void testOrdre_Com()
{
mq_attr att;
att.mq_maxmsg = 10;
att.mq_msgsize = sizeof(Msg_IA_Ordre);
mqd_t bal_ia_ordre = mq_open(BAL_IA_ORDRE, O_WRONLY | O_CREAT, S_IRWXU, &att);
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
string a("aaaaaaaaaaaaaaa");
while (a != "exit")
{
cin >> a;
Msg_IA_Ordre msg;
msg.ordre_robot1.type_Ordre_Robot = Shoot_Left;
msg.ordre_robot1.robot.angle = 10;
msg.ordre_robot1.robot.pos_x = 1000;
msg.ordre_robot1.robot.pos_y = 5000;
msg.ordre_robot2.type_Ordre_Robot = Do_nothing;
mq_send(bal_ia_ordre, (char*)&msg, sizeof(Msg_IA_Ordre), 0);
/*mq_receive(coucou2, (char*)&msg2, sizeof(Msg_Ordre_Com), NULL);
cout << msg2.ordres[0].robot1.pas_droite << endl;
cout << msg2.ordres[0].robot1.pas_gauche << endl;
cout << msg2.ordres[1].robot1.pas_droite << endl;
cout << msg2.ordres[1].robot1.pas_gauche << endl;
cout << msg2.ordres[2].robot1.pas_droite << endl;
cout << msg2.ordres[2].robot1.pas_gauche << endl;
cout << msg2.ordres[3].robot1.pas_droite << endl;
cout << msg2.ordres[3].robot1.pas_gauche << endl;*/
}
mq_close(bal_ia_ordre);
mq_unlink(BAL_IA_ORDRE);
cout << "c'est fini" << endl;
}
void Complet()
{
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
FieldViewer fieldViewer;
fieldViewer.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "exit")
{
cout << "a" <<endl;
cin >> a;
cout << "a" <<endl;
Msg_Robot_IA msg;
if (a == "exit")
break;
}
cout << "c'est fini" << endl;
}
int main(int argc, char * argv[]) {
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
FieldAnalyse fieldAnalyse;
fieldAnalyse.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "q")
{
std::cout << "tapez 'q' pour quitter" <<endl;
cin >> a;
if (a == "q")
break;
}
cout << "c'est fini" << endl;
return 0;
}
void testIA_Ordre_Com()
{
robot1.angle = 0;
robot1.pos_x = 0;
robot1.pos_y = 0;
robot2.angle = 180;
robot2.pos_x = 480;
robot2.pos_y = 0;
mq_attr att;
att.mq_maxmsg = 10;
att.mq_msgsize = sizeof(Msg_Robot_IA);
mqd_t bal_robot_ia = mq_open(BAL_ROBOT_IA, O_WRONLY | O_CREAT, S_IRWXU, &att);
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "exit")
{
cout << "a" <<endl;
cin >> a;
cout << "a" <<endl;
Msg_Robot_IA msg;
if (a == "exit")
break;
msg.balle.pos_x = 120;
msg.balle.pos_y = 80;
msg.balle.vit_x = 0;
msg.balle.vit_y = 10;
msg.robot1.pos_x = 0;
msg.robot1.pos_y = 0;
msg.robot1.angle = 0;
msg.robot2.pos_x = 480;
msg.robot2.pos_y = 0;
msg.robot2.angle = -90;
cout << "mq_send" <<endl;
int i = mq_send(bal_robot_ia, (char*)&msg, sizeof(Msg_Robot_IA), 0);
cout << "i=" << i << endl;
sleep(15);
msg.balle.pos_x = LARGEUR_TERRAIN/8;
msg.balle.pos_y = LONGUEUR_TERRAIN/4;
msg.balle.vit_x = 0;
msg.balle.vit_y = 0;
msg.robot1 = INIT_ROBOT1;
msg.robot2.pos_x = 480;
msg.robot2.pos_y = 0;
msg.robot2.angle = -90;
cout << "mq_send" <<endl;
i = mq_send(bal_robot_ia, (char*)&msg, sizeof(Msg_Robot_IA), 0);
cout << "i=" << i << endl;
}
mq_close(bal_robot_ia);
mq_unlink(BAL_ROBOT_IA);
cout << "c'est fini" << endl;
}
void* Ordre_Thread::exec(void* robot_thread)
{
Ordre_Thread* thread = (Ordre_Thread*)robot_thread;
thread->run();
return 0;
}
