i dont care

gui.cpp

@@ -28,44 +28,35 @@
 #include "gui.hpp"
 #include "ogl.hpp"
 
-static const int REFRESH_MS = 0.016; // for 60 fps.
-
 static void redraw_callback(void * arg) {
   GlGui * window = static_cast<GlGui *>(arg);
   window->redraw();
-  if(!window->isFinished())
-    Fl::repeat_timeout(REFRESH_MS, redraw_callback, window);
 }
 
 GlGui::GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, PheromoneMap * phero_map) : Fl_Gl_Window(x, y, w, h, l) {
+  mode(FL_RGB | FL_DOUBLE);
+
   this->parent = parent;
   this->phero_map = phero_map;
   title += l;
   initialized = false;
-  done = false;
+
+  Fl::add_idle(redraw_callback, this);
 }
 
 void GlGui::draw() {
   if(!valid()) {
     if(!initialized) {
       ogl::initialize(phero_map);
-      Fl::add_timeout(REFRESH_MS, redraw_callback, this);
       initialized = true;
     }
     ogl::reshape(w(), h());
   }
 
+  phero_map->s_update();
   ogl::display();
 }
 
 int GlGui::handle(int event) {
   return Fl_Gl_Window::handle(event);
 }
-
-void GlGui::finish() {
-  done = true;
-}
-
-bool GlGui::isFinished() {
-  return done;
-}

gui.hpp

@@ -37,8 +37,6 @@
 class GlGui : public Fl_Gl_Window {
 public:
   GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, PheromoneMap * phero_map);
-  void finish();
-  bool isFinished();
 
 protected:
   virtual void draw();
@@ -48,7 +46,6 @@ private:
   Fl_Window * parent;
   std::string title;
   bool initialized;
-  bool done;
   PheromoneMap * phero_map;
 };
 

ias_robot.cpp

@@ -32,7 +32,8 @@ static const float  TURN_DEG_PER_SEC = 40.0f;
 static const float  METERS_PER_SEC   = 0.4f;
 static const long   HALF_SECOND_USEC = 500000;
 static const double MIN_DIST_M       = 1.5;
-static const double CRIT_DIST_M       = 1.0;
+static const double CRIT_DIST_M      = 1.0;
+static const float  MAP_SIZE         = 16.0f;
 
 IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
   _phero_map = phero_map;
@@ -45,6 +46,7 @@ IASSS_Robot::~IASSS_Robot() {
 
 void IASSS_Robot::run() {
   int    rv;
+  float  x, y;
   long   then, now, delta, wait;
   struct timeval tv;
   double dist   = std::numeric_limits<double>::infinity();
@@ -72,6 +74,12 @@ void IASSS_Robot::run() {
   now = tv.tv_usec;
   delta = now - then;
 
+  if(_phero_map != NULL) {
+    x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
+    y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
+    _phero_map->s_draw_point(x, y);
+  }
+
   // Sleep for a bit before finishing this control iteration.
   wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
   usleep(wait);

ias_ss.cpp

@@ -44,11 +44,6 @@ static PheromoneMap * phero_map = NULL;
 
 extern "C" void handler(int signal) {
   done = true;
-
-  if(window != NULL) {
-    glWindow->finish();
-    window->hide();
-  }
 }
   
 extern "C" void * robot_thread(void * arg) {
@@ -56,8 +51,10 @@ extern "C" void * robot_thread(void * arg) {
 
   std::cout << "Running robot thread." << std::endl;
 
-  while(!done)
+  while(!done) {
     robot->run();
+    pthread_testcancel();
+  }
 
   return NULL;
 }
@@ -92,7 +89,10 @@ int main(int argc, char **argv) {
     create_gui(argc, argv);
     Fl::run();
     
-    // Wait for all the robots to finish.
+    // Finish all the robots.
+    for(uint32_t i = 0; i < NUM_ROBOTS; ++i)
+      pthread_cancel(robot_threads[i]);
+
     for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
       if(pthread_join(robot_threads[i], NULL) != 0) {
 	perror("Could not join robot thread");

ogl.cpp

@@ -28,7 +28,6 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/matrix_transform.hpp>
 #include <glm/gtc/type_ptr.hpp>
-#include <pnglite.h>
 
 #include "ogl.hpp"
 #include "GLSLProgram.hpp"
@@ -41,21 +40,24 @@ namespace ogl
   static CGLSLProgram m_program;
   static PheromoneMap * m_phero_map = NULL;
   static GLuint m_textureHandle;
+  static GLuint m_gradientHandle;
 
   // Quad definition
   static glm::vec4 vec_points[6];
   static glm::vec2 vec_tex_coords[6];
   
   static void quad() {
-    vec_tex_coords[0] = glm::vec2( 0.0f,  0.0f); vec_points[0] = glm::vec4( -0.5f, -0.5f, 0.0f, 1.0f );
+    vec_tex_coords[0] = glm::vec2( 0.0f,  1.0f); vec_points[0] = glm::vec4( -0.5f, -0.5f, 0.0f, 1.0f );
-    vec_tex_coords[1] = glm::vec2( 0.0f,  1.0f); vec_points[1] = glm::vec4( -0.5f,  0.5f, 0.0f, 1.0f );
+    vec_tex_coords[1] = glm::vec2( 0.0f,  0.0f); vec_points[1] = glm::vec4( -0.5f,  0.5f, 0.0f, 1.0f );
-    vec_tex_coords[2] = glm::vec2( 1.0f,  0.0f); vec_points[2] = glm::vec4(  0.5f, -0.5f, 0.0f, 1.0f );
+    vec_tex_coords[2] = glm::vec2( 1.0f,  1.0f); vec_points[2] = glm::vec4(  0.5f, -0.5f, 0.0f, 1.0f );
-    vec_tex_coords[3] = glm::vec2( 1.0f,  0.0f); vec_points[3] = glm::vec4(  0.5f, -0.5f, 0.0f, 1.0f );
+    vec_tex_coords[3] = glm::vec2( 1.0f,  1.0f); vec_points[3] = glm::vec4(  0.5f, -0.5f, 0.0f, 1.0f );
-    vec_tex_coords[4] = glm::vec2( 0.0f,  1.0f); vec_points[4] = glm::vec4( -0.5f,  0.5f, 0.0f, 1.0f );
+    vec_tex_coords[4] = glm::vec2( 0.0f,  0.0f); vec_points[4] = glm::vec4( -0.5f,  0.5f, 0.0f, 1.0f );
-    vec_tex_coords[5] = glm::vec2( 1.0f,  1.0f); vec_points[5] = glm::vec4(  0.5f,  0.5f, 0.0f, 1.0f );
+    vec_tex_coords[5] = glm::vec2( 1.0f,  0.0f); vec_points[5] = glm::vec4(  0.5f,  0.5f, 0.0f, 1.0f );
   }
 
   void initialize(PheromoneMap * phero_map) {
+    glEnable(GL_TEXTURE_2D);
+
     glewInit();
 
     quad();
@@ -74,7 +76,7 @@ namespace ogl
 
   void display() {
     glClear(GL_COLOR_BUFFER_BIT);
-    glClearColor(0.15f, 0.15f, 0.15f, 1.0f);
+    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
 
     if(m_phero_map != NULL)
       m_textureHandle = m_phero_map->s_build_texture(); // Good grief!
@@ -82,7 +84,7 @@ namespace ogl
     m_program.enable();
     glActiveTexture(GL_TEXTURE0);
     glBindTexture(GL_TEXTURE_2D, m_textureHandle);
-    glUniform1i(m_program.getLocation("sTexture"), 0);
+    glUniform1i(m_program.getLocation("sTexture"), GL_TEXTURE0);
 
     glBegin(GL_TRIANGLES); {
       for(int i = 0; i < 6; i++) {

pheromone.cpp

@@ -8,6 +8,7 @@ PheromoneMap::PheromoneMap(const char * file_name) {
   load_map(file_name);
   sem_init(&map_semaphore, 0, 1);
   tex_created = false;
+  then = 0;
 }
 
 PheromoneMap::~PheromoneMap() {
@@ -26,7 +27,7 @@ void PheromoneMap::load_map(const char * file_name) {
 
   png_init(0, 0);
   png_open_file_read(&tex, file_name);
-  data = (unsigned char*) malloc(tex.width * tex.height * tex.bpp);
+  data = static_cast<unsigned char *>(malloc(tex.width * tex.height * tex.bpp));
   png_get_data(&tex, data);
 
   std::cout << "Loaded map \"" << file_name << "\" :: " << tex.width << "x" << tex.height << "x" << (int)tex.bpp << std::endl;
@@ -48,7 +49,7 @@ GLuint PheromoneMap::s_build_texture() {
     glGenTextures(1, &handle);
     glActiveTexture(GL_TEXTURE0);
     glBindTexture(GL_TEXTURE_2D, handle);
-    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_width, m_height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
 
@@ -57,3 +58,56 @@ GLuint PheromoneMap::s_build_texture() {
 
   return handle;
 }
+
+void PheromoneMap::s_draw_point(float x, float y) {
+  int _x = m_width * x;
+  int _y = m_height - (m_height * y);
+
+  sem_wait(&map_semaphore); {
+    data[(_y * m_height) + _x] = 249;
+  } sem_post(&map_semaphore);
+}
+
+void PheromoneMap::s_update() {
+  clock_t now = clock();
+  
+  if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.005) {
+    return;
+  }
+
+  then = now;
+  
+  sem_wait(&map_semaphore); {
+    for(int i = 1; i < m_height - 1; i++) {
+      for(int j = 1; j < m_width - 1; j++) {
+	if(data[(i * m_height) + j] > 10 && data[(i * m_height) + j] < 250){
+	  data[(i * m_height) + j] -= 1;
+	
+	  if(data[((i - 1) * m_height) + (j - 1)] < 250)
+	    data[((i - 1) * m_height) + (j - 1)] = data[(i * m_height) + j];
+	
+	  if(data[((i - 1) * m_height) + j] < 250)
+	    data[((i - 1) * m_height) + j] = data[(i * m_height) + j];
+	
+	  if(data[((i - 1) * m_height) + (j + 1)] < 250)
+	    data[((i - 1) * m_height) + (j + 1)] = data[(i * m_height) + j];
+	
+	  if(data[(i * m_height) + (j - 1)] < 250)
+	    data[(i * m_height) + (j - 1)] = data[(i * m_height) + j];
+	
+	  if(data[(i * m_height) + (j + 1)] < 250)
+	    data[(i * m_height) + (j + 1)] = data[(i * m_height) + j];
+	
+	  if(data[((i + 1) * m_height) + (j - 1)] < 250)
+	    data[((i + 1) * m_height) + (j - 1)] = data[(i * m_height) + j];
+	
+	  if(data[((i + 1) * m_height) + j] < 250)
+	    data[((i + 1) * m_height) + j] = data[(i * m_height) + j];
+	
+	  if(data[((i + 1) * m_height) + (j + 1)] < 250)
+	    data[((i + 1) * m_height) + (j + 1)] = data[(i * m_height) + j];
+	}
+      }
+    }
+  } sem_post(&map_semaphore);
+}

pheromone.hpp

@@ -1,8 +1,9 @@
 #ifndef PHEROMONE_HPP
 #define PHEROMONE_HPP
 
-#include <GL/gl.h>
+#include <ctime>
 #include <semaphore.h>
+#include <GL/gl.h>
 
 class PheromoneMap {
 public:
@@ -10,15 +11,18 @@ public:
   ~PheromoneMap();
 
   GLuint s_build_texture();
+  void s_draw_point(float x, float y);
+  void s_update();
   
 private:
   unsigned char * data;
   unsigned        m_width;
   unsigned        m_height;
   unsigned char   m_bpp;
-  sem_t map_semaphore;
+  sem_t           map_semaphore;
-  bool tex_created;
+  bool            tex_created;
-  GLuint handle;
+  GLuint          handle;
+  clock_t         then;
 
   void load_map(const char * file_name);
 };

shaders/basic.frag

@@ -2,8 +2,7 @@
 
 uniform sampler2D sTexture;
 
-void main(void) {
+void main() {
   vec4 tex = texture2D(sTexture, gl_TexCoord[0].st);
   gl_FragColor = clamp(tex, 0.0, 1.0);
-  //gl_FragColor = vec4(gl_TexCoord[0].s, gl_TexCoord[0].t, 0.0, 1.0);
 }