//------------------------------------------------------------------------------
int main( int argc, char* argv[] )
{
if (argc < 3) {
printf("Too few arguments!\nUsage: orbittarget <robot_name> <neighbour_name> [config_file]\n");
return 1;
}
// init general stuff
ErrorInit ( 1, false );
initRandomNumberGenerator();
printf("-----------------------------------\n");
printf("Chatterbox Orbit Target\n");
printf(" build %s %s \n", __DATE__, __TIME__);
printf(" compiled against RAPI version %s (%s) build %s\n", RAPI_VERSION(),
RAPI_GIT_VERSION(), RAPI_BUILD() );
printf("\n");
printf("Lifting the robot up disables motors\n");
if (signal(SIGINT, quitSig) == SIG_ERR) {
PRT_ERR1("Error resetting signal handler %s", strerror(errno));
}
// Create robot and its controller
robot = new Rapi::CCBRobot ();
if ( robot->init() == 0) {
Rapi::rapiError->print();
delete robot;
exit(-1);
}
robot->setName(argv[1]);
if (argc > 3)
robotCtrl = new COrbitTarget ( robot, std::string(argv[3]) );
else
robotCtrl = new COrbitTarget ( robot );
robotCtrl->setNNName(std::string(argv[2]));
// Blocking call
robot->run();
// Clean up robot controller
if (robotCtrl) {
delete robotCtrl;
robotCtrl = NULL;
}
// Clean up robot
if (robot)
delete (robot);
return 1;
}
//-----------------------------------------------------------------------------
extern "C" int Init ( Stg::Model* mod )
{
std::string logFileName = "fasr_analyst.log";
std::string value;
float probBroadcast = 1.0;
char* policy = new char[40];
static bool init = false;
Rapi::CLooseStageRobot* robot;
CTaskManager* taskManager;
CAnalyst* analyst;
ABaseRobotCtrl* robotCtrl;
static CCharger charger ( mod->GetWorld()->GetModel ( "charger" ) );
static CDestination depotDestination ( mod->GetWorld()->GetModel ( "depot" ) );
if ( not init ) {
init = true;
//mod->AddShutdownCallback ( ( Stg::stg_model_callback_t ) shutDownCallback, NULL );
printf ( "-----------------------------------\n" );
printf ( "FASR \n" );
printf ( " build %s %s \n", __DATE__, __TIME__ );
printf ( " compiled against RAPI version %s (%s) build %s\n", RAPI_VERSION(),
RAPI_GIT_VERSION(), RAPI_BUILD() );
printf ( "\n" );
//************************************
// init general stuff
ErrorInit ( 2, false );
initRandomNumberGenerator();
}
//************************************
// create robot and its controller
robot = new Rapi::CLooseStageRobot ( mod );
if ( ! mod->GetPropertyStr ( "policy", &policy, NULL ) ) {
PRT_WARN0 ( "No policy specified " );
exit ( -1 );
}
else {
if ( strcmp ( policy, "fixed" ) == 0 )
robotCtrl = new CFixedRatioPolicyRobotCtrl ( robot );
else if ( strcmp ( policy, "replan" ) == 0 )
robotCtrl = new CReplanPolicyRobotCtrl ( robot );
else if ( strcmp ( policy, "static" ) == 0 )
robotCtrl = new CStaticPolicyRobotCtrl ( robot );
else if ( strcmp ( policy, "loop" ) == 0 )
robotCtrl = new CLoopPolicyRobotCtrl ( robot );
else if ( strcmp ( policy, "epsilon" ) == 0 )
robotCtrl = new CEpsilonSamplerRobotCtrl ( robot );
else if ( strcmp ( policy, "wait" ) == 0 ) {
for ( unsigned int i=0; i< Stg::World::args.size(); i++ ) {
if ( Stg::World::args[i].compare ( 0, 3, "-pb" ) == 0 ) {
value = Stg::World::args[i].substr ( 4, Stg::World::args[i].size()-4 );
probBroadcast = atof ( value.c_str() );
}
}
printf ( "running with prob broadcast %f \n", probBroadcast );
robotCtrl = new CWaitProbPolicyRobotCtrl ( robot, probBroadcast );
}
else {
PRT_WARN1 ( "Unknown policy: %s", policy );
exit ( -1 );
}
}
//************************************
// determine name of log file
for ( unsigned int i=0; i< Stg::World::args.size(); i++ ) {
if ( Stg::World::args[i].compare ( 0, 3, "-lf" ) == 0 ) {
logFileName = Stg::World::args[i].substr ( 4, Stg::World::args[i].size()-4 );
}
}
//************************************
// get tasks from the task manager and hand them to the robot
taskManager = CTaskManager::getInstance (
mod->GetWorld()->GetModel ( "taskmanager" ) );
analyst = CAnalyst::getInstance ( mod->GetWorld()->GetModel ( "taskmanager" ), logFileName );
taskManager->registerRobot ( robotCtrl );
analyst->registerRobot ( robotCtrl );
robotCtrl->addCharger ( &charger );
robotCtrl->setDepot ( &depotDestination );
#ifdef GUI
gui = CFasrGui::getInstance ( 0, NULL );
gui->registerRobot ( robot );
#endif
return 0; // ok
}
