void SimulationEngine::addAgent(AgentInitialParameters& agentConditions)
{
// std::cout << "addAgent " << force(Vector2D(0,0)) << std::endl;
Agent* newAgent = new Agent();
if (newAgent != NULL) {
newAgent->init(agentConditions);
// std::cout << "addAgent " << force(Vector2D(0,0)) << std::endl;
newAgent->setForceFunction(this->force);
newAgent->setRadiusFunction(this->rad);
_agents.push_back(newAgent);
}
}
int main(int argc, char** argv) {
list<PlotOption> plotoptions;
int port = 1;
int index = contains(argv, argc, "-g");
if (index > 0 && argc > index) {
plotoptions.push_back(PlotOption(GuiLogger, atoi(argv[index])));
}
if (contains(argv, argc, "-f") != 0)
plotoptions.push_back(PlotOption(File));
if (contains(argv, argc, "-n") != 0)
plotoptions.push_back(PlotOption(MatrixViz));
if (contains(argv, argc, "-l") != 0)
singleline = false;
index = contains(argv, argc, "-p");
if (index > 0 && argc > index)
port = atoi(argv[index]);
if (contains(argv, argc, "-h") != 0) {
printf("Usage: %s [-g N] [-f] [-n] [p PORT]\n", argv[0]);
printf("\t-g N\tstart guilogger with interval N\n\t-f\twrite logfile\n");
printf("\t-n\tstart neuronviz\n");
printf("\t-p PORT\t COM port number, default 1\n");
printf("\t-h\tdisplay this help\n");
exit(0);
}
GlobalData globaldata;
dacbot_serial* robot;
Agent* agent;
initializeConsole();
// Different controllers
AbstractController* controller = new MuscleRunbotController("muscleRunbotController","0.1");
// one2onewiring gives full range of robot actuators
AbstractWiring* wiring = new One2OneWiring(new WhiteUniformNoise(), true);
//****************Finetuning for real robot experiments
//((AmosIIControl*) controller)-> ---Access to controller parameters
//see $(AMOSIICONT)/amosIIcontrol.cpp for controller classes
//robot = new AmosIISerialV2("/dev/ttyS0"); // using serial port
robot = new dacbot_serial("/dev/ttyUSB0"); // using USB-to-serial adapter
agent = new Agent(plotoptions);
agent->init(controller, robot, wiring);
// if you like, you can keep track of the robot with the following line.
// this assumes that your robot returns its position, speed and orientation.
// agent->setTracMkOptions(TrackRobot(true,false,false, false,"systemtest"));
globaldata.agents.push_back(agent);
globaldata.configs.push_back(robot);
globaldata.configs.push_back(controller);
showParams(globaldata.configs);
printf("\nPress c to invoke parameter input shell\n");
printf("The output of the program is more fun then useful ;-).\n");
printf(" The number are the sensors and the position there value.\n");
printf(" You probably want to use the guilogger with e.g.: -g 10\n");
cmd_handler_init();
long int t=0;
initscr();
cbreak();
//noecho();
intrflush(stdscr,FALSE);
keypad(stdscr,TRUE);
nodelay(stdscr,TRUE);
/*cout<<"Options: Press a= Obstacle Avoidance ON/OFF"<<endl;
cout<<"Options: Press b= BJC ON/OFF"<<endl;
cout<<"Options: Press e= Reflex ON/OFF"<<endl;
cout << "hi brf"<< endl;
*/while(!stop) {//!stop
agent->step(noise,t);
//std::cout << "hifgvf" << t <<endl;
if(control_c_pressed()) {
if(!handleConsole(globaldata)) {
stop=1;
}
cmd_end_input();
}
t++;
};
delete robot;
delete agent;
closeConsole();
fprintf(stderr,"terminating\n");
// should clean up but what costs the world
return 0;
}