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Added LICENSE notices. Separated robot definition from implementation.

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Wally Hackenslacker
2016-06-21 03:22:29 -04:00
parent dfcc650f29
commit df09ae9dfe
10 changed files with 231 additions and 56 deletions
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44
Makefile
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@@ -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
CFLAGS = -ansi -pedantic -Wall -g `pkg-config --cflags playerc++` -g
OBJECTS = ias_ss.o robot.o ias_robot.o
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)
$(CXX) $(CFLAGS) -o $(TARGET) $(OBJECTS) $(LDLIBS)
debug: CXXFLAGS += -g
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) -MM $(CFLAGS) $*.cpp > $*.d
$(CXX) -c $(CXXFLAGS) $*.cpp -o $*.o
$(CXX) -MM $(CXXFLAGS) $*.cpp > $*.d
clean:
$(RM) $(TARGET) $(OBJECTS) *.d
$(RM) $(TARGET) $(OBJECTS) $(DEPENDS)

23
ant.cfg
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@@ -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"

23
ant.world
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@@ -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"

23
ant_bot.inc
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@@ -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 ]

50
ias_robot.cpp Normal file
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@@ -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);
}

50
ias_robot.hpp Normal file
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@@ -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

7
ias_ss.cpp
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@@ -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 = 6666;
const uint32_t PORT = PlayerCc::PLAYER_PORTNUM + 1;
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");

23
map.inc
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@@ -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"

25
robot.cpp
View File

@@ -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);
}

19
robot.hpp
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@@ -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