fzea vlnzuueck

ant.world

@@ -35,7 +35,7 @@ window
 
 floorplan
 (
-	bitmap "maps/cave.png"
+	bitmap "maps/empty.png"
 	size [ 16.000 16.000 1.500 ]
 )
 

ias_robot.cpp

@@ -134,7 +134,7 @@ float IASSS_Robot::brss() {
   std::map<int, float> U, V;
   unsigned int         i_min, i_max;
   float                min, sample, prob, max, sum_uv = 0.0f, steer;
-  // std::ostringstream   oss;
+  std::ostringstream   oss;
 
   while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) {
     min = std::numeric_limits<double>::max();
@@ -221,12 +221,12 @@ float IASSS_Robot::brss() {
 
   steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max;
 
-  // oss << "samples: " << std::endl;
-  // for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
-  //   oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
-  // oss << "\ti_max: " << i_max << " | Steer: " << steer;
+  oss << "samples: " << std::endl;
+  for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
+    oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
+  oss << "\ti_max: " << i_max << " | Steer: " << steer;
   
-  // log(oss.str());
+  log(oss.str());
 
   return steer;
 }

ias_ss.cpp

@@ -74,7 +74,7 @@ int main(int argc, char **argv) {
   signal(SIGINT, handler);
 
   try {
-    phero_map = new PheromoneMap("maps/cave_mask.png");
+    phero_map = new PheromoneMap(argc > 1 ? argv[1] : "maps/cave_mask.png");
 
     // Initialize the robot objects and threads.
     for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {

ogl.cpp

@@ -28,6 +28,7 @@
 #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"
@@ -38,6 +39,7 @@ namespace ogl
   static CGLSLProgram m_program;
   static PheromoneMap * m_phero_map = NULL;
   static GLuint m_textureHandle;
+  static GLuint m_colorMapHandle;
 
   // Quad definition
   static glm::vec4 vec_points[6];
@@ -52,19 +54,43 @@ namespace ogl
     vec_tex_coords[5] = glm::vec2( 1.0f,  0.0f); vec_points[5] = glm::vec4(  0.5f,  0.5f, 0.0f, 1.0f );
   }
 
+  void build_color_map() {
+    png_t tex;
+
+    png_init(0, 0);
+    png_open_file_read(&tex, "shaders/color_map.png");
+    unsigned char * data = new unsigned char[tex.width * tex.height * tex.bpp];
+    png_get_data(&tex, data);
+
+    glEnable(GL_TEXTURE_1D);
+    glGenTextures(1, &m_colorMapHandle);
+    glEnable(GL_TEXTURE_1D);
+    glBindTexture(GL_TEXTURE_1D, m_colorMapHandle);
+    glTexImage1D(GL_TEXTURE_1D, 0, GL_RGB, tex.width, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
+    glTexParameteri(GL_TEXTURE_1D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_1D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+    png_close_file(&tex);
+    delete data;
+  }
+  
   void initialize(PheromoneMap * phero_map) {
+    glEnable(GL_TEXTURE_1D);
     glEnable(GL_TEXTURE_2D);
 
     glewInit();
 
     quad();
     m_phero_map = phero_map;
+
+    build_color_map();
     
     m_program.loadShader("shaders/basic.vert", CGLSLProgram::VERTEX);
     m_program.loadShader("shaders/basic.frag", CGLSLProgram::FRAGMENT);
     m_program.create_link();
     m_program.enable();
     m_program.addUniform("sTexture");
+    m_program.addUniform("sColorMap");
     m_program.disable();
 
     std::cout << "OpenGL Version: " << (char*)glGetString(GL_VERSION) << std::endl;
@@ -76,13 +102,22 @@ namespace ogl
     glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
 
     if(m_phero_map != NULL)
-      m_textureHandle = m_phero_map->s_build_texture(); // Good grief!
+      m_textureHandle = m_phero_map->s_build_texture();
     
     m_program.enable();
-    glActiveTexture(GL_TEXTURE0);
-    glBindTexture(GL_TEXTURE_2D, m_textureHandle);
-    glUniform1i(m_program.getLocation("sTexture"), GL_TEXTURE0);
 
+    glActiveTexture(GL_TEXTURE0);
+    glEnable(GL_TEXTURE_2D);
+    glBindTexture(GL_TEXTURE_2D, m_textureHandle);
+    glUniform1i(m_program.getLocation("sTexture"), 0);
+
+    glActiveTexture(GL_TEXTURE1);
+    glEnable(GL_TEXTURE_1D);
+    glBindTexture(GL_TEXTURE_1D, m_colorMapHandle);
+    glUniform1i(m_program.getLocation("sColorMap"), 1);
+
+    glActiveTexture(GL_TEXTURE0);
+    
     glBegin(GL_TRIANGLES); {
       for(int i = 0; i < 6; i++) {
 	glTexCoord2f(vec_tex_coords[i].s, vec_tex_coords[i].t);

pheromone.cpp

@@ -62,7 +62,6 @@ PheromoneMap::PheromoneMap(const char * file_name) {
 
 PheromoneMap::~PheromoneMap() {
   delete data;
-  delete tex_data;
   sem_destroy(&map_semaphore);
 
   glActiveTexture(GL_TEXTURE0);
@@ -71,13 +70,12 @@ PheromoneMap::~PheromoneMap() {
 }
 
 void PheromoneMap::load_map(const char * file_name) {
-  unsigned char * _data;
   png_t tex;
 
   png_init(0, 0);
   png_open_file_read(&tex, file_name);
-  _data = new unsigned char[tex.width * tex.height * tex.bpp];
-  png_get_data(&tex, _data);
+  data = new unsigned char[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;
   m_width  = tex.width;
@@ -85,28 +83,20 @@ void PheromoneMap::load_map(const char * file_name) {
   m_bpp    = tex.bpp;
   
   png_close_file(&tex);
-
-  data = new int[tex.width * tex.height * tex.bpp];
-  tex_data = new unsigned char[tex.width * tex.height * tex.bpp];
-  for(unsigned int i = 0; i < (tex.width * tex.height * tex.bpp); i++) {
-    data[i] = _data[i];
-  }
-  delete _data;
 }
 
 GLuint PheromoneMap::s_build_texture() {
-  sem_wait(&map_semaphore); {
-    for(unsigned int i = 0; i < (m_width * m_height * m_bpp); i++) {
-      tex_data[i] = static_cast<unsigned char>(data[i]);
-    }
-  } sem_post(&map_semaphore);
-  
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, handle);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, tex_data);
+  sem_wait(&map_semaphore); {
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
+  } sem_post(&map_semaphore);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 
+  glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_2D, 0);
+  
   return handle;
 }
 

pheromone.hpp

@@ -72,8 +72,7 @@ public:
   void s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius);
   
 private:
-  int *           data;
-  unsigned char * tex_data;
+  unsigned char * data;
   unsigned        m_width;
   unsigned        m_height;
   unsigned char   m_bpp;

shaders/basic.frag

@@ -1,9 +1,10 @@
 #version 120
 
 uniform sampler2D sTexture;
+uniform sampler1D sColorMap;
 
 void main() {
   vec4 tex = texture2D(sTexture, gl_TexCoord[0].st);
-  vec4 color = mix(vec4(0.0, 0.0, 0.3, 1.0), vec4(1.0, 1.0, 0.0, 1.0), tex.r);
-  gl_FragColor = clamp(color, 0.0, 1.0);
+  vec4 map = texture1D(sColorMap, tex.r);
+  gl_FragColor = map;
 }