int main(int argc, char *args[]) {
char buffer[255]; // Buffer for sending data
int i; // Index
if (argc == 4) { // Get parameters
offset = atoi(args[1]);
migrx = atof(args[2]);
migrz = atof(args[3]);
//migration goal point comes from the controller arguments. It is defined in the world-file, under "controllerArgs" of the supervisor.
printf("Migratory instinct : (%f, %f)\n", migrx, migrz);
} else {
printf("Missing argument\n");
return 1;
}
orient_migr = -atan2f(migrx,migrz);
if (orient_migr<0) {
orient_migr+=2*M_PI; // Keep value within 0, 2pi
}
reset();
send_init_poses();
// Compute reference fitness values
float fit_cluster; // Performance metric for aggregation
float fit_orient; // Performance metric for orientation
for(;;) {
wb_robot_step(TIME_STEP);
if (t % 10 == 0) {
for (i=0;i<FLOCK_SIZE;i++) {
// Get data
loc[i][0] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[0]; // X
loc[i][1] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[2]; // Z
loc[i][2] = wb_supervisor_field_get_sf_rotation(robs_rotation[i])[3]; // THETA
// Sending positions to the robots, comment the following two lines if you don't want the supervisor sending it
sprintf(buffer,"%1d#%f#%f#%f##%f#%f",i+offset,loc[i][0],loc[i][1],loc[i][2], migrx, migrz);
wb_emitter_send(emitter,buffer,strlen(buffer));
}
//Compute and normalize fitness values
compute_fitness(&fit_cluster, &fit_orient);
fit_cluster = fit_cluster_ref/fit_cluster;
fit_orient = 1-fit_orient/M_PI;
printf("time:%d, Topology Performance: %f\n", t, fit_cluster);
}
t += TIME_STEP;
}
}
void send_init_poses(void)
{
char buffer[255]; // Buffer for sending data
int i;
for (i=0;i<FLOCK_SIZE;i++) {
// Get data
loc[i][0] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[0]; // X
loc[i][1] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[2]; // Z
loc[i][2] = wb_supervisor_field_get_sf_rotation(robs_rotation[i])[3]; // THETA
printf("Supervisor %d %d %d/n",loc[i][0],loc[i][0],loc[i][0]);
// Send it out
sprintf(buffer,"%1d#%f#%f#%f##%f#%f",i+offset,loc[i][0],loc[i][1],loc[i][2], migrx, migrz);
wb_emitter_send(emitter,buffer,strlen(buffer));
// Run one step
wb_robot_step(TIME_STEP);
}
}
// main loop
int main(void)
{
srand(time(NULL));
// initialization
wb_robot_init();
int i;
for (i=0;i<ROBOTS;i++) {
char aux[15];
sprintf(aux,"%s%d",rob_prefix,i+1);
rob[i] = wb_supervisor_node_get_from_def(aux);
loc[i] = wb_supervisor_field_get_sf_vec3f(wb_supervisor_node_get_field(rob[i],"translation"));
initLoc[i][0] = loc[i][0];
initLoc[i][1] = loc[i][1];
initLoc[i][2] = loc[i][2];
rot[i] = wb_supervisor_field_get_sf_rotation(wb_supervisor_node_get_field(rob[i],"rotation"));
initRot[i][0] = rot[i][0];
initRot[i][1] = rot[i][1];
initRot[i][2] = rot[i][2];
initRot[i][3] = rot[i][3];
}
reset();
wb_robot_step(2*STEP_SIZE);
// start the controller
outfile = fopen("../../../matlab/output.m","w");
printf("Starting main loop...\n");
while (wb_robot_step(STEP_SIZE) != -1)
{
run(STEP_SIZE);
}
wb_robot_cleanup();
return 0;
}
// this is what is done at every time step independently of the game state
static void step() {
// copy pointer to ball position values
if (ball_translation)
ball_pos = wb_supervisor_field_get_sf_vec3f(ball_translation);
int i;
for (i = 0; i < NUM_ROBOTS; i++) {
// copy pointer to robot position values
if (robot_translation[i])
robot_pos[i] = wb_supervisor_field_get_sf_vec3f(robot_translation[i]);
if (robot_rotation[i])
robot_rot[i] = wb_supervisor_field_get_sf_rotation(robot_rotation[i]);
}
if (message_steps)
message_steps--;
// yield control to simulator
wb_robot_step(TIME_STEP);
// every 480 milliseconds
if (step_count++ % 12 == 0)
sendGameControlData();
//checkFalling();
// did I receive a message ?
//read_incoming_messages();
// read key pressed
check_keyboard();
}
int main(int argc, char *args[]) {
int i; // Index
reset();
// initialize fitness values
float fit_O;
float fit_C;
float fit_V;
float fit_P;
float fit_S;
float perf_sum = 0.0f;
int nb_measur = 0; //number of measurment of instant perf
for(;;) {
wb_robot_step(TIME_STEP);
if (t % 100 == 0) {
for (i=0;i<FLOCK_SIZE;i++) {
// initialize old position
loc_old[i][0] = loc[i][0];
loc_old[i][1] = loc[i][1];
loc_old[i][2] = loc[i][2];
// initialize current position
loc[i][0] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[0];
loc[i][1] = wb_supervisor_field_get_sf_vec3f(robs_trans[i])[2];
loc[i][2] = wb_supervisor_field_get_sf_rotation(robs_rotation[i])[3];
}
// compute the orientation metric
compute_fitness_O(& fit_O);
// compute the cohesion metric
compute_fitness_C(& fit_C);
// compute the velocity metric
compute_fitness_V(& fit_V);
// compute entropy metric
compute_fitness_S(& fit_S);
// compute total metric value
fit_P = instant_perf();
// Display fitness
printf("time : %d, orientation , cohesion , velocity , entropy, instant perf : %.4lf, %.4lf, %.4lf, %.4lf, %.4lf\n", t, fit_O, fit_C, fit_V, fit_S, fit_P);
//avoid wrong values
if(fit_P > 0){
perf_sum += fit_P;
nb_measur++;
}
}
if (t % 1000 == 0){
printf("time : %d, overall perf : %.4lf\n", t, perf_sum/nb_measur);
}
t += TIME_STEP;
}
}
int main() {
printf("hello from supervisor\n");
const char *robot_name[ROBOTS] = {"NAO"};
WbNodeRef node;
WbFieldRef robot_translation_field[ROBOTS],robot_rotation_field[ROBOTS],ball_translation_field;
//WbDeviceTag emitter, receiver;
int i,j;
int score[2] = { 0, 0 };
double time = 10 * 60; /* a match lasts for 10 minutes */
double ball_reset_timer = 0;
double ball_initial_translation[3] = { -2.5, 0.0324568, 0 };
double robot_initial_translation[ROBOTS][3] = {
{-4.49515, 0.234045, -0.0112415},
{0.000574037, 0.332859, -0.00000133636}};
double robot_initial_rotation[ROBOTS][4] = {
{0.0604202, 0.996035, -0.0652942, 1.55047},
{0.000568956, 0.70711, 0.707104, 3.14045}};
double packet[ROBOTS * 3 + 2];
char time_string[64];
const double *robot_translation[ROBOTS], *robot_rotation[ROBOTS], *ball_translation;
wb_robot_init();
time_step = wb_robot_get_basic_time_step();
emitter = wb_robot_get_device("emitter");
wb_receiver_enable(emitter, time_step);
receiver = wb_robot_get_device("receiver");
wb_receiver_enable(receiver, time_step);
for (i = 0; i < ROBOTS; i++) {
node = wb_supervisor_node_get_from_def(robot_name[i]);
robot_translation_field[i] = wb_supervisor_node_get_field(node,"translation");
robot_translation[i] = wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]);
for(j=0;j<3;j++) robot_initial_translation[i][j]=robot_translation[i][j];
robot_rotation_field[i] = wb_supervisor_node_get_field(node,"rotation");
robot_rotation[i] = wb_supervisor_field_get_sf_rotation(robot_rotation_field[i]);
for(j=0;j<4;j++) robot_initial_rotation[i][j]=robot_rotation[i][j];
}
node = wb_supervisor_node_get_from_def("BALL");
ball_translation_field = wb_supervisor_node_get_field(node,"translation");
ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field);
for(j=0;j<3;j++) ball_initial_translation[j]=ball_translation[j];
/* printf("ball initial translation = %g %g %g\n",ball_translation[0],ball_translation[1],ball_translation[2]); */
set_scores(0, 0);
while(wb_robot_step(TIME_STEP)!=-1) {
//printf("supervisor commands START!\n");
check_for_slaves_data();
ball_translation = wb_supervisor_field_get_sf_vec3f(ball_translation_field);
for (i = 0; i < ROBOTS; i++) {
robot_translation[i]=wb_supervisor_field_get_sf_vec3f(robot_translation_field[i]);
/* printf("coords for robot %d: %g %g %g\n",i,robot_translation[i][0],robot_translation[i][1],robot_translation[i][2]); */
packet[3 * i] = robot_translation[i][0]; /* robot i: X */
packet[3 * i + 1] = robot_translation[i][2]; /* robot i: Z */
if (robot_rotation[i][1] > 0) { /* robot i: rotation Ry axis */
packet[3 * i + 2] = robot_rotation[i][3]; /* robot i: alpha */
} else { /* Ry axis was inverted */
packet[3 * i + 2] = -robot_rotation[i][3];
}
}
packet[3 * ROBOTS] = ball_translation[0]; /* ball X */
packet[3 * ROBOTS + 1] = ball_translation[2]; /* ball Z */
wb_emitter_send(emitter, packet, sizeof(packet));
/* Adds TIME_STEP ms to the time */
time -= (double) TIME_STEP / 1000;
if (time < 0) {
time = 10 * 60; /* restart */
}
sprintf(time_string, "%02d:%02d", (int) (time / 60), (int) time % 60);
wb_supervisor_set_label(2, time_string, 0.45, 0.01, 0.1, 0x000000, 0.0); /* black */
if (ball_reset_timer == 0) {
if (ball_translation[0] > GOAL_X_LIMIT) { /* ball in the blue goal */
set_scores(++score[0], score[1]);
ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */
} else if (ball_translation[0] < -GOAL_X_LIMIT) { /* ball in the yellow goal */
set_scores(score[0], ++score[1]);
ball_reset_timer = 3; /* wait for 3 seconds before reseting the ball */
}
} else {
ball_reset_timer -= (double) TIME_STEP / 1000.0;
if (ball_reset_timer <= 0) {
ball_reset_timer = 0;
wb_supervisor_field_set_sf_vec3f(ball_translation_field, ball_initial_translation);
for (i = 0; i < ROBOTS; i++) {
wb_supervisor_field_set_sf_vec3f(robot_translation_field[i], robot_initial_translation[i]);
wb_supervisor_field_set_sf_rotation(robot_rotation_field[i], robot_initial_rotation[i]);
}
}
}
}
wb_robot_cleanup();
return 0;
}
