示例#1
0
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;
	}

}
示例#2
0
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();
}
示例#3
0
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;
}