int main(int argc, char **argv)
{
ROBOT_SPECIFICATIONS robot_specifications_data;
PROGRAM_STATE program_state_data;
ROBOT_STATE robot_state_data;
ACTION action_data;
SENSATION sensation_data;
ROBOT_SPECIFICATIONS_PTR robot_specifications = &robot_specifications_data;
PROGRAM_STATE_PTR program_state = &program_state_data;
ROBOT_STATE_PTR robot_state = &robot_state_data;
ACTION_PTR action = &action_data;
SENSATION_PTR sensation = &sensation_data;
struct timeval TCX_waiting_time = {0, 0};
robot_specifications->is_initialized = 0;
program_state->is_initialized = 0;
robot_state->is_initialized = 0;
action->is_initialized = 0;
sensation->is_initialized = 0;
allGlobal.is_initialized = 0;
signal(SIGTERM, &interrupt_handler); /* kill interupt handler */
signal(SIGINT, &interrupt_handler); /* control-C interupt handler */
#if 0
signal(SIGALRM, &alarm_handler); /* handler for regular interrupts */
#endif
bParamList = bParametersAddEntry(bParamList, "robot", "name", "B21");
bParamList = bParametersAddEntry(bParamList, "", "TCXHOST", "localhost");
bParamList = bParametersAddEntry(bParamList, "", "fork", "yes");
/* add some parameter files */
bParamList = bParametersAddFile (bParamList, "etc/beeSoft.ini");
/* add some enviroment variables */
bParamList = bParametersAddEnv(bParamList, "", "TCXHOST");
bParamList = bParametersAddArray(bParamList, "", argc, argv);
bParametersFillParams(bParamList);
check_commandline_parameters(argc, argv, ALL);
init_program(ALL);
if (!load_parameters(RHINO_INIT_NAME, ALL))
exit(-1);
allocate_memory(ALL);
/*save_parameters(RHINO_INIT_NAME, ALL);*/
init_graphics(ALL);
connect_to_tcx(ALL);
G_display_switch(TITLE_BUTTON, 1);
#if 0
alarm((unsigned) robot_specifications->alarm_interval); /* set up alarm */
#endif
tcx_reset_joystick(ALL);
for (;!program_state->quit;){
program_state->something_happened = 0;
if (program_state->tcx_autoconnect)
connect_to_tcx(ALL);
if (test_mouse(ALL)) program_state->something_happened = 1;
if (refresh_action(ALL)) program_state->something_happened = 1;
if (initiate_action(ALL)) program_state->something_happened = 1;
/* if (terminate_action(ALL)) program_state->something_happened = 1; */
if (program_state->tcx_initialized){
TCX_waiting_time.tv_sec = 0;
TCX_waiting_time.tv_usec = 0;
tcxRecvLoop((void *) &TCX_waiting_time);
}
if (!program_state->something_happened){
block_waiting_time.tv_sec = 1;
block_waiting_time.tv_usec = 0;
block_wait(&block_waiting_time, program_state->tcx_initialized,
program_state->graphics_initialized);
}
#ifdef TOURGUIDE_VERSION
tourguide_check_for_timeout(ALL);
#endif /* TOURGUIDE_VERSION */
}
/* close_log_file(ALL);*/
/* if (program_state->tcx_initialized)
tcxCloseAll();*/
G_display_switch(TITLE_BUTTON, 2);
fprintf(stderr, "\nGood-bye.\n");
sleep(1);
exit(0);
}
uint32 parse_keymap(void)
{
uint32 flags = 0;
if(get_keyboard_controller_status())
{
Uint8 *key_map;
if (Console::instance()->input_active()) {
static Uint8 chat_input_mode_keymap[SDLK_LAST];
memset(&chat_input_mode_keymap, 0, sizeof(chat_input_mode_keymap));
key_map = chat_input_mode_keymap;
} else {
key_map = SDL_GetKeyState(NULL);
}
// ZZZ: let mouse code simulate keypresses
mouse_buttons_become_keypresses(key_map);
joystick_buttons_become_keypresses(key_map);
// Parse the keymap
key_definition *key = current_key_definitions;
for (unsigned i=0; i<NUMBER_OF_STANDARD_KEY_DEFINITIONS; i++, key++)
if (key_map[key->offset])
flags |= key->action_flag;
// Post-process the keymap
struct special_flag_data *special = special_flags;
for (unsigned i=0; i<NUMBER_OF_SPECIAL_FLAGS; i++, special++) {
if (flags & special->flag) {
switch (special->type) {
case _double_flag:
// If this flag has a double-click flag and has been hit within
// DOUBLE_CLICK_PERSISTENCE (but not at MAXIMUM_FLAG_PERSISTENCE),
// mask on the double-click flag */
if (special->persistence < MAXIMUM_FLAG_PERSISTENCE
&& special->persistence > MAXIMUM_FLAG_PERSISTENCE - DOUBLE_CLICK_PERSISTENCE)
flags |= special->alternate_flag;
break;
case _latched_flag:
// If this flag is latched and still being held down, mask it out
if (special->persistence == MAXIMUM_FLAG_PERSISTENCE)
flags &= ~special->flag;
break;
default:
assert(false);
break;
}
special->persistence = MAXIMUM_FLAG_PERSISTENCE;
} else
special->persistence = FLOOR(special->persistence-1, 0);
}
bool do_interchange =
(local_player->variables.flags & _HEAD_BELOW_MEDIA_BIT) ?
(input_preferences->modifiers & _inputmod_interchange_swim_sink) != 0:
(input_preferences->modifiers & _inputmod_interchange_run_walk) != 0;
// Handle the selected input controller
if (input_preferences->input_device != _keyboard_or_game_pad) {
_fixed delta_yaw, delta_pitch, delta_velocity;
test_mouse(input_preferences->input_device, &flags, &delta_yaw, &delta_pitch, &delta_velocity);
flags = mask_in_absolute_positioning_information(flags, delta_yaw, delta_pitch, delta_velocity);
if (do_interchange)
flags ^= _run_dont_walk;
} else {
int joyflags = process_joystick_axes(flags, heartbeat_count);
if (joyflags != flags) {
flags = joyflags;
} else {
// Modify flags with run/walk and swim/sink if we're using the keyboard
if (do_interchange)
flags ^= _run_dont_walk;
}
}
if (player_in_terminal_mode(local_player_index))
flags = build_terminal_action_flags((char *)key_map);
} // if(get_keyboard_controller_status())
return flags;
}
