task main() {
initialize(BLUE_S); //Which way does the robot start pointing?
autoReset(0); // 0 = Start, 1 = Finish
#include "routine.c"
autoReset(1);
for (int j=0; j<10; j++) motor[j]=0;
while(true) {}
}
BOOL CXTPCalendarRemindersManager::ProcessActiveReminders(COleDateTime dtTime)
{
CXTPAutoResetValue<BOOL> autoReset(m_bSkipOnEventChanged, FALSE);
m_bSkipOnEventChanged = TRUE;
BOOL bChanged = FALSE;
int nCount = m_arWaitingReminders.GetCount();
for (int i = nCount-1; i >= 0 ; i--)
{
CXTPCalendarReminder* pRmdI = m_arWaitingReminders.GetAt(i, FALSE);
if (pRmdI->m_dtNextReminderTime <= dtTime)
{
m_arActiveReminders.Add(pRmdI, TRUE);
m_arWaitingReminders.RemoveAt(i);
bChanged = TRUE;
_RemoveSnoozeData(pRmdI);
}
}
if (bChanged)
m_arActiveReminders.Sort();
return bChanged;
}
BOOL CXTPCalendarRemindersManager::_Dismiss(CXTPCalendarReminder* pReminder)
{
CXTPCalendarEventPtr ptrEvent = pReminder ? pReminder->GetEvent() : NULL;
if (!pReminder || !ptrEvent)
{
ASSERT(FALSE);
return FALSE;
}
CXTPAutoResetValue<BOOL> autoReset(m_bSkipOnEventChanged, FALSE);
m_bSkipOnEventChanged = TRUE;
if (ptrEvent->GetRecurrenceState() == xtpCalendarRecurrenceOccurrence)
{
CXTPCalendarRecurrencePatternPtr ptrPattern = ptrEvent->GetRecurrencePattern();
CXTPCalendarEventPtr ptrMaster = ptrPattern ? ptrPattern->GetMasterEvent() : NULL;
if (ptrMaster)
{
ptrPattern->SetOccReminder(ptrEvent, FALSE);
VERIFY( ptrMaster->UpdateRecurrence(ptrPattern) );
VERIFY( XTP_SAFE_GET1(ptrMaster->GetDataProvider(), ChangeEvent(ptrMaster), FALSE) );
}
}
else
{
ptrEvent->SetReminder(FALSE);
//ptrEvent->GetCustomProperties()->RemoveProperty(cszEventCustProp_NextReminderTime_Snoozed);
VERIFY( XTP_SAFE_GET1(ptrEvent->GetDataProvider(), ChangeEvent(ptrEvent), FALSE) );
}
return TRUE;
}
const AuthToken AuthManager::Authenticate( const std::string& username, const std::string& password, const std::string& ip )
{
kode::db::AutoReset autoReset( m_pCheckLoginStatement );
m_pCheckLoginStatement->Bind( "@Username", username );
if( m_pCheckLoginStatement->GetNextRow() )
{
int nID = m_pCheckLoginStatement->GetColumn<int>( 0 );
std::string encodedHash = m_pCheckLoginStatement->GetColumn<std::string>( 1 );
std::vector< unsigned char > passwordHash( CryptoPP::SHA::DIGESTSIZE );
kode::base64::Decode( encodedHash, passwordHash );
//
// Now we need to confirm the passwords match
//
unsigned char hashBuffer[ CryptoPP::SHA::DIGESTSIZE ];
CryptoPP::HMAC< CryptoPP::SHA >( m_salt, sizeof( m_salt ) )
.CalculateDigest(
hashBuffer,
&passwordHash[0],
passwordHash.size()
);
std::string hmac = kode::base64::Encode( hashBuffer, sizeof( hashBuffer ) );
if( hmac != password )
throw authentication_exception( "Invalid username or password" );
return AuthToken( username, nID, AuthToken::AccessLevel_Admin );
}
throw authentication_exception( "Invalid username or password" );
}
task main()
{
initialize(N_EAST); //Which way does the robot start pointing?
autoReset(0); // 0 = Start, 1 = Finish
// TYPE, Left, Right, Other, End Type, Delay
auto(CMP_2, RHT_45, FULL, LOW_SH, DRIV_READY, PID); //Turn toward S dispenser
auto(STR, EAST, 11300, LOW_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, LFT_90, FULL, LOW_SH, DRIV_READY, PID); //Turn to hooks
auto(STR, NORTH, 9150, HIG_SH, DRIV_READY, NEXT); //Forward - High
auto(STR, NORTH, -7200, HIG_OP, DRIV_READY, NEXT); //Backward
auto(STR, NORTH, 7200, MED_SH, DRIV_READY, NEXT); //Forward - Med
auto(STR, NORTH, -7200, MED_OP, DRIV_READY, NEXT); //Backward
auto(STR, NORTH, 7150, LOW_SH, DRIV_READY, NEXT); //Forward - Low
auto(STR, NORTH, -1000, LOW_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, 1350, FULL, LOW_LV, DRIV_READY, PID); //Turn to get around pole
auto(STR, S_EAST, -5000, LOW_LV, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_90, FULL, LOW_LV, DRIV_READY, PID); //Turn to get around pole
auto(STR, S_WEST, -2300, LOW_LV, DRIV_READY, NEXT); //Backward
auto(CMP_2, LFT_45, FULL, LOW_LV, DRIV_READY, PID); //Align with S wall
auto(STR, SOUTH, -7300, LOW_LV, DRIV_READY, NEXT); //Backward
auto(STR, SOUTH, 7400, HIG_SH, DRIV_READY, NEXT); //Forward - High
auto(STR, SOUTH, -7500, HIG_OP, DRIV_READY, NEXT); //Backward
auto(STR, SOUTH, 7100, MED_SH, DRIV_READY, NEXT); //Forward - Med
auto(STR, SOUTH, -7300, MED_OP, DRIV_READY, NEXT); //Backward
auto(STR, SOUTH, 7200, LOW_SH, DRIV_READY, NEXT); //Forward - Low
auto(STR, SOUTH, -7900, LOW_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_90, FULL, CRN_SH, DRIV_READY, PID); //Turn toward corner hook
auto(STR, 3600, 9500, CRN_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, RHT_45, FULL, CRN_SH, DRIV_READY, PID); //Turn into corner hook
auto(CMP_2, -1350, FULL, LOW_OP, DRIV_READY, PID); //Turn away from corner hook
auto(STR, SOUTH, 9800, DRP_OP, DRIV_READY, NEXT); //Forward
auto(CMP_2, -250, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, 2450, 9000, DRP_SH, DRIV_READY, NEXT); //Forward - ^
auto(STR, 2450, -9000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, 250, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, SOUTH, 4000, DRP_SH, DRIV_READY, NEXT); //Forward - >
auto(STR, SOUTH, -5000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, LFT_45, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, S_EAST, 8500, DRP_SH, DRIV_READY, NEXT); //Forward - <
auto(STR, S_EAST, -8500, DRP_OP, DRIV_READY, NEXT); //Backward
auto(STR, S_EAST, 3000, DRP_SH, DRIV_READY, NEXT); //Forward - v
auto(STR, S_EAST, -3000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, LFT_45, FULL, DRP_OP, DRIV_READY, PID); //Turn toward E dispenser
auto(STR, EAST, 10000, DRP_SH, DRIV_READY, NEXT); //Forward across field
auto(STR, EAST, 10000, DRP_SH, DRIV_READY, NEXT); //Forward across field
auto(CMP_2, -1150, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, 650, 7000, DRP_SH, DRIV_READY, NEXT); //Forward - ^
auto(STR, 650, -7000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, 250, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, NORTH, 3000, DRP_SH, DRIV_READY, NEXT); //Forward - >
auto(STR, NORTH, -5000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, LFT_45, FULL, DRP_SH, DRIV_READY, PID); //Turn
auto(STR, N_WEST, 7000, DRP_SH, DRIV_READY, NEXT); //Forward - <
auto(STR, N_WEST, -7000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(STR, N_WEST, 3000, DRP_SH, DRIV_READY, NEXT); //Forward - v
auto(STR, N_WEST, -3000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_90, FULL, CRN_SH, DRIV_READY, PID); //Turn
auto(STR, N_EAST, -12800, CRN_SH, DRIV_READY, NEXT); //Backward to last dispenser
auto(CMP_2, RHT_45, FULL, CRN_SH, DRIV_READY, PID); //Turn toward corner hook
auto(STR, EAST, 9200, CRN_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, RHT_45, FULL, CRN_SH, DRIV_READY, PID); //Turn into corner hook
auto(STR, S_EAST, -850, CRN_OP, DRIV_READY, 300); //Let go
autoReset(1);
while(1==1)
{zeroMotors();
output();}
}
BOOL CXTPCalendarRemindersManager::Snooze(CXTPCalendarReminder* pReminder,
int nMinutesAfterNow)
{
const int cnMaxSnoozeMinutes = (60*24*365) * 1000; // 1000 years
// WARNING. no sense to snooze before now.
ASSERT(nMinutesAfterNow >= 1);
// WARNING. do you really need to snooze so far.
ASSERT(nMinutesAfterNow <= cnMaxSnoozeMinutes);
nMinutesAfterNow = max(1, min(nMinutesAfterNow, cnMaxSnoozeMinutes));
CXTPCalendarEventPtr ptrEvent = pReminder ? pReminder->GetEvent() : NULL;
if (!pReminder || !ptrEvent)
{
ASSERT(FALSE);
return FALSE;
}
pReminder->m_dtNextReminderTime = CXTPCalendarUtils::GetCurrentTime();
pReminder->m_dtNextReminderTime += CXTPCalendarUtils::Minutes2Span(nMinutesAfterNow);
m_arWaitingReminders.Add(pReminder, TRUE);
int nIdx = m_arActiveReminders.Find(pReminder);
if (nIdx >= 0)
{
m_arActiveReminders.RemoveAt(nIdx);
}
CXTPAutoResetValue<BOOL> autoReset(m_bSkipOnEventChanged, FALSE);
m_bSkipOnEventChanged = TRUE;
if (ptrEvent->GetRecurrenceState() == xtpCalendarRecurrenceOccurrence)
{
CXTPCalendarRecurrencePatternPtr ptrPattern = ptrEvent->GetRecurrencePattern();
CXTPCalendarEventPtr ptrMaster = ptrPattern ? ptrPattern->GetMasterEvent() : NULL;
if (ptrMaster)
{
ptrPattern->SetOccReminder(ptrEvent, xtpCalendarRmdPrm_DontChange,
(DATE)pReminder->m_dtNextReminderTime);
VERIFY( ptrMaster->UpdateRecurrence(ptrPattern) );
VERIFY( XTP_SAFE_GET1(ptrMaster->GetDataProvider(), ChangeEvent(ptrMaster), FALSE) );
}
}
else
{
VERIFY( ptrEvent->GetCustomProperties()->SetProperty(
cszEventCustProp_NextReminderTime_Snoozed,
(DATE)pReminder->m_dtNextReminderTime) );
VERIFY( XTP_SAFE_GET1(ptrEvent->GetDataProvider(), ChangeEvent(ptrEvent), FALSE) );
}
NotifyReminders(xtpCalendarReminderSnoozed, (LPARAM)pReminder);
return TRUE;
}
task main()
{
initialize(N_EAST); //Which way does the robot start pointing?
autoReset(START);
// TYPE, Left, Right, Other, End Type, Delay
auto(CMP_2, RHT_45, FULL, LOW_SH, DRIV_READY, PID); //Turn toward S dispenser
auto(STR, EAST, 11300, LOW_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, LFT_90, FULL, LOW_SH, DRIV_READY, PID); //Turn to SE hooks
auto(STR, NORTH, 9150, HIG_SH, DRIV_READY, NEXT); //Forward - High
auto(STR, NORTH, -7200, HIG_OP, DRIV_READY, NEXT); //Backward
auto(STR, NORTH, 7200, MED_SH, DRIV_READY, NEXT); //Forward - Med
auto(STR, NORTH, -7200, MED_OP, DRIV_READY, NEXT); //Backward
auto(STR, NORTH, 7150, LOW_SH, DRIV_READY, NEXT); //Forward - Low
auto(STR, NORTH, -7200, LOW_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_90, FULL, CRN_SH, DRIV_READY, PID); //Turn toward corner hook
auto(STR, EAST, 8100, CRN_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, RHT_45, FULL, CRN_SH, DRIV_READY, PID); //Turn into corner hook
auto(STR, S_EAST, 1600, CRN_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, -1350, FULL, CRN_OP, DRIV_READY, PID); //Turn toward E dispenser
auto(STR, NORTH, 10400, DRP_SH, DRIV_READY, NEXT); //Forward - E dispenser to 4 tiles
auto(CMP_2, -250, FULL, DRP_OP, DRIV_READY, PID); //Turn
auto(STR, 650, 8000, DRP_SH, DRIV_READY, NEXT); //Forward - N Tile
auto(STR, 650, -4000, DRP_SH, DRIV_READY, NEXT); //Backward
auto(STR, 650, -4000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, -200, FULL, DRP_OP, DRIV_READY, PID); //Turn
auto(STR, N_WEST, 8300, DRP_SH, DRIV_READY, NEXT); //Forward - W Tile
auto(STR, N_WEST, -3300, DRP_SH, DRIV_READY, NEXT); //Backward
auto(CMP_2, 1350, FULL, DRP_SH, DRIV_READY, PID); //Turn - Straight back
auto(STR, EAST, -2200, DRP_SH, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_45, FULL, DRP_OP, DRIV_READY, PID); //Turn - 45 curve
auto(STR, S_EAST, -6620, DRP_SH, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_45, FULL, DRP_SH, DRIV_READY, PID); //Turn - Align
auto(STR, SOUTH, -2420, LOW_LV, DRIV_READY, NEXT); //Backward - N dispenser to NW hooks
auto(STR, SOUTH, 7900, HIG_SH, DRIV_READY, NEXT); //Forward - High
auto(STR, SOUTH, -7800, HIG_OP, DRIV_READY, NEXT); //Backward
auto(STR, SOUTH, 7400, MED_SH, DRIV_READY, NEXT); //Forward - Med
auto(STR, SOUTH, -7600, MED_OP, DRIV_READY, NEXT); //Backward
auto(STR, SOUTH, 7500, LOW_SH, DRIV_READY, NEXT); //Forward - Low
auto(STR, SOUTH, -7500, LOW_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, RHT_90, FULL, CRN_SH, DRIV_READY, PID); //Turn toward corner hook
auto(STR, 3600, 8850, CRN_SH, DRIV_READY, NEXT); //Forward
auto(CMP_2, RHT_45, FULL, CRN_SH, DRIV_READY, PID); //Turn into corner hook
auto(STR, 4050, 1000, CRN_SH, DRIV_READY, NEXT); //Let go
auto(CMP_2, -1350, FULL, CRN_OP, DRIV_READY, NEXT); //Turn toward W dispenser
auto(STR, SOUTH, 10400, DRP_SH, DRIV_READY, NEXT); //Forward - E dispenser to 4 tiles
auto(CMP_2, -250, FULL, DRP_OP, DRIV_READY, NEXT); //Turn
auto(STR, 2450, 8000, DRP_SH, DRIV_READY, NEXT); //Forward - N Tile
auto(STR, 2450, -4000, DRP_SH, DRIV_READY, NEXT); //Backward
auto(STR, 2450, -4000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, 250, FULL, DRP_SH, DRIV_READY, NEXT); //Turn
auto(STR, SOUTH, 3000, DRP_SH, DRIV_READY, NEXT); //Forward - E Tile
auto(STR, SOUTH, -4000, DRP_OP, DRIV_READY, NEXT); //Backward
auto(CMP_2, LFT_45, FULL, DRP_SH, DRIV_READY, NEXT); //Turn
auto(STR, S_EAST, 8300, DRP_SH, DRIV_READY, NEXT); //Forward - W Tile
auto(STR, S_EAST, -8300, DRP_OP, DRIV_READY, NEXT); //Backward
auto(STR, S_EAST, 2200, DRP_SH, DRIV_READY, NEXT); //Forward - S Tile
auto(STR, S_EAST, -200, DRP_OP, DRIV_READY, NEXT); //Backward
autoReset(FINISH);
while(1==1)
{zeroMotors();
output();
wait1Msec(10);}
}
