Pheromone dispersal first pass.

Makefile

@@ -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)

gui.cpp

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

ias_robot.cpp

@@ -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();
@@ -74,11 +82,7 @@ void IASSS_Robot::run() {
   now = tv.tv_usec;
   delta = now - then;
 
-  if(_phero_map != NULL) {
+  deposit_pheromone();
-    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);
-  }
   
   // Sleep for a bit before finishing this control iteration.
   wait = rv == 0 ? HALF_SECOND_USEC - delta : HALF_SECOND_USEC;
@@ -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;
+      }
+    }
+  }
+}

ias_robot.hpp

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

ias_ss.cpp

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

ogl.cpp

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

pheromone.cpp

@@ -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_MIN_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    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) {
+bool PheromoneMap::s_deposit_pheromone(float x, float y) {
-  int _x = m_width * x;
+  bool valid = false;
-  int _y = m_height - (m_height * y);
+  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() {
-  clock_t now = clock();
+  unsigned char p_eva;
 
-  if(static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.005) {
+  clock_t now = clock();
+  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(unsigned i = 1; i < m_height - 1; i++) {
-      for(int j = 1; j < m_width - 1; j++) {
+      for(unsigned j = 1; j < m_width - 1; j++) {
-	if(data[(i * m_height) + j] > 10 && data[(i * m_height) + j] < 250){
+	if(MAP_POS(i, j) >= MIN_PHERO_INTENSITY && MAP_POS(i, j) <= MAX_PHERO_INTENSITY){
-	  data[(i * m_height) + j] -= 1;
+	  p_eva = MAP_POS(i, j) * EVAPORATION_RATE;
-	
+	  MAP_POS(i, j) -= p_eva;
-	  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];
 	}
       }
     }

pheromone.hpp

@@ -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);
+  bool s_deposit_pheromone(float x, float y);
-  void s_update();
+  void s_evaporate();
   
 private:
   unsigned char * data;