int main(int argc, char *argv[]) {
/* define variables */
WbDeviceTag turret_sensor;
double perf_data[3];
double clock = 0;
/* initialize Webots */
wb_robot_init();
// read robot id from the robot's name
char* robot_name;
robot_name=(char*) wb_robot_get_name();
sscanf(robot_name,"e-puck%d",&robot_id);
emitter = wb_robot_get_device("emitter");
wb_emitter_set_range(emitter,COM_RANGE);
receiver = wb_robot_get_device("receiver");
wb_receiver_set_channel(receiver,0);
wb_receiver_enable(receiver,TIME_STEP);
wb_robot_step(TIME_STEP);
turret_sensor = wb_robot_get_device("ts");
wb_light_sensor_enable(turret_sensor,TIME_STEP);
/* main loop */
while (wb_robot_step(TIME_STEP) != -1) {
clock += (double)TIME_STEP/1000;
/* get light sensor value */
sensor_value = wb_light_sensor_get_value(turret_sensor);
if(wb_receiver_get_queue_length(receiver) > 0) {
wb_emitter_set_channel(emitter,3);
perf_data[0] = (double)robot_id;
perf_data[1] = (double)(pkt_count-1);
perf_data[2] = 0;
wb_emitter_send(emitter,perf_data,3*sizeof(double));
break; // stop node
}
else {
send_data(clock); // send measurement data
}
}
wb_robot_cleanup();
return 0;
}
void reset()
{
int i;
robotName = wb_robot_get_name();
currentState = FORWARD;
// Make sure to initialize the RNG with different values for each thread
srand(time(NULL) + (int)&robotName);
char e_puck_name[] = "ps0";
char sensorsName[5];
// Emitter and receiver device tags
emitterTag = wb_robot_get_device("emitter");
receiverTag = wb_robot_get_device("receiver");
// Configure communication devices
wb_receiver_enable(receiverTag, TIME_STEP);
wb_emitter_set_range(emitterTag, COMM_RADIUS);
wb_emitter_set_channel(emitterTag, COMMUNICATION_CHANNEL);
wb_receiver_set_channel(receiverTag, COMMUNICATION_CHANNEL);
sprintf(sensorsName, "%s", e_puck_name);
for (i = 0; i < NB_SENSORS; i++) {
sensors[i] = wb_robot_get_device(sensorsName);
wb_distance_sensor_enable(sensors[i], TIME_STEP);
if ((i + 1) >= 10) {
sensorsName[2] = '1';
sensorsName[3]++;
if ((i + 1) == 10) {
sensorsName[3] = '0';
sensorsName[4] = (char) '\0';
}
} else {
sensorsName[2]++;
}
}
wb_differential_wheels_enable_encoders(TIME_STEP);
printf("Robot %s is reset\n", robotName);
return;
}