/*! @brief The nubot's main loop
The nubot's main loop. This function will probably never return.
The idea is to simply have
@verbatim
NUbot* nubot = new NUbot(arc, argv);
nubot->run();
delete nubot;
@endverbatim
*/
void NUbot::run()
{
#if defined(TARGET_IS_NAOWEBOTS)
int count = 0;
double previoussimtime;
NAOWebotsPlatform* webots = (NAOWebotsPlatform*) m_platform;
int timestep = int(webots->getBasicTimeStep());
while (true)
{
previoussimtime = Platform->getTime();
webots->step(timestep); // stepping the simulator generates new data to run motion, and vision data
#if defined(USE_MOTION)
m_sensemove_thread->signal(true);
#endif
#if defined(USE_VISION) or defined(USE_LOCALISATION)
if (count%2 == 0) // depending on the selected frame rate vision might not need to be updated every simulation step
{
m_seethink_thread->signal(true);
}
#endif
count++;
};
#else
while (true)
{
periodicSleep(33);
#if !defined(USE_VISION) and defined(USE_LOCALISATION)
m_seethink_thread->signal(true);
#endif
}
#endif
}
/*! @brief The nubot's main loop
The nubot's main loop. This function will probably never return.
The idea is to simply have
@verbatim
NUbot* nubot = new NUbot(arc, argv);
nubot->run();
delete nubot;
@endverbatim
*/
void NUbot::run()
{
#ifdef TARGET_IS_NAOWEBOTS
int count = 0;
double previoussimtime;
NAOWebotsPlatform* webots = (NAOWebotsPlatform*) platform;
while (true)
{
previoussimtime = nusystem->getTime();
webots->step(40); // stepping the simulator generates new data to run motion, and sometimes the vision data
if (nusystem->getTime() - previoussimtime > 81)
debug << "NUbot::run(): simulationskip: " << (nusystem->getTime() - previoussimtime) << endl;
signalMotion();
if (count%2 == 0) // depending on the selected frame rate vision might not need to be updated every simulation step
{
signalVision();
waitForVisionCompletion();
}
waitForMotionCompletion();
count++;
};
#endif
}
