int main(void) {
struct arena_posn loc1 = {40,40};
struct arena_posn loc2 = {60,60};
struct robot r1 = create_robot(VINCENT,'E', loc1, 10);
struct robot r2 = create_robot(MAXIMILLIAN,'W', loc2, 5);
loop(r1, r2, 0);
}
int test4()
{
p1u_setup();
enable_robot_debug_message();
create_robot_world_with_dimensions(5, 5);
create_robot();
turn_on_debug_output();
move_beepers();
// Beepers both present so both should be moved
P1U_ASSERT_EQUAL("Robot should be at X = 0", 0, get_current_robot_x());
P1U_ASSERT_EQUAL("Robot should be at Y = 0", 0, get_current_robot_y());
P1U_ASSERT_EQUAL("Robot should be facing east", get_current_robot_orientation(), get_east());
P1U_ASSERT_FALSE("Robot should survive", is_robot_dead());
p1u_shutdown();
return (p1world_shutdown());
}
int test1()
{
p1u_setup();
enable_robot_debug_message();
create_robot_world_with_dimensions(5, 5);
setup_beeper(0, 1);
setup_beeper(0, 2);
create_robot();
turn_on_debug_output();
move_beepers();
// Beepers both present so both should be moved
P1U_ASSERT_EQUAL("There should be 2 beepers at (2, 4)", 2, get_count_of_beepers_at(4, 2));
P1U_ASSERT_EQUAL("Robot should be at X = 4", 4, get_current_robot_x());
P1U_ASSERT_EQUAL("Robot should be at Y = 2", 2, get_current_robot_y());
P1U_ASSERT_EQUAL("Robot should be facing east", get_current_robot_orientation(), get_east());
P1U_ASSERT_FALSE("Robot should survive", is_robot_dead());
p1u_shutdown();
return (p1world_shutdown());
}
int
main(int argc, char** argv)
{
int i;
int map_idx;
int planner_idx;
int have_map;
pose_t robot_pose;
gui_data_t gui_data;
memset(&gui_data, 0, sizeof(gui_data));
dumpfreq = 5.0;
gui_data.initial_zoom = 1.0;
gui_data.aa = 1;
map_idx = 0;
planner_idx = 0;
if(parse_args(argc-1, argv+1, &(gui_data.num_robots), gui_data.hostnames,
gui_data.ports, &(gui_data.initial_zoom), &(gui_data.aa),
&map_idx, &planner_idx) < 0)
{
// Input problem, print usage and exit with error
puts(USAGE);
exit(-1);
}
if (signal(SIGINT, _interrupt_callback) ==SIG_ERR)
{
// Couldn't register signal callback, exit with error
exit(-1);
}
gui_data.mclient = init_player(gui_data.clients,
gui_data.maps,
gui_data.localizes,
gui_data.planners,
gui_data.num_robots,
gui_data.hostnames,
gui_data.ports,
DATA_FREQ,
map_idx,
planner_idx);
if(! gui_data.mclient )
{
// Connection to Player failed, exit with error
exit(-1);
}
// assume the robots all start enabled (should really get the current
// enable/disable state for each robot from the server).
for(i=0;i<gui_data.num_robots;i++)
gui_data.robot_enable_states[i] = 1;
// use the first robot for the map
gui_data.mapdev = gui_data.maps[0];
/* Get the map, just so we know how big to make the window */
puts("requesting map");
if(playerc_map_get_map(gui_data.mapdev) < 0)
{
have_map = 0;
fprintf(stderr, "Failed to get map\n");
// no map yet; guess some values to initialize the GUI
gui_data.mapdev->width = gui_data.mapdev->height = 400;
gui_data.mapdev->resolution = 0.1;
gui_data.mapdev->origin[0] = -20.0;
gui_data.mapdev->origin[1] = -20.0;
}
else
{
have_map = 1;
puts("done");
}
init_gui(&gui_data, argc, argv);
// now draw the map
if(have_map)
create_map_image(&gui_data);
for(i=0;i<gui_data.num_robots;i++)
{
if(gui_data.localizes[i] || gui_data.planners[i])
{
robot_pose.px = 0.0;
robot_pose.py = 0.0;
robot_pose.pa = 0.0;
create_robot(&gui_data, i, robot_pose);
}
}
gtk_widget_show((GtkWidget*)(gui_data.main_window));
// setup read function to be called when idle
g_idle_add((GSourceFunc)player_read_func,
(gpointer*)&gui_data);
gtk_main();
fini_player(gui_data.mclient,
gui_data.clients,
gui_data.maps,
gui_data.localizes,
gui_data.planners,
gui_data.num_robots);
fini_gui(&gui_data);
return(0);
}
