/**
* Create an Erlang port from its components.
* If node string size is greater than MAX_NODE_LENGTH or = 0,
* the constructor throws an exception.
* @param node the nodename.
* @param id an arbitrary number. Only the low order 18
* bits will be used.
* @param creation yet another arbitrary number. Only the low order
* 2 bits will be used.
* @throw err_bad_argument if node is empty or greater than MAX_NODE_LENGTH
**/
port(const char* node, const int id, const int creation, const Alloc& a_alloc = Alloc())
throw (err_bad_argument)
{
size_t n = strlen(node);
detail::check_node_length(n);
atom l_node(node, n);
init(l_node, id, creation, a_alloc);
}
int main ( int argc, char** argv )
{
ros::init(argc, argv, "Agent_motor_control");
std::string l_robot_name;
ros::NodeHandle l_node("~");
l_node.getParam("robot_name", l_robot_name);
Robotics::GameTheory::Motor_control comm(l_robot_name);
ros::spin();
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "Simulator");
ROS_INFO("Simulator is running.");
std::shared_ptr<GazeboDriver> l_gazebo_driver = std::make_shared<GazeboDriver>();
ROS_INFO("Gazebo Driver is created.");
int l_number_of_guards(0), l_number_of_thieves(0);
std::string l_str;
ros::NodeHandle l_node("~");
std::string temp_name;
if (l_node.searchParam("number_of_guards", temp_name))
{
l_node.getParam(temp_name,l_number_of_guards);
//l_number_of_guards = std::stoi(l_str);
ROS_INFO("Received number of guards: %d", l_number_of_guards);
}
else
{
l_number_of_guards = 1;
ROS_ERROR("Apriori number of guards: %d", l_number_of_guards);
}
if (l_node.searchParam("number_of_thieves", temp_name))
{
l_node.getParam(temp_name,l_number_of_thieves);
//l_number_of_thieves = std::stoi(l_str);
ROS_INFO("Received number of thieves: %d", l_number_of_thieves);
}
else
{
l_number_of_thieves = 1;
ROS_ERROR("Apriori number of thieves: %d", l_number_of_thieves);
}
/////////////////////////////////////////////////
// AREA CREATOR
Robotics::GameTheory::AreaPtr l_area = nullptr;
ros::NodeHandle l_nodeArea;
ros::ServiceClient l_clientArea = l_nodeArea.serviceClient<nostop_area::AreaData>("/AreaInitializer");
nostop_area::AreaData l_srvArea;
if (l_clientArea.call(l_srvArea))
{
ROS_INFO("Area description received");
// creazione dell'area:
Robotics::GameTheory::AreaCreator l_areaCreator(l_srvArea.response.external, l_srvArea.response.internal);
l_area = l_areaCreator.getArea();
}
else
{
ROS_ERROR("Failed to call service AreaInitializer");
Robotics::GameTheory::AreaCreator l_areaCreator;
l_area = l_areaCreator.getArea();
}
ROS_INFO("Area is created.");
/////////////////////////////////////////////////
// PLAYER CREATOR
Robotics::GameTheory::PlayersMaker l_playersCreator(l_area, l_number_of_guards, l_number_of_thieves, l_gazebo_driver);
std::set<Robotics::GameTheory::AgentPtr> l_players = l_playersCreator.getPlayers();
ROS_INFO("Players are connected.");
/////////////////////////////////////////////////
// LEARNING CREATOR
std::shared_ptr<Robotics::GameTheory::LearningWorld> l_coverage =
std::make_shared<Robotics::GameTheory::LearningWorld>(l_players, l_area->discretize(), Robotics::GameTheory::DISL);
ROS_INFO("Learning algorithm is created.");
/////////////////////////////////////////////////
// APPLICATION RUNNING
Robotics::GameTheory::CoverageApplication l_application(l_coverage);
l_application.start();
ROS_INFO("Application is running.");
// std::shared_ptr<Robotics::GameTheory::PlayerAdder> l_player_adder = std::make_shared<Robotics::GameTheory::PlayerAdder>(l_coverage, l_gazebo_driver);
// std::shared_ptr<Robotics::GameTheory::PlayerRemover> l_player_remover = std::make_shared<Robotics::GameTheory::PlayerRemover>(l_coverage, l_gazebo_driver);
// l_player_adder->start();
// l_player_remover->start();
/////////////////////////////////////////////////
// WAIT FOR ROS MESSAGES
ros::spin();
ROS_INFO("Ending process.");
return 0;
}
