void loop()
{
int i = 0;
while ((!terminate || i++ < 200) && !done)
{
mapper_monitor_poll(mon, 0);
usleep(polltime_ms * 1000);
if (update++ < 0)
continue;
update = -10;
// clear screen & cursor to home
printf("\e[2J\e[0;0H");
fflush(stdout);
printf("Registered devices:\n");
mapper_db_device *pdev = mapper_db_get_all_devices(db);
while (pdev) {
printdevice(*pdev);
pdev = mapper_db_device_next(pdev);
}
printf("------------------------------\n");
printf("Registered signals:\n");
mapper_db_signal *psig =
mapper_db_get_all_inputs(db);
while (psig) {
printsignal(*psig);
psig = mapper_db_signal_next(psig);
}
psig = mapper_db_get_all_outputs(db);
while (psig) {
printsignal(*psig);
psig = mapper_db_signal_next(psig);
}
printf("------------------------------\n");
printf("Registered links:\n");
mapper_db_link *plink = mapper_db_get_all_links(db);
while (plink) {
printlink(*plink);
plink = mapper_db_link_next(plink);
}
printf("------------------------------\n");
printf("Registered connections:\n");
mapper_db_connection *pcon = mapper_db_get_all_connections(db);
while (pcon) {
printconnection(*pcon);
pcon = mapper_db_connection_next(pcon);
}
printf("------------------------------\n");
}
}
void recmonitor_poll()
{
mapper_monitor_poll(mon, 0);
if (!dev_ready && mdev_ready(recdev)) {
mapper_monitor_request_devices(mon);
dev_ready = 1;
}
record_signals_on_stack();
}
int main(int argc, char *argv[])
{
if (argc > 1)
id = atoi(argv[1]);
signal(SIGINT, ctrlc);
struct _agentInfo *info = agentInit();
if (!info->dev)
goto done;
float pos[2];
pos[0] = rand()%WIDTH/2+WIDTH/4;
pos[1] = rand()%HEIGHT/2+HEIGHT/4;
float gain = 0.2;
float damping = 0.9;
float limit = 1;
float vel[2] = {0,0};
int counter = 0;
while (!done) {
mapper_monitor_poll(info->mon, 0);
if (mdev_poll(info->dev, 10)) {
vel[0] += obs[0] * gain;
vel[1] += obs[1] * gain;
pos[0] += vel[0];
pos[1] += vel[1];
vel[0] *= damping;
vel[1] *= damping;
if (vel[0] > limit) vel[0] = limit;
if (vel[0] < -limit) vel[0] = -limit;
if (vel[1] > limit) vel[1] = limit;
if (vel[1] < -limit) vel[1] = -limit;
if (pos[0] < 0) {
pos[0] = 0;
vel[0] *= -0.95;
}
if (pos[0] >= WIDTH) {
pos[0] = WIDTH-1;
vel[0] *= -0.95;
}
if (pos[1] < 0) {
pos[1] = 0;
vel[1] *= -0.95;
}
if (pos[1] >= HEIGHT) {
pos[1] = HEIGHT-1;
vel[1] *= -0.95;
}
int p[2];
p[0] = (int)pos[0];
p[1] = (int)pos[1];
msig_update(info->sig_pos, p);
counter = 0;
}
else {
if (counter++ > 100) {
int p[2];
p[0] = (int)pos[0];
p[1] = (int)pos[1];
msig_update(info->sig_pos, p);
counter = 0;
}
}
}
done:
agentLogout();
return 0;
}
