248 lines
8.8 KiB
C++
248 lines
8.8 KiB
C++
/*************************************************************************************
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* Copyright (c) 2016, Miguel Angel Astor Romero *
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* All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions are met: *
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* *
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* 1. Redistributions of source code must retain the above copyright notice, this *
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* list of conditions and the following disclaimer. *
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* 2. Redistributions in binary form must reproduce the above copyright notice, *
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* this list of conditions and the following disclaimer in the documentation *
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* and/or other materials provided with the distribution. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
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* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
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*************************************************************************************/
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#include <iostream>
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#include <cstdlib>
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#include <cmath>
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#include <cassert>
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#include <cstring>
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#include <pnglite.h>
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#include <glm/glm.hpp>
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#include <libplayerc++/playerc++.h>
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#include "pheromone.hpp"
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#define MAP_POS(X, Y, Z) (Z[((X) * m_height) + (Y)])
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namespace ias_ss {
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static const unsigned int MAX_ITERS = 1000;
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static const float EVAPORATION_RATE = 0.05f;
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const unsigned char MAX_PHERO_INTENSITY = 250;
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const unsigned char MIN_PHERO_INTENSITY = 0;
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static inline int sign(float f) {
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return (f < 0.0f) ? -1 : ((f > 0.0f) ? 1 : 0);
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}
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static inline int side(glm::vec3 line, glm::vec3 v) {
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return sign(glm::cross(line, v).z);
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}
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static inline float random_n(float r) {
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return (((static_cast<float>(rand() % 256) / 256.0) - 0.5f) * 2.0f ) * r;
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}
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PheromoneMap::PheromoneMap(const char * file_name) {
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load_map(file_name);
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sem_init(&map_semaphore, 0, 1);
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then = 0;
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sensor_updates = 0;
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glGenTextures(1, &handle);
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glGenTextures(1, &sensor_handle);
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}
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PheromoneMap::~PheromoneMap() {
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delete data;
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sem_destroy(&map_semaphore);
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, handle);
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glDeleteTextures(1, &handle);
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glDeleteTextures(1, &sensor_handle);
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}
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void PheromoneMap::load_map(const char * file_name) {
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png_t tex;
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png_init(0, 0);
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png_open_file_read(&tex, file_name);
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data = new unsigned char[tex.width * tex.height * tex.bpp];
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sensor_data = new unsigned char[tex.width * tex.height * tex.bpp];
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png_get_data(&tex, data);
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std::cout << "Loaded map \"" << file_name << "\" :: " << tex.width << "x" << tex.height << "x" << (int)tex.bpp << std::endl;
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m_width = tex.width;
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m_height = tex.height;
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m_bpp = tex.bpp;
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png_close_file(&tex);
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}
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GLuint PheromoneMap::s_build_texture() {
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, handle);
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sem_wait(&map_semaphore); {
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glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
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} sem_post(&map_semaphore);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, 0);
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return handle;
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}
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GLuint PheromoneMap::s_build_sensor_texture() {
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, sensor_handle);
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sem_wait(&map_semaphore); {
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glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, m_width, m_height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, sensor_data);
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} sem_post(&map_semaphore);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, 0);
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return sensor_handle;
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}
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void PheromoneMap::s_deposit_pheromone(float x, float y, float yaw, float radius) {
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unsigned int iters = 0;
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int _x, _y;
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bool valid = false;
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float dist, cos_theta, r_x, r_y;
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glm::vec2 v, vp;
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v = glm::vec2(radius * cos(yaw), radius * sin(yaw)) - glm::vec2(0.0, 0.0);
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v = glm::normalize(v);
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do {
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do {
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do {
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do {
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r_x = random_n(radius) + x;
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r_y = random_n(radius) + y;
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} while((r_x <= 0.0f && r_y <= 0.0f) || (r_x >= 1.0f && r_y >= 1.0f));
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vp = glm::vec2(r_x, r_y) - glm::vec2(x, y);
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dist = glm::length(vp);
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} while(dist > radius);
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vp = glm::normalize(vp);
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cos_theta = glm::dot(vp, v);
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} while(cos_theta > 0.0f);
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_x = m_width * r_x;
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_y = m_height - (m_height * r_y);
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_x = _x < 0 ? _x = 0 : (_x >= m_width ? m_width - 1 : _x);
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_y = _y < 0 ? _y = 0 : (_y >= m_height ? m_height - 1 : _y);
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sem_wait(&map_semaphore); {
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if (MAP_POS(_y, _x, data) <= MAX_PHERO_INTENSITY) {
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MAP_POS(_y, _x, data) += rand() % MAX_PHERO_INTENSITY;
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MAP_POS(_y, _x, data) = MAP_POS(_y, _x, data) > MAX_PHERO_INTENSITY ? MAX_PHERO_INTENSITY : MAP_POS(_y, _x, data);
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valid = true;
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}
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} sem_post(&map_semaphore);
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iters++;
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if (iters > MAX_ITERS)
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break;
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} while(!valid);
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}
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void PheromoneMap::s_evaporate() {
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unsigned char p_eva;
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clock_t now = clock();
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if (static_cast<float>(now - then) / CLOCKS_PER_SEC < 0.09) {
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return;
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}
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then = now;
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sem_wait(&map_semaphore); {
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for (unsigned i = 0; i < m_height; i++) {
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for (unsigned j = 0; j < m_width; j++) {
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if (MAP_POS(i, j, data) <= MAX_PHERO_INTENSITY) {
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p_eva = MAP_POS(i, j, data) * EVAPORATION_RATE;
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MAP_POS(i, j, data) -= p_eva;
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MAP_POS(i, j, data) = MAP_POS(i, j, data) < 0 ? 0 : MAP_POS(i, j, data);
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}
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}
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}
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} sem_post(&map_semaphore);
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}
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void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw, float radius) {
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unsigned int index;
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float dist;
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float cos_theta;
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float ang;
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glm::vec2 v, vp;
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if (sensor == NULL)
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return;
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else {
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sensor->reset();
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// Calculate the robot's view vector.
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v = glm::vec2(radius * cos(yaw), radius * sin(yaw)) - glm::vec2(0.0, 0.0);
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v = glm::normalize(v);
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sem_wait(&map_semaphore); {
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if (sensor_updates == 0) {
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memset(sensor_data, 0, m_width * m_height * m_bpp * sizeof(unsigned char));
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}
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sensor_updates = (sensor_updates + 1) % 4;
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// For every point in the pheromone map.
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for (unsigned i = 0; i < m_height; i++) {
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for (unsigned j = 0; j < m_width; j++) {
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// Calculate the vector from the robot's center to the sampling point.
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vp = glm::vec2(j / float(m_width), 1.0f - (i / float(m_height))) - glm::vec2(x, y);
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// Distance from the sampling point to the robot's center.
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dist = glm::length(vp);
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vp = glm::normalize(vp);
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// Cosine of the angle between the robot's center and the sampling point.
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cos_theta = glm::dot(vp, v);
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// Check if the point is close enough to the front of the robot.
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if (cos_theta > 0.0f && dist <= radius) {
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cos_theta = cos_theta > 1.0f ? 1.0f : cos_theta;
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// Get the angle between the robot's center and the sampling point.
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ang = PlayerCc::rtod(acos(cos_theta));
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// Put the sample in the sampling pool.
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index = static_cast<unsigned int>(ang / (180 / 5));
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index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
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sensor->samples[index] = MAP_POS(i, j, data);
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sensor->sample_amnt[index] += 1;
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MAP_POS(i, j, sensor_data) = MAP_POS(i, j, data);
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} else
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continue;
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}
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}
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} sem_post(&map_semaphore);
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// Average the samples.
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for (unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
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sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f;
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}
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}
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}
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}
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