ZRCommRoutines.cpp

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//Basic SPHERES communications

#include "ZRGame.h"

//SPHERES C includes
extern "C" {
#include "spheres_types.h"
#include "comm.h"
}

void ZeroRoboticsGameImpl::processRXData(default_rfm_packet packet)
{
  if (packet[PKT_CM] == COMM_CMD_DBG_SHORT_SIGNED)
  {
    dbg_short_packet DebugVecShort;
    memcpy(DebugVecShort, &packet[PKT_DATA], sizeof(dbg_short_packet));
    if (ctrlManeuverNumGet() > 2)
    {
      for (int i = 0; i < NUM_ITEMS; i++){
        challInfo.other.mpTime[i] = DebugVecShort[i+1];

      }
      // copy general data during game run
      challInfo.other.mirrorTime = DebugVecShort[14];
      challInfo.other.message = DebugVecShort[15];
    }
    else {
      // initialization data for items
      if (DebugVecShort[0] == 0){
        #if (SPHERE_ID == SPHERE1)
          // get data from SPHERE2
          for (int i = 0; i < NUM_ITEMS - 5; i++){
                  challInfo.mpLoc[i + 5][0] = DebugVecShort[3*i + 1] / 10000.0f;
                  challInfo.mpLoc[i + 5][1] = DebugVecShort[3*i + 2] / 10000.0f;
                  challInfo.mpLoc[i + 5][2] = DebugVecShort[3*i + 3] / 10000.0f;
          }
        #else
          // get data from SPHERE1
          for (int i = 0; i < 5; i++){
                  challInfo.mpLoc[i][0] = DebugVecShort[3*i + 1] / 10000.0f;
                  challInfo.mpLoc[i][1] = DebugVecShort[3*i + 2] / 10000.0f;
                  challInfo.mpLoc[i][2] = DebugVecShort[3*i + 3] / 10000.0f;
          }

        #endif
      }
    }
  }
  else if (packet[PKT_CM] == COMM_CMD_DBG_SHORT_UNSIGNED)
  {
    dbg_ushort_packet DebugVecUShort;
    memcpy(DebugVecUShort, &packet[PKT_DATA], sizeof(dbg_ushort_packet));
      int cmn = ctrlManeuverNumGet();
      // printf("cmn %d\n",cmn);
      // recieve initialization packet (control maneuver 1)
      if (cmn < 3){
        #if (SPHERE_ID == SPHERE2)
          // printf("Init DebugVecShort Received by Sphere 2: %d (should be 0), %d\n", DebugVecShort[0], cmn);
          // make sure its one of our initialization packets, all other debugVecShort[0] are time * 10, so they are larger than 0
          if (DebugVecUShort[0] == 0)
          {
            challInfo.light.nextSwitchTime = (int) DebugVecUShort[1];
          }

        #endif
      }

    //challInfo.other.mpTime[0] = DebugVecUShort[1];
    //challInfo.other.mpTime[1] = DebugVecUShort[2];
  }
  else if (packet[PKT_CM] == COMM_CMD_DBG_FLOAT)
  {
    dbg_float_packet DebugVecFloat;
    memcpy(DebugVecFloat, &packet[PKT_DATA], sizeof(dbg_float_packet));
    int cmn = ctrlManeuverNumGet();
    if (cmn < 3) {
        #if (SPHERE_ID == SPHERE2)
          //printf("Init DebugVecFloat Received by Sphere 2: %f (should be -1), %d\n", DebugVecFloat[0], cmn);
          // make sure its one of our initialization packets. tstep should be nonnegative, I think.
        if (DebugVecFloat[0] == 0.0f)
        {
          challInfo.light.center = DebugVecFloat[1];
          challInfo.light.direction = DebugVecFloat[2];

          return;
        }
        #endif
    }
    challInfo.other.score = DebugVecFloat[1];
    challInfo.other.energy = DebugVecFloat[3];
  }
}

void ZeroRoboticsGameImpl::sendDebug()
{
  dbg_short_packet  DebugVecShort; // short[16]
  dbg_ushort_packet DebugVecUShort; // ushort[16]
  dbg_float_packet  DebugVecFloat; // float[8]
  unsigned int tstep;

  // send debug after estimator convergence
  if (ctrlManeuverNumGet() < 3)
  {
    sendInit();
  }
  if (ctrlManeuverNumGet() > 1)
  {
    // normal game packages
    tstep = apiImpl.api->getTime();

    if (!tstep) return;   // only send starting with time 1, since time 0 can cause problems with initialization

    // initialize all packets to 0
    memset(DebugVecShort,  0, sizeof(dbg_short_packet));
    memset(DebugVecUShort, 0, sizeof(dbg_ushort_packet));
    memset(DebugVecFloat,  0, sizeof(dbg_float_packet));

    // debug short: POIs currently visible, other sat message, flare status
    DebugVecShort[0]  = (short)(tstep*10);            //Timestamp
    DebugVecShort[13] = game->getMirrorTimeRemaining();
    DebugVecShort[14] = challInfo.me.mirrorTime;

    //items
    for (int i = 0; i < NUM_ITEMS; i++){
      DebugVecShort[i + 1] = (unsigned short) challInfo.me.mpTime[i];
    }

    DebugVecShort[15] = challInfo.me.message;                   //message sent between players

    // unsigned short debug packet: status of game variables, known flare times
    DebugVecUShort[0] = (unsigned short)(tstep*10); //Timestamp


    DebugVecUShort[7] = (unsigned short) (sphereInLight(challInfo.me.zrState));
    DebugVecUShort[7] <<= 1;
    DebugVecUShort[7] += (unsigned short) (sphereInDark(challInfo.me.zrState));

    DebugVecUShort[8] = (challInfo.light.direction > 0);
    DebugVecUShort[9] = (unsigned short) (challInfo.camera.tookPicture);
    DebugVecUShort[10] = (unsigned short) (challInfo.camera.uploadedPictures);
    DebugVecUShort[11] = (unsigned short) (challInfo.camera.cameraOn);
    DebugVecUShort[13] = (unsigned short) (challInfo.camera.memorySize);
    DebugVecUShort[14] = (unsigned short) (challInfo.camera.memoryFilled);

    //Float debug packet: score, fuel, forces
    DebugVecFloat[0] = (float)tstep;
    DebugVecFloat[1] = game->getScore();
    DebugVecFloat[2] = game->getFuelRemaining() / ((double)PROP_ALLOWED_SECONDS);
    DebugVecFloat[3] = challInfo.me.energy;
    DebugVecFloat[4] = challInfo.light.center;

    memcpy(&DebugVecFloat[5], challInfo.me.userForces, 3*sizeof(float)); //Forces for reference

    //Send packets to other SPHERES/ground/sim; do not modify below this line
    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_SHORT_SIGNED, (unsigned char *) DebugVecShort,0);
    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_FLOAT, (unsigned char *) DebugVecFloat,0);
    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_SHORT_UNSIGNED, (unsigned char *) DebugVecUShort,0);

  #ifdef ZRSIMULATION
    apiImpl.ZRUserDbgVec[0] = (float)tstep;
    commSendPacket(COMM_CHANNEL_STL, GROUND, sysIdentityGet(), COMM_CMD_DBG_ZRUSER, (unsigned char *) apiImpl.ZRUserDbgVec,0);
  #endif
  }
}

void ZeroRoboticsGameImpl::sendInit()
{
  #if (SPHERE_ID == SPHERE1)
      dbg_short_packet DebugVecShort;
      dbg_ushort_packet DebugVecUShort;
      dbg_float_packet DebugVecFloat;

    // sends light information to second satellite
    memset(DebugVecShort,  0, sizeof(dbg_short_packet));    // initialize packets to 0
    memset(DebugVecUShort,  0, sizeof(dbg_ushort_packet));
    memset(DebugVecFloat,  0, sizeof(dbg_float_packet));

    DebugVecShort[0] = 0;

    int upTo = 5;
    if (NUM_ITEMS < upTo) {
      upTo = NUM_ITEMS;
    }

    for (int i = 0; i < upTo; i++) {
      DebugVecShort[3*i + 1] = 10000 * challInfo.mpLoc[i][0];
      DebugVecShort[3*i + 2] = 10000 * challInfo.mpLoc[i][1];
      DebugVecShort[3*i + 3] = 10000 * challInfo.mpLoc[i][2];
    }

    DebugVecUShort[0] = 0;
    DebugVecUShort[1] = (short)0 + (challInfo.light.nextSwitchTime);

    #ifdef ALLIANCE
      DebugVecUShort[2] = 3;
    #else
      #ifdef ZR3D
        DebugVecUShort[2] = 2;
      #else
        #ifdef ZR2D
          DebugVecUShort[2] = 1;
        #else
          DebugVecUShort[2] = 0;
        #endif
      #endif
    #endif

    DebugVecUShort[3] = NUM_ITEMS;

    for (int i = 0; i < NUM_ITEMS; i++)
    {
      DebugVecUShort[4 + i] = ITEM_TYPES[i];
    }

      DebugVecFloat[0] = 0.0f;
      DebugVecFloat[1] = challInfo.light.center;
      DebugVecFloat[2] = challInfo.light.direction;

    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_SHORT_SIGNED, (unsigned char *) DebugVecShort,0);
    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_SHORT_UNSIGNED, (unsigned char *) DebugVecUShort,0);
    commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_FLOAT, (unsigned char *) DebugVecFloat,0);
  #endif
  #if (SPHERE_ID == SPHERE2)
      dbg_short_packet DebugVecShort;
      DebugVecShort[0] = 0;

      for (int i = 0; i < NUM_ITEMS - 5; i++)
      {
        DebugVecShort[3*i + 1] = 10000 * challInfo.mpLoc[i+5][0];
        DebugVecShort[3*i + 2] = 10000 * challInfo.mpLoc[i+5][1];
        DebugVecShort[3*i + 3] = 10000 * challInfo.mpLoc[i+5][2];
      }

      commSendPacket(COMM_CHANNEL_STL, BROADCAST, 0, COMM_CMD_DBG_SHORT_SIGNED, (unsigned char *) DebugVecShort,0);
  #endif
}