void AI_Machine::init(void) {
const Json::Value &all_ai_json = CONFIG_INSTANCE->config_json()["ai"]["ai_behavior"];
if (all_ai_json == Json::Value::null) {
LOG_ABORT("configure file error.");
}
for (Json::Value::iterator iter = all_ai_json.begin(); iter != all_ai_json.end(); ++iter) {
int ai_id = atoi(iter.key().asCString());
AI_Data *ai_data = new AI_Data;
Composite_Node *ai_behavior = new CompositeNode_Selector();
ai_data->ai_behavior = ai_behavior;
behavior_init(*iter, ai_behavior);
ai_data_map_.insert(std::make_pair(ai_id, ai_data));
}
{
Composite_Node* pselect_idle = new CompositeNode_Selector();
pselect_idle->add_child(CREATE_TERMINATE_NODE(Be_Idle));
blockhead_ai_ = pselect_idle;
}
{
Composite_Node* psequence_ai_behavior = new CompositeNode_Sequence();
psequence_ai_behavior->add_child(CREATE_TERMINATE_NODE(Co_Idle_Status));
psequence_ai_behavior->add_child(CREATE_TERMINATE_NODE(Be_Idle));
//psequence_ai_behavior->add_child(CREATE_TERMINATE_NODE(Co_Die_Status));
//psequence_ai_behavior->add_child(CREATE_TERMINATE_NODE(Be_NPC_Recover));
normal_ai_ = psequence_ai_behavior;
}
}
int main(void)
{
int test_mode;
int vm_present;
int i;
unsigned int seed;
// Needs to be called ASAP as rf need a looooooong time to wake up.
// This function is just sending a pulse over the SCL line.
rf_wakeup();
clock_set_speed(16000000UL,16);
setup_pps();
setup_io();
leds_init();
CHARGE_500MA = 0; // Switch back to 100mA charge.
// Switch on one led to say we are powered on
leds_set(LED_BATTERY_0, 32);
// Enable the poweroff softirq.
_INT3IF = 0;
_INT3IP = 1;
_INT3IE = 1;
// Sound must be enabled before analog, as
// The analog interrupt callback into sound processing ...
// But must be initialised _after_ leds as it use one led IO for enabling amp.
sound_init();
tone_init(); // Init tone generator
pwm_motor_init();
pid_motor_init();
// We need the settings for the horizontal prox.
load_settings_from_flash();
for (i = 0; i < 2; i++) {
// Settings is definitely wrong....
if(settings.mot256[i] <= 0)
settings.mot256[i] = 256;
// 1024 (AD resolution is 10 bits) * 256 / 9 fits in signed 16 bits.
if (settings.mot256[i] < 9)
settings.mot256[i] = 9;
}
// This is the horizontal prox. Vertical one are handled by the ADC
// but ADC sync the motor mesurment with the prox, so we don't pullute it with noise ...
timer_init(TIMER_IR_COMM, 0,-1); // The period will be changed later.
prox_init(PRIO_SENSORS); // Same priority as analog (maybe should be at 7 ...)
// Warning: We cannot use the SD before the analog init as some pin are on the analog port.
analog_init(TIMER_ANALOG, PRIO_SENSORS);
wait_valid_vbat();
log_init(); // We will need to read vbat to be sure we can flash.
ntc_init(ntc_callback, PRIO_1KHZ);
// i2c_init(I2C_3);
i2c_init_master(I2C_3, 400000, PRIO_I2C);
I2C3CON = 0x9000;
mma7660_init(I2C_3, MMA7660_DEFAULT_ADDRESS, acc_cb, 0);
mma7660_set_mode(MMA7660_120HZ, 1);
rc5_init(TIMER_RC5, rc5_callback, PRIO_RC5);
sd_init();
timer_init(TIMER_1KHZ, 1000, 6);
timer_enable_interrupt(TIMER_1KHZ, timer_1khz, PRIO_1KHZ);
rf_init(I2C_3);
timer_enable(TIMER_1KHZ);
sd_log_file();
vm_present = init_aseba_and_fifo();
if(vm_present)
log_analyse_bytecode();
vmVariables.fwversion[0] = FW_VERSION;
vmVariables.fwversion[1] = FW_VARIANT;
// SD file is more important than internal flash
if(!sd_load_aseba_code()) {
log_set_flag(LOG_FLAG_VMCODESD);
vm_present = 1;
log_analyse_bytecode();
}
// Behavior is on INT4 (softirq trigged by 1khz timer).
behavior_init(PRIO_BEHAVIOR);
test_mode = sd_test_file_present();
if(!test_mode)
mode_init(vm_present);
// Enable the LVD interrupt
_LVDIE = 1;
play_sound(SOUND_POWERON);
if(test_mode) {
test_mode_start();
while(1)
idle_without_aseba();
}
while(behavior_enabled(B_MODE))
idle_without_aseba();
// If usb did not put us out of behavior mode, then start the rf link
if(!usb_uart_serial_port_open() && (rf_get_status() & RF_PRESENT)) {
rf_set_link(RF_UP);
}
// get the random seed
seed = 0;
for(i = 0; i < 5; i++) {
seed += vmVariables.buttons_mean[i];
seed += vmVariables.buttons_noise[i];
}
seed += vmVariables.vbat[0];
seed += vmVariables.vbat[1];
for(i = 0; i < 3; i++)
seed += vmVariables.acc[i];
AsebaSetRandomSeed(seed);
for(i = 0; i < 3; i++)
AsebaGetRandom();
// Give full control to aseba. No way out (except reset).
run_aseba_main_loop();
}
int AI_Machine::behavior_init(Json::Value &node_json, Composite_Node* parent_node)
{
const Json::Value &ai_action_pool = CONFIG_INSTANCE->config_json()["ai"]["ai_pool"];
if (ai_action_pool == Json::Value::null) {
MSG_USER("configure file error.");
}
for (Json::Value::iterator iter = node_json.begin(); iter != node_json.end(); ++iter) {
std::string node = (*iter)["node"].asString();
std::string type = (*iter)["type"].asString();
Composite_Node* this_node = NULL;
if (type == "Selector") {
this_node = new CompositeNode_Selector();
} else if (type == "Sequence") {
this_node = new CompositeNode_Sequence();
} else if (type == "Parallel") {
this_node = new CompositeNode_Parallel();
} else if (type == "Condition") {
if (ai_action_pool[node].asString() == "Co_Die_Status")
parent_node->add_child(CREATE_TERMINATE_NODE(Co_Die_Status));
// else if (ai_action_pool[node].asString() == "Co_Dormancy_Status")
// parent_node->add_child(CREATE_TERMINATE_NODE(Co_Dormancy_Status));
else if (ai_action_pool[node].asString() == "Co_Back_Status")
parent_node->add_child(CREATE_TERMINATE_NODE(Co_Back_Status));
else if (ai_action_pool[node].asString() == "Co_Hatred_List_Not_Null")
parent_node->add_child(CREATE_TERMINATE_NODE(Co_Hatred_List_Not_Null));
// else if (ai_action_pool[node].asString() == "Co_HP_Not_Full")
// parent_node->add_child(CREATE_TERMINATE_NODE(Co_HP_Not_Full));
// else if (ai_action_pool[node].asString() == "Co_HP_Is_Empty")
// parent_node->add_child(CREATE_TERMINATE_NODE(Co_HP_Is_Empty));
// else if (ai_action_pool[node].asString() == "Co_Has_Move_Target")
// parent_node->add_child(CREATE_TERMINATE_NODE(Co_Has_Move_Target));
// else if (ai_action_pool[node].asString() == "Co_Hatred_List_Is_Null")
// parent_node->add_child(CREATE_TERMINATE_NODE(Co_Hatred_List_Is_Null));
else
MSG_USER("AI:no condition:%s", node.c_str());
} else if (type == "Behavior") {
if (ai_action_pool[node].asString() == "Be_Idle")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_Idle));
// else if (ai_action_pool[node].asString() == "Be_NPC_Recover")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_NPC_Recover));
// else if (ai_action_pool[node].asString() == "Be_Battle_Mode_A")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Battle_Mode_A));
// else if (ai_action_pool[node].asString() == "Be_Battle_Mode_B")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Battle_Mode_B));
else if (ai_action_pool[node].asString() == "Be_Patrol_Mode_A")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_Patrol_Mode_A));
else if (ai_action_pool[node].asString() == "Be_Chase_Mode")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_Chase_Mode));
else if (ai_action_pool[node].asString() == "Be_Back_Mode")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_Back_Mode));
// else if (ai_action_pool[node].asString() == "Be_Pet_Mode")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Pet_Mode));
// else if (ai_action_pool[node].asString() == "Be_Hp_Full")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Hp_Full));
// else if (ai_action_pool[node].asString() == "Be_Clean_Hatred_List")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Clean_Hatred_List));
// else if (ai_action_pool[node].asString() == "Be_Clean_Walk_Path")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Clean_Walk_Path));
// else if (ai_action_pool[node].asString() == "Be_Dormancy_Breaking_And_Full_State")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Dormancy_Breaking_And_Full_State));
// else if (ai_action_pool[node].asString() == "Be_Set_Dormancy_Status")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Set_Dormancy_Status));
else if (ai_action_pool[node].asString() == "Be_NPC_Die")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_NPC_Die));
// else if (ai_action_pool[node].asString() == "Be_Delay_Until_Next_Resurrection_Time_Resurrection")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Delay_Until_Next_Resurrection_Time_Resurrection));
// else if (ai_action_pool[node].asString() == "Be_Material_Mode")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Material_Mode));
// else if (ai_action_pool[node].asString() == "Be_Move_Mode_A")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Move_Mode_A));
else if (ai_action_pool[node].asString() == "Be_Move_Mode_B")
parent_node->add_child(CREATE_TERMINATE_NODE(Be_Move_Mode_B));
// else if (ai_action_pool[node].asString() == "Be_Move_Mode_D")
// parent_node->add_child(CREATE_TERMINATE_NODE(Be_Move_Mode_D));
else
MSG_USER("AI:no behavior:%s", node.c_str());
}
if (this_node != NULL) {
parent_node->add_child(this_node);
}
if ((*iter)["child_node"] != Json::Value::null)
behavior_init((*iter)["child_node"], this_node);
}
return 0;
}