void Rmp440LE::UpdateStatus()
{
UpdateImu();
UpdateOdometry();
UpdateBattery();
UpdateMotorStatus();
UpdateFaultStatus();
}
// Main Control loop
void loop()
{
static uint32_t nextTick = 0;
while(getTickCount()<nextTick);
nextTick = getTickCount()+TICK_FRAME_PERIOD;
CommandProcess();
#ifdef GPS
GPSCommandProcess();
#endif
SensorsRead(SENSOR_ACC|SENSOR_GYRO|SENSOR_MAG|SENSOR_BARO,1);
#ifdef ABROBOT
SensorsRead(SENSOR_HALL,1);
#endif
#ifdef OPTION_RC
if(IsSSVConnected()) {
ssv_rc_update();
if(getTickCount()%1000)
UpdateBattery();
}
if(ChronographRead(ChronRC)>= OUTPUT_RC_INTERVAL) {
SensorsDynamicCalibrate(SENSOR_GYRO|SENSOR_MAG);
ChronographSet(ChronRC);
computeRC();
armDetect();
}
#endif
if(getMagMode()||!(GetSensorCalState()&(1<<MAG)))
nvtUpdateAHRS(SENSOR_ACC|SENSOR_GYRO|SENSOR_MAG);
else
nvtUpdateAHRS(SENSOR_ACC|SENSOR_GYRO);
if((GetFrameCount()%18)==0)
report_sensors();
IncFrameCount(1);
#ifdef OPTION_RC
if(GetFrameCount()==MOTORS_ESC_DELAY)
motorsStart();
stabilizer();
if((GetFrameCount()%12)==0)
UpdateLED();
#endif
}
int main(void)
{
bool done = false; // Variavel booleana para identificar se o programa terminou de ser executado
bool redraw = true; // Enquanto essa variavel for verdadeira, ira ser desenhado algo na tela
bool desenha = true;
int draw[5]= {0, 0, 0, 0, 0};
int pos_x = WIDTH / 2;
int pos_y = HEIGHT / 2;
int timer_tiros = 0;
int timer_energy = 0;
int timer_heats = 0;
int timer_tamenho_heat = 0;
int timer_componente = 0;
int count = 0;
Gamer(gamer);
Zone zone[LINHAS][COLUNAS];
Bullet bullets[NUM_BULLETS+1];
Energy energy[NUM_ENERGYS+1];
Heat heats[NUM_HEAT+1];
Zombie zombie[NUM_ZOMBIES];
Battery battery[NUM_BATTERY];
ALLEGRO_DISPLAY *display = NULL;
ALLEGRO_EVENT_QUEUE *event_queue = NULL;
ALLEGRO_TIMER *timer = NULL;
ALLEGRO_FONT *font18 = NULL;
ALLEGRO_FONT *font_maior = NULL;
ALLEGRO_BITMAP *resistor = NULL;
ALLEGRO_BITMAP *capacitor = NULL;
ALLEGRO_BITMAP *indutor = NULL;
ALLEGRO_BITMAP *diodo = NULL;
ALLEGRO_BITMAP *bateria = NULL;
ALLEGRO_BITMAP *protoboard = NULL;
ALLEGRO_BITMAP *fogo = NULL;
ALLEGRO_BITMAP *zombie_bitmap = NULL;
ALLEGRO_BITMAP *ataque_eletromagnetico = NULL;
ALLEGRO_BITMAP *energia_capacitor = NULL;
ALLEGRO_BITMAP *logo = NULL;
if(!al_init()) //initialize Allegro
return -1;
display = al_create_display(WIDTH, HEIGHT); //create our display object
if(!display) //test display object
return -1;
al_init_primitives_addon();
al_install_keyboard();
al_init_font_addon();
al_init_ttf_addon();
al_install_mouse();
al_init_image_addon();
resistor = al_load_bitmap("Resistor.png");
capacitor = al_load_bitmap("Capacitor.png");
indutor = al_load_bitmap("Indutor.png");
diodo = al_load_bitmap("Diodo.png");
bateria = al_load_bitmap("Bateria.png");
protoboard = al_load_bitmap("Protoboard.png");
fogo = al_load_bitmap("fogo_resistor/fire1.png");
zombie_bitmap = al_load_bitmap("Zombie.png");
ataque_eletromagnetico = al_load_bitmap("eletromagnetismo.jpg");
energia_capacitor = al_load_bitmap("energia_capacitor.png");
logo = al_load_bitmap("logo_EvsZ.jpg");
al_convert_mask_to_alpha(resistor, al_map_rgb(255, 0, 255));
al_convert_mask_to_alpha(capacitor, al_map_rgb(255, 0, 255));
al_convert_mask_to_alpha(indutor, al_map_rgb(255, 0, 255));
al_convert_mask_to_alpha(diodo, al_map_rgb(255, 0, 255));
al_convert_mask_to_alpha(bateria, al_map_rgb(255, 0, 255));
al_convert_mask_to_alpha(zombie_bitmap, al_map_rgb(255, 255, 255));
al_convert_mask_to_alpha(ataque_eletromagnetico, al_map_rgb(255, 255, 255));
event_queue = al_create_event_queue();
timer = al_create_timer(1.0 / FPS);
InitGamer(gamer);
InitZone(zone, LINHAS, COLUNAS);
InitBullet(bullets, NUM_BULLETS+1);
InitHeat(heats, NUM_HEAT+1);
InitZombie(zombie, NUM_ZOMBIES);
InitEnergy(energy, NUM_ENERGYS+1);
InitBattery(battery, NUM_BATTERY);
font18 = al_load_font("arial.ttf", 18, 0);
font_maior = al_load_font("arial.ttf", 24, 0);
al_register_event_source(event_queue, al_get_mouse_event_source());
al_register_event_source(event_queue, al_get_keyboard_event_source());
al_register_event_source(event_queue, al_get_timer_event_source(timer));
al_register_event_source(event_queue, al_get_display_event_source(display));
al_hide_mouse_cursor(display);
al_start_timer(timer);
while(!done)
{
ALLEGRO_EVENT ev;
/*===============================================================================================================================================*/
if(state == MENU)
{
al_wait_for_event(event_queue, &ev);
al_draw_bitmap(logo, WIDTH / 2 - 145, HEIGHT - 500, 0);
al_draw_text(font18, al_map_rgb(255, 255, 255), WIDTH / 2, HEIGHT / 2, ALLEGRO_ALIGN_CENTRE, "Os Zombies querem roubar seu diploma, proteja-o");
al_draw_text(font18, al_map_rgb(0, 255, 255), WIDTH / 2, HEIGHT / 2 + 100, ALLEGRO_ALIGN_CENTRE, "Pressione Space para jogar");
al_draw_text(font_maior, al_map_rgb(0, 255, 0), WIDTH / 2, HEIGHT / 2 + 150, ALLEGRO_ALIGN_CENTRE, "Tecla 1 = Resistor Tecla 2 = Capacitor Tecla 3 = Indutor Tecla 4 = Diodo");
if(ev.type == ALLEGRO_EVENT_KEY_DOWN)
if(ev.keyboard.keycode == ALLEGRO_KEY_SPACE)
state = PLAYING;
if(ev.type == ALLEGRO_EVENT_DISPLAY_CLOSE)
done = true;
al_flip_display();
}
/*===============================================================================================================================================*/
if(state == PLAYING)
{
al_wait_for_event(event_queue, &ev);
if(ev.type == ALLEGRO_EVENT_DISPLAY_CLOSE)
done = true;
if(ev.type == ALLEGRO_EVENT_TIMER)
{
redraw = true;
for(int i = 0; i < LINHAS; i++)
for(int j=0; j<COLUNAS; j++)
if(zone[i][j].x < pos_x &&
zone[i][j].x + ZONEX > pos_x &&
zone[i][j].y < pos_y &&
zone[i][j].y + ZONEY > pos_y)
if(desenha)
if(zone[i][j].draw == 0)
{
if(keys[KEY_1] && gamer.energy >= 100)
{
zone[i][j].draw = draw[1];
gamer.energy -=100;
draw[1] = 0;
}
if(keys[KEY_2] && gamer.energy >= 50)
{
zone[i][j].draw = draw[2];
gamer.energy -=50;
draw[2] = 0;
}
if(keys[KEY_3] && gamer.energy >= 100)
{
zone[i][j].draw = draw[3];
gamer.energy -=100;
draw[3] = 0;
}
if(keys[KEY_4] && gamer.energy >= 100)
{
zone[i][j].draw = draw[4];
gamer.energy -=100;
draw[4] = 0;
}
}
timer_battery_speed++;
timer_battery_start++;
if(timer_battery_start >= 360) // diminui a frequencia com que nasce uma bateria nova
{
StartBattery(battery, NUM_BATTERY);
timer_battery_start = 0;
}
if(timer_battery_speed >= 2) // reduz um pouco a velocidade da bateria
{
UpdateBattery(battery, NUM_BATTERY);
timer_battery_speed = 0;
}
timer_heats++;
for(int i=0; i<LINHAS; i++)
for(int j=0; j<COLUNAS; j++)
if(zone[i][j].draw == 1)
if(timer_heats >= 200)
{
FireHeat(heats, NUM_HEAT+1, zone);
timer_heats = 0;
}
timer_energy++;
timer_energy_cap_death++;
for(int i=0; i<LINHAS; i++)
for(int j=0; j<COLUNAS; j++)
if(zone[i][j].draw == 2)
{
if(timer_energy >= 420)
{
CreateEnergy(energy, NUM_ENERGYS+1, zone);
timer_energy = 0;
}
}
timer_tiros++;
for(int i=0; i<LINHAS; i++)
for(int j=0; j<COLUNAS; j++)
if(zone[i][j].draw == 3)
if(timer_tiros >= 200) // faz os Electronics atirarem numa velocidade constante
{
FireBullet(bullets, NUM_BULLETS+1, zone);
timer_tiros = 0;
}
timer_zombie_start++;
timer_zombie_speed++;
timer_dificuldade++;
if(timer_zombie_start >= 3)
{
StartZombie(zombie, NUM_ZOMBIES);
timer_zombie_start = 0;
}
if(dificuldade >20 && dificuldade <=500)
{
if(timer_dificuldade >= 300)
{
dificuldade -= 30;
timer_dificuldade = 0;
}
}
if(timer_zombie_speed >= 3)
{
UpdateZombie(zombie, NUM_ZOMBIES);
timer_zombie_speed = 0;
}
UpdateBullet(bullets, NUM_BULLETS+1);
CollideBullet(bullets, NUM_BULLETS, zombie, NUM_ZOMBIES, gamer);
CollideHeat(heats, NUM_HEAT, zombie, NUM_ZOMBIES, gamer, timer_tamenho_heat);
CollideZone(zone, LINHAS, COLUNAS, zombie, NUM_ZOMBIES);
CollideZoneDiodo(zone, LINHAS, COLUNAS, zombie, NUM_ZOMBIES);
for(int i = 0; i < NUM_ENERGYS; i++)
if(energy[i].live)
if(energy[i].x - energy[i].boundx < pos_x &&
energy[i].x + energy[i].boundx > pos_x &&
energy[i].y - energy[i].boundy < pos_y &&
energy[i].y + energy[i].boundy > pos_y)
{
energy[i].live = false;
gamer.energy += 25;
}
}
else if(ev.type == ALLEGRO_EVENT_KEY_DOWN)
{
switch(ev.keyboard.keycode)
{
case ALLEGRO_KEY_ESCAPE:
done = true;
break;
case ALLEGRO_KEY_1:
keys[KEY_1] = true;
break;
case ALLEGRO_KEY_2:
keys[KEY_2] = true;
break;
case ALLEGRO_KEY_3:
keys[KEY_3] = true;
break;
case ALLEGRO_KEY_4:
keys[KEY_4] = true;
break;
}
}
else if(ev.type == ALLEGRO_EVENT_KEY_UP)
{
switch(ev.keyboard.keycode)
{
case ALLEGRO_KEY_ESCAPE:
done = true;
break;
case ALLEGRO_KEY_1:
keys[KEY_1] = false;
break;
case ALLEGRO_KEY_2:
keys[KEY_2] = false;
break;
case ALLEGRO_KEY_3:
keys[KEY_3] = false;
break;
case ALLEGRO_KEY_4:
keys[KEY_4] = false;
break;
}
}
else if(ev.type == ALLEGRO_EVENT_MOUSE_BUTTON_DOWN)
{
if (ev.mouse.button & 2)
done = true;
}
else if(ev.type == ALLEGRO_EVENT_MOUSE_AXES)
{
pos_x = ev.mouse.x;
pos_y = ev.mouse.y;
CaptureBattery(battery, NUM_BATTERY, ev.mouse.x, ev.mouse.y, gamer);
}
timer_componente++;
if(timer_componente >= 10)
{
if(keys[KEY_1])
draw[1] = 1;
if(keys[KEY_2])
draw[2] = 2;
if(keys[KEY_3])
draw[3] = 3;
if(keys[KEY_4])
draw[4] = 4;
}
if(redraw && al_is_event_queue_empty(event_queue))
{
redraw = false;
DrawZone(zone, LINHAS, COLUNAS, resistor, capacitor, indutor, diodo);
DrawBullet(bullets, NUM_BULLETS+1, ataque_eletromagnetico);
DrawEnergy(energy, NUM_ENERGYS+1, energia_capacitor);
DrawZombie(zombie, NUM_ZOMBIES, zombie_bitmap);
DrawBattery(battery, NUM_BATTERY, bateria);
timer_tamenho_heat++;
DrawHeat(heats, NUM_HEAT+1, timer_tamenho_heat, fogo);
if(timer_tamenho_heat > 80)
for(int i=0; i<NUM_HEAT; i++)
{
heats[i].live = false;
timer_tamenho_heat = 0;
}
al_draw_filled_rectangle(pos_x, pos_y, pos_x + 10, pos_y + 10, al_map_rgb(0, 0, 0));
count++;
al_draw_textf(font18, al_map_rgb(255, 0, 0), WIDTH*13/16, 85, 0, "Time: %i", count/60);
al_draw_textf(font18, al_map_rgb(255, 0, 0), WIDTH*13/300, 85, 0, "Energy: %i", gamer.energy);
al_draw_textf(font18, al_map_rgb(255, 0, 0), WIDTH*13/25, 85, 0, "Score: %i", gamer.score);
al_flip_display();
al_draw_bitmap(protoboard, 0, 0, 0);
}
}
/*================================================================================================================================================*/
if(state == GAMEOVER)
{
al_wait_for_event(event_queue, &ev);
al_clear_to_color(al_map_rgb(0,0,0));
al_draw_text(font18, al_map_rgb(255, 168, 255), WIDTH / 2, HEIGHT / 2, ALLEGRO_ALIGN_CENTRE, "Os Zombies roubaram seu diploma");
al_draw_text(font18, al_map_rgb(255, 255, 255), WIDTH / 2, HEIGHT / 2 +40, ALLEGRO_ALIGN_CENTRE, "Pressione Space para sair");
al_draw_textf(font_maior, al_map_rgb(255, 0, 0), WIDTH*13/28, 85, 0, "Score: %i", gamer.score);
al_flip_display();
if(ev.type == ALLEGRO_EVENT_DISPLAY_CLOSE)
done = true;
if(ev.type == ALLEGRO_EVENT_KEY_DOWN)
if(ev.keyboard.keycode == ALLEGRO_KEY_SPACE)
{
al_destroy_event_queue(event_queue);
al_destroy_timer(timer);
al_destroy_font(font18);
al_destroy_bitmap(resistor);
al_destroy_bitmap(capacitor);
al_destroy_bitmap(indutor);
al_destroy_bitmap(diodo);
al_destroy_bitmap(bateria);
al_destroy_bitmap(protoboard);
al_destroy_bitmap(zombie_bitmap);
al_destroy_display(display);
}
}
}
return 0;
}