public static void main(String[] args) throws IOException {
int n;
String aux[] = new String[32];
int linie, coloana;
Data.setACC(10);
Data.setBRK(10);
Data.setMaxSPD(100);
Data.setgetSteeringCar(0.5);
try {
// create socket
socket = new Socket("127.0.0.1", 6666);
// we attempt to bypass nagle's algorithm
socket.setTcpNoDelay(true);
// initialize our communication class
comm = new NetworkCommunication(socket);
comm.initStreams();
// send initial packet, aka the team's name
comm.writeInt(H_TEAM_NAME);
comm.writeInt(1);
comm.writeString(args[0]);
// comm.writeString("void");
} catch (UnknownHostException e) {
System.out.println("could not connect to server");
System.exit(1);
} catch (IOException e) {
System.out.println("No I/O");
System.exit(1);
}
System.out.println("Sent team name....entering main loop");
while (true) {
try {
int header = comm.readInt();
switch (header) {
case H_MAP_DIM: // 2
{
Data.setMapWidth(comm.readInt());
Data.setMapHeigh(comm.readInt());
Data.Map = new int[Data.getMapHeigh()][Data.getMapWidth()];
int nr_data_recieve = Data.getMapHeigh() * Data.getMapWidth() / 32 + 1;
for (int i = 0; i < nr_data_recieve; i++) {
n = comm.readInt();
for (int j = 0; j < 32; j++) {
if ((n & (1 << j)) == 0) aux[31 - j] = "0";
else aux[31 - j] = "1";
}
for (int k = 0; k < 32; k++) {
linie = (32 * i + k) / Data.getMapWidth();
coloana = (32 * i + k) - (linie * Data.getMapWidth());
if (Data.getMapHeigh() > linie && Data.getMapWidth() > coloana)
Data.Map[linie][coloana] = Integer.parseInt(aux[k]);
}
}
System.out.println("Received map dimentions packet");
}
;
break;
case H_INITIAL_INFO: // 3
{
Data.setStartPointX(comm.readInt());
Data.setStartPointY(comm.readInt());
Data.setWidth_meters(comm.readInt());
Data.setHeight_meters(comm.readInt());
Data.setDirection(comm.readInt());
Data.setNumberOfLaps(comm.readInt());
Data.setMaximumLapTime(comm.readInt());
Data.setCarAngle(comm.readDouble());
// trimite-m la server car configuration
comm.writeInt(H_CAR_CONFIG);
comm.writeInt(Data.getACC());
comm.writeInt(Data.getBRK());
comm.writeInt(Data.getMaxSPD());
comm.writeDouble(Data.getSteeringCar());
System.out.println("Received initial information packet");
}
;
break;
case H_CAR_CONFIRM: // 4
{
Data.setACC(comm.readInt());
Data.setBRK(comm.readInt());
Data.setMaxSPD(comm.readInt());
Data.setgetSteeringCar(comm.readDouble());
System.out.println("Received car confirm packet");
// System.out.println(Data.getACC()+" "+Data.getBRK()+" "+Data.getSteeringCar());
// pornim masina :))
Engine.StartPosition(100, 0, Data.getCarAngle());
comm.writeInt(H_DRIVE_INFO);
comm.writeDouble(Data.getAccelerationPercentage());
comm.writeDouble(Data.getBrakePercentage());
comm.writeDouble(Data.getWantedAngle());
comm.writeInt(0); // drop queue
System.out.println("Send driving info1");
}
;
break;
case H_POS_CONFIRM: // 6
{
Data.setCurrent_X_Meters(comm.readDouble());
Data.setCurrent_Y_Meters(comm.readDouble());
Data.setCurrentSpeed(comm.readDouble());
Data.setCurrentAngleInRadians(comm.readDouble());
Data.setCurrentDirection(comm.readInt());
System.out.println("Received position confirmation packet");
// System.out.println(Data.getCurrent_X_Meters()+"-"+Data.getCurrent_Y_Meters()+"pozitia masinii");
// System.out.println(Data.getCurrentSpeed()+"-"+Data.getCurrentDirection()+"-"+Engine.FromRadiusToAngle(Data.getCurrentAngleInRadians()));
Engine.evalPosition();
comm.writeInt(H_DRIVE_INFO);
comm.writeDouble(Data.getAccelerationPercentage());
comm.writeDouble(Data.getBrakePercentage());
comm.writeDouble(Data.getWantedAngle());
comm.writeInt(0); // drop queue
// System.out.println("Send driving info2");
}
;
break;
case H_END_RACE:
{
System.out.println("Received end race packet");
}
;
break;
default:
{
System.out.println("Unknown packet");
// System.out.println(header);
}
}
} catch (IOException e) {
System.out.println("No I/O");
System.exit(1);
}
}
}