From a2d0da24044725064bbd92a38ea66d5efd82401c Mon Sep 17 00:00:00 2001
From: Miguel Angel Astor Romero <sonofgrendel@gmail.com>
Date: Tue, 21 Feb 2017 17:17:35 -0400
Subject: [PATCH] Better texture handling.

---
 ias_robot.cpp | 12 ++++++------
 pheromone.cpp | 32 +++++++++++---------------------
 pheromone.hpp |  1 -
 3 files changed, 17 insertions(+), 28 deletions(-)

diff --git a/ias_robot.cpp b/ias_robot.cpp
index aae3552..2bd1d79 100644
--- a/ias_robot.cpp
+++ b/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;
 }
diff --git a/pheromone.cpp b/pheromone.cpp
index ce8e710..9fa3658 100644
--- a/pheromone.cpp
+++ b/pheromone.cpp
@@ -55,8 +55,9 @@ static inline float random_n(float r) {
 PheromoneMap::PheromoneMap(const char * file_name) {
   load_map(file_name);
   sem_init(&map_semaphore, 0, 1);
-  tex_created = false;
   then = 0;
+
+  glGenTextures(1, &handle);
 }
 
 PheromoneMap::~PheromoneMap() {
@@ -64,11 +65,9 @@ PheromoneMap::~PheromoneMap() {
   delete tex_data;
   sem_destroy(&map_semaphore);
 
-  if(tex_created) {
-    glActiveTexture(GL_TEXTURE0);
-    glBindTexture(GL_TEXTURE_2D, handle);
-    glDeleteTextures(1, &handle);
-  }
+  glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_2D, handle);
+  glDeleteTextures(1, &handle);
 }
 
 void PheromoneMap::load_map(const char * file_name) {
@@ -97,25 +96,16 @@ void PheromoneMap::load_map(const char * file_name) {
 
 GLuint PheromoneMap::s_build_texture() {
   sem_wait(&map_semaphore); {
-    if(tex_created) {
-      glActiveTexture(GL_TEXTURE0);
-      glBindTexture(GL_TEXTURE_2D, handle);
-      glDeleteTextures(1, &handle);
-    }
-
     for(unsigned int i = 0; i < (m_width * m_height * m_bpp); i++) {
       tex_data[i] = static_cast<unsigned char>(data[i]);
     }
-
-    glGenTextures(1, &handle);
-    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);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-
-    tex_created = true;
   } 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);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 
   return handle;
 }
diff --git a/pheromone.hpp b/pheromone.hpp
index d9ca139..72a6e70 100644
--- a/pheromone.hpp
+++ b/pheromone.hpp
@@ -78,7 +78,6 @@ private:
   unsigned        m_height;
   unsigned char   m_bpp;
   sem_t           map_semaphore;
-  bool            tex_created;
   GLuint          handle;
   clock_t         then;