void testOrdre_Com()
{
mq_attr att;
att.mq_maxmsg = 10;
att.mq_msgsize = sizeof(Msg_IA_Ordre);
mqd_t bal_ia_ordre = mq_open(BAL_IA_ORDRE, O_WRONLY | O_CREAT, S_IRWXU, &att);
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
string a("aaaaaaaaaaaaaaa");
while (a != "exit")
{
cin >> a;
Msg_IA_Ordre msg;
msg.ordre_robot1.type_Ordre_Robot = Shoot_Left;
msg.ordre_robot1.robot.angle = 10;
msg.ordre_robot1.robot.pos_x = 1000;
msg.ordre_robot1.robot.pos_y = 5000;
msg.ordre_robot2.type_Ordre_Robot = Do_nothing;
mq_send(bal_ia_ordre, (char*)&msg, sizeof(Msg_IA_Ordre), 0);
/*mq_receive(coucou2, (char*)&msg2, sizeof(Msg_Ordre_Com), NULL);
cout << msg2.ordres[0].robot1.pas_droite << endl;
cout << msg2.ordres[0].robot1.pas_gauche << endl;
cout << msg2.ordres[1].robot1.pas_droite << endl;
cout << msg2.ordres[1].robot1.pas_gauche << endl;
cout << msg2.ordres[2].robot1.pas_droite << endl;
cout << msg2.ordres[2].robot1.pas_gauche << endl;
cout << msg2.ordres[3].robot1.pas_droite << endl;
cout << msg2.ordres[3].robot1.pas_gauche << endl;*/
}
mq_close(bal_ia_ordre);
mq_unlink(BAL_IA_ORDRE);
cout << "c'est fini" << endl;
}
void Complet()
{
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
FieldViewer fieldViewer;
fieldViewer.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "exit")
{
cout << "a" <<endl;
cin >> a;
cout << "a" <<endl;
Msg_Robot_IA msg;
if (a == "exit")
break;
}
cout << "c'est fini" << endl;
}
int main(int argc, char * argv[]) {
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
FieldAnalyse fieldAnalyse;
fieldAnalyse.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "q")
{
std::cout << "tapez 'q' pour quitter" <<endl;
cin >> a;
if (a == "q")
break;
}
cout << "c'est fini" << endl;
return 0;
}
void TestCom()
{
/* http://linux.die.net/man/3/mq_open */
Communication_Thread comTH;
comTH.Launch();
mqd_t bal_ordre_com;
mq_attr att;
att.mq_maxmsg = 10;
att.mq_msgsize = sizeof(Msg_Ordre_Com);
bal_ordre_com = mq_open(BAL_ORDRE_COM, O_WRONLY | O_NONBLOCK | O_CREAT, S_IRWXU, &att);
cout <<bal_ordre_com <<endl;
string cmd;
// mqd_t coucou = mq_open("coucou", O_RDONLY);
while (1)
{
int pasGauche, pasDroite;
char cmd[5]=" ";
cout << "commande :" <<endl;
cin >> cmd;
cout << "après cin" <<endl;
cout << "--------- " << cmd << " ---------" << endl;
if (strcmp(cmd,"exit") == 0)
break;
Msg_Ordre_Com msg_ordre_com;
for (int i = 0; i <4; i++)
{
switch (cmd[i])
{
case 'Z' :
pasGauche = 1000;
pasDroite = 1000;
break;
case 'Q' :
pasGauche = -525;
pasDroite = 525;
break;
case 'S' :
pasGauche = -1000;
pasDroite = -1000;
break;
case 'D' :
pasGauche = 525;
pasDroite = -525;
break;
}
// ROBOT 1
msg_ordre_com.ordres[i].robot1.pas_gauche = pasGauche;
msg_ordre_com.ordres[i].robot1.pas_droite = pasDroite;
}
// ROBOT 2
msg_ordre_com.ordres[0].robot2.pas_gauche = pasGauche;
msg_ordre_com.ordres[0].robot2.pas_droite = pasDroite;
for (int i = 1; i<4; i++)
{
msg_ordre_com.ordres[i].robot2.pas_gauche = 0;
msg_ordre_com.ordres[i].robot2.pas_droite = 0;
}
mq_send(bal_ordre_com, (char*)&msg_ordre_com, sizeof(Msg_Ordre_Com), 0);
//préparation de la réception
}
cout << "fin boucle" <<endl;
mq_close(bal_ordre_com);
mq_unlink(BAL_ORDRE_COM);
}
void testIA_Ordre_Com()
{
robot1.angle = 0;
robot1.pos_x = 0;
robot1.pos_y = 0;
robot2.angle = 180;
robot2.pos_x = 480;
robot2.pos_y = 0;
mq_attr att;
att.mq_maxmsg = 10;
att.mq_msgsize = sizeof(Msg_Robot_IA);
mqd_t bal_robot_ia = mq_open(BAL_ROBOT_IA, O_WRONLY | O_CREAT, S_IRWXU, &att);
Communication_Thread comTH;
comTH.Launch();
Ordre_Thread ordreTH;
ordreTH.Launch();
IAModule_Thread iamoduleTH;
iamoduleTH.Launch();
Robot_Thread robotTH;
robotTH.Launch();
string a("aaa");
while (a != "exit")
{
cout << "a" <<endl;
cin >> a;
cout << "a" <<endl;
Msg_Robot_IA msg;
if (a == "exit")
break;
msg.balle.pos_x = 120;
msg.balle.pos_y = 80;
msg.balle.vit_x = 0;
msg.balle.vit_y = 10;
msg.robot1.pos_x = 0;
msg.robot1.pos_y = 0;
msg.robot1.angle = 0;
msg.robot2.pos_x = 480;
msg.robot2.pos_y = 0;
msg.robot2.angle = -90;
cout << "mq_send" <<endl;
int i = mq_send(bal_robot_ia, (char*)&msg, sizeof(Msg_Robot_IA), 0);
cout << "i=" << i << endl;
sleep(15);
msg.balle.pos_x = LARGEUR_TERRAIN/8;
msg.balle.pos_y = LONGUEUR_TERRAIN/4;
msg.balle.vit_x = 0;
msg.balle.vit_y = 0;
msg.robot1 = INIT_ROBOT1;
msg.robot2.pos_x = 480;
msg.robot2.pos_y = 0;
msg.robot2.angle = -90;
cout << "mq_send" <<endl;
i = mq_send(bal_robot_ia, (char*)&msg, sizeof(Msg_Robot_IA), 0);
cout << "i=" << i << endl;
}
mq_close(bal_robot_ia);
mq_unlink(BAL_ROBOT_IA);
cout << "c'est fini" << endl;
}
void* Communication_Thread::exec(void* Com_thread)
{
Communication_Thread* thread = (Communication_Thread*)Com_thread;
thread->run();
return 0;
}