114 lines
4.1 KiB
C++
114 lines
4.1 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 <vector>
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#include <cstdio>
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#include <cstdlib>
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#include <csignal>
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#include "gui.hpp"
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#include "ias_robot.hpp"
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const char * TITLE = "Pheromone map";
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const int W = 512;
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const int H = 512;
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const uint32_t PORT = PlayerCc::PLAYER_PORTNUM + 1;
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const uint32_t NUM_ROBOTS = 4;
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static bool done = false;
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static Fl_Window * window = NULL;
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static GlGui * glWindow = NULL;
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static PheromoneMap * phero_map = NULL;
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extern "C" void handler(int signal) {
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done = true;
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}
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extern "C" void * robot_thread(void * arg) {
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IASSS_Robot * robot = static_cast<IASSS_Robot *>(arg);
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std::cout << "Running robot thread." << std::endl;
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while(!done) {
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robot->run();
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pthread_testcancel();
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}
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return NULL;
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}
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void create_gui(int argc, char **argv) {
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window = new Fl_Window(20, 40, W, H, TITLE);
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glWindow = new GlGui(window, 0, 0, W, H, TITLE, phero_map);
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window->end();
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window->show(argc, argv);
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window->make_current();
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}
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int main(int argc, char **argv) {
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pthread_t robot_threads[NUM_ROBOTS];
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std::vector<IASSS_Robot *> robots;
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signal(SIGINT, handler);
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try {
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phero_map = new PheromoneMap("maps/cave_mask.png");
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// Initialize the robot objects and threads.
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for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
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robots.push_back(new IASSS_Robot(PlayerCc::PLAYER_HOSTNAME, PORT + i, phero_map));
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if(pthread_create(&robot_threads[i], NULL, robot_thread, static_cast<void *>(robots[i])) != 0) {
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perror("Could not create robot thread");
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return EXIT_FAILURE;
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}
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}
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create_gui(argc, argv);
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Fl::run();
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// Finish all the robots.
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for(uint32_t i = 0; i < NUM_ROBOTS; ++i)
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pthread_cancel(robot_threads[i]);
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for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
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if(pthread_join(robot_threads[i], NULL) != 0) {
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perror("Could not join robot thread");
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return EXIT_FAILURE;
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}
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delete robots[i];
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}
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robots.clear();
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delete phero_map;
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} catch (PlayerCc::PlayerError & e) {
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std::cerr << e << std::endl;
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return EXIT_FAILURE;
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}
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return EXIT_SUCCESS;
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}
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