Connection *ConnectionClone (Connection *conn, UWORD type DEBUGPARAM)
{
Connection *child;
child = ConnectionC (type DEBUGFOR);
if (!child)
return NULL;
child->parent = conn;
child->cont = conn->cont;
child->flags = 0;
Debug (DEB_CONNECT, "<=*= %p (%s) clone from %p (%s)", child, ConnectionType (child), conn, ConnectionType (conn));
return child;
}
int CALMAPI::CALMReadSpecs( char* filename )
{
ifstream infile;
char dummy[32];
char mdlname[32];
int mdltype, mdlsize, mdlidx, mdlconn, link, delay;
int i, j;
// open the file
infile.open( filename );
if ( infile.fail() )
{
FileOpenError( filename );
return kCALMFileError;
}
// read in number of CALM modules
SkipComments( &infile ); // ignore any strings starting with #
infile >> mNumModules;
// read in number of input modules
SkipComments( &infile );
infile >> mNumInputs;
// set up the module array
mNetwork->SetNumModules( mNumModules, mNumInputs );
// read in each module. Pattern modules should be specified first,
// before all other module types.
for ( i = 0; i < mNumModules+mNumInputs; i++ )
{
// read name of module
SkipComments( &infile );
infile >> mdlname;
// read module type
SkipComments( &infile );
infile >> dummy;
mdltype = ModuleType( dummy );
// read number of nodes
SkipComments( &infile );
infile >> mdlsize;
// initialize the module
mNetwork->InitializeModule( i, mdltype, mdlsize, mdlname );
}
// read in connections
for ( int i = 0; i < mNumModules; i++ )
{
// read name of to-module
SkipComments( &infile );
infile >> mdlname;
// get idx for to-module
mdlidx = mNetwork->GetModuleIndex( mdlname );
// read number of connections
SkipComments( &infile );
infile >> mdlconn;
// set connections array for module
mNetwork->SetNumConnections( mdlidx, mdlconn );
// set up each single connection
for ( j = 0; j < mdlconn; j++ )
{
// read from-module
SkipComments( &infile );
infile >> mdlname;
// get connection type
SkipComments( &infile );
infile >> dummy;
link = ConnectionType( dummy );
// with time delay connections, the time constant should be provided
if ( link == kDelayLink )
{
SkipComments( &infile );
infile >> delay;
}
else delay = 0;
// connect the modules
mNetwork->ConnectModules( j, mdlidx, mNetwork->GetModuleIndex( mdlname ), link, delay );
}
Simulation::Simulation(int argc, char* argv[], int width, int height) : BaseGfxApp(argc, argv, width, height, 50, 50, GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH, true, 851, 50)
{
setCaption("Robot Simulation");
//creates a basic UI panel with quit button
GLUI_Panel *toolPanel = new GLUI_Panel(m_glui, "Control Panel");
new GLUI_Button(m_glui, "Start", UI_START, (GLUI_Update_CB)s_gluicallback);
new GLUI_Button(m_glui, "Pause", UI_PAUSE, (GLUI_Update_CB)s_gluicallback);
new GLUI_Button(m_glui, "Resume", UI_RESUME, (GLUI_Update_CB)s_gluicallback);
new GLUI_Button(m_glui, "Quit", UI_QUIT, (GLUI_Update_CB)quick_exit);
float scale = 1.0;
//add_spinner_to_panel( GLUI_Panel *panel, const char *name, int data_type=GLUI_SPINNER_INT, void *live_var=NULL, int id=-1, GLUI_CB callback=GLUI_CB() );
spinner = m_glui->add_spinner_to_panel(toolPanel, "Light ActionRange(1-3):", GLUI_SPINNER_FLOAT, &scale, UI_SPIN, (GLUI_Update_CB)s_gluicallback);
spinner->set_float_limits(1.0, 3.0, GLUI_LIMIT_CLAMP);
spinner->set_speed(10.0f);
// Initialize OpenGL
glClearColor(0.0f, 0.0f, 0.0f, 1.0f );
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluOrtho2D(0, m_width, 0, m_height);
glViewport(0, 0, m_width, m_height);
controlflag = true;
// environment constructer
//env.EnvironmentClass(area, boundary[0], boundary[1], robots, lights);
env = new EnvironmentClass((glutGet(GLUT_WINDOW_WIDTH)*glutGet(GLUT_WINDOW_HEIGHT)), glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT), &robots, &lights);
oldTimeSinceStart = 0;
count = 0;
// initial setting : 10 robots, 5 lights
srand(time(NULL));
int i = 0, j = 0, k = 0, l = 0;
numRobot = 10;
numLight = 4;
for (i = 0; i < numRobot; i++)
{
float c[3] = {1.0f, 0.0f, 0.0f}; // red
//RobotClass(pos_x, , pos_y, width, length, speed, orientation, shapeType, color, ConnectionType, id)
RobotClass robot(rand()%760+20, rand()%760+20, 20 + rand() % 10, 0.0, 0, 2*M_PI*(double)rand()/RAND_MAX, Circle, c, ConnectionType(rand()%4), i);
env->registerRobotClass(robot);
/*
cout << "Robot "<< i << endl;
cout << "X: " << robots[i].getXPosition() << " Y: " << robots[i].getYPosition() << endl;
cout << "Ori: " << robots[i].getOrientation() << endl;
cout << "Radius: " << robots[i].getWidth()/2.0 << endl;
cout << "l Wheel X:" << robots[i].getLeftWheelX() << " l Wheel Y: " << robots[i].getLeftWheelY() << endl << endl;
cout << "r Wheel X:" << robots[i].getRightWheelX() << " r Wheel Y: " << robots[i].getRightWheelY() << endl << endl;
*/
}
for (i = 0; i < numLight; i++)
{
float c[3] = {1.0f, 0.0f, 1.0f}; // yellow
//Light(pos_x, , pos_y, width, length, speed, orientation, shapeType, color, actionRange)
Light light(rand() % 760 +20, rand() % 760 + 20, 20 + rand() % 20, 0.0, 0.0, 0.0, Circle, c);
env->registerLight(light);
}
//#############################################################################################################
cout << "---------------Avoid initial overlap start:-------------"<<endl;
// avoid initial overlap
int num = numRobot + numLight;
cout << "The number of Lights and Robots: " << num <<endl;
//-----------------------------checks if overlap occurs robot/robot ---------------------------------------
for(j = 0; j < robots.size(); j++){
for(k = 0; k < robots.size(); k++){
if ( ((j != k) && (DetectRobot_Robot (robots[j], robots[k]))) || robots[j].detectWall(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)) != None){
double r = robots[j].getWidth()/2.0;
double x = fmod(rand(),(800.0-2*r)) + r;
double y = fmod(rand(),(800.0-2*r)) + r;
robots[j].setNewPosition(x, y);
k = 0;
}
}
}
//-----------------------------checks if overlap occurs light/robot ---------------------------------------
for(j = 0; j < lights.size(); j++){
for(k = 0; k < lights.size(); k++){
for( l = 0; l < robots.size(); l++){
double r = lights[j].getWidth()/2.0;
if ( (j != k) && DetectLights_Lights (lights[j], lights[k])){ // light overlap with other light
lights[j].setPosition(fmod(rand(),(800.0-2*r)) + r, fmod(rand(),(800.0-2*r))+r);
k = 0;
l = 0;
}else if(lights[j].detectWall(glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT)) != None){ // light overlap with wall
lights[j].setPosition(fmod(rand(),(800.0-2*r)) + r, fmod(rand(),(800.0-2*r))+r);
k = 0;
l = 0;
}else if(DetectLights_Robot (lights[j], robots[l])) // light overlap with other light
{
lights[j].setPosition(fmod(rand(),(800.0-2*r)) + r, fmod(rand(),(800.0-2*r))+r);
k = 0;
l = 0;
}
}
}
}
}
