/**
* Main.
*
* @param int number of arguments
* @param char** arguments
* @return int
*/
int main(int argc, char **argv)
{
// Make sure we have the minimum number of arguments
if (argc != 9)
{
printf("Not enough arguments: %d", argc);
throw;
}
Simulator::Config config = Simulator::Config();
// Set bitmap file locations
config.real_bitmap = argv[2];
config.robot_bitmap = argv[3];
// Start position (x, y)
config.start.first = atoi(argv[4]);
config.start.second = atoi(argv[5]);
// Goal position (x, y)
config.goal.first = atoi(argv[6]);
config.goal.second = atoi(argv[7]);
// Robot scan radius
config.scan_radius = atoi(argv[8]);
// Build the simulator and draw
Simulator sim = Simulator(argv[1], config);
sim.draw();
return 0;
}
int main() {
cout << "Hello World!!!" << endl; // prints Hello World!!!
string u=getenv("USER");
// string filename="/home/vapashos/JSVM/jsvm/JSVM/H264Extension/data/test.264";
// string traceFile="/home/vapashos/JSVM/jsvm/JSVM/H264Extension/data/trace.txt";
string filename="/home/"+u+"/JSVM/jsvm/JSVM/H264Extension/data/test.264";
string traceFile="/home/"+u+"/JSVM/jsvm/JSVM/H264Extension/data/trace.txt";
Simulator sim=Simulator(5,filename,traceFile);
sim.createMeshTopology();
sim.s->createCodedPacket(sim.s->segments[12]);
char c;
for(int simTime=0;simTime<2000;simTime++){
cout<<"###############################################################"<<endl;
cout<<"# TIMESLOT "<<simTime+1<<" #"<<endl;
cout<<"###############################################################"<<endl;
sim.simulate3GTransmissions(simTime);
sim.simulateWIFIBroadcasts(simTime);
//cin>>c;
//sim.showChannelBuffer();
if(channel3G::status==0 ){
cout<<"All downloads on 3G finished "<<endl;
if(sim.checkNodeQueues(simTime)){
cout<<"There is nothing to be transmitted inside the lan"<<endl;
break;
}
//sim.showNodeSegmentList();
//break;
}
/*if(simTime%100==0)
cin>>c;*/
cout<<"********************Enf OF TimeSlot "<<simTime+1<<" ***********************"<<endl;
// if(simTime%2==0)
//cin>>c;
}
cout.flush();
cout<<"*****************************************"<<endl;
cout<<"finished"<<endl;
cout<<"-------------------------- "<<endl;
return 0;
}
int main( int argc, char* args[] )
{
printf("Main started\n");
Simulator sim = Simulator(1);
sim.Initialize();
sim.Start();
// Add Gravity module
SimulatorModule_Gravity* Gravity = new SimulatorModule_Gravity();
sim.AddModule( (SimulatorModule*) Gravity );
sim.NextTick();
//SDL_Delay(2000);
sim.Stop();
return 0;
}
int Manual()
{
int PVi, k;
K= uatof(Gain);
/* Things will be drawn more quickly if you always acquire the screen before
trying to draw onto it. */
acquire_screen();
Graphics(); /* Call to graphics from a different function to avoid messy code */
int dir = 1; //since we are receiving data, direction should be 1
int mode = IEEE1284_MODE_COMPAT; // parameter to set mode 'receive'
RLE_SPRITE *rle;
/* Set the direction for reception */
ioctl(fd, PPDATADIR, &dir);
ioctl(fd, PPWDATA, 0);
PVi= 0; k= 100; M=0;
while (!key[KEY_ESC]) /* Only pressing ESC can Exit */
{
M++;
/* Check if user needs some help */
if(key[KEY_F1])
Help();
k++;
i= 897;
Captura = create_sub_bitmap(screen, 72, 350, 898, 368);
rle = get_rle_sprite(Captura);
destroy_bitmap(Captura);
draw_rle_sprite(screen, rle, 71, 350);
destroy_rle_sprite(rle);
/* This line reads data from the interfase which is
the process variable(measured variable) of the system */
ioctl(fd, PPRDATA, &PVi);
PV= PVi;
if(PV<=40)
{
PV= 51;
system("festival --tts Messages/Disconnected&");
blit(Disconnected, screen, 0, 0, 70, 290, 887, 52);
}
if(PV<=48)
PVi= 51;
PV= 1.794117647*(PVi-51);
SP= PV;
if(key[KEY_RIGHT])
{
fd = close("/dev/parport0");
Simulator();
}
if(key[KEY_PGUP])
OP= (OP+46);
if(key[KEY_PGDN])
OP= (OP-46);
if(key[KEY_UP])
OP= (OP+3.66);
if(key[KEY_DOWN])
{
if(OP>=1)
OP= (OP-3.66);
}
if(key[KEY_PRTSCR])
{
Captura = create_sub_bitmap(screen, 0, 0, 1024, 768);
save_bitmap("images/User/Captura.pcx", Captura, pal);
destroy_bitmap(Captura);
}
Timer++;
if(OP<=0)
OP= 0;
if (PV>=40)
{
textprintf_ex(screen, font, 230, 297, BLACK, WHITE, "%3.1f", (PV/368)*100); // Medición
textprintf_ex(screen, font, 450, 297, BLACK, WHITE, "%3.1f", (SP/368)*100); // SP
textprintf_ex(screen, font, 710, 297, BLACK, WHITE, "%3.1f", (OP/368)*100); // Controlador
}
if(k>=100)
{
k= 0;
vline(screen, 967, 351, 717, GRAY);
blit(Clean, screen, 0, 0, 968, 350, 2, 368);
}
int Recorder;
Recorder++;
if(Recorder>=900)
{
Recorder= 0;
Captura = create_sub_bitmap(screen, 258, 350, 715, 368);
}
Captura = create_sub_bitmap(screen, 248, 350, 705, 368);
if(PV>=362) PV= 365;
if(OP>=367) OP= 365;
if(PV<=0) PV= 0;
if(OP<=0) OP= 0;
/* Draw the behaviour of the PV, SP and OP over time */
line(screen, 71+i, 717-PV, 71+i, 717-PVj, RED);
PVj= PV; /* Flag for line y2 as a precedent state */
line(screen, 71+i, 717-OP, 71+i, 717-OPj, BLUE);
OPj= OP; /* Flag for line y2 as a precedent state */
fprintf(outfile,"%i\t%f\t %f\t %f\n", M, ((PV/368)*100), ((SP/368)*100), ((OP/368)*100));
rest(Delay);
}
int ScreenWide;
RLE_SPRITE *rle0, *rle1;
BITMAP *Screen3;
Screen3 = load_bitmap("images/Close/Base.pcx", pal);
system("mp3blaster /home/mentesuprema/Residencia/sounds/swing2.wav &");
rest(5);
rle0= get_rle_sprite(Screen2);
rle1= get_rle_sprite(Screen3);
for(ScreenWide=0;ScreenWide<=768;ScreenWide=ScreenWide+5)
{
draw_rle_sprite(screen, rle0, 0, 768);
draw_rle_sprite(screen, rle1, 0, -768+ScreenWide);
}
destroy_rle_sprite(rle0);
destroy_rle_sprite(rle1);
destroy_bitmap(Screen2);
destroy_bitmap(Screen3);
destroy_bitmap(Clean);
destroy_bitmap(Disconnected);
release_screen();
Close();
exit(0);
}
int Manual(int argc, unsigned char **argv)
{
/* Serial port initialization */
fd = open("/dev/ttyS0", O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) {
perror("open_port: Unable to open /dev/ttyS0 - ");
return 1;
} else {
fcntl(fd, F_SETFL, 0);
}
getbaud(fd);
initport(fd);
int PVi, k;
K= uatof(Gain);
/* Things will be drawn more quickly if you always acquire the screen before
trying to draw onto it. */
acquire_screen();
Graphics(); /* Call to graphics from a different function to avoid messy code */
RLE_SPRITE *rle;
sCmd[0]= 'C';
writeport(fd, sCmd);
PVi= 0; k= 100; M=0;
while (!key[KEY_ESC]) /* Only pressing ESC can Exit */
{
char ValveState;
if(ValveState=='O')
{
sCmd[0]= 'A';
writeport(fd, sCmd);
}
if(ValveState=='C')
{
sCmd[0]= 'C';
writeport(fd, sCmd);
}
M++;
/* Check if user needs some help */
if(key[KEY_F1])
Help();
k++;
i= 897;
Captura = create_sub_bitmap(screen, 72, 350, 898, 368);
rle = get_rle_sprite(Captura);
destroy_bitmap(Captura);
draw_rle_sprite(screen, rle, 71, 350);
destroy_rle_sprite(rle);
/* This line reads data from the interfase which is
the process variable(measured variable) of the system */
fcntl(fd, F_SETFL, FNDELAY); // don't block serial read
readport(fd,sResult);
PVi= (int) *sResult;
PV= PVi;
/*
if(PVi<=40)
{
PV= 51;
system("festival --tts Messages/Disconnected&");
blit(Disconnected, screen, 0, 0, 70, 290, 887, 52);
}
*/
if(PV<=48)
PVi= 51;
PV= 1.794117647*(PVi-51);
SP= PV;
if(key[KEY_RIGHT])
{
//fd = close("/dev/parport0");
Simulator();
}
if(key[KEY_PGUP])
OP= (OP+46);
if(key[KEY_PGDN])
OP= (OP-46);
if(key[KEY_UP])
{
OP=162; //(OP+3.66);
sCmd[0]= 'A';
writeport(fd, sCmd);
ValveState='O';
}
if(key[KEY_DOWN])
{
if(OP>=1)
OP= 0;//(OP-3.66);
sCmd[0]= 'C';
writeport(fd, sCmd);
ValveState='C';
}
if(key[KEY_PRTSCR])
{
Captura = create_sub_bitmap(screen, 0, 0, 1024, 768);
save_bitmap("images/User/Captura.pcx", Captura, pal);
destroy_bitmap(Captura);
}
Timer++;
if(OP<=0)
OP= 0;
// if (PV>=40)
// {
textprintf_ex(screen, font, 230, 297, BLACK, WHITE, "%3.1f", (PV/368)*100); // Medición
textprintf_ex(screen, font, 450, 297, BLACK, WHITE, "%3.1f", (SP/368)*100); // SP
textprintf_ex(screen, font, 710, 297, BLACK, WHITE, "%3.1f", (OP/368)*100); // Controlador
// }
if(k>=100)
{
k= 0;
vline(screen, 967, 351, 717, GRAY);
blit(Clean, screen, 0, 0, 968, 350, 2, 368);
}
int Recorder;
Recorder++;
if(Recorder>=900)
{
Recorder= 0;
Captura = create_sub_bitmap(screen, 258, 350, 715, 368);
}
Captura = create_sub_bitmap(screen, 248, 350, 705, 368);
if(PV>=362) PV= 365;
if(OP>=367) OP= 365;
if(PV<=0) PV= 0;
if(OP<=0)
OP= 1;
/*
OPi= fixtoi(itofix((OP*0.69234783)/255*100));
sCmd[0]= (unsigned char)OPi+50;
sCmd[0]= sCmd[0]+0.00;
writeport(fd, sCmd);
*/
// textprintf_ex(screen, font, 30, 297, BLACK, WHITE, "%i - %s - %3.1f", PVi, sResult, PV); // Medición
/* Draw the behaviour of the PV, SP and OP over time */
line(screen, 71+i, 717-PV, 71+i, 717-PVj, RED);
PVj= PV; /* Flag for line y2 as a precedent state */
line(screen, 71+i, 717-OP, 71+i, 717-OPj, BLUE);
OPj= OP; /* Flag for line y2 as a precedent state */
fprintf(outfile,"%i\t%f\t %f\t %f\n", M, ((PV/368)*100), ((SP/368)*100), ((OP/368)*100));
rest(Delay);
}
int ScreenWide;
RLE_SPRITE *rle0, *rle1;
BITMAP *Screen3;
Screen3 = load_bitmap("images/Close/Base.pcx", pal);
system("mp3blaster /home/mentesuprema/Residencia/sounds/swing2.wav &");
rest(5);
rle0= get_rle_sprite(Screen2);
rle1= get_rle_sprite(Screen3);
for(ScreenWide=0;ScreenWide<=768;ScreenWide=ScreenWide+5)
{
draw_rle_sprite(screen, rle0, 0, 768);
draw_rle_sprite(screen, rle1, 0, -768+ScreenWide);
}
destroy_rle_sprite(rle0);
destroy_rle_sprite(rle1);
destroy_bitmap(Screen2);
destroy_bitmap(Screen3);
destroy_bitmap(Clean);
destroy_bitmap(Disconnected);
release_screen();
Close();
exit(0);
}
void Selection (int argc, char **argv)
{
clear ();
refresh ();
flushinp ();
struct passwd *user = getpwnam (getlogin ());
attrset (A_BOLD);
box (stdscr, 0, 0);
attrset (A_NORMAL);
mvaddstr (4, 3, " OOOOOOOOOO O");
mvaddstr (5, 3, " O OOO OOOOOOO");
mvaddstr (6, 3, "O O");
mvaddstr (7, 3, "OOOOOOOOOOOOOOOOOOOOOOOO");
mvaddstr (8, 3, " OOOOO OOOOO");
mvaddstr (9, 3, " OOO OOO");
mvaddstr (2, 34, " /--\\ /--\\");
mvaddstr (3, 34, " / || \\ / || \\");
mvaddstr (4, 34, " / || \\ / || \\");
mvaddstr (5, 34, " / || \\ / || \\");
mvaddstr (6, 34, " / || \\ / || \\");
mvaddstr (7, 34, " / || \\______/ || \\");
mvaddstr (8, 34, " / || || \\");
mvaddstr (9, 34, "__/ || || \\__");
attrset (A_STANDOUT);
mvaddstr (11, 1, ":::::::::::::::...");
mvaddstr (11, 59, "...:::::::::::::::::");
attrset (A_NORMAL);
attrset (A_REVERSE);
mvaddstr (11, 19, "WELCOME TO THE VEHICLE DRIVING SIMULATOR");
attrset (A_NORMAL);
mvaddstr (13, 4, "With the freeway under construction traffic has ");
mvaddstr (13, 52, "reached critical mass.");
mvprintw (14, 4, "%s, what kind of vehicle would you like to drive?", user->pw_gecos);
attrset (A_BOLD | A_BLINK);
mvprintw (2, 6, "Hi %s!", user->pw_name);
attrset (A_NORMAL);
attrset (A_BOLD);
mvprintw (14, 4, "%s", user->pw_gecos);
mvaddstr (16, 23, "For a regular car, press..... C");
mvaddstr (17, 23, "For a fast truck, press...... T");
mvaddstr (18, 23, "For a slow bus, press........ B");
mvaddstr (19, 23, "To quit simulator, press..... ESC");
attrset (A_NORMAL);
mvaddstr (22, 19, "Your vehicle will be illustrated in bold.");
int distance = DEFAULT_DISTANCE, again = 1;
while (again)
switch (getch ())
{
case 'c':
case 'C':
case '\n':
SelectDistance (argc, argv, distance);
Simulator (new Car (distance), "Car", distance);
again = 0;
break;
case 't':
case 'T':
SelectDistance (argc, argv, distance);
Simulator (new Truck (distance), "Truck", distance);
again = 0;
break;
case 'b':
case 'B':
SelectDistance (argc, argv, distance);
Simulator (new Bus (distance), "Bus", distance);
again = 0;
break;
case 033:
clear ();
refresh ();
endwin ();
exit (0);
default:
beep ();
again = 1;
}
}
int main(int argc, char **argv)
{
//ROS stuff
ros::init(argc, argv, "simulate_node");
ros::NodeHandle n;
ros::Publisher filter_target_pub = n.advertise<laser_package::state>("/filter_topic",1000); //publish targets to new topic
//ros::ServiceClient client_update = n.serviceClient<laser_package::update_tracker>("updateFilter");
//ros::ServiceClient client_initialize = n.serviceClient<laser_package::update_tracker>("initializeFilter");
laser_package::update_tracker srv;
laser_package::state state_msg;
ros::Rate r(floor(1/SAMPLING_INTERVAL+0.5));
//random noise stuff
std::default_random_engine measurement_generator;
std::normal_distribution<double> meas_noise(MU_W_SIMULATE,VAR_W_SIMULATE);
//simulator class
Simulator simulator = Simulator();
//other variables
Eigen::VectorXd next_x(5), past_x(5);
double w;
past_x << 0, 10, 0, 0, OMEGA_RADS; // initial vector: xi, xi_dot, eta, eta_dot, omega
simulator.initializeSimulators(past_x);
/*srv.request.initial_x = past_x(XI);
srv.request.initial_x_velocity = past_x(XI_DOT);
srv.request.initial_y = past_x(ETA);
srv.request.initial_y_velocity = past_x(ETA_DOT);
srv.request.initial_turn_rate = past_x(OMEGA);
srv.request.sampling_interval = SAMPLING_INTERVAL;
srv.request.update_time = ros::Time::now().toSec();
srv.request.measurement_noise_mean = MU_W;
srv.request.measurement_noise_variance = VAR_W;*/
//initialize tracker(s)
int counter = 0;
//client_initialize.call(srv);
while(ros::ok())
{
w = meas_noise(measurement_generator);//noises
if(counter<300)
{
next_x = simulator.simulateCoordinatedTurn(OMEGA_RADS);
//next_x = simulator.simulateUniformMotion();
}
else if (counter>300&counter<500)
{
//next_x = simulator.simulateUniformMotion();
next_x = simulator.simulateCoordinatedTurn(OMEGA_RADS);
}
else if (counter>500&&counter<1100)
{
next_x = simulator.simulateUniformMotion();
//next_x = simulator.simulateCoordinatedTurn(OMEGA_RADS);
}
else
{
next_x = simulator.simulateUniformMotion();
//next_x = simulator.simulateCoordinatedTurn(OMEGA_RADS);
}
//update values
state_msg.Real_X = next_x(XI);
state_msg.Measured_X = next_x(XI) + w;
state_msg.Real_Y = next_x(ETA);
state_msg.Measured_Y = next_x(ETA) + w;
state_msg.Time_Of_Measurement = ros::Time::now().toSec();
filter_target_pub.publish(state_msg);
counter++;
//send update
//if(client_update.call(srv));
ros::spinOnce();
r.sleep();
}
return 0;
}
