int
main()
{
try
{
run_with_time_limit(
[]()
{
std::thread controller_thread( &controller );
so_5::launch(
[]( so_5::environment_t & env )
{
std::cout << "Starting agents..." << std::endl;
environment.store( &env, std::memory_order_release );
for( unsigned int i = 0; i < agents_count; ++i )
{
std::ostringstream ss;
ss << "coop_" << i;
env.register_agent_as_coop(
ss.str(), new a_test_t( env ) );
}
},
[]( so_5::environment_params_t & params )
{
params.disable_autoshutdown();
} );
environment.store( nullptr, std::memory_order_release );
controller_thread.join();
},
20,
"SO Environment autoshutdown disabled test" );
}
catch( const std::exception & ex )
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
return 0;
}
int main()
{
usb_workaround(); // because the arduino bootloader is a piece of shit
init_controller(&SControl);
blinky();
// zero the motor
for (int i = 0; i < 945; i++)
{
advance_motor(&(SControl.MControl), UP);
_delay_us(3000);
}
SControl.MControl.current_pos = 0;
initInput();
sei();
while (true)
{
controller_thread(&SControl);
input_thread(&SControl);
}
/*
while (true)
{
set_gauge_target(&SControl, (315<<4));
while (SControl.MControl.current_pos != SControl.target_pos) controller_thread(&SControl);
set_gauge_target(&SControl, (0));
while (SControl.MControl.current_pos != SControl.target_pos) controller_thread(&SControl);
platform_toggle_status_led();
}
*/
return 0;
}
