/ - Diff - Colony - Robotics Club

branches/simulator/projects/simulator/libsim/libsim.c
13	13
14	14	RobotShared* shared_state;
15	15
16		void *tick(int sig)
	16	void tick(int sig)
17	17	{
18	18	if(raise(SIGTSTP)<0)
19	19	printf("could not kill self!\n");
20
21		return NULL;
22	20	}
23	21
24	22
...	...
36	34	}
37	35
38	36
39		printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));
	37	//printf("hello. I am a robot w/ memory_id %s\n", getenv("memory_id"));
40	38
41	39
42	40	iv.it_interval.tv_sec = 0;

     #include <pthread.h>
     #include <err.h>
     #include "gtk_gui.h"
     #include "robot.h"
     #include "motion.h"
     #include "rangefinders.h"
     #include "world.h"
     #include "gtk_gui.h"
     void sig_chld_handler(int sig);
     void robot_update(int i);

     world_t world;
     int destroy(object_t *obj);
     int init_world(int max_objs, bbox_t b)
+    {
         double pts[8] = {b.p1.x, b.p1.y, b.p1.x, b.p2.y, b.p2.x,b.p2.y,b.p2.x,b.p1.y};
         world.max_objs = max_objs;
         world.cur_objs = 0;
         world.objs = calloc(max_objs,  sizeof(object_t));
         world.win = b;
         /* Add a polygon surrounding the world */
     	// this devours the world - brian
         //create(ID_POLY,4,POLY_CONNECTED,pts);
     	return 0;
+    }
     int destroy_world()
+    {
         int i;
         for (i = 0; i < world.cur_objs; i++) {
     	destroy(&world.objs[i]);
+        }
         for (i = 0; i < world.cur_objs; i++)
             destroy(&world.objs[i]);
         free(world.objs);
     	return 0;
+    }
     double (*collide_func[NUM_SHAPES])(ray_t *ray, object_t *obj) =
-...
         };
     double collide_circle(ray_t *ray, object_t *obj)
+    {
         return -1;
-...
     int destroy(object_t *obj)
+    {
         if (obj->id == ID_NULL)
     	return 0;
             return 0;
         destroy_func[obj->id+ID_OFFSET](obj);
         obj->id = ID_NULL;
         return 0;
+    }
     /**
-...
     int create_rect(object_t *obj, va_list ap)
+    {
         int i;
         /*int i;
         poly_t *p;
         int argc = va_arg(ap, int);
         int argc = va_arg(ap, int);*/
     	return 0;
+    }
     int destroy_poly (object_t *obj)
-...
+    }
     /*
      * XXX: This shouldn't be here. Where should it be?
      */
     /* These need to be measured... */
     double rf_thetas[5] = {0.0, 2*M_PI/5, 4*M_PI/5, 6*M_PI/5, 8*M_PI/5};
     //double rf_thetas[5] = {0.0, 0.0, M_PI/2, M_PI, 3*M_PI/2};
     void update_rangefinders(Robot *bot)
+    {
         RangeFinder r = bot->shared->ranges;
         ray_t rf = {bot->pose.x, bot->pose.y, 0};
         /* Motion code has +y going down, I don't.
          * So to compensate, just reflect theta up to first quadrant.*/
         double theta = bot->pose.theta;
         int ir;
         double x;
         for (ir = 0; ir < 5; ir++)
+        {
     	rf.d = theta + rf_thetas[ir];
     	x = collide_world(&rf);
     	//printf("@(%g) - [%d] = %g --> %d\n",rf.d, ir, x, (short)x);
     	bot->shared->ranges.d[ir] = x;
+        }
+    }
     int load_object (const char* line) {
       char buf[BUF_SIZE];
       int i = 0;
-...
     int load_world (const char* filename,int max_objs) {
       FILE* fin;
       char buf[BUF_SIZE];
       bbox_t bbox = {0,0,0,0};
       bbox_t bbox;
       if ((fin = fopen(filename,"r"))==NULL){
         // open file failed
     		perror("Fail to open file");

     #include "rangefinders.h"
     #include <math.h>
     #include "robot.h"
     #include "world.h"
     //TODO: These need to be measured...
     double rf_thetas[5] = {0.0, 2*M_PI/5, 4*M_PI/5, 6*M_PI/5, 8*M_PI/5};
     //double rf_thetas[5] = {0.0, 0.0, M_PI/2, M_PI, 3*M_PI/2};
     void update_rangefinders(Robot *bot)
+    {
         ray_t rf;
     	rf.p.x = bot->pose.x;
     	rf.p.y = bot->pose.y;
     	rf.d = 0.0;
         /* Motion code has +y going down, I don't.
          * So to compensate, just reflect theta up to first quadrant.*/
         double theta = bot->pose.theta;
         int ir;
         double x;
         for (ir = 0; ir < 5; ir++)
+        {
     	rf.d = theta + rf_thetas[ir];
     	x = collide_world(&rf);
     	//printf("@(%g) - [%d] = %g --> %d\n",rf.d, ir, x, (short)x);
     	bot->shared->ranges.d[ir] = x;
+        }
+    }

     #ifndef __RANGEFINDERS_H__
     #define __RANGEFINDERS_H__
     struct RobotType;
     void update_rangefinders(struct RobotType *bot);
     #endif

     # Add new files here
     COMMON_SRCS :=
     CORE_SRCS := main.c robot.c motion.c world.c
     CORE_SRCS := main.c robot.c motion.c world.c rangefinders.c
     GUI_SRCS := gtk_gui.c gtk_environment_view.c
     CORE_DIR := core
-...
     SRCS += $(addprefix $(CORE_DIR)/, $(CORE_SRCS))
     SRCS += $(addprefix $(GUI_DIR)/, $(GUI_SRCS))
     OBJS = $(patsubst %.c, %.o, $(SRCS))
     VIM_LEFTOVERS = $(patsubst %, %~, $(SRCS))
     VIM_LEFTOVERS = $(CORE_DIR)/*~ $(COMMON_DIR)/*~ $(GUI_DIR)/*~
     PROG = simulator
     INCLUDES = -I$(COMMON_DIR) -I$(CORE_DIR) -I$(GUI_DIR)
-...
     	$(CC) $(CFLAGS) -c -o $@ $<
     clean:
     	rm *~ $(OBJS) $(VIM_LEFTOVERS) $(PROG)
     	rm -f *~ $(OBJS) $(VIM_LEFTOVERS) $(PROG)

Project

General

Profile

Colony

Revision 1064