void Sparkman::setState(proto::Enemy e) {
if (e.enemyState != e_.enemyState) {
tics = 0;
}
e_ = e;
setPosition(e_.pos);
tics++;
setFlipped(e_.o == proto::right);
std::string image = "idle_1";
switch (e.enemyState) {
case proto::EnemyState::moving:
image = "moving_" + std::to_string(tics);
if (tics >= 7) tics = 0;
break;
case proto::EnemyState::jumping:
image = "jumping_1";
break;
case proto::EnemyState::shooting:
case proto::EnemyState::idle:
case proto::EnemyState::guarded:
break;
}
setImageName("enemies/sparkman/" + image + ".png");
}
void Met::setState(proto::Enemy e) {
if (e.enemyState != e_.enemyState) {
tics = 0;
}
e_ = e;
setPosition(e_.pos);
tics++;
setFlipped(e_.o == proto::left);
std::string image = "idle_1";
switch (e.enemyState) {
case proto::EnemyState::moving:
image = "moving_" + std::to_string(tics);
if (tics >= 10) tics = 0;
break;
case proto::EnemyState::idle: break;
case proto::EnemyState::shooting: return;
case proto::EnemyState::jumping: image = "jumping_1"; break;
case proto::EnemyState::guarded:
image = "guarded_" + std::to_string(tics);
if (tics >= 3) tics = 2;
break;
}
setImageName("enemies/met/" + image + ".png");
}
void Sniper::setState(proto::Enemy e) {
if (e.enemyState != e_.enemyState) {
tics = 0;
}
e_ = e;
setPosition(e_.pos);
tics++;
setFlipped(e_.o == proto::right);
std::string image = "unguarded";
switch (e.enemyState) {
case proto::EnemyState::moving: break;
case proto::EnemyState::idle: break;
case proto::EnemyState::shooting:
image = "shooting_" + std::to_string(tics);
if (tics >= 2) tics = 1;
break;
case proto::EnemyState::jumping:
image = "jumping_" + std::to_string(tics);
if (tics >= 2) tics = 1;
break;
case proto::EnemyState::guarded:
image = "guarded_1";
break;
}
setImageName("enemies/sniper/" + image + ".png");
}
/**
* @copydoc configure()
**/
AREXPORT void ArSick::configureShort(bool useSim, BaudRate baud,
Degrees deg, Increment incr)
{
myUseSim = useSim;
setPowerControlled(true);
setFlipped(false);
if (baud == BAUD9600)
chooseAutoBaud("9600");
else if (baud == BAUD19200)
chooseAutoBaud("19200");
else if (baud == BAUD38400)
chooseAutoBaud("38400");
else
ArLog::log(ArLog::Normal, "%s: Bad baud choice", getName());
if (deg == DEGREES180)
chooseDegrees("180");
if (deg == DEGREES100)
chooseDegrees("100");
else
ArLog::log(ArLog::Normal, "%s: Bad degrees choice", getName());
if (incr == INCREMENT_ONE)
chooseIncrement("one");
if (incr == INCREMENT_HALF)
chooseIncrement("half");
else
ArLog::log(ArLog::Normal, "%s: Bad increment choice", getName());
}
void PlayCard::flipInstantly()
{
mIsFlipped = !mIsFlipped;
if (isVisible())
{
// Hide the back and show the front:
setFlipped(mIsFlipped);
}
}
/**
* Manually set laser configuration options for connection. This must be called
* only before connecting to the laser (not while the laser is connected).
* This configuration is automatically performed if you are using
* ArSimpleConnector to connect to the laser based on command line parameters,
* so calling this function is only neccesary if you are not using
* ArSimpleConnector, or you wish to always override ArSimpleConnector's
* configuration.
*
* (Don't forget, you must lock ArLMS2xx with lockDevice() if multiple threads
* are accessing the ArLMS2xx, e.g. if you used runAsync().)
**/
AREXPORT void ArSick::configure(bool useSim, bool powerControl,
bool laserFlipped, BaudRate baud,
Degrees deg, Increment incr)
{
configureShort(useSim, baud, deg, incr);
setPowerControlled(powerControl);
setFlipped(laserFlipped);
}
void Sprite::deserialize(const deserializedata* data)
{
inherited::deserialize(data);
pugi::xml_node node = data->node;
const char* res = node.attribute("resanim").as_string(0);
if (res && *res)
{
int col = node.attribute("column").as_int(0);
int row = node.attribute("row").as_int(0);
AnimationFrame frame = data->factory->getFrame(res, col, row);
setAnimFrame(frame);
}
setFlipped(node.attribute("flipX").as_bool(false), node.attribute("flipY").as_bool(false));
}
void Player::setState(proto::Player p) {
if (p_.ps != p.ps) {
tics = 0;
}
tics++;
p_ = p;
setPosition(p_.pos);
setFlipped(p_.o == proto::left);
std::string image = "idle_1";
switch (p_.ps) {
case proto::PlayerState::moving:
image = "running_" + std::to_string(tics);
if (tics >= 11) tics = 0;
break;
case proto::PlayerState::idle:
break;
case proto::PlayerState::shooting:
image = "shooting_" + std::to_string(tics);
if (tics >= 2) tics = 1;
break;
case proto::PlayerState::jumping:
if (p.ps == proto::PlayerState::jumpingShooting) tics = 2;
image = "jumping_" + std::to_string(tics);
if (tics >= 3) tics = 2;
break;
case proto::PlayerState::jumpingShooting:
image = "jumping_shooting_1";
if (tics >= 3) tics = 2;
break;
case proto::PlayerState::climbing:
image = "climbing_1";
if (tics >= 10) image = "climbing_2";
if (tics >= 20) tics = 0;
break;
}
setImageName("player/" + image + ".png");
}
AREXPORT bool ArLaser::laserPullUnsetParamsFromRobot(void)
{
if (myRobot == NULL)
{
ArLog::log(ArLog::Normal, "%s: Trying to connect, but have no robot, continuing under the assumption this is intentional", getName());
return true;
}
const ArRobotParams *params = myRobot->getRobotParams();
if (params == NULL)
{
ArLog::log(ArLog::Terse,
"%s: Robot has no params, cannot pull unset params from robot",
getName());
return false;
}
const char *paramStr;
char *endPtr;
double paramDouble;
int paramInt;
bool paramBool;
paramBool = params->getLaserFlipped(getLaserNumber());
if (!myFlippedSet)
{
if (paramBool)
{
ArLog::log(myInfoLogLevel,
"%s: Setting flipped to true from robot params",
getName());
setFlipped(true);
}
else if (!paramBool)
{
ArLog::log(myInfoLogLevel,
"%s: Setting flipped to false from robot params",
getName());
setFlipped(false);
}
}
paramInt = params->getLaserMaxRange(getLaserNumber());
if (!myMaxRangeSet)
{
if(paramInt < 0)
{
ArLog::log(ArLog::Terse, "%s: LaserMaxRange in robot param file was negative but shouldn't be (it was '%d'), failing", getName(), paramInt);
return false;
}
if (paramInt > 0)
{
ArLog::log(myInfoLogLevel,
"%s: Setting max range to %d from robot params",
getName(), paramInt);
setMaxRange(paramInt);
}
}
paramInt = params->getLaserCumulativeBufferSize(getLaserNumber());
if (!myCumulativeBufferSizeSet)
{
if(paramInt < 0)
{
ArLog::log(ArLog::Terse, "%s: LaserCumulativeBufferSize in robot param file was negative but shouldn't be (it was '%d'), failing", getName(), paramInt);
return false;
}
if (paramInt > 0)
{
ArLog::log(myInfoLogLevel,
"%s: Setting cumulative buffer size to %d from robot params",
getName(), paramInt);
setCumulativeBufferSize(paramInt);
}
}
paramStr = params->getLaserStartDegrees(getLaserNumber());
if (canSetDegrees() && !myStartDegreesSet &&
paramStr != NULL && paramStr[0] != '\0')
{
paramDouble = strtod(paramStr, &endPtr);
if(endPtr == paramStr)
{
ArLog::log(ArLog::Terse, "%s: LaserStartDegrees in robot param file was not a double (it was '%s'), failing", getName(), paramStr);
return false;
}
ArLog::log(myInfoLogLevel,
"%s: Setting start degrees to %g from robot params",
getName(), paramDouble);
setStartDegrees(paramDouble);
}
paramStr = params->getLaserEndDegrees(getLaserNumber());
if (canSetDegrees() && !myEndDegreesSet &&
paramStr != NULL && paramStr[0] != '\0')
{
paramDouble = strtod(paramStr, &endPtr);
if(endPtr == paramStr)
{
ArLog::log(ArLog::Terse,
"%s: LaserEndDegrees in robot param file was not a double (it was '%s'), failing",
getName(), paramStr);
return false;
}
ArLog::log(myInfoLogLevel,
"%s: Setting end degrees to %g from robot params",
getName(), paramDouble);
setEndDegrees(paramDouble);
}
paramStr = params->getLaserDegreesChoice(getLaserNumber());
if (canChooseDegrees() && !myDegreesChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting degrees choice to %s from robot params",
getName(), paramStr);
chooseDegrees(paramStr);
}
paramStr = params->getLaserIncrement(getLaserNumber());
if (canSetDegrees() && !myIncrementSet &&
paramStr != NULL && paramStr[0] != '\0')
{
paramDouble = strtod(paramStr, &endPtr);
if(endPtr == paramStr)
{
ArLog::log(ArLog::Terse,
"%s: LaserIncrement in robot param file was not a double (it was '%s'), failing",
getName(), paramStr);
return false;
}
ArLog::log(myInfoLogLevel,
"%s: Setting increment to %g from robot params",
getName(), paramDouble);
setIncrement(paramDouble);
}
paramStr = params->getLaserIncrementChoice(getLaserNumber());
if (canChooseIncrement() && !myIncrementChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting increment choice to %s from robot params",
getName(), paramStr);
chooseIncrement(paramStr);
}
paramStr = params->getLaserUnitsChoice(getLaserNumber());
if (canChooseUnits() && !myUnitsChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting units choice to %s from robot params",
getName(), paramStr);
chooseUnits(paramStr);
}
paramStr = params->getLaserReflectorBitsChoice(getLaserNumber());
if (canChooseReflectorBits() && !myReflectorBitsChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting reflectorBits choice to %s from robot params",
getName(), paramStr);
chooseReflectorBits(paramStr);
}
paramBool = params->getLaserPowerControlled(getLaserNumber());
if (canSetPowerControlled() && !myPowerControlledSet)
{
if (paramBool)
{
ArLog::log(myInfoLogLevel,
"%s: Setting powerControlled to true from robot params",
getName());
setPowerControlled(true);
}
else if (!paramBool)
{
ArLog::log(myInfoLogLevel,
"%s: Setting powerControlled to false from robot params",
getName());
setPowerControlled(false);
}
}
paramStr = params->getLaserStartingBaudChoice(getLaserNumber());
if (canChooseStartingBaud() && !myStartingBaudChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting startingBaud choice to %s from robot params",
getName(), paramStr);
chooseStartingBaud(paramStr);
}
paramStr = params->getLaserAutoBaudChoice(getLaserNumber());
if (canChooseAutoBaud() && !myAutoBaudChoiceSet &&
paramStr != NULL && paramStr[0] != '\0')
{
ArLog::log(myInfoLogLevel,
"%s: Setting autoBaud choice to %s from robot params",
getName(), paramStr);
chooseAutoBaud(paramStr);
}
if (!addIgnoreReadings(params->getLaserIgnore(getLaserNumber())))
return false;
setSensorPosition(params->getLaserX(getLaserNumber()),
params->getLaserY(getLaserNumber()),
params->getLaserTh(getLaserNumber()),
params->getLaserZ(getLaserNumber()));
return true;
}
AREXPORT void ArSick::setIsLaserFlipped(bool laserFlipped)
{
setFlipped(laserFlipped);
}
