char *get_next_command(t_shell *shell)
{
if (shell->edit->prompt)
ft_strdel(&(shell->edit)->prompt);
shell->edit->prompt = print_prompt(shell, &shell->edit->prompt_len);
ft_printf_fd(shell->edit->term->fd, "%s", shell->edit->prompt);
if (get_input(shell->edit, &handle_key) == 0)
clean_exit(shell->edit->term, 1, shell);
if (shell->edit->term->term_name)
{
while (!is_closed(shell->edit->input, "\"'`([{") && interrupt(-1) == 0)
complete_line(shell->edit);
}
if (!search_in_hist(shell->edit))
{
goto_end_list(shell->edit);
ft_strdel(&(shell->edit->hist)->line);
return (NULL);
}
hist_update(shell->edit, 0);
if (shell->edit->input && interrupt(-1) != 1)
append_hist(shell->edit);
return (shell->edit->input);
}
int main(void) {
int i, position_x, position_y;
/* Declaration of the needed data structures. */
grid_t * certainty_grid;
range_measure_t measure[MEASUREMENTS];
hist_t * polar_histogram;
control_signal_t control_signal;
/*
** Initialization of the grid and the histogram.
*/
certainty_grid = grid_init(50, 10);
polar_histogram = hist_init(2, 20, 10, 5);
/* Are the initializations ok? */
if (certainty_grid == NULL) return -1;
if (certainty_grid->cells == NULL) return -1;
if (polar_histogram == NULL) return -1;
if (polar_histogram->densities == NULL) return -1;
/*
** Fake measures.
*/
printf("Measures\n");
for (i = 0; i < MEASUREMENTS; ++i) {
measure[i].direction = (int) ((360.0 * rand()) / RAND_MAX); /* [degrees] */
measure[i].distance = (int) (((130.0 * rand()) / RAND_MAX) + 20); /* [cm] */
if (i < 50)
printf("\t%2d: %3d [cm], %3d [degrees]\n", i, (int) measure[i].distance,
measure[i].direction);
}
if (i > 50) printf("\t...\n");
/* Let's assume the 'robot' is in the middle of the grid. */
position_x = position_y = (certainty_grid->dimension + 1) / 2;
printf("\nPosition of the robot: (%d, %d)\n", position_x, position_y);
/* Add the information from the measures to the grid. */
printf("\nUpdating the certainty grid...\n");
for (i = 0; i < MEASUREMENTS; ++i) {
grid_update(certainty_grid, position_x, position_y, measure[i]);
}
/*
** Calculating the control signals.
*/
/* Generate the histogram for the current grid. */
printf("\nUpdating the polar histogram...\n");
hist_update(polar_histogram, certainty_grid);
/* What's the next direction? */
control_signal.direction = calculate_direction(polar_histogram, OBJECTIVE_DIRECTION);
printf("\nNext direction: %d [degrees]\n", control_signal.direction);
free(certainty_grid);
free(polar_histogram);
certainty_grid = NULL;
polar_histogram = NULL;
return 0;
}
