corrade-lsl-templates – Diff between revs 29 and 37

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 ///////////////////////////////////////////////////////////////////////////
-//  Copyright (C) Wizardry and Steamworks 2014 - License: CC BY 2.0      //
+//  Copyright (C) Wizardry and Steamworks 2014 - License: GNU GPLv3      //
 ///////////////////////////////////////////////////////////////////////////
 //
 // This is a puppeteer script for the Corrade Second Life / OpenSim bot
 // that, given a set of local coordinates, will make the bot traverse a
 // path while also minding collisions with object. You can find more
 // details about the Corrade bot and how to get it to work on your machine
-// by following the URL: http://grimore.org/secondlife/scripted_agents/corrade
+// by following the URL: http://was.fm/secondlife/scripted_agents/corrade
 //
 // This script works together with a "configuration" notecard that must
 // be placed in the same primitive as this script. The purpose of this
 // script is to demonstrate how Corrade can be made to walk on a path and
-// you are free to use, change, and commercialize it under the CC BY 2.0
+// you are free to use, change, and commercialize it under the GNU/GPLv3
-// license at: https://creativecommons.org/licenses/by/2.0
+// license at: http://www.gnu.org/licenses/gpl.html
 //
 ///////////////////////////////////////////////////////////////////////////
 ///////////////////////////////////////////////////////////////////////////
-//    Copyright (C) 2014 Wizardry and Steamworks - License: CC BY 2.0    //
+//    Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3    //
 ///////////////////////////////////////////////////////////////////////////
-string wasKeyValueGet(string k, string data) {
+string wasKeyValueGet(string var, string kvp) {
+    list dVars = llParseString2List(kvp, ["&"], []);
+    do {
+        list data = llParseString2List(llList2String(dVars, 0), ["="], []);
-    if(llStringLength(data) == 0) return "";
+        string k = llList2String(data, 0);
-    if(llStringLength(k) == 0) return "";
+        if(k != var) jump continue;
-    list a = llParseString2List(data, ["&", "="], []);
+        return llList2String(data, 1);
+@continue;
-    integer i = llListFindList(a, [ k ]);
+        dVars = llDeleteSubList(dVars, 0, 0);
-    if(i != -1) return llList2String(a, i+1);
+    } while(llGetListLength(dVars));
     return "";
+}
 ///////////////////////////////////////////////////////////////////////////
-//    Copyright (C) 2013 Wizardry and Steamworks - License: CC BY 2.0    //
+//    Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3    //
 ///////////////////////////////////////////////////////////////////////////
-string wasKeyValueEncode(list data) {
+string wasKeyValueEncode(list kvp) {
-    list k = llList2ListStrided(data, 0, -1, 2);
+    if(llGetListLength(kvp) < 2) return "";
-    list v = llList2ListStrided(llDeleteSubList(data, 0, 0), 0, -1, 2);
+    string k = llList2String(kvp, 0);
-    data = [];
-    do {
-        data += llList2String(k, 0) + "=" + llList2String(v, 0);
+    kvp = llDeleteSubList(kvp, 0, 0);
-        k = llDeleteSubList(k, 0, 0);
+    string v = llList2String(kvp, 0);
-        v = llDeleteSubList(v, 0, 0);
+    kvp = llDeleteSubList(kvp, 0, 0);
-    } while(llGetListLength(k) != 0);
+    if(llGetListLength(kvp) < 2) return k + "=" + v;
-    return llDumpList2String(data, "&");
+    return k + "=" + v + "&" + wasKeyValueEncode(kvp);
+}
 ///////////////////////////////////////////////////////////////////////////
-//    Copyright (C) 2015 Wizardry and Steamworks - License: CC BY 2.0    //
+//    Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3    //
 ///////////////////////////////////////////////////////////////////////////
 // escapes a string in conformance with RFC1738
 string wasURLEscape(string i) {
     string o = "";
     do {
         string c = llGetSubString(i, 0, 0);
         i = llDeleteSubString(i, 0, 0);
         if(c == "") jump continue;
         if(c == " ") {
             o += "+";
             jump continue;
+        }
         if(c == "\n") {
             o += "%0D" + llEscapeURL(c);
             jump continue;
+        }
         o += llEscapeURL(c);
 @continue;
     } while(i != "");
     return o;
+}
 ///////////////////////////////////////////////////////////////////////////
-//    Copyright (C) 2015 Wizardry and Steamworks - License: CC BY 2.0    //
+//    Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3    //
 ///////////////////////////////////////////////////////////////////////////
 // unescapes a string in conformance with RFC1738
 string wasURLUnescape(string i) {
     return llUnescapeURL(
         llDumpList2String(
             llParseString2List(
                 llDumpList2String(
                     llParseString2List(
                         i,
                         ["+"],
                         []
                     ),
                     " "
                 ),
                 ["%0D%0A"],
                 []
             ),
             "\n"
+        )
     );
+}
 ///////////////////////////////////////////////////////////////////////////
-//    Copyright (C) 2015 Wizardry and Steamworks - License: CC BY 2.0    //
+//    Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3    //
 ///////////////////////////////////////////////////////////////////////////
 list wasCSVToList(string csv) {
     list l = [];
     list s = [];
     string m = "";
     do {
         string a = llGetSubString(csv, 0, 0);
         csv = llDeleteSubString(csv, 0, 0);
         if(a == ",") {
             if(llList2String(s, -1) != "\"") {
                 l += m;
                 m = "";
                 jump continue;
+            }
             m += a;
             jump continue;
+        }
         if(a == "\"" && llGetSubString(csv, 0, 0) == a) {
             m += a;
             csv = llDeleteSubString(csv, 0, 0);
             jump continue;
+        }
         if(a == "\"") {
             if(llList2String(s, -1) != a) {
                 s += a;
                 jump continue;
+            }
             s = llDeleteSubList(s, -1, -1);
             jump continue;
+        }
         m += a;
 @continue;
     } while(csv != "");
     // postcondition: length(s) = 0
     return l + m;
+}
 // corrade data
 key CORRADE = NULL_KEY;
 string GROUP = "";
 string PASSWORD = "";
 list PATH = [];
 float PAUSE = 0;
 integer RANDOMIZE = FALSE;
 // for holding the callback URL
 string callback = "";
 // for notecard reading
 integer line = 0;
 // key-value data will be read into this list
 list tuples = [];
 // stores COrrade's current position
 vector origin = ZERO_VECTOR;
 default {
     state_entry() {
         if(llGetInventoryType("configuration") != INVENTORY_NOTECARD) {
             llOwnerSay("Sorry, could not find a configuration inventory notecard.");
             return;
+        }
         // DEBUG
         llOwnerSay("Reading configuration file...");
         llGetNotecardLine("configuration", line);
+    }
     dataserver(key id, string data) {
         if(data == EOF) {
             // invariant, length(tuples) % 2 == 0
             if(llGetListLength(tuples) % 2 != 0) {
                 llOwnerSay("Error in configuration notecard.");
                 return;
+            }
             CORRADE = llList2Key(
                 tuples,
                 llListFindList(
                     tuples,
+                    [
                         "corrade"
+                    ]
+                )
             +1);
             if(CORRADE == NULL_KEY) {
                 llOwnerSay("Error in configuration notecard: corrade");
                 return;
+            }
             GROUP = llList2String(
                 tuples,
                 llListFindList(
                     tuples,
+                    [
                         "group"
+                    ]
+                )
             +1);
             if(GROUP == "") {
                 llOwnerSay("Error in configuration notecard: group");
                 return;
+            }
             PASSWORD = llList2String(
                 tuples,
                 llListFindList(
                     tuples,
+                    [
                         "password"
+                    ]
+                )
             +1);
             if(PASSWORD == "") {
                 llOwnerSay("Error in configuration notecard: password");
                 return;
+            }
             PATH = llCSV2List(
                 llList2String(
                     tuples,
                     llListFindList(
                         tuples,
+                        [
                             "path"
+                        ]
+                    )
                 +1)
             );
             if(PATH == []) {
                 llOwnerSay("Error in configuration notecard: points");
                 return;
+            }
             PAUSE = llList2Float(
                 tuples,
                 llListFindList(
                     tuples,
+                    [
                         "pause"
+                    ]
+                )
             +1);
             if(PAUSE == 0) {
                 llOwnerSay("Error in configuration notecard: pause");
                 return;
+            }
             string boolean = llList2String(
                 tuples,
                 llListFindList(
                     tuples,
+                    [
                         "randomize"
+                    ]
+                )
             +1);
             if(llToLower(boolean) == "true") RANDOMIZE = TRUE;
             // DEBUG
             llOwnerSay("Read configuration notecard...");
             state url;
+        }
         if(data == "") jump continue;
         integer i = llSubStringIndex(data, "#");
         if(i != -1) data = llDeleteSubString(data, i, -1);
         list o = llParseString2List(data, ["="], []);
         // get rid of starting and ending quotes
         string k = llDumpList2String(
             llParseString2List(
                 llStringTrim(
                     llList2String(
                         o,
                     ),
                 STRING_TRIM),
             ["\""], []
         ), "\"");
         string v = llDumpList2String(
             llParseString2List(
                 llStringTrim(
                     llList2String(
                         o,
                     ),
                 STRING_TRIM),
             ["\""], []
         ), "\"");
         if(k == "" || v == "") jump continue;
         tuples += k;
         tuples += v;
 @continue;
         llGetNotecardLine("configuration", ++line);
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}
 state url {
     state_entry() {
         // DEBUG
         llOwnerSay("Requesting URL...");
         llRequestURL();
+    }
     http_request(key id, string method, string body) {
         if(method != URL_REQUEST_GRANTED) return;
         callback = body;
         // DEBUG
         llOwnerSay("Got URL...");
         state detect;
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}
 state detect {
     state_entry() {
         // DEBUG
         llOwnerSay("Detecting if Corrade is online...");
         llSetTimerEvent(5);
+    }
     timer() {
         llRequestAgentData((key)CORRADE, DATA_ONLINE);
+    }
     dataserver(key id, string data) {
         if(data != "1") {
             // DEBUG
             llOwnerSay("Corrade is not online, sleeping...");
             llSetTimerEvent(30);
             return;
+        }
         state notify;
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}
 state notify {
     state_entry() {
         // DEBUG
         llOwnerSay("Binding to the collision notification...");
         llInstantMessage(
-            (key)CORRADE,
+            CORRADE,
             wasKeyValueEncode(
+                [
                     "command", "notify",
                     "group", wasURLEscape(GROUP),
                     "password", wasURLEscape(PASSWORD),
                     "action", "set",
                     "type", "collision",
                     "URL", wasURLEscape(callback),
                     "callback", wasURLEscape(callback)
+                ]
+            )
         );
+    }
     http_request(key id, string method, string body) {
         llHTTPResponse(id, 200, "OK");
         if(wasKeyValueGet("command", body) != "notify" ||
             wasKeyValueGet("success", body) != "True") {
             // DEBUG
             llOwnerSay("Failed to bind to the collisioin notification...");
             state detect;
+        }
         // DEBUG
         llOwnerSay("Collision notification installed...");
         state pause;
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}
 state pause {
     state_entry() {
         //DEBUG
         llOwnerSay("Pausing...");
         // Check whether Corrade is still online first.
         llRequestAgentData((key)CORRADE, DATA_ONLINE);
+    }
     dataserver(key id, string data) {
         if(data != "1") {
             // DEBUG
             llOwnerSay("Corrade is not online, sleeping...");
             llSetTimerEvent(30);
             return;
+        }
         // Corrade is online, so schedule the next walk.
         if(RANDOMIZE) {
             // The minimal trigger time for a timer event is ~0.045s
             // This ensures we do not end up stuck in the pause state.
             llSetTimerEvent(0.045 + llFrand(PAUSE - 0.045));
             return;
+        }
         llSetTimerEvent(PAUSE);
+    }
     timer() {
         llSetTimerEvent(0);
         state find;
+    }
+}
 state find {
     state_entry() {
         // We now query Corrade for its current position.
         llInstantMessage(CORRADE,
             wasKeyValueEncode(
+                [
                     "command", "getselfdata",
                     "group", wasURLEscape(GROUP),
                     "password", wasURLEscape(PASSWORD),
                     "data", "SimPosition",
                     "callback", wasURLEscape(callback)
+                ]
+            )
         );
         // alarm 60 for Corrade not responding
         llSetTimerEvent(60);
+    }
     timer() {
         llSetTimerEvent(0);
         // DEBUG
         llOwnerSay("Corrade not responding to data query...");
         state pause;
+    }
     http_request(key id, string method, string body) {
         llHTTPResponse(id, 200, "OK");
         list data = wasCSVToList(
             wasKeyValueGet(
                 "data",
                 wasURLUnescape(body)
+            )
         );
         origin= (vector)llList2String(
             data,
             llListFindList(
                 data,
                 (list)"SimPosition"
             )+1
         );
         state walk;
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}
 state walk {
     state_entry() {
         // DEBUG
         llOwnerSay("Walking...");
         // extract next destination and permute the set
         vector next = (vector)llList2String(PATH, 0);
         PATH = llDeleteSubList(PATH, 0, 0);
         PATH += next;
-        llInstantMessage(CORRADE,
-            wasKeyValueEncode(
-                [
-                    "command", "autopilot",
-                    "group", wasURLEscape(GROUP),
-                    "password", wasURLEscape(PASSWORD),
-                    "position", next,
-                    "action", "start"
-                ]
-            )
         );
         // We now determine the waiting time for Corrade to reach
         // its next destination by extracting time as a function
         // of the distance it has to walk and the speed of travel:
         // t = s / v
         // This, of course, is prone to error since the distance
         // is calculated on the shortest direct path. Nevertheless,
         // it is a pretty good appoximation for terrain that is
         // mostly flat and without too many curvatures.
         // NB. 3.20 m/s is the walking speed of an avatar.
+        llInstantMessage(CORRADE,
+            wasKeyValueEncode(
+                [
+                    "command", "walkto",
+                    "group", wasURLEscape(GROUP),
+                    "password", wasURLEscape(PASSWORD),
+                    "position", next,
+                    "vicinity", "1",
+                    "timeout", llVecDist(origin, next)/3.20
+                ]
+            )
+        );
         llSetTimerEvent(llVecDist(origin, next)/3.20);
+    }
     http_request(key id, string method, string body) {
         // since we have bound to the collision notification,
         // this region of code deals with Corrade colliding
         // with in-world assets; in which case, we stop
         // moving to not seem awkward
         // DEBUG
         llOwnerSay("Collided...");
         llHTTPResponse(id, 200, "OK");
-        llInstantMessage(CORRADE,
-            wasKeyValueEncode(
-                [
-                    "command", "autopilot",
-                    "group", wasURLEscape(GROUP),
-                    "password", wasURLEscape(PASSWORD),
-                    "action", "stop"
-                ]
-            )
-        );
         // We did not reach our destination since we collided with
         // something on our path, so switch directly to waiting and
         // attempt to reach the next destination on our path.
         state pause;
+    }
     timer() {
         // We most likely reached our destination, so switch to pause.
         llSetTimerEvent(0);
         state pause;
+    }
     on_rez(integer num) {
         llResetScript();
+    }
     changed(integer change) {
         if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) {
             llResetScript();
+        }
+    }
+}