WallyHackenslacker/IAS-SS
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Wally Hackenslacker
2016-06-26 06:54:18 -04:00
parent 87859fa044
commit 5d4529f6d8
10 changed files with 98 additions and 43 deletions
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19
gui.cpp
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@@ -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;
}

3
gui.hpp
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@@ -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;
};

8
ias_robot.cpp
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@@ -33,6 +33,7 @@ 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 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);

14
ias_ss.cpp
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@@ -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");

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maps/cave_mask.png
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maps/gradient.png
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20
ogl.cpp
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@@ -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[1] = glm::vec2( 0.0f, 1.0f); 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[3] = glm::vec2( 1.0f, 0.0f); 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[5] = glm::vec2( 1.0f, 1.0f); vec_points[5] = 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, 0.0f); vec_points[1] = 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, 1.0f); vec_points[3] = 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, 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++) {

58
pheromone.cpp
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@@ -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);
}

6
pheromone.hpp
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@@ -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:
@@ -10,6 +11,8 @@ public:
~PheromoneMap();
GLuint s_build_texture();
void s_draw_point(float x, float y);
void s_update();
private:
unsigned char * data;
@@ -19,6 +22,7 @@ private:
sem_t map_semaphore;
bool tex_created;
GLuint handle;
clock_t then;
void load_map(const char * file_name);
};

3
shaders/basic.frag
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@@ -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);
}