//----------------------------------------------
bool myDepthGenerator::update(){
if (!bUpdateXtion[thisNum]) return;
bool isNewDataAvailable = false;
if (depth_generator.IsNewDataAvailable()) {
depth_generator.WaitAndUpdateData();
depth_generator.GetMetaData(dmd);
generateCurrentDepth();
generateTexture();
generateRealWorld(realWorld);
isNewDataAvailable = true;
}
checkSwitchMethods();
counter++;
return isNewDataAvailable;
}
int main(int argc, char *argv[]) {
int realWorld[NOCOLS][NOROWS]; // Array of ints holding real world map
int agentWorld[NOCOLS][NOROWS]; // Array of ints holding agents world map
int x, y; // Counters
struct coord currentCoord; // Current position coordinates
struct coord start = {0, 0}; // Starting position
// Initialize random number generator seed
srand((unsigned int)time(0));
// Initialize both worlds to zero.
for(y=0; y<NOROWS; y++){
for(x=0; x<NOCOLS; x++){
realWorld[x][y] = 0;
agentWorld[x][y] = 0;
}
}
// Generate realWorld.
generateRealWorld(realWorld);
// Generate agentWorld
setFlag(agentWorld, start, CURRENT); // Initialy player is at (0,0)
// Set current coordinates
currentCoord = start;
// Display real world
puts("R E A L W O R L D");
displayWorldAll(realWorld);
int count = 0;
while(1){
printf("\n============================================================\n");
count++;
// Update current coordinates
currentCoord = getCurrentCoord(agentWorld);
// If current field isn't visited, process sensor data
if(testFlag(agentWorld, currentCoord, VISITED) == 0){
// Read sensors and update agents map of the world
copyFlags(realWorld,agentWorld,currentCoord);
// Check is cave or wumpus here, if it is then game over, else process sensors
if(testFlag(agentWorld, currentCoord, CAVE)){
// Display agent world
printf("\nA G E N T W O R L D (Step %d)\n",count);
printf("Current position (%d,%d):\n", currentCoord.x, currentCoord.y);
displayWorldAll(agentWorld);
puts("\nWent down the cave. GAME OVER!");
break;
} else if(testFlag(agentWorld,currentCoord,WUMPUS)){
// Display agent world
printf("\nA G E N T W O R L D (Step %d)\n",count);
printf("Current position (%d,%d):\n", currentCoord.x, currentCoord.y);
displayWorldAll(agentWorld);
puts("\nWumpus had a good meal. GAME OVER!");
break;
} else if(testFlag(agentWorld,currentCoord,GLOW)){
// Display agent world
printf("\nA G E N T W O R L D (Step %d)\n",count);
printf("Current position (%d,%d):\n", currentCoord.x, currentCoord.y);
displayWorldAll(agentWorld);
puts("\nCongratulate! You have found gold! Nice!");
break;
} else{
// Mark current coordinates as visited and remove safe
setFlag(agentWorld, currentCoord, VISITED);
// Evaluate neighbors and set appropriate flags
evaluateNeighbors(agentWorld,currentCoord);
}
}
// Display agent world
printf("\nA G E N T W O R L D (Step %d)\n",count);
printf("Current position (%d,%d):\n", currentCoord.x, currentCoord.y);
displayWorldAll(agentWorld);
if(takeGlowAction(agentWorld, currentCoord)){
printf("This move is recommended by takeGlowAction method!\n");
} else if(takeSafeAction(agentWorld, currentCoord)){
printf("This move is recommended by takeSafeAction method!\n");
} else if(takeRollTheDiceAction(agentWorld, currentCoord)){
printf("This move is recommended by takeRollTheDiceAction method!\n");
} else if(takeSuicideAction(agentWorld, currentCoord)){
printf("This move is recommended by takeSuicideAction method, situation was hopeless!\n");
}
// sleep(2);
myPause();
}
myPause();
return EXIT_SUCCESS;
}
