Added LICENSE notices. Separated robot definition from implementation.

Makefile

@@ -1,19 +1,47 @@
+# 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.
+
 CXX = g++
 TARGET = ias-ss
-OBJECTS = ias_ss.o robot.o
+OBJECTS = ias_ss.o robot.o ias_robot.o
-CFLAGS = -ansi -pedantic -Wall -g `pkg-config --cflags playerc++` -g
+DEPENDS = $(OBJECTS:.o=.d)
+CXXFLAGS = -ansi -pedantic -Wall `pkg-config --cflags playerc++`
 LDLIBS = `pkg-config --libs playerc++` -lboost_system -lpthread
 
+all: CXXFLAGS += -O2 -D_NDEBUG
 all: $(TARGET)
 
-$(TARGET): $(OBJECTS)
+debug: CXXFLAGS += -g
-	$(CXX) $(CFLAGS) -o $(TARGET) $(OBJECTS) $(LDLIBS)
+debug: $(TARGET)
 
--include $(OBJECTS:.o=.d)
+$(TARGET): $(OBJECTS)
+	$(CXX) $(CXXFLAGS) -o $(TARGET) $(OBJECTS) $(LDLIBS)
+
+-include $(DEPENDS)
 
 %.o: %.cpp
-	$(CXX) -c $(CFLAGS) $*.cpp -o $*.o
+	$(CXX) -c $(CXXFLAGS) $*.cpp -o $*.o
-	$(CXX) -MM $(CFLAGS) $*.cpp > $*.d
+	$(CXX) -MM $(CXXFLAGS) $*.cpp > $*.d
 
 clean:
-	$(RM) $(TARGET) $(OBJECTS) *.d
+	$(RM) $(TARGET) $(OBJECTS) $(DEPENDS)

ant.cfg

@@ -1,3 +1,26 @@
+# 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.
+
 driver
 (
 	name "stage"

ant.world

@@ -1,3 +1,26 @@
+# 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.
+
 include "map.inc"
 include "ant_bot.inc"
 

ant_bot.inc

@@ -1,3 +1,26 @@
+# 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.
+
 define ant_sensor sensor
 (
 	size [0.01 0.05 0.01 ] 

ias_robot.cpp

@@ -0,0 +1,50 @@
+/*************************************************************************************
+ * 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.                      *
+ *************************************************************************************/
+
+#include "ias_robot.hpp"
+
+IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port) : Robot(hostname, port) {
+  std::cout << "Creating IAS-SS robot on host \"" << hostname << "\" and port " << port << "." << std::endl;
+}
+
+IASSS_Robot::~IASSS_Robot() {
+  std::cout << "Destroying IAS-SS robot." << std::endl;
+}
+
+void IASSS_Robot::run() {
+  _p_client->Read();
+  
+  if(_r_proxy->GetRange(1) < 1.0) {
+    if(_r_proxy->GetRange(0) > 1.0)
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
+    else if(_r_proxy->GetRange(2) > 1.0)
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
+    else
+      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(180));
+  } else {
+    _p_proxy->SetSpeed(0.3f, 0.0f);
+  }
+  sleep(1);
+}

ias_robot.hpp

@@ -0,0 +1,50 @@
+/*************************************************************************************
+ * 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 IAS_ROBOT_HPP
+#define IAS_ROBOT_HPP
+
+#include "robot.hpp"
+
+/**
+ * Concrete robot that implements the IAS-SS architecture as defined in:
+ *
+ *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
+ *      Unknown Environments", The Third International Conference on Advanced
+ *      Cognitive Technologies and Applications, Rome, Italy 2011.
+ *
+ *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
+ *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
+ *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
+ */
+class IASSS_Robot : Robot {
+public:
+  IASSS_Robot(std::string hostname, uint32_t port);
+  virtual ~IASSS_Robot();
+
+  virtual void run();
+};
+
+#endif

ias_ss.cpp

@@ -28,10 +28,9 @@
 #include <cstdlib>
 #include <csignal>
 
-#include "robot.hpp"
+#include "ias_robot.hpp"
 
-const std::string HOST_NAME = "localhost";
+const uint32_t    PORT = PlayerCc::PLAYER_PORTNUM + 1;
-const uint32_t    PORT = 6666;
 const uint32_t    NUM_ROBOTS = 4;
 
 static bool done = false;
@@ -62,7 +61,7 @@ int main(int argc, char **argv) {
   try {
     // Initialize the robot objects and threads.
     for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
-      robots.push_back(new IASSS_Robot(HOST_NAME, PORT + i));
+      robots.push_back(new IASSS_Robot(PlayerCc::PLAYER_HOSTNAME, PORT + i));
 
       if(pthread_create(&robot_threads[i], NULL, robot_thread, static_cast<void *>(robots[i])) != 0) {
 	perror("Could not create robot thread");

map.inc

@@ -1,3 +1,26 @@
+# 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.
+
 define floorplan model
 (
 	color "gray30"

robot.cpp

@@ -35,32 +35,7 @@ Robot::Robot(std::string hostname, uint32_t port) {
 }
 
 Robot::~Robot() {
-  std::cout << "Destroying robot" << std::endl;
   delete _p_proxy;
   delete _r_proxy;
   delete _p_client;
 }
-
-IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port) : Robot(hostname, port) {
-  std::cout << "Creating IAS-SS robot on host \"" << hostname << "\" and port " << port << "." << std::endl;
-}
-
-IASSS_Robot::~IASSS_Robot() {
-  std::cout << "Destroying IAS-SS robot." << std::endl;
-}
-
-void IASSS_Robot::run() {
-  _p_client->Read();
-  
-  if(_r_proxy->GetRange(1) < 1.0) {
-    if(_r_proxy->GetRange(0) > 1.0)
-      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(-45));
-    else if(_r_proxy->GetRange(2) > 1.0)
-      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(45));
-    else
-      _p_proxy->SetSpeed(0.0f, PlayerCc::dtor(180));
-  } else {
-    _p_proxy->SetSpeed(0.3f, 0.0f);
-  }
-  sleep(1);
-}

robot.hpp

@@ -46,23 +46,4 @@ protected:
   PlayerCc::RangerProxy *     _r_proxy;
 };
 
-/**
- * Concrete robot that implements the IAS-SS architecture as defined in:
- *
- *   1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
- *      Unknown Environments", The Third International Conference on Advanced
- *      Cognitive Technologies and Applications, Rome, Italy 2011.
- *
- *   2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
- *      for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
- *      Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
- */
-class IASSS_Robot : Robot{
-public:
-  IASSS_Robot(std::string hostname, uint32_t port);
-  virtual ~IASSS_Robot();
-
-  virtual void run();
-};
-
 #endif