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Added sensor rendering.

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This commit is contained in:
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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2
ant.world
View File

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

30
gui.cpp
View File

@@ -28,12 +28,14 @@
#include "gui.hpp"
#include "ogl.hpp"
static void redraw_callback(void * arg) {
namespace gui {
static void redraw_callback(void * arg) {
GlGui * window = static_cast<GlGui *>(arg);
window->redraw();
}
}
GlGui::GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, PheromoneMap * phero_map) : Fl_Gl_Window(x, y, w, h, l) {
GlGui::GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, ias_ss::PheromoneMap * phero_map) : Fl_Gl_Window(x, y, w, h, l) {
mode(FL_RGB | FL_DOUBLE);
this->parent = parent;
@@ -42,9 +44,9 @@ GlGui::GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, Phe
initialized = false;
Fl::add_idle(redraw_callback, this);
}
}
void GlGui::draw() {
void GlGui::draw() {
if(!valid()) {
if(!initialized) {
ogl::initialize(phero_map);
@@ -55,8 +57,22 @@ void GlGui::draw() {
phero_map->s_evaporate();
ogl::display();
}
}
int GlGui::handle(int event) {
int GlGui::handle(int event) {
return Fl_Gl_Window::handle(event);
}
void GlSensorGui::draw() {
if(!valid()) {
if(!initialized) {
ogl::initialize(phero_map);
initialized = true;
}
ogl::reshape(w(), h());
}
ogl::display_sensor_map();
}
}

24
gui.hpp
View File

@@ -34,19 +34,27 @@
#include "pheromone.hpp"
class GlGui : public Fl_Gl_Window {
public:
GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, PheromoneMap * phero_map);
namespace gui {
class GlGui : public Fl_Gl_Window {
public:
GlGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, ias_ss::PheromoneMap * phero_map);
protected:
protected:
virtual void draw();
virtual int handle(int);
private:
Fl_Window * parent;
std::string title;
bool initialized;
PheromoneMap * phero_map;
};
ias_ss::PheromoneMap * phero_map;
};
class GlSensorGui : public GlGui {
public:
GlSensorGui(Fl_Window * parent, int x, int y, int w, int h, const char * l, ias_ss::PheromoneMap * phero_map): GlGui(parent, x, y, w, h, l, phero_map) { };
protected:
virtual void draw();
};
}
#endif

52
ias_robot.cpp
View File

@@ -36,34 +36,35 @@
//#define PROB_MODEL_1
static const float TURN_DEG_PER_SEC = 90.0f;
static const float METERS_PER_SEC = 0.4f;
static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.0;
static const double CRIT_DIST_M = 0.7;
static const float MAP_SIZE = 16.0f;
static const int PHERO_AMOUNT = 30;
static const float PHERO_RADIUS = 1.4f;
static const float SENSOR_RADIUS = 2.0f;
static const float U_RATIO = 0.3f;
static const float V_RATIO = 0.1f;
static const float SMOOTHING_COEFF = 0.3f;
namespace ias_ss {
static const float TURN_DEG_PER_SEC = 90.0f;
static const float METERS_PER_SEC = 0.4f;
static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.0;
static const double CRIT_DIST_M = 0.7;
static const float MAP_SIZE = 16.0f;
static const int PHERO_AMOUNT = 30;
static const float PHERO_RADIUS = 1.4f;
static const float SENSOR_RADIUS = 2.0f;
static const float U_RATIO = 0.3f;
static const float V_RATIO = 0.1f;
static const float SMOOTHING_COEFF = 0.3f;
static inline float random_num() {
static inline float random_num() {
return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * PHERO_RADIUS;
}
}
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map) : Robot(hostname, port) {
srand(port + time(NULL));
_phero_map = phero_map;
log("Creating IAS-SS robot");
}
}
IASSS_Robot::~IASSS_Robot() {
IASSS_Robot::~IASSS_Robot() {
log("Destroying IAS-SS robot");
}
}
void IASSS_Robot::run() {
void IASSS_Robot::run() {
float x, y, steer = 0.0f;
int rv;
long then, now, delta, wait;
@@ -107,9 +108,9 @@ void IASSS_Robot::run() {
// Sleep for a bit before finishing this control iteration.
wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
usleep(wait);
}
}
void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
double dist_l = 0.0;
double dist_r = 0.0;
@@ -125,14 +126,14 @@ void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(-turn_speed));
else
_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(turn_speed));
}
}
void IASSS_Robot::deposit_pheromone(float x, float y) {
void IASSS_Robot::deposit_pheromone(float x, float y) {
for(int i = 0; i < PHERO_AMOUNT; i++)
_phero_map->s_deposit_pheromone(x, y, _p_proxy->GetYaw(), PHERO_RADIUS / MAP_SIZE);
}
}
float IASSS_Robot::brss() {
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;
@@ -235,4 +236,5 @@ float IASSS_Robot::brss() {
#endif
return steer;
}
}

12
ias_robot.hpp
View File

@@ -29,7 +29,8 @@
#include "robot.hpp"
#include "pheromone.hpp"
/**
namespace ias_ss {
/**
* Concrete robot that implements the IAS-SS architecture as defined in:
*
* 1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
@@ -40,19 +41,20 @@
* 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:
class IASSS_Robot : Robot {
public:
IASSS_Robot(std::string hostname, uint32_t port, PheromoneMap * phero_map);
virtual ~IASSS_Robot();
virtual void run();
private:
private:
PheromoneMap * _phero_map;
phero_sensor_t _phero_sensor;
void avoid_wall(float front_speed, float turn_speed);
void deposit_pheromone(float x, float y);
float brss();
};
};
}
#endif

23
ias_ss.cpp
View File

@@ -32,6 +32,7 @@
#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;
@@ -39,15 +40,17 @@ 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 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");

28
ogl.cpp
View File

@@ -37,15 +37,16 @@ namespace ogl
{
// Variables
static CGLSLProgram m_program;
static PheromoneMap * m_phero_map = NULL;
static ias_ss::PheromoneMap * m_phero_map = NULL;
static GLuint m_textureHandle;
static GLuint m_sensorTextureHandle;
static GLuint m_colorMapHandle;
// Quad definition
static glm::vec4 vec_points[6];
static glm::vec2 vec_tex_coords[6];
static void quad() {
static inline void quad() {
vec_tex_coords[0] = glm::vec2( 0.0f, 1.0f); vec_points[0] = glm::vec4( -0.5f, -0.5f, 0.0f, 1.0f );
vec_tex_coords[1] = glm::vec2( 0.0f, 0.0f); vec_points[1] = glm::vec4( -0.5f, 0.5f, 0.0f, 1.0f );
vec_tex_coords[2] = glm::vec2( 1.0f, 1.0f); vec_points[2] = glm::vec4( 0.5f, -0.5f, 0.0f, 1.0f );
@@ -76,7 +77,7 @@ namespace ogl
delete data;
}
void initialize(PheromoneMap * phero_map) {
void initialize(ias_ss::PheromoneMap * phero_map) {
glEnable(GL_TEXTURE_1D);
glEnable(GL_TEXTURE_2D);
@@ -130,6 +131,27 @@ namespace ogl
m_program.disable();
}
void display_sensor_map() {
glClear(GL_COLOR_BUFFER_BIT);
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
if(m_phero_map != NULL)
m_sensorTextureHandle = m_phero_map->s_build_sensor_texture();
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, m_sensorTextureHandle);
glBegin(GL_TRIANGLES); {
for(int i = 0; i < 6; i++) {
glTexCoord2f(vec_tex_coords[i].s, vec_tex_coords[i].t);
glVertex4f(vec_points[i].x, vec_points[i].y, vec_points[i].z, vec_points[i].w);
}
} glEnd();
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, 0);
}
void reshape(int w, int h) {
if(h == 0)
h = 1;

3
ogl.hpp
View File

@@ -29,8 +29,9 @@
#include "pheromone.hpp"
namespace ogl {
void initialize(PheromoneMap * phero_map);
void initialize(ias_ss::PheromoneMap * phero_map);
void display();
void display_sensor_map();
void reshape(int w, int h);
}

116
pheromone.cpp
View File

@@ -27,54 +27,60 @@
#include <cstdlib>
#include <cmath>
#include <cassert>
#include <cstring>
#include <pnglite.h>
#include <glm/glm.hpp>
#include <libplayerc++/playerc++.h>
#include "pheromone.hpp"
#define MAP_POS(X, Y) (data[((X) * m_height) + (Y)])
#define MAP_POS(X, Y, Z) (Z[((X) * m_height) + (Y)])
static const unsigned int MAX_ITERS = 1000;
static const float EVAPORATION_RATE = 0.05f;
const unsigned char MAX_PHERO_INTENSITY = 250;
const unsigned char MIN_PHERO_INTENSITY = 0;
namespace ias_ss {
static const unsigned int MAX_ITERS = 1000;
static const float EVAPORATION_RATE = 0.05f;
const unsigned char MAX_PHERO_INTENSITY = 250;
const unsigned char MIN_PHERO_INTENSITY = 0;
static inline int sign(float f) {
static inline int sign(float f) {
return (f < 0.0f) ? -1 : ((f > 0.0f) ? 1 : 0);
}
}
static inline int side(glm::vec3 line, glm::vec3 v) {
static inline int side(glm::vec3 line, glm::vec3 v) {
return sign(glm::cross(line, v).z);
}
}
static inline float random_n(float r) {
static inline float random_n(float r) {
return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * r;
}
}
PheromoneMap::PheromoneMap(const char * file_name) {
PheromoneMap::PheromoneMap(const char * file_name) {
load_map(file_name);
sem_init(&map_semaphore, 0, 1);
then = 0;
sensor_updates = 0;
glGenTextures(1, &handle);
}
glGenTextures(1, &sensor_handle);
}
PheromoneMap::~PheromoneMap() {
PheromoneMap::~PheromoneMap() {
delete data;
sem_destroy(&map_semaphore);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, handle);
glDeleteTextures(1, &handle);
}
glDeleteTextures(1, &sensor_handle);
}
void PheromoneMap::load_map(const char * file_name) {
void PheromoneMap::load_map(const char * file_name) {
png_t tex;
png_init(0, 0);
png_open_file_read(&tex, file_name);
data = new unsigned char[tex.width * tex.height * tex.bpp];
sensor_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;
@@ -83,9 +89,9 @@ void PheromoneMap::load_map(const char * file_name) {
m_bpp = tex.bpp;
png_close_file(&tex);
}
}
GLuint PheromoneMap::s_build_texture() {
GLuint PheromoneMap::s_build_texture() {
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, handle);
sem_wait(&map_semaphore); {
@@ -98,10 +104,26 @@ GLuint PheromoneMap::s_build_texture() {
glBindTexture(GL_TEXTURE_2D, 0);
return handle;
}
}
void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius) {
unsigned int iters = 0, _x, _y;
GLuint PheromoneMap::s_build_sensor_texture() {
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, sensor_handle);
sem_wait(&map_semaphore); {
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, sensor_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 sensor_handle;
}
void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius) {
unsigned int iters = 0;
int _x, _y;
bool valid = false;
float dist, cos_theta, r_x, r_y;
glm::vec2 v, vp;
@@ -127,48 +149,48 @@ void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius
_x = _x < 0 ? _x = 0 : (_x >= m_width ? m_width - 1 : _x);
_y = _y < 0 ? _y = 0 : (_y >= m_height ? m_height - 1 : _y);
sem_wait(&map_semaphore); {
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
MAP_POS(_y, _x) += rand() % MAX_PHERO_INTENSITY;
MAP_POS(_y, _x) = MAP_POS(_y, _x) > MAX_PHERO_INTENSITY ? MAX_PHERO_INTENSITY : MAP_POS(_y, _x);
if (MAP_POS(_y, _x, data) <= MAX_PHERO_INTENSITY) {
MAP_POS(_y, _x, data) += rand() % MAX_PHERO_INTENSITY;
MAP_POS(_y, _x, data) = MAP_POS(_y, _x, data) > MAX_PHERO_INTENSITY ? MAX_PHERO_INTENSITY : MAP_POS(_y, _x, data);
valid = true;
}
} sem_post(&map_semaphore);
iters++;
if(iters > MAX_ITERS)
if (iters > MAX_ITERS)
break;
} while(!valid);
}
}
void PheromoneMap::s_evaporate() {
void PheromoneMap::s_evaporate() {
unsigned char p_eva;
clock_t now = clock();
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.09) {
if (static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.09) {
return;
}
then = now;
sem_wait(&map_semaphore); {
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
if(MAP_POS(i, j) <= MAX_PHERO_INTENSITY) {
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
MAP_POS(i, j) = MAP_POS(i, j) < 0 ? 0 : MAP_POS(i, j);
for (unsigned i = 0; i < m_height; i++) {
for (unsigned j = 0; j < m_width; j++) {
if (MAP_POS(i, j, data) <= MAX_PHERO_INTENSITY) {
p_eva = MAP_POS(i, j, data) * EVAPORATION_RATE;
MAP_POS(i, j, data) -= p_eva;
MAP_POS(i, j, data) = MAP_POS(i, j, data) < 0 ? 0 : MAP_POS(i, j, data);
}
}
}
} sem_post(&map_semaphore);
}
}
void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
unsigned int index;
float dist;
float cos_theta;
float ang;
glm::vec2 v, vp;
if(sensor == NULL)
if (sensor == NULL)
return;
else {
@@ -180,9 +202,14 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
v = glm::normalize(v);
sem_wait(&map_semaphore); {
if (sensor_updates == 0) {
memset(sensor_data, 0, m_width * m_height * m_bpp * sizeof(unsigned char));
}
sensor_updates = (sensor_updates + 1) % 4;
// For every point in the pheromone map.
for(unsigned i = 0; i < m_height; i++) {
for(unsigned j = 0; j < m_width; j++) {
for (unsigned i = 0; i < m_height; i++) {
for (unsigned j = 0; j < m_width; j++) {
// Calculate the vector from the robot's center to the sampling point.
vp = glm::vec2(j / float(m_width), 1.0f - (i / float(m_height))) - glm::vec2(x, y);
// Distance from the sampling point to the robot's center.
@@ -192,7 +219,7 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
cos_theta = glm::dot(vp, v);
// Check if the point is close enough to the front of the robot.
if(cos_theta > 0.0f && dist <= radius) {
if (cos_theta > 0.0f && dist <= radius) {
cos_theta = cos_theta > 1.0f ? 1.0f : cos_theta;
// Get the angle between the robot's center and the sampling point.
ang = PlayerCc::rtod(acos(cos_theta));
@@ -200,9 +227,11 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
// Put the sample in the sampling pool.
index = static_cast<unsigned int>(ang / (180 / 5));
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
sensor->samples[index] = MAP_POS(i, j);
sensor->samples[index] = MAP_POS(i, j, data);
sensor->sample_amnt[index] += 1;
MAP_POS(i, j, sensor_data) = MAP_POS(i, j, data);
} else
continue;
}
@@ -210,8 +239,9 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
} sem_post(&map_semaphore);
// Average the samples.
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
for (unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f;
}
}
}
}

24
pheromone.hpp
View File

@@ -31,12 +31,13 @@
#include <semaphore.h>
#include <GL/gl.h>
extern const unsigned char MAX_PHERO_INTENSITY;
extern const unsigned char MIN_PHERO_INTENSITY;
namespace ias_ss {
extern const unsigned char MAX_PHERO_INTENSITY;
extern const unsigned char MIN_PHERO_INTENSITY;
const unsigned int NUM_PHERO_SAMPLES = 180;
const unsigned int NUM_PHERO_SAMPLES = 180;
typedef struct PHERO_SENSOR {
typedef struct PHERO_SENSOR {
float samples[NUM_PHERO_SAMPLES];
unsigned int sample_amnt[NUM_PHERO_SAMPLES];
float probs[NUM_PHERO_SAMPLES];
@@ -59,28 +60,33 @@ typedef struct PHERO_SENSOR {
else
return samples[index];
}
} phero_sensor_t;
} phero_sensor_t;
class PheromoneMap {
public:
class PheromoneMap {
public:
PheromoneMap(const char * file_name);
~PheromoneMap();
GLuint s_build_texture();
GLuint s_build_sensor_texture();
void s_deposit_pheromone(float x, float y, float yaw, float radius);
void s_evaporate();
void s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius);
private:
private:
unsigned char * data;
unsigned char * sensor_data;
unsigned m_width;
unsigned m_height;
unsigned char m_bpp;
sem_t map_semaphore;
GLuint handle;
GLuint sensor_handle;
int sensor_updates;
clock_t then;
void load_map(const char * file_name);
};
};
}
#endif

12
robot.cpp
View File

@@ -25,7 +25,8 @@
#include "robot.hpp"
Robot::Robot(std::string hostname, uint32_t port) {
namespace ias_ss {
Robot::Robot(std::string hostname, uint32_t port) {
_host_name = hostname;
_port = port;
@@ -36,14 +37,15 @@ Robot::Robot(std::string hostname, uint32_t port) {
_p_proxy->RequestGeom();
_r_proxy->RequestGeom();
_r_proxy->RequestConfigure();
}
}
Robot::~Robot() {
Robot::~Robot() {
delete _p_proxy;
delete _r_proxy;
delete _p_client;
}
}
void Robot::log(std::string msg) {
void Robot::log(std::string msg) {
std::cout << "ROBOT(" << _host_name << ":" << _port << ") - " << msg << std::endl;
}
}

12
robot.hpp
View File

@@ -30,17 +30,18 @@
#include <string>
#include <libplayerc++/playerc++.h>
/**
namespace ias_ss {
/**
* Base class for robot types.
*/
class Robot {
public:
class Robot {
public:
Robot(std::string hostname, uint32_t port);
virtual ~Robot();
virtual void run() = 0;
protected:
protected:
int _port;
std::string _host_name;
PlayerCc::PlayerClient * _p_client;
@@ -48,6 +49,7 @@ protected:
PlayerCc::RangerProxy * _r_proxy;
void log(std::string msg);
};
};
}
#endif