103 lines
3.8 KiB
C++
103 lines
3.8 KiB
C++
/*************************************************************************************
|
|
* Copyright (c) 2016, Miguel Angel Astor Romero *
|
|
* All rights reserved. *
|
|
* *
|
|
* Redistribution and use in source and binary forms, with or without *
|
|
* modification, are permitted provided that the following conditions are met: *
|
|
* *
|
|
* 1. Redistributions of source code must retain the above copyright notice, this *
|
|
* list of conditions and the following disclaimer. *
|
|
* 2. Redistributions in binary form must reproduce the above copyright notice, *
|
|
* this list of conditions and the following disclaimer in the documentation *
|
|
* and/or other materials provided with the distribution. *
|
|
* *
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
|
|
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
|
|
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
|
|
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
|
|
*************************************************************************************/
|
|
|
|
#include <vector>
|
|
#include <cstdio>
|
|
#include <cstdlib>
|
|
#include <csignal>
|
|
|
|
#include "gui.hpp"
|
|
#include "ias_robot.hpp"
|
|
|
|
const char * TITLE = "Pheromone map";
|
|
const int W = 256;
|
|
const int H = 256;
|
|
const uint32_t PORT = PlayerCc::PLAYER_PORTNUM + 1;
|
|
const uint32_t NUM_ROBOTS = 4;
|
|
|
|
static bool done = false;
|
|
static Fl_Window * window;
|
|
|
|
extern "C" void handler(int signal) {
|
|
done = true;
|
|
}
|
|
|
|
extern "C" void * robot_thread(void * arg) {
|
|
IASSS_Robot * robot = static_cast<IASSS_Robot *>(arg);
|
|
|
|
std::cout << "Running robot thread." << std::endl;
|
|
|
|
while(!done)
|
|
robot->run();
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void create_gui(int argc, char **argv) {
|
|
window = new Fl_Window(20, 40, W, H, TITLE);
|
|
new GlGui(window, 0, 0, W, H, TITLE);
|
|
window->end();
|
|
window->show(argc, argv);
|
|
window->make_current();
|
|
}
|
|
|
|
int main(int argc, char **argv) {
|
|
pthread_t robot_threads[NUM_ROBOTS];
|
|
std::vector<IASSS_Robot *> robots;
|
|
|
|
signal(SIGINT, handler);
|
|
|
|
try {
|
|
// 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));
|
|
|
|
if(pthread_create(&robot_threads[i], NULL, robot_thread, static_cast<void *>(robots[i])) != 0) {
|
|
perror("Could not create robot thread");
|
|
return EXIT_FAILURE;
|
|
}
|
|
}
|
|
|
|
create_gui(argc, argv);
|
|
Fl::run();
|
|
|
|
// Wait for all the robots to finish.
|
|
for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
|
|
if(pthread_join(robot_threads[i], NULL) != 0) {
|
|
perror("Could not join robot thread");
|
|
return EXIT_FAILURE;
|
|
}
|
|
delete robots[i];
|
|
}
|
|
robots.clear();
|
|
|
|
} catch (PlayerCc::PlayerError & e) {
|
|
std::cerr << e << std::endl;
|
|
return EXIT_FAILURE;
|
|
}
|
|
|
|
return EXIT_SUCCESS;
|
|
}
|