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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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;
}
}
}
}