void CDsi::DSI_Left_View (int *_dsi_right, int *_dsi_left)
{
dsi_right = _dsi_right;
dsi_left = _dsi_left;
#define PARALLEL_VIEW_CHANGE
#ifdef PARALLEL_VIEW_CHANGE
// omp_set_num_threads(numthreads);
// #pragma omp parallel for
for (int i = 0; i < numthreads; i++)
{
// partition the scanlines
int num_sl = imgH / numthreads;
int y_start = i * num_sl;
int y_end = y_start + num_sl - 1;
if (i == numthreads - 1)
y_end = imgH - 1;
// run parallel dsi computation
change_view (y_start, y_end);
//FillDSI_right_reference (col_conv_right, col_conv_left, HMI_Scores_Lookup, y_start, y_end, dsi);
}
// #pragma omp barrier
#else
change_view (0, imgH - 1);
#endif
}
void change_view_zoom(long val)
#endif
{
#if defined(SGI_GL) && defined(GL_NASA)
long val = g_get_slide_val( ap ) ;
#endif
/* Save current zoom value */
disp_crnt_zoom = (float)val / 10.0 ;
change_view() ;
}
void change_view_y(long val )
#endif
{
#if defined(SGI_GL) && defined(GL_NASA)
long val = g_get_slide_val( ap ) ;
#endif
/* Save current rot-Y value */
disp_crnt_view_y = val ;
change_view() ;
}
void PatsTest_kick2()
{
fflush(stdout);
if (Mem->ViewWidth != VW_Wide)
change_view(VW_Wide);
static int WasBallKickable;
DebugKick(printf("Time: %d\n", Mem->CurrentTime.t));
//DebugKick(printf(" Ball Distance: %f\n", Mem->BallDistance() ));
//DebugKick(cout << " MyPos: " << Mem->MyPos() << endl));
if (!Mem->BallPositionValid() || !Mem->BallKickable()) {
WasBallKickable = FALSE;
DebugKick(printf("chasing ball\n"));
if (Mem->BallPositionValid()) {
if (fabs(Mem->BallAngleFromBody()) > Mem->CP_KickTo_err) {
DebugKick(printf("turning to face ball\n"));
DebugKick(printf("the angle is: %f\n", Mem->BallAngle()));
turn(Mem->BallAngleFromBody());
} else {
DebugKick(printf("dashing\n"));
float power=Mem->BallDistance()*40;
if (power>40) power = 40;
dash(power);
}
} else {
DebugKick(printf("turning randomly\n"));
turn(60);
}
return;
}
//DebugKick(printf("the (simulated) ball velocity is: %g\n",)
// Mem->BallAbsoluteVelocity().mod());
if (Mem->BallKickable()) {
if (!smart_kick_hard_abs(0, KM_HardestKick))
printf("test_kick_hard: UhOh, something bad happened\n");
return;
}
return;
}
int key_hook_2(int keycode, t_env *e)
{
if (keycode == 69)
{
if (e->w > 0.2)
e->w -= 0.2;
}
if (keycode == 78)
e->w += 0.2;
if (keycode == 6)
e->h -= 0.1;
if (keycode == 7)
e->h += 0.1;
if (keycode == 8)
e->h -= 0.5;
if (keycode == 9)
e->h += 0.5;
change_view(keycode, e);
return (0);
}
void emu_exception(struct em8051 *aCPU, int aCode)
{
WINDOW * exc;
switch (aCode)
{
case EXCEPTION_IRET_SP_MISMATCH:
if (opt_exception_iret_sp) return;
break;
case EXCEPTION_IRET_ACC_MISMATCH:
if (opt_exception_iret_acc) return;
break;
case EXCEPTION_IRET_PSW_MISMATCH:
if (opt_exception_iret_psw) return;
break;
case EXCEPTION_ACC_TO_A:
if (!opt_exception_acc_to_a) return;
break;
case EXCEPTION_STACK:
if (!opt_exception_stack) return;
break;
case EXCEPTION_ILLEGAL_OPCODE:
if (!opt_exception_invalid) return;
break;
}
nocbreak();
cbreak();
nodelay(stdscr, FALSE);
halfdelay(1);
while (getch() > 0) {}
runmode = 0;
setSpeed(speed, runmode);
exc = subwin(stdscr, 7, 50, (LINES-6)/2, (COLS-50)/2);
wattron(exc,A_REVERSE);
werase(exc);
box(exc,ACS_VLINE,ACS_HLINE);
mvwaddstr(exc, 0, 2, "Exception");
wattroff(exc,A_REVERSE);
wmove(exc, 2, 2);
switch (aCode)
{
case -1: waddstr(exc,"Breakpoint reached");
break;
case EXCEPTION_STACK: waddstr(exc,"SP exception: stack address > 127");
wmove(exc, 3, 2);
waddstr(exc,"with no upper memory, or SP roll over.");
break;
case EXCEPTION_ACC_TO_A: waddstr(exc,"Invalid operation: acc-to-a move operation");
break;
case EXCEPTION_IRET_PSW_MISMATCH: waddstr(exc,"PSW not preserved over interrupt call");
break;
case EXCEPTION_IRET_SP_MISMATCH: waddstr(exc,"SP not preserved over interrupt call");
break;
case EXCEPTION_IRET_ACC_MISMATCH: waddstr(exc,"ACC not preserved over interrupt call");
break;
case EXCEPTION_ILLEGAL_OPCODE: waddstr(exc,"Invalid opcode: 0xA5 encountered");
break;
default:
waddstr(exc,"Unknown exception");
}
wmove(exc, 6, 12);
wattron(exc,A_REVERSE);
waddstr(exc, "Press any key to continue");
wattroff(exc,A_REVERSE);
wrefresh(exc);
getch();
delwin(exc);
change_view(aCPU, MAIN_VIEW);
}
void PatsTest_kick()
{
if (!strcmp(Mem->MyTeamName, "CMUnited")) {
//float targ_vel;
Vector pass_targ;
fflush(stdout);
change_view(VW_Narrow);
if (!Mem->BallKickable()) {
//scan_field();
return;
}
/* if((int)(Mem->CurrentTime.t) % 50 < 5 ) {
return;
}*/
DebugKick(printf("\nTime: %d\n", Mem->CurrentTime.t));
/*
targ_vel = 1.0 + (Mem->CurrentTime.t / 50)*.1;
printf("Target vel is: %f\n", targ_vel);*/
pass_targ = Vector(-20, -20 + (Mem->CurrentTime.t / 50)*5);
//cout << "Pass Target: " << pass_targ << endl;
//DebugKick(printf("the (simulated) ball velocity is: %g\n",)
// Mem->BallAbsoluteVelocity().mod());
/*
DebugKick(printf("My angle: %f\n", Mem->MyAng()));
if (fabs(Mem->MyAng() - 90) > 5) {
DebugKick(printf("Turning to 90\n"));
//turn(90-Mem->MyAng());
turn(Mem->MarkerAngle(Mem->RM_RC_Flag));
return;
}
*/
if (Mem->BallKickable()) {
/*if (step == 4)
if (step == 3) {
step = 0;
turn(90 - Mem->MyAng());
} */
smart_kick_hard_abs(180, KM_Moderate);
//smart_kick_hard_abs(180, KM_HardestKick);
//smart_kick_hard_abs(180, KM_Moderate, targ_vel);
//smart_pass(pass_targ);
}
} else {
static int FirstTime = TRUE;
const int ydist = 2;
// if (Mem->MyNumber == 1)
// test_go_to_point(Vector(-.2, -1), .5, 50);
if (!FirstTime)
return;
switch (Mem->MyNumber) {
case 1: move(-.2, -1); break;
case 2: move(-20, ydist); break;
case 3: move(-30, -ydist); break;
case 4: move(-40, ydist); break;
case 5: move(-50, -ydist); break;
}
FirstTime = FALSE;
}
return;
}
