void load_destinations ( char *filename, map<string,Destination> &mine)
{
string name;
int x, y, a;
Location loc_temp;
Destination temp;
ifstream myfile (filename);
if (myfile.is_open())
{
while ( myfile.good() )
{
myfile >> name;
myfile >> x;
myfile >> y;
myfile >> a;
loc_temp.set(x,y,a);
temp.set_Coordinate(loc_temp);
temp.set_Name(name);
mine.insert(std::make_pair( name,temp));
cout <<temp.get_Name() << temp.get_Coordinate().get_X() <<endl;
}
myfile.close();
}
}
void Server :: readStatusFile( QList<Destination> &destList )
{
cleanUp();
Destination *dest;
QListIterator<Destination> dit( destList );
bool rootRead = false;
for ( ; dit.current(); ++dit )
{
dest = dit.current();
bool installingToRoot = false;
QString path = dest->getDestinationPath();
if ( path.right( 1 ) != "/" )
path.append( "/" );
if ( path == "/" )
{
rootRead = true;
installingToRoot = true;
}
packageFile = path;
packageFile.append( "usr/lib/ipkg/status" );
readPackageFile( 0, false, installingToRoot, &( *dest ) );
}
// Ensure that the root status file is read
if ( !rootRead )
{
packageFile = "/usr/lib/ipkg/status";
readPackageFile( 0, false, true );
}
}
Message::Message(const string& xml)
{
XmlParser parser("Parser");
Document doc;
parser.parse(xml, doc);
const Element& message = doc.getRootElement();
if(message.getTagName()!="message")
{
throw InvalidMessageException("No message Tag\n");
}
else if(message.getChildElements().size()!=2)
{
throw InvalidMessageException("Every message should have a headers and body tag\n");
}
Element* headers = message.getChildElements().at(0);
Element* body = message.getChildElements().at(1);
if(headers->getTagName()!="headers")
{
throw InvalidMessageException("No headers Tag\n");
}
else if(body->getTagName()!="body")
{
throw InvalidMessageException("No body Tag\n");
}
Element* destination = headers->getElementByName("destination");
Element* encoding = headers->getElementByName("encoding");
Element* timestamp = headers->getElementByName("timestamp");
Element* priority = headers->getElementByName("priority");
Element* type = headers->getElementByName("type");
Element* userid = headers->getElementByName("userid");
if(destination->getTagName()!="destination")
{
throw InvalidMessageException("Destination Header is mandatory\n");
}
else if (destination->getAttributes().size()!=2)
{
throw InvalidMessageException("Type and Name Attributes should be speciifes for a Destination\n");
}
else if (destination->getAttribute("name")=="" || destination->getAttribute("type")=="")
{
throw InvalidMessageException("Type and Name Attributes cannot be blank for a Destination\n");
}
else if(type->getTagName()!="type")
{
throw InvalidMessageException("Type Header is mandatory\n");
}
Destination des;
des.setName(destination->getAttribute("name"));
des.setType(destination->getAttribute("type"));
this->destination = des;
this->body = body->getText();
this->timestamp = timestamp->getText();
this->type = type->getText();
this->priority = priority->getText();
this->userId = userid->getText();
this->encoding = encoding->getText();
}
Destination* DestList::Find(const char* label) {
const int n = CountItems();
// TODO: binary sort
for (int32 i = 0; i < n; i++) {
Destination* d = ItemAt(i);
if (strcmp(d->Label(), label) == 0) return d;
}
return NULL;
}
void apply(Source&& src, Destination& dest, boost::mpl::false_) const
{
try {
dest.set_value(src.get());
}
catch (...) {
dest.set_exception(boost::current_exception());
}
}
bool AgentTravel::executeTravel( ActionTravel* p_action, Result& io_result ) {
bool satisfiesConditions = false;
Verb target = p_action->getTarget();
Location location = m_ad->map[ m_ad->adventurer.getIdLocation() ];
for( unsigned i = 0; i < location.getNumDestinations() && satisfiesConditions==false; i++ ) {
Destination destination = location[ i ];
// If the word does not correspond to any word used for travel at the current location - skip to the next destination:
if( destination.canTravelToUsing( target )==false ) {
continue;
}
unsigned x = location.getId(); // Current location.
unsigned y = destination.getId(); // Possible location to which one might travel.
unsigned m = y / 1000; // How to travel (might actually not be travel, could even be a goto (!)).
unsigned n = y % 1000; // Conditions of travel.
// Note to self, developer and the world: By 'prop', the original author apperently mean object - so the property value of said object.
if( m == 0 ) { // if m=0 It's unconditional.
satisfiesConditions = true;
} else if( (m>0) && (m<100) ) { // if 0<m<100 It is done with m% probability.
throw ExceptionAdventNotYetImplemented( "Travel - Probability." );
} else if( m==100 ) { // if m=100 Unconditional, but forbidden to dwarves.
throw ExceptionAdventNotYetImplemented( " Travel - Restrictions to dwarves apply." );
} else if( (m>100) && (m<=200) ) { // if 100<m<=200 He must be carrying object m-100.
satisfiesConditions = condObjectCarry(m-100);
} else if( (m>200) && (m<=300) ) { // if 200<m<=300 Must be carrying or in same room as m-200.
std::cout << "Required object: " << m-200 << std::endl;
satisfiesConditions = condObjectCarry(m-200);
if(satisfiesConditions)
satisfiesConditions = condObjectLocation(m-200);
} else if( (m>300) && (m<=400) ) { // if 300<m<=400 prop(m mod 100) must *not* be 0.
unsigned prop = m % 100;
unsigned propValue = m_ad->map.getObject( prop ).getPropertyValue();
if( propValue!=0 ) {
satisfiesConditions = true;
}
} else if( (m>400) && (m <=500) ) { // if 400<m<=500 prop(m mod 100) must *not* be 1.
throw ExceptionAdventNotYetImplemented( "Travel - prop(m mod 100) must *not* be 1." );
} else if( (m>500) && (m <=600) ) { // if 500<m<=600 prop(m mod 100) must *not* be 2, etc.
throw ExceptionAdventNotYetImplemented( "Travel - prop(m mod 100) must *not* be 2, etc." );
}
if( satisfiesConditions==true ) {
if( n<=300 ) { // if n<=300 It is the location to go to.
m_ad->adventurer.adventTravelTo( m_ad->map[ n ].getId() );
} else if( (n>300) && (n<=500) ) { // if 300<n<=500 n-300 is used in a computed goto to a section of special code.
throw ExceptionAdventNotYetImplemented( "Travel - GOTO." );
} else if( n>500 ) { // if n>500 Message n-500 from section 6 is printed, and he stays wherever he is.
io_result.setSummary(ResFormater::FormatLines( (*m_ad), m_ad->letterbox[ n ].lines ));
}
}
}
return satisfiesConditions;
}
void apply(Source && src, Destination& dest, std::false_type) const
{
try {
dest.set_value(src.get());
}
catch (...) {
dest.set_exception(std::current_exception());
}
}
void apply(Source && src, Destination& dest, std::true_type) const
{
try {
src.get();
dest.set_value(util::unused);
}
catch (...) {
dest.set_exception(std::current_exception());
}
}
void apply(Source&& src, Destination& dest, boost::mpl::true_) const
{
try {
src.get();
dest.set_result(util::unused);
}
catch (...) {
dest.set_exception(boost::current_exception());
}
}
bool XRefDests::Find(XRefDef* def, const char* label, int32* page, BRect* boundingBox) const {
DestList* list = GetList(def);
ASSERT(list != NULL);
Destination* dest = list->Find(label);
if (dest) {
*page = dest->Page();
*boundingBox = dest->BoundingBox();
return true;
}
return false;
}
void vmessage(Severity severity, const char* fmt, va_list ap){
static char buf[255]; /* this isn't thread-safe anyway, might as well make it static */
std::unique_ptr<char, free_delete> content(vasprintf2(fmt, ap));
std::unique_ptr<char, free_delete> decorated(asprintf2("(%s) [%s] %s", severity_string(severity), timestring(buf, 255), content.get()));
for ( iterator it = destinations.begin(); it != destinations.end(); ++it ){
if ( severity < it->second ) continue;
Destination* dst = it->first;
dst->write(content.get(), decorated.get());
}
}
void Maze::FindAllPaths(int x, int y, Route *route) {
if (x < 0 || y < 0 || x >= mazeSize.width || y >= mazeSize.height || maze[x][y] == '#' || maze[x][y] == 1)
return;
maze[x][y] = 1;
Point p;
p.x = x;
p.y = y;
route->AddPointToRoute(p);
//Search point in destinations
Destination* destination = 0;
for (int i = 0; i < cntDestinations; i++)
{
Destination* tempDest = Destinations[i];
Point point = tempDest->GetEndPoint();
if (point.x == p.x && point.y == p.y)
{
destination = Destinations[i];
break;
}
}
if (destination == 0)
{
destination = new Destination();
destination->SetEndPoint(p);
Destinations[cntDestinations] = destination;
cntDestinations++;
}
//Clone route
Route* newRoute = new Route();
int numPoints = route->GetCntPoints();
Point* oldRoutePoints =route->GetPoints();
for (int i = 0; i < numPoints; i++)
newRoute->AddPointToRoute(oldRoutePoints[i]);
destination->AddRoute(*newRoute);
FindAllPaths(x, y + 1, route);
FindAllPaths(x + 1, y, route);
FindAllPaths(x, y - 1, route);
FindAllPaths(x - 1, y, route);
if (route->GetCntPoints() > 0)
route->DeletePoint();
maze[x][y] = 0;
}
void Maze::PrintAllDestinations(int x, int y) {
Route route = Route();
FindAllPaths(x, y, &route);
cout << "Destinations:" << endl;
for (int i = 0; i < cntDestinations; i++)
{
if (Destinations[i]->GetEndPoint().x == x && Destinations[i]->GetEndPoint().y == y)
continue;
Point destEndPoint = Destinations[i]->GetEndPoint();
cout << '(' << destEndPoint.x << "," << destEndPoint.y << ") ";
}
cout << endl << "Routes:" << endl;
for (int i = 0; i < cntDestinations; i++)
{
if (Destinations[i]->GetEndPoint().x == x && Destinations[i]->GetEndPoint().y == y)
continue;
Destination* destination = Destinations[i];
int cntRoutes = destination->GetCntRoutes();
Route* routes = new Route[cntRoutes];
destination->SortRoutes();
routes = destination->GetRoutes();
Point destEndPoint = destination->GetEndPoint();
cout << '(' << destEndPoint.x << "," << destEndPoint.y << ") " << endl;
for (int j = 0; j < cntRoutes; j++)
{
Route route = routes[j];
Point* points = route.GetPoints();
int cntPoints = route.GetCntPoints();
for (int k = 0; k < cntPoints; k++)
{
Point point = points[k];
cout << '(' << point.x << "," << point.y << ") ";//<<endl;
}
cout << endl;
}
}
}
static void add_destination(Severity severity, FILE* dst, bool autoclose){
Destination* o = new Destination(severity, dst, false);
output.push_back(o);
if ( dst == stdout || dst == stderr ){
return;
}
#ifdef HAVE_GETTIMEOFDAY
struct timeval tv;
gettimeofday(&tv, nullptr);
struct tm* local = localtime(&tv.tv_sec);
#else
__time64_t tv;
struct tm tm, *local = &tm;
_time64(&tv);
_localtime64_s(local, &tv);
#endif
char buf[64] = {0,};
strftime(buf, sizeof(buf), "\nLogging started at %Y-%m-%d %H.%M.%S\n", local);
o->write(INFO, buf);
}
Destination *UdpDestination::duplicate()
{
Destination *d = new UdpDestination(ip_addr, port, ignorePort);
if (d && name) d->setName(name);
return d;
}
/**
* \brief Adds an entity to the map.
*
* This function is called when loading the map. If the entity
* specified is NULL (because some entity creation functions
* may return NULL), nothing is done.
*
* \param entity The entity to add (can be NULL).
*/
void MapEntities::add_entity(MapEntity* entity) {
if (entity == NULL) {
return;
}
if (entity->get_type() == TILE) {
// Tiles are optimized specifically for obstacle checks and rendering.
add_tile(static_cast<Tile*>(entity));
}
else {
Layer layer = entity->get_layer();
// update the detectors list
if (entity->is_detector()) {
detectors.push_back(static_cast<Detector*>(entity));
}
// update the obstacle list
if (entity->can_be_obstacle()) {
if (entity->has_layer_independent_collisions()) {
// some entities handle collisions on any layer (e.g. stairs inside a single floor)
obstacle_entities[LAYER_LOW].push_back(entity);
obstacle_entities[LAYER_INTERMEDIATE].push_back(entity);
obstacle_entities[LAYER_HIGH].push_back(entity);
}
else {
// but usually, an entity collides with only one layer
obstacle_entities[layer].push_back(entity);
}
}
// update the ground observers list
if (entity->is_ground_observer()) {
ground_observers[layer].push_back(entity);
}
// update the ground modifiers list
if (entity->is_ground_modifier()) {
ground_modifiers[layer].push_back(entity);
}
// update the sprites list
if (entity->is_drawn_in_y_order()) {
entities_drawn_y_order[layer].push_back(entity);
}
else if (entity->can_be_drawn()) {
entities_drawn_first[layer].push_back(entity);
}
// update the specific entities lists
switch (entity->get_type()) {
case STAIRS:
stairs[layer].push_back(static_cast<Stairs*>(entity));
break;
case CRYSTAL_BLOCK:
crystal_blocks[layer].push_back(static_cast<CrystalBlock*>(entity));
break;
case SEPARATOR:
separators.push_back(static_cast<Separator*>(entity));
break;
case BOOMERANG:
this->boomerang = static_cast<Boomerang*>(entity);
break;
case DESTINATION:
{
Destination* destination = static_cast<Destination*>(entity);
if (this->default_destination == NULL || destination->is_default()) {
this->default_destination = destination;
break;
}
}
default:
break;
}
// update the list of all entities
all_entities.push_back(entity);
}
const std::string& name = entity->get_name();
if (!name.empty()) {
Debug::check_assertion(named_entities.find(name) == named_entities.end(),
StringConcat()
<< "An entity with name '" << name << "' already exists.");
named_entities[name] = entity;
}
entity->increment_refcount();
// notify the entity
entity->set_map(map);
}
void apply(Source src, Destination& dest, boost::mpl::true_) const
{
src.get();
dest->set_data(util::unused);
}
void apply(Source src, Destination& dest, boost::mpl::false_) const
{
dest->set_data(src.get());
}
RtpSessionError CRtpSessionVideo::SendData(CPacket* packet)
{
RtpSessionError ret = AM_RTP_SESSION_ERROR_OK;
AM_U32 id = packet->GetStreamId();
if (AM_LIKELY(id == mStreamId)) {
AM_U32 packetNum = 0;
AM_U32 size = packet->GetDataSize();
AM_U8 *data = packet->GetDataPtr();
RtspPacket *packets = NULL;
AM_S32 pktPtsIncr90k = (mOldPts > 0) ? (AM_S32)(packet->GetPTS()-mOldPts) :
((mVideoInfo.type == 1) ? (AM_S32)((AM_U64)mVideoInfo.rate *
90000LLU / (AM_U64)mVideoInfo.scale) :
(AM_S32)((AM_U64)mVideoInfo.fps * 90000LLU / 512000000LLU));
mOldPts = packet->GetPTS();
switch(mVideoInfo.type) {
case 1: { /* H.264 */
packets = mPackager->assemblePacketH264(data, size, mMaxPacketSize,
packetNum, mSeqNum,
mCurrentTimeStamp,
mSsrc, pktPtsIncr90k);
}break;
case 2: { /* MJPEG */
AM_U8 qfactor = (0xff & packet->mPayload->mData.mFrameAttr);
packets = mPackager->assemblePacketJpeg(data, qfactor, size,
mMaxPacketSize, packetNum,
mSeqNum, mCurrentTimeStamp,
mSsrc, pktPtsIncr90k);
}break;
default: {
ERROR("Invalid video type!");
}break;
}
packet->SetStreamId(mOldStreamId);
packet->Release();
if (AM_LIKELY(packets)) {
AUTO_LOCK(mMutex);
for (AM_UINT i = 0; i < packetNum; ++ i) {
if (AM_LIKELY(HaveDestination(id))) {
if (AM_UNLIKELY(!mRtspServer->SendPacket(mDestination,
&packets[i]))) {
ERROR("Failed to send video NALU");
ret = AM_RTP_SESSION_ERROR_NETWORK;
break;
}
}
/* No destination, just ignore */
ret = AM_RTP_SESSION_ERROR_OK;
}
for (Destination *dest = mDestination; dest; dest = dest->next) {
if (dest->enable) {
dest->update_sent_data_info(mCurrentTimeStamp,
GetNtpTime(),
packetNum,
size);
if (AM_UNLIKELY(dest->sendsr)) {
dest->update_rtcp_sr(mCurrentTimeStamp,
90000,
GetNtpTime());
if (AM_LIKELY(dest->sendsr)) {
mRtspServer->SendRtcpSr(dest);
dest->sendsr = false;
}
}
}
}
} else {
ret = AM_RTP_SESSION_ERROR_BITSTREAM;
ERROR("Failed to build RTP packet!");
}
} else {
ERROR("No such session %u", packet->GetStreamId());
ret = AM_RTP_SESSION_ERROR_NOSESSION;
/* Audio stream's id is set to MAX_ENCODE_STREAM_NUM to distinguish it
* from video stream, before release it we need to reset its stream id
* to its original one, AVQueue need its original stream id to release
* memory
*/
packet->SetStreamId(mOldStreamId);
packet->Release();
}
return ret;
}
void RunLaps::executePlay(VisionData* vision, RobocupStrategyData* rsd)
{
for (RobotIndex robot = ROBOT0; robot < NUM_ROBOTS; robot++)
{
if (rsd->getPositionOfRobot(robot) != NO_POSITION) {
Destination* command = rsd->getDestination(robot);
command->setSpeed(DEFAULT_SPEED);
command->setControl(OMNI_NORMAL_ENTERBOX);
const SystemParameters& p = rsd->getSystemParams();
switch(lapState[robot])
{
case runningUp:
rsd->setMessage(robot, "Running Up the field");
command->setPos(p.field.THEIR_GOAL_LINE - DIST_FROM_TARGET_WALL, p.field.LEFT_SIDE_LINE - DIST_FROM_OTHER_WALL);
command->setRotation(0);
if(getXLocation(robot, *vision, p) > p.field.THEIR_GOAL_LINE - THRESH_DIST_FROM_WALL)
{
lapState[robot] = runningRight;
}
break;
case runningRight:
rsd->setMessage(robot, "Running right");
command->setPos(p.field.THEIR_GOAL_LINE - DIST_FROM_OTHER_WALL, p.field.RIGHT_SIDE_LINE + DIST_FROM_TARGET_WALL);
command->setRotation(-PI/2);
if(getYLocation(robot, *vision, p) < p.field.RIGHT_SIDE_LINE + THRESH_DIST_FROM_WALL)
{
lapState[robot] = runningDown;
}
break;
case runningDown:
rsd->setMessage(robot, "Running down the field");
command->setPos(p.field.OUR_GOAL_LINE + DIST_FROM_TARGET_WALL, p.field.RIGHT_SIDE_LINE + DIST_FROM_OTHER_WALL);
command->setRotation(PI);
if(getXLocation(robot, *vision, p) < p.field.OUR_GOAL_LINE + THRESH_DIST_FROM_WALL)
{
lapState[robot] = runningLeft;
}
break;
case runningLeft:
rsd->setMessage(robot, "Running left");
command->setPos(p.field.OUR_GOAL_LINE + DIST_FROM_OTHER_WALL, p.field.LEFT_SIDE_LINE - DIST_FROM_TARGET_WALL);
command->setRotation(PI/2);
if(getYLocation(robot, *vision, p) > p.field.LEFT_SIDE_LINE - THRESH_DIST_FROM_WALL)
{
lapState[robot] = runningUp;
}
break;
default:
rsd->setMessage(robot, "internal error in runLaps");
break;
}
command->setRotation(0);
}
}
}
void PredictionTestPlay::executePlay(VisionData* vision, RobocupStrategyData* rsd)
{
for (RobotIndex robot = ROBOT0; robot < NUM_ROBOTS; robot++)
{
if (rsd->getPositionOfRobot(robot) != NO_POSITION) {
Destination* command = rsd->getDestination(robot);
command->setSpeed(DEFAULT_SPEED);
command->setControl(OMNI_NORMAL_ENTERBOX);
const SystemParameters& p = rsd->getSystemParams();
switch(testLapState[robot])
{
case runningUpLong:
if( testWaitState[robot] == waiting )
{
if( waitCounter < MAX_WAIT )
{
waitCounter++;
rsd->setMessage(robot, "Waiting...");
command->setRotation(rot);
}
else
{
testLapState[robot] = runningRightCross;
testWaitState[robot] = running;
waitCounter = 0;
}
}
else
{
rsd->setMessage(robot, "Running Up the field");
command->setPos(p.field.THEIR_GOAL_LINE - DIST_FROM_TARGET_WALL, p.field.LEFT_SIDE_LINE - DIST_FROM_OTHER_WALL);
command->setRotation(rot);
if(getXLocation(robot, *vision, p) > p.field.THEIR_GOAL_LINE - THRESH_DIST_FROM_WALL)
testWaitState[robot] = waiting;
}
break;
case runningRightCross:
if( testWaitState[robot] == waiting )
{
if( waitCounter < MAX_WAIT )
{
waitCounter++;
rsd->setMessage(robot, "Waiting...");
command->setRotation(rot);
}
else
{
testLapState[robot] = runningDownLong;
testWaitState[robot] = running;
waitCounter = 0;
}
}
else
{
rsd->setMessage(robot, "Running right");
command->setPos(p.field.THEIR_GOAL_LINE - DIST_FROM_OTHER_WALL, p.field.RIGHT_SIDE_LINE + DIST_FROM_TARGET_WALL);
command->setRotation(rot);
if(getYLocation(robot, *vision, p) < p.field.RIGHT_SIDE_LINE + THRESH_DIST_FROM_WALL)
testWaitState[robot] = waiting;
}
break;
case runningDownLong:
if( testWaitState[robot] == waiting )
{
if( waitCounter < MAX_WAIT )
{
waitCounter++;
rsd->setMessage(robot, "Waiting...");
command->setRotation(rot);
}
else
{
testLapState[robot] = runningLeftCross;
testWaitState[robot] = running;
waitCounter = 0;
}
}
else
{
rsd->setMessage(robot, "Running down the field");
command->setPos(p.field.OUR_GOAL_LINE + DIST_FROM_TARGET_WALL, p.field.RIGHT_SIDE_LINE + DIST_FROM_OTHER_WALL);
command->setRotation(rot);
if(getXLocation(robot, *vision, p) < p.field.OUR_GOAL_LINE + THRESH_DIST_FROM_WALL)
testWaitState[robot] = waiting;
}
break;
case runningLeftCross:
if( testWaitState[robot] == waiting )
{
if (waitCounter < MAX_WAIT )
{
waitCounter++;
rsd->setMessage(robot, "Waiting...");
command->setRotation(rot);
}
else
{
testLapState[robot] = runningUpLong;
testWaitState[robot] = running;
waitCounter = 0;
//finished lap, so turn 45 degrees,and do another
rot += PI/4;
normalizeAngle(rot);
}
}
else
{
char output[200];
sprintf(output, "Running left, rot = %.2f", rot);
rsd->setMessage(robot,output);
command->setPos(p.field.OUR_GOAL_LINE + DIST_FROM_OTHER_WALL, p.field.LEFT_SIDE_LINE - DIST_FROM_TARGET_WALL);
command->setRotation(rot);
if(getYLocation(robot, *vision, p) > p.field.LEFT_SIDE_LINE - THRESH_DIST_FROM_WALL)
testWaitState[robot] = waiting;
}
break;
default:
rsd->setMessage(robot, "internal error in prediction_test_play");
break;
}
}
}
}
