Pheromone sensing on the way.

pheromone.hpp

@@ -1,6 +1,32 @@
+/*************************************************************************************
+ * Copyright (c) 2016, Miguel Angel Astor Romero                                     *
+ * All rights reserved.                                                              *
+ *                                                                                   *
+ * Redistribution and use in source and binary forms, with or without                *
+ * modification, are permitted provided that the following conditions are met:       *
+ *                                                                                   *
+ * 1. Redistributions of source code must retain the above copyright notice, this    *
+ *    list of conditions and the following disclaimer.                               *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,      *
+ *    this list of conditions and the following disclaimer in the documentation      *
+ *    and/or other materials provided with the distribution.                         *
+ *                                                                                   *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND   *
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED     *
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE            *
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR   *
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES    *
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;      *
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND       *
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT        *
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS     *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                      *
+ *************************************************************************************/
+
 #ifndef PHEROMONE_HPP
 #define PHEROMONE_HPP
 
+#include <cstring>
 #include <ctime>
 #include <semaphore.h>
 #include <GL/gl.h>
@@ -8,6 +34,23 @@
 extern const unsigned char MAX_PHERO_INTENSITY;
 extern const unsigned char MIN_PHERO_INTENSITY;
 
+const unsigned int NUM_PHERO_SAMPLES = 180;
+
+typedef struct PHERO_SENSOR {
+  float samples[NUM_PHERO_SAMPLES];
+
+  PHERO_SENSOR() {
+    memset(this->samples, 0.0f, NUM_PHERO_SAMPLES);
+  }
+  
+  float operator[](unsigned int index) {
+    if(index >= NUM_PHERO_SAMPLES)
+      return -1.0f;
+    else
+      return this->samples[index];
+  }
+} phero_sensor_t;
+
 class PheromoneMap {
 public:
   PheromoneMap(const char * file_name);
@@ -16,6 +59,7 @@ public:
   GLuint s_build_texture();
   bool s_deposit_pheromone(float x, float y);
   void s_evaporate();
+  void s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius);
   
 private:
   unsigned char * data;