corrade-lsl-templates – Blame information for rev 5
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4 | office | 1 | /////////////////////////////////////////////////////////////////////////// |
2 | // Copyright (C) Wizardry and Steamworks 2014 - License: GNU GPLv3 // |
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3 | /////////////////////////////////////////////////////////////////////////// |
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4 | // |
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5 | // This is a puppeteer script for the Corrade Second Life / OpenSim bot |
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6 | // that, given a set of local coordinates, will make the bot traverse a |
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7 | // path while also minding collisions with object. You can find more |
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8 | // details about the Corrade bot and how to get it to work on your machine |
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9 | // by following the URL: http://grimore.org/secondlife/scripted_agents/corrade |
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10 | // |
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11 | // This script works together with a "configuration" notecard that must |
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12 | // be placed in the same primitive as this script. The purpose of this |
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13 | // script is to demonstrate how Corrade can be made to walk on a path and |
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14 | // you are free to use, change, and commercialize it under the GNU/GPLv3 |
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15 | // license at: http://www.gnu.org/licenses/gpl.html |
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16 | // |
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17 | /////////////////////////////////////////////////////////////////////////// |
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18 | |||
19 | /////////////////////////////////////////////////////////////////////////// |
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20 | // Copyright (C) 2014 Wizardry and Steamworks - License: GNU GPLv3 // |
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21 | /////////////////////////////////////////////////////////////////////////// |
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22 | string wasKeyValueGet(string k, string data) { |
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23 | if(llStringLength(data) == 0) return ""; |
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24 | if(llStringLength(k) == 0) return ""; |
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25 | list a = llParseString2List(data, ["&", "="], []); |
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26 | integer i = llListFindList(a, [ k ]); |
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27 | if(i != -1) return llList2String(a, i+1); |
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28 | return ""; |
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29 | } |
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30 | |||
31 | /////////////////////////////////////////////////////////////////////////// |
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32 | // Copyright (C) 2013 Wizardry and Steamworks - License: GNU GPLv3 // |
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33 | /////////////////////////////////////////////////////////////////////////// |
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34 | string wasKeyValueEncode(list data) { |
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35 | list k = llList2ListStrided(data, 0, -1, 2); |
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36 | list v = llList2ListStrided(llDeleteSubList(data, 0, 0), 0, -1, 2); |
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37 | data = []; |
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38 | do { |
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39 | data += llList2String(k, 0) + "=" + llList2String(v, 0); |
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40 | k = llDeleteSubList(k, 0, 0); |
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41 | v = llDeleteSubList(v, 0, 0); |
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42 | } while(llGetListLength(k) != 0); |
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43 | return llDumpList2String(data, "&"); |
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44 | } |
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45 | |||
46 | /////////////////////////////////////////////////////////////////////////// |
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47 | // Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3 // |
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48 | /////////////////////////////////////////////////////////////////////////// |
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49 | // escapes a string in conformance with RFC1738 |
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50 | string wasURLEscape(string i) { |
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51 | string o = ""; |
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52 | do { |
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53 | string c = llGetSubString(i, 0, 0); |
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54 | i = llDeleteSubString(i, 0, 0); |
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55 | if(c == "") jump continue; |
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56 | if(c == " ") { |
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57 | o += "+"; |
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58 | jump continue; |
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59 | } |
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60 | if(c == "\n") { |
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61 | o += "%0D" + llEscapeURL(c); |
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62 | jump continue; |
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63 | } |
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64 | o += llEscapeURL(c); |
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65 | @continue; |
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66 | } while(i != ""); |
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67 | return o; |
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68 | } |
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69 | |||
70 | /////////////////////////////////////////////////////////////////////////// |
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71 | // Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3 // |
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72 | /////////////////////////////////////////////////////////////////////////// |
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73 | // unescapes a string in conformance with RFC1738 |
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74 | string wasURLUnescape(string i) { |
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75 | return llUnescapeURL( |
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76 | llDumpList2String( |
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77 | llParseString2List( |
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78 | llDumpList2String( |
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79 | llParseString2List( |
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80 | i, |
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81 | ["+"], |
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82 | [] |
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83 | ), |
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84 | " " |
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85 | ), |
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86 | ["%0D%0A"], |
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87 | [] |
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88 | ), |
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89 | "\n" |
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90 | ) |
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91 | ); |
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92 | } |
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93 | |||
94 | /////////////////////////////////////////////////////////////////////////// |
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95 | // Copyright (C) 2015 Wizardry and Steamworks - License: GNU GPLv3 // |
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96 | /////////////////////////////////////////////////////////////////////////// |
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97 | list wasCSVToList(string csv) { |
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98 | list l = []; |
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99 | list s = []; |
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100 | string m = ""; |
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101 | do { |
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102 | string a = llGetSubString(csv, 0, 0); |
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103 | csv = llDeleteSubString(csv, 0, 0); |
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104 | if(a == ",") { |
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105 | if(llList2String(s, -1) != "\"") { |
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106 | l += m; |
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107 | m = ""; |
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108 | jump continue; |
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109 | } |
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110 | m += a; |
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111 | jump continue; |
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112 | } |
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113 | if(a == "\"" && llGetSubString(csv, 0, 0) == a) { |
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114 | m += a; |
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115 | csv = llDeleteSubString(csv, 0, 0); |
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116 | jump continue; |
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117 | } |
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118 | if(a == "\"") { |
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119 | if(llList2String(s, -1) != a) { |
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120 | s += a; |
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121 | jump continue; |
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122 | } |
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123 | s = llDeleteSubList(s, -1, -1); |
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124 | jump continue; |
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125 | } |
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126 | m += a; |
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127 | @continue; |
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128 | } while(csv != ""); |
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129 | // postcondition: length(s) = 0 |
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130 | return l + m; |
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131 | } |
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132 | |||
133 | // corrade data |
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134 | key CORRADE = NULL_KEY; |
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135 | string GROUP = ""; |
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136 | string PASSWORD = ""; |
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137 | list PATH = []; |
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138 | float PAUSE = 0; |
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139 | integer RANDOMIZE = FALSE; |
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140 | |||
141 | // for holding the callback URL |
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142 | string callback = ""; |
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143 | |||
144 | // for notecard reading |
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145 | integer line = 0; |
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146 | |||
147 | // key-value data will be read into this list |
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148 | list tuples = []; |
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149 | // stores COrrade's current position |
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150 | vector origin = ZERO_VECTOR; |
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151 | |||
152 | default { |
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153 | state_entry() { |
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154 | if(llGetInventoryType("configuration") != INVENTORY_NOTECARD) { |
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155 | llOwnerSay("Sorry, could not find a configuration inventory notecard."); |
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156 | return; |
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157 | } |
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158 | // DEBUG |
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159 | llOwnerSay("Reading configuration file..."); |
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160 | llGetNotecardLine("configuration", line); |
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161 | } |
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162 | dataserver(key id, string data) { |
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163 | if(data == EOF) { |
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164 | // invariant, length(tuples) % 2 == 0 |
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165 | if(llGetListLength(tuples) % 2 != 0) { |
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166 | llOwnerSay("Error in configuration notecard."); |
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167 | return; |
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168 | } |
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169 | CORRADE = llList2Key( |
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170 | tuples, |
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171 | llListFindList( |
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172 | tuples, |
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173 | [ |
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174 | "corrade" |
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175 | ] |
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176 | ) |
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177 | +1); |
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178 | if(CORRADE == NULL_KEY) { |
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179 | llOwnerSay("Error in configuration notecard: corrade"); |
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180 | return; |
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181 | } |
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182 | GROUP = llList2String( |
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183 | tuples, |
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184 | llListFindList( |
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185 | tuples, |
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186 | [ |
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187 | "group" |
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188 | ] |
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189 | ) |
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190 | +1); |
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191 | if(GROUP == "") { |
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192 | llOwnerSay("Error in configuration notecard: group"); |
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193 | return; |
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194 | } |
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195 | PASSWORD = llList2String( |
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196 | tuples, |
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197 | llListFindList( |
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198 | tuples, |
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199 | [ |
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200 | "password" |
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201 | ] |
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202 | ) |
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203 | +1); |
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204 | if(PASSWORD == "") { |
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205 | llOwnerSay("Error in configuration notecard: password"); |
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206 | return; |
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207 | } |
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208 | PATH = llCSV2List( |
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209 | llList2String( |
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210 | tuples, |
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211 | llListFindList( |
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212 | tuples, |
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213 | [ |
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214 | "path" |
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215 | ] |
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216 | ) |
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217 | +1) |
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218 | ); |
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219 | if(PATH == []) { |
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220 | llOwnerSay("Error in configuration notecard: points"); |
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221 | return; |
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222 | } |
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223 | PAUSE = llList2Float( |
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224 | tuples, |
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225 | llListFindList( |
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226 | tuples, |
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227 | [ |
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228 | "pause" |
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229 | ] |
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230 | ) |
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231 | +1); |
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232 | if(PAUSE == 0) { |
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233 | llOwnerSay("Error in configuration notecard: pause"); |
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234 | return; |
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235 | } |
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236 | string boolean = llList2String( |
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237 | tuples, |
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238 | llListFindList( |
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239 | tuples, |
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240 | [ |
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241 | "randomize" |
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242 | ] |
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243 | ) |
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244 | +1); |
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245 | if(llToLower(boolean) == "true") RANDOMIZE = TRUE; |
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246 | // DEBUG |
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247 | llOwnerSay("Read configuration notecard..."); |
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248 | state url; |
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249 | } |
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250 | if(data == "") jump continue; |
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251 | integer i = llSubStringIndex(data, "#"); |
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252 | if(i != -1) data = llDeleteSubString(data, i, -1); |
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253 | list o = llParseString2List(data, ["="], []); |
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254 | // get rid of starting and ending quotes |
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255 | string k = llDumpList2String( |
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256 | llParseString2List( |
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257 | llStringTrim( |
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258 | llList2String( |
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259 | o, |
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260 | |||
261 | ), |
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262 | STRING_TRIM), |
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263 | ["\""], [] |
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264 | ), "\""); |
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265 | string v = llDumpList2String( |
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266 | llParseString2List( |
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267 | llStringTrim( |
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268 | llList2String( |
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269 | o, |
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270 | 1 |
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271 | ), |
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272 | STRING_TRIM), |
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273 | ["\""], [] |
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274 | ), "\""); |
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275 | if(k == "" || v == "") jump continue; |
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276 | tuples += k; |
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277 | tuples += v; |
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278 | @continue; |
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279 | llGetNotecardLine("configuration", ++line); |
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280 | } |
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281 | on_rez(integer num) { |
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282 | llResetScript(); |
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283 | } |
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284 | changed(integer change) { |
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285 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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286 | llResetScript(); |
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287 | } |
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288 | } |
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289 | } |
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290 | |||
291 | state url { |
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292 | state_entry() { |
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293 | // DEBUG |
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294 | llOwnerSay("Requesting URL..."); |
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295 | llRequestURL(); |
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296 | } |
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297 | http_request(key id, string method, string body) { |
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298 | if(method != URL_REQUEST_GRANTED) return; |
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299 | callback = body; |
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300 | // DEBUG |
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301 | llOwnerSay("Got URL..."); |
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302 | state detect; |
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303 | } |
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304 | on_rez(integer num) { |
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305 | llResetScript(); |
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306 | } |
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307 | changed(integer change) { |
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308 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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309 | llResetScript(); |
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310 | } |
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311 | } |
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312 | } |
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313 | |||
314 | state detect { |
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315 | state_entry() { |
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316 | // DEBUG |
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317 | llOwnerSay("Detecting if Corrade is online..."); |
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318 | llSetTimerEvent(5); |
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319 | } |
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320 | timer() { |
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321 | llRequestAgentData((key)CORRADE, DATA_ONLINE); |
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322 | } |
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323 | dataserver(key id, string data) { |
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324 | if(data != "1") { |
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325 | // DEBUG |
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326 | llOwnerSay("Corrade is not online, sleeping..."); |
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327 | llSetTimerEvent(30); |
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328 | return; |
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329 | } |
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330 | state notify; |
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331 | } |
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332 | on_rez(integer num) { |
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333 | llResetScript(); |
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334 | } |
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335 | changed(integer change) { |
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336 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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337 | llResetScript(); |
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338 | } |
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339 | } |
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340 | } |
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341 | |||
342 | state notify { |
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343 | state_entry() { |
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344 | // DEBUG |
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345 | llOwnerSay("Binding to the collision notification..."); |
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346 | llInstantMessage( |
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347 | (key)CORRADE, |
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348 | wasKeyValueEncode( |
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349 | [ |
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350 | "command", "notify", |
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351 | "group", wasURLEscape(GROUP), |
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352 | "password", wasURLEscape(PASSWORD), |
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353 | "action", "set", |
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354 | "type", "collision", |
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355 | "URL", wasURLEscape(callback), |
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356 | "callback", wasURLEscape(callback) |
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357 | ] |
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358 | ) |
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359 | ); |
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360 | } |
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361 | http_request(key id, string method, string body) { |
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362 | llHTTPResponse(id, 200, "OK"); |
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363 | if(wasKeyValueGet("command", body) != "notify" || |
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364 | wasKeyValueGet("success", body) != "True") { |
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365 | // DEBUG |
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366 | llOwnerSay("Failed to bind to the collisioin notification..."); |
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367 | state detect; |
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368 | } |
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369 | // DEBUG |
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370 | llOwnerSay("Collision notification installed..."); |
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371 | state pause; |
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372 | } |
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373 | on_rez(integer num) { |
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374 | llResetScript(); |
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375 | } |
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376 | changed(integer change) { |
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377 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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378 | llResetScript(); |
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379 | } |
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380 | } |
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381 | } |
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382 | |||
383 | state pause { |
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384 | state_entry() { |
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385 | //DEBUG |
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386 | llOwnerSay("Pausing..."); |
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387 | // Check whether Corrade is still online first. |
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388 | llRequestAgentData((key)CORRADE, DATA_ONLINE); |
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389 | } |
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390 | dataserver(key id, string data) { |
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391 | if(data != "1") { |
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392 | // DEBUG |
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393 | llOwnerSay("Corrade is not online, sleeping..."); |
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394 | llSetTimerEvent(30); |
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395 | return; |
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396 | } |
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397 | // Corrade is online, so schedule the next walk. |
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398 | if(RANDOMIZE) { |
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399 | // The minimal trigger time for a timer event is ~0.045s |
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400 | // This ensures we do not end up stuck in the pause state. |
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401 | llSetTimerEvent(0.045 + llFrand(PAUSE - 0.045)); |
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402 | return; |
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403 | } |
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404 | llSetTimerEvent(PAUSE); |
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405 | } |
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406 | timer() { |
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407 | llSetTimerEvent(0); |
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408 | state find; |
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409 | } |
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410 | } |
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411 | |||
412 | state find { |
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413 | state_entry() { |
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414 | // We now query Corrade for its current position. |
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415 | llInstantMessage(CORRADE, |
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416 | wasKeyValueEncode( |
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417 | [ |
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418 | "command", "getselfdata", |
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419 | "group", wasURLEscape(GROUP), |
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420 | "password", wasURLEscape(PASSWORD), |
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421 | "data", "SimPosition", |
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422 | "callback", wasURLEscape(callback) |
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423 | ] |
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424 | ) |
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425 | ); |
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426 | // alarm 60 for Corrade not responding |
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427 | llSetTimerEvent(60); |
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428 | } |
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429 | timer() { |
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430 | llSetTimerEvent(0); |
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431 | // DEBUG |
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432 | llOwnerSay("Corrade not responding to data query..."); |
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433 | state pause; |
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434 | } |
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435 | http_request(key id, string method, string body) { |
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436 | llHTTPResponse(id, 200, "OK"); |
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437 | list data = wasCSVToList( |
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438 | wasKeyValueGet( |
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439 | "data", |
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440 | wasURLUnescape(body) |
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441 | ) |
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442 | ); |
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443 | origin= (vector)llList2String( |
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444 | data, |
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445 | llListFindList( |
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446 | data, |
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447 | (list)"SimPosition" |
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448 | )+1 |
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449 | ); |
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450 | state walk; |
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451 | } |
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452 | on_rez(integer num) { |
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453 | llResetScript(); |
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454 | } |
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455 | changed(integer change) { |
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456 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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457 | llResetScript(); |
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458 | } |
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459 | } |
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460 | } |
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461 | |||
462 | state walk { |
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463 | state_entry() { |
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464 | // DEBUG |
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465 | llOwnerSay("Walking..."); |
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466 | |||
467 | // extract next destination and permute the set |
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468 | vector next = (vector)llList2String(PATH, 0); |
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469 | PATH = llDeleteSubList(PATH, 0, 0); |
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470 | PATH += next; |
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471 | |||
472 | llInstantMessage(CORRADE, |
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473 | wasKeyValueEncode( |
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474 | [ |
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475 | "command", "autopilot", |
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476 | "group", wasURLEscape(GROUP), |
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477 | "password", wasURLEscape(PASSWORD), |
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478 | "position", next, |
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479 | "action", "start" |
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480 | ] |
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481 | ) |
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482 | ); |
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483 | // We now determine the waiting time for Corrade to reach |
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484 | // its next destination by extracting time as a function |
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485 | // of the distance it has to walk and the speed of travel: |
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486 | // t = s / v |
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487 | // This, of course, is prone to error since the distance |
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488 | // is calculated on the shortest direct path. Nevertheless, |
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489 | // it is a pretty good appoximation for terrain that is |
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490 | // mostly flat and without too many curvatures. |
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491 | // NB. 3.20 m/s is the walking speed of an avatar. |
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492 | llSetTimerEvent(llVecDist(origin, next)/3.20); |
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493 | } |
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494 | http_request(key id, string method, string body) { |
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495 | // since we have bound to the collision notification, |
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496 | // this region of code deals with Corrade colliding |
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497 | // with in-world assets; in which case, we stop |
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498 | // moving to not seem awkward |
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499 | |||
500 | // DEBUG |
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501 | llOwnerSay("Collided..."); |
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502 | |||
503 | llHTTPResponse(id, 200, "OK"); |
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504 | |||
505 | llInstantMessage(CORRADE, |
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506 | wasKeyValueEncode( |
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507 | [ |
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508 | "command", "autopilot", |
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509 | "group", wasURLEscape(GROUP), |
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510 | "password", wasURLEscape(PASSWORD), |
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511 | "action", "stop" |
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512 | ] |
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513 | ) |
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514 | ); |
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515 | // We did not reach our destination since we collided with |
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516 | // something on our path, so switch directly to waiting and |
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517 | // attempt to reach the next destination on our path. |
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518 | state pause; |
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519 | } |
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520 | timer() { |
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521 | // We most likely reached our destination, so switch to pause. |
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522 | llSetTimerEvent(0); |
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523 | state pause; |
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524 | } |
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525 | on_rez(integer num) { |
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526 | llResetScript(); |
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527 | } |
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528 | changed(integer change) { |
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529 | if((change & CHANGED_INVENTORY) || (change & CHANGED_REGION_START)) { |
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530 | llResetScript(); |
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531 | } |
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532 | } |
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533 | } |
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534 |