, gpsDiff, gpsDiff, gpsDiff), m_WindowNameGamePlaySettings);
m_BtnSpawnCountVal->GetBackgroundRef().Texture = m_TextureNameButtons;
m_BtnSpawnCountVal->SetText("X");
m_BtnSpawnCountVal->SetEnabled(false);
// | Starting units count | - | X | + |
m_BtnSpawnCountInc = g_GUI.AddButton("GamePlaySettingStartCountModInc", GUI::Rectangle(gpsStartCountW + gpsDiff * 3, gpsDiff, gpsDiff, gpsDiff), m_WindowNameGamePlaySettings);
m_BtnSpawnCountInc->GetBackgroundRef().Texture = m_TextureNameButtons;
m_BtnSpawnCountInc->SetText("+");
m_BtnSpawnCountInc->SetClickScript(m_ScriptChangeGameSetting + "(1)");
}
}
}