WallyHackenslacker/IAS-SS
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Pheromone dispersal first pass.

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Wally Hackenslacker
2016-06-26 23:47:19 -04:00
parent 5d4529f6d8
commit fef86e140a
8 changed files with 74 additions and 55 deletions
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2
Makefile
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@@ -28,7 +28,7 @@ OBJECTS = ias_ss.o robot.o ias_robot.o gui.o ogl.o GLSLProgram.o pnglite.o phero
DEPENDS = $(OBJECTS:.o=.d)
CFLAGS = -ansi -pedantic -Wall -I./include
CXXFLAGS = -ansi -pedantic -Wall `pkg-config --cflags playerc++` -I./include
LDLIBS = `pkg-config --libs playerc++` -lboost_system -lpthread -lz -lGLEW -lGLU -lGL -lfltk -lfltk_gl
LDLIBS = `pkg-config --libs playerc++` -lboost_system -l m -lpthread -lz -lGLEW -lGLU -lGL -lfltk -lfltk_gl
all: CXXFLAGS += -O2 -D_NDEBUG
all: $(TARGET)

2
gui.cpp
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@@ -53,7 +53,7 @@ void GlGui::draw() {
ogl::reshape(w(), h());
}
phero_map->s_update();
phero_map->s_evaporate();
ogl::display();
}

42
ias_robot.cpp
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@@ -24,6 +24,8 @@
*************************************************************************************/
#include <limits>
#include <cstdlib>
#include <cmath>
#include <sys/time.h>
#include "ias_robot.hpp"
@@ -34,8 +36,15 @@ static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.5;
static const double CRIT_DIST_M = 1.0;
static const float MAP_SIZE = 16.0f;
static const int PHERO_AMOUNT = 10;
static const float PHERO_RADIUS = 1.0;
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) {
srand(port + time(NULL));
_phero_map = phero_map;
log("Creating IAS-SS robot");
}
@@ -46,7 +55,6 @@ IASSS_Robot::~IASSS_Robot() {
void IASSS_Robot::run() {
int rv;
float x, y;
long then, now, delta, wait;
struct timeval tv;
double dist = std::numeric_limits<double>::infinity();
@@ -74,12 +82,8 @@ void IASSS_Robot::run() {
now = tv.tv_usec;
delta = now - then;
if(_phero_map != NULL) {
x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
_phero_map->s_draw_point(x, y);
}
deposit_pheromone();
// Sleep for a bit before finishing this control iteration.
wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
usleep(wait);
@@ -102,3 +106,27 @@ void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
else
_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(turn_speed));
}
void IASSS_Robot::deposit_pheromone() {
float x = _p_proxy->GetXPos();//
float y = _p_proxy->GetYPos();// + (MAP_SIZE / 2)) / MAP_SIZE;
float px, py;
if(_phero_map != NULL) {
for(int i = 0; i < PHERO_AMOUNT; i++) {
px = random_num() + x;
py = random_num() + y;
if(fabs(px) < (MAP_SIZE / 2) && fabs(py) < (MAP_SIZE / 2)) {
px = (px + (MAP_SIZE / 2)) / MAP_SIZE;
py = (py + (MAP_SIZE / 2)) / MAP_SIZE;
if(!_phero_map->s_deposit_pheromone(px, py)) {
i--;
continue;
}
} else {
i--;
continue;
}
}
}
}

1
ias_robot.hpp
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@@ -50,6 +50,7 @@ private:
PheromoneMap * _phero_map;
void avoid_wall(float front_speed, float turn_speed);
void deposit_pheromone();
};
#endif

4
ias_ss.cpp
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@@ -32,8 +32,8 @@
#include "ias_robot.hpp"
const char * TITLE = "Pheromone map";
const int W = 256;
const int H = 256;
const int W = 512;
const int H = 512;
const uint32_t PORT = PlayerCc::PLAYER_PORTNUM + 1;
const uint32_t NUM_ROBOTS = 4;

2
ogl.cpp
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@@ -32,8 +32,6 @@
#include "ogl.hpp"
#include "GLSLProgram.hpp"
#define BUFFER_OFFSET(i) ((char *)NULL + (i))
namespace ogl
{
// Variables

69
pheromone.cpp
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@@ -4,6 +4,12 @@
#include "pheromone.hpp"
#define MAP_POS(X, Y) (data[((X) * m_height) + (Y)])
static const float EVAPORATION_RATE = 0.1f;
const unsigned char MAX_PHERO_INTENSITY = 250;
const unsigned char MIN_PHERO_INTENSITY = 1;
PheromoneMap::PheromoneMap(const char * file_name) {
load_map(file_name);
sem_init(&map_semaphore, 0, 1);
@@ -12,7 +18,7 @@ PheromoneMap::PheromoneMap(const char * file_name) {
}
PheromoneMap::~PheromoneMap() {
free(data);
delete data;
sem_destroy(&map_semaphore);
if(tex_created) {
@@ -27,7 +33,7 @@ void PheromoneMap::load_map(const char * file_name) {
png_init(0, 0);
png_open_file_read(&tex, file_name);
data = static_cast<unsigned char *>(malloc(tex.width * tex.height * tex.bpp));
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;
@@ -50,8 +56,8 @@ GLuint PheromoneMap::s_build_texture() {
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, data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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);
@@ -59,53 +65,36 @@ GLuint PheromoneMap::s_build_texture() {
return handle;
}
void PheromoneMap::s_draw_point(float x, float y) {
int _x = m_width * x;
int _y = m_height - (m_height * y);
bool PheromoneMap::s_deposit_pheromone(float x, float y) {
bool valid = false;
int _x = m_width * x;
int _y = m_height - (m_height * y);
sem_wait(&map_semaphore); {
data[(_y * m_height) + _x] = 249;
if(MAP_POS(_y, _x) <= MAX_PHERO_INTENSITY) {
MAP_POS(_y, _x) = MAX_PHERO_INTENSITY;
valid = true;
}
} sem_post(&map_semaphore);
return valid;
}
void PheromoneMap::s_update() {
void PheromoneMap::s_evaporate() {
unsigned char p_eva;
clock_t now = clock();
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.005) {
if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.05) {
return;
}
then = now;
sem_wait(&map_semaphore); {
for(int i = 1; i < m_height - 1; i++) {
for(int j = 1; j < m_width - 1; j++) {
if(data[(i * m_height) + j] > 10 && data[(i * m_height) + j] < 250){
data[(i * m_height) + j] -= 1;
if(data[((i - 1) * m_height) + (j - 1)] < 250)
data[((i - 1) * m_height) + (j - 1)] = data[(i * m_height) + j];
if(data[((i - 1) * m_height) + j] < 250)
data[((i - 1) * m_height) + j] = data[(i * m_height) + j];
if(data[((i - 1) * m_height) + (j + 1)] < 250)
data[((i - 1) * m_height) + (j + 1)] = data[(i * m_height) + j];
if(data[(i * m_height) + (j - 1)] < 250)
data[(i * m_height) + (j - 1)] = data[(i * m_height) + j];
if(data[(i * m_height) + (j + 1)] < 250)
data[(i * m_height) + (j + 1)] = data[(i * m_height) + j];
if(data[((i + 1) * m_height) + (j - 1)] < 250)
data[((i + 1) * m_height) + (j - 1)] = data[(i * m_height) + j];
if(data[((i + 1) * m_height) + j] < 250)
data[((i + 1) * m_height) + j] = data[(i * m_height) + j];
if(data[((i + 1) * m_height) + (j + 1)] < 250)
data[((i + 1) * m_height) + (j + 1)] = data[(i * m_height) + j];
for(unsigned i = 1; i < m_height - 1; i++) {
for(unsigned j = 1; j < m_width - 1; j++) {
if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY && MAP_POS(i, j) <= MAX_PHERO_INTENSITY){
p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
MAP_POS(i, j) -= p_eva;
}
}
}

7
pheromone.hpp
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@@ -5,14 +5,17 @@
#include <semaphore.h>
#include <GL/gl.h>
extern const unsigned char MAX_PHERO_INTENSITY;
extern const unsigned char MIN_PHERO_INTENSITY;
class PheromoneMap {
public:
PheromoneMap(const char * file_name);
~PheromoneMap();
GLuint s_build_texture();
void s_draw_point(float x, float y);
void s_update();
bool s_deposit_pheromone(float x, float y);
void s_evaporate();
private:
unsigned char * data;