WallyHackenslacker/IAS-SS
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Added sensor rendering.

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Wally Hackenslacker
2017-03-06 15:24:57 -04:00
parent 39efccb0e4
commit f9aaa9e960
12 changed files with 566 additions and 466 deletions
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27
ias_ss.cpp
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@@ -32,22 +32,25 @@
#include "ias_robot.hpp"
const char * TITLE = "Pheromone map";
const char * S_TITLE = "Pheromone sensor";
const int W = 512;
const int H = 512;
const uint32_t PORT = PlayerCc::PLAYER_PORTNUM + 1;
const uint32_t NUM_ROBOTS = 4;
static bool done = false;
static Fl_Window * window = NULL;
static GlGui * glWindow = NULL;
static PheromoneMap * phero_map = NULL;
static bool done = false;
static Fl_Window * window = NULL;
static Fl_Window * sWindow = NULL;
static gui::GlGui * glWindow = NULL;
static gui::GlSensorGui * glSWindow = NULL;
static ias_ss::PheromoneMap * phero_map = NULL;
extern "C" void handler(int signal) {
done = true;
}
extern "C" void * robot_thread(void * arg) {
IASSS_Robot * robot = static_cast<IASSS_Robot *>(arg);
ias_ss::IASSS_Robot * robot = static_cast<ias_ss::IASSS_Robot *>(arg);
std::cout << "Running robot thread." << std::endl;
@@ -61,24 +64,30 @@ extern "C" void * robot_thread(void * arg) {
void create_gui(int argc, char **argv) {
window = new Fl_Window(20, 40, W, H, TITLE);
glWindow = new GlGui(window, 0, 0, W, H, TITLE, phero_map);
glWindow = new gui::GlGui(window, 0, 0, W, H, TITLE, phero_map);
window->end();
window->show(argc, argv);
window->make_current();
sWindow = new Fl_Window(20, 40, W, H, S_TITLE);
glSWindow = new gui::GlSensorGui(sWindow, 0, 0, W, H, S_TITLE, phero_map);
sWindow->end();
sWindow->show(argc, argv);
sWindow->make_current();
}
int main(int argc, char **argv) {
pthread_t robot_threads[NUM_ROBOTS];
std::vector<IASSS_Robot *> robots;
std::vector<ias_ss::IASSS_Robot *> robots;
signal(SIGINT, handler);
try {
phero_map = new PheromoneMap(argc > 1 ? argv[1] : "maps/cave_mask.png");
phero_map = new ias_ss::PheromoneMap(argc > 1 ? argv[1] : "maps/cave_mask.png");
// Initialize the robot objects and threads.
for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
robots.push_back(new IASSS_Robot(PlayerCc::PLAYER_HOSTNAME, PORT + i, phero_map));
robots.push_back(new ias_ss::IASSS_Robot(PlayerCc::PLAYER_HOSTNAME, PORT + i, phero_map));
if(pthread_create(&robot_threads[i], NULL, robot_thread, static_cast<void *>(robots[i])) != 0) {
perror("Could not create robot thread");