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313
InterfaceCpp/car.cpp
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313
InterfaceCpp/car.cpp
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#include <iostream>
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#include <unistd.h>
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#include <SDL.h>
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#include <math.h>
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#include <sys/types.h>
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#include <sys/ipc.h>
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#include <sys/shm.h>
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#include "sdlcommon.h"
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#include "car.h"
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#include "shmdata.h"
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using namespace std;
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Car::Car()
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{
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initShm();
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reset();
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showbar=1;
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angstep=5;
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for(int i=0;i<CAMVECT;i++) camera[i]=0;
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carimage=0;
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for(int i=0;i<TRAINEESIZE;i++) { trainee[i][0]=0; trainee[i][1]=0; }
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traineepos=0;
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traineesize=1;
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}
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void Car::loadImage(char *imagefile)
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{
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SDL_Surface *voitsurf;
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Uint32 cur=SDL_GetTicks();
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voitsurf=SDL_LoadBMP(imagefile);
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printf("Precaching Surfaces ..... \n");
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for(int i=0;i<360;i++)
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{
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Surface_car[i]=SDL_CreateRGBSurface(SDL_HWSURFACE, voitsurf->w, voitsurf->h, 32, 0,0,0,0);
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if(SDL_SetColorKey(Surface_car[i], SDL_SRCCOLORKEY | SDL_RLEACCEL, SDL_MapRGB(Surface_car[i]->format, 255,0,255)) == -1)
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fprintf(stderr, "Warning: colorkey will not be used, reason: %s\n", SDL_GetError());
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rotatesurface(voitsurf,Surface_car[i],i);
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}
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carimage=1;
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printf("Done ... (%d ms)\n",SDL_GetTicks()-cur);
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}
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void Car::updateCar(SDL_Surface* screen)
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{
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int i;
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for(i=0;(SData->read!=0) && i<200;i++) usleep(5); // on attends 1 seconde
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if(i==200)
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{
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cout << "AutoPilot Timed Out ...";
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exit(0);
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}
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if(SData->Res[0]) decAngle();
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if(SData->Res[1]) incAngle();
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SData->Res[0]=0;
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SData->Res[1]=0;
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SData->pos_x+=getSpeed()*(cos(SData->angle*PI/180));
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SData->pos_y+=getSpeed()*(sin(SData->angle*PI/180));
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showTrainee(screen);
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showCamera(screen); /* obligé pour avoir les pixels :-) */
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// CAMERASIZE // CAMERASTEP
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if(carimage) /* on blit la voiture */
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{
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SDL_Rect r;
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r.w=Surface_car[SData->angle]->w;
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r.h=Surface_car[SData->angle]->h;
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r.x=(int)SData->pos_x-(r.w/2);
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r.y=(int)SData->pos_y-(r.h/2);
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SDL_BlitSurface( Surface_car[SData->angle], NULL, screen, &r);
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}
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else for(int i=0;i<20;i++) /* affichage de la voiture simplifiée (ligne rouge) */
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{
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setpixel(screen,(int)(SData->pos_x-(cos(SData->angle*PI/180)*i)),(int)( SData->pos_y-(sin(SData->angle*PI/180)*i)),255,0,0);
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}
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for(int i=0;i<CAMVECT;i++)
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{
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// cout << camera[i];
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SData->V[i]=camera[i];
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}
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SData->read=1; /* on a lu :D */
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//cout << endl;
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}
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void Car::showTrainee(SDL_Surface* screen)
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{
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int k;
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trainee[traineepos][0]=(int)SData->pos_x;
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trainee[traineepos][1]=(int)SData->pos_y;
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traineepos=(traineepos+1)%traineesize;
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k=traineepos;
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k=(k+1)%traineesize;
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for(int i=0; /*i < traineesize &&*/ k!=traineepos;i++) /* affichage de la trainée */
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{
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//setpixel(screen,trainee[k][0],trainee[k][1],0,(int)(i*(256.0/traineesize))%256,255);
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int x0,y0,x1,y1;
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x0=trainee[(k+traineesize-1)%traineesize][0];
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y0=trainee[(k+traineesize-1)%traineesize][1];
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x1=trainee[k][0];
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y1=trainee[k][1];
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if(x0==0) x0=x1;
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if(y0==0) y0=y1;
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if(x1==0) x1=x0;
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if(y1==0) y1=y0;
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DrawLine(screen,x0,y0,x1,y1,0,0,255);
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k=(k+1)%traineesize;
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}
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}
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void Car::showCamera(SDL_Surface* screen)
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{
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double x,y;
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int k,ang;
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x=SData->pos_x + ( cos(SData->angle*PI/180) * CAMERADISTANCE );
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y=SData->pos_y + ( sin(SData->angle*PI/180) * CAMERADISTANCE );
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ang=(SData->angle+90)%360;
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x-=CAMERASIZE/2*cos(ang*PI/180);
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y-=CAMERASIZE/2*sin(ang*PI/180);
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k=0;
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for(int i=0;i<CAMERASIZE;i++)
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{
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x+=cos(ang*PI/180);
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y+=sin(ang*PI/180);
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if(!(i%CAMERASTEP))
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{
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camera[k]=1;
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if(inCarArea(screen,(int)x,(int)y)) //if(x>0 && x<screen->w && y>0 && y<screen->h)
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camera[k]=(((getpixel(screen,(int)x,(int)y))%2)+1)%2;
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else camera[k]=0;
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if(camera[k] && showbar)
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{
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setpixel(screen, (int)x, (int)y,255,0,0);
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//setpixel(screen, (int)x, (int)y-1,255,0,0);
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//setpixel(screen, (int)x-1, (int)y,255,0,0);
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//setpixel(screen, (int)x-1, (int)y-1,255,0,0);
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}
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else if(showbar)
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{
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setpixel(screen, (int)x, (int)y,0,255,0);
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//setpixel(screen, (int)x, (int)y-1,0,255,0);
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//setpixel(screen, (int)x-1, (int)y,0,255,0);
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//setpixel(screen, (int)x-1, (int)y-1,0,255,0);
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}
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k++;
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}
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else
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{
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if(showbar) setpixel(screen, (int)x, (int)y,0,0,255);
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}
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}
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}
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void Car::incAngle()
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{
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SData->angle=(SData->angle+angstep)%360;
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}
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void Car::decAngle()
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{
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SData->angle=(SData->angle+360-angstep)%360;
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}
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int Car::incAngleStep(int i)
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{
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angstep+=i;
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return angstep;
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}
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void Car::incSpeed()
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{
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if(SData->Res[2]==0)
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{
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SData->Res[0]=0;
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SData->Res[1]=0;
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SData->Res[2]=1;
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if(SData->speed==0) SData->speed=1;
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}
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SData->speed++;
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}
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void Car::decSpeed()
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{
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SData->speed--;
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}
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bool Car::APToggle()
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{
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SData->APon=(SData->APon+1)%2;
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return SData->APon;
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}
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bool Car::APState() const
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{
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return SData->APon;
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}
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bool Car::neurToggle()
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{
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SData->Neuron=(SData->Neuron+1)%2;
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return SData->Neuron;
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}
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bool Car::neurState() const
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{
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return SData->Neuron;
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}
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void Car::initShm()
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{
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if ((shmid = shmget(SHMKEY, sizeof(struct shmdata), 0666)) < 0)
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{
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perror("shmget");
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exit(1);
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}
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if (( SData = (struct shmdata *)shmat(shmid, NULL, 0)) == (struct shmdata *) -1)
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{
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perror("shmat");
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exit(1);
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}
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}
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int Car::getSpeed() const
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{
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if(SData->Res[2])
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return SData->speed;
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return 0;
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}
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int Car::getAngle() const
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{
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return SData->angle;
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}
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bool Car::showBar(int i)
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{
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showbar=(showbar+i)%2;
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return showbar;
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}
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bool* Car::getVect()
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{
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return SData->Res;
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}
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bool* Car::getView()
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{
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return SData->V;
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}
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void Car::reset()
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{
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SData->pos_x=200;
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SData->pos_y=200;
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SData->speed=1;
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SData->angle=0;
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SData->Res[2]=1;
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}
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void Car::turn180()
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{
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SData->angle=(SData->angle+180)%360;
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}
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int Car::incTraineeSize(int s)
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{
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int i,k;
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if(s==0) return traineesize;
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if(traineesize==1 && s<0) return traineesize;
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if(traineesize+s > TRAINEESIZE) s=TRAINEESIZE-traineesize-1;
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if(traineesize+s < 0) s=1-TRAINEESIZE;
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int tmp[traineesize+s][2];
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k=traineepos;
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if(s<0) k=(traineesize+traineepos-s)%traineesize;
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for(i=0;i<(traineesize+s);i++)
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{
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if(i>traineesize)
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{
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tmp[i][0]=0;
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tmp[i][1]=0;
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}
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else
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{
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tmp[i][0]=trainee[k][0];
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tmp[i][1]=trainee[k][1];
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}
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k=(k+1)%traineesize;
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}
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for(i=0;i<traineesize+s;i++)
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{
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trainee[i][0]=tmp[i][0];
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trainee[i][1]=tmp[i][1];
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}
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traineepos=traineesize-1;
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// if(traineesize<1) { traineesize=1; traineepos=0; }
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if(s<0)traineepos=0;
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traineesize+=s;
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return traineesize;
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}
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void Car::setDelay(int del)
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{
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SData->delay=del;
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}
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void Car::harakiri()
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{
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cout << " EXIT INTERFACE ...\n";
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SData->read=666;
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usleep(100);
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SData->read=666;
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usleep(100);
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SData->read=666;
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}
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void Car::saveState()
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{
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SData->action=SAVE_STATE;
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}
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void Car::loadState()
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{
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SData->action=RELOAD_STATE;
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}
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void Car::showNetwork(bool a)
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{
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SData->viewNetwork=a;
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}
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bool Car::showNetworkState()
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{
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return SData->viewNetwork;
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}
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