Revision 1077
Can run with no robots.
| branches/simulator/projects/simulator/simulator/core/main.c | ||
|---|---|---|
| 29 | 29 |
if (robots_initialize()) |
| 30 | 30 |
return -1; |
| 31 | 31 |
|
| 32 |
if(argc - optind < 0){
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| 33 |
printf("Usage: simulator <robot execetuable>\n");
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| 34 |
exit(-1); |
|
| 35 |
} |
|
| 36 |
|
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| 37 | 32 |
int c; |
| 38 |
char worldLoadedFlag = 0;
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| 33 |
char worldLoadedFlag = 0;
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| 39 | 34 |
|
| 40 | 35 |
while((c = getopt(argc, argv, ":l:p:w:")) != -1) |
| 41 | 36 |
{
|
| ... | ... | |
| 61 | 56 |
break; |
| 62 | 57 |
} |
| 63 | 58 |
} |
| 59 |
|
|
| 60 |
if(argc - optind < 0){
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| 61 |
printf("Usage: simulator <robot execetuable>\n");
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| 62 |
exit(-1); |
|
| 63 |
} |
|
| 64 | 64 |
|
| 65 | 65 |
if(!worldLoadedFlag) |
| 66 | 66 |
load_world("../test/world.txt", 100);
|
| 67 | 67 |
|
| 68 |
if (optind > 0 && optind < argc) |
|
| 69 |
robot_create(argv[optind]); |
|
| 68 | 70 |
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| 69 |
robot_create(argv[optind]); |
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| 70 |
/*robot_create(argv[optind]); |
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| 71 |
robot_create(argv[optind]); |
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| 72 |
robot_create(argv[optind]); |
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| 73 |
robot_create(argv[optind]); |
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| 74 |
robot_create(argv[optind]); |
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| 75 |
robot_create(argv[optind]); |
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| 76 |
robot_create(argv[optind]); |
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| 77 |
robot_create(argv[optind]); |
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| 78 |
robot_create(argv[optind]); |
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| 79 |
robot_create(argv[optind]); |
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| 80 |
robot_create(argv[optind]); |
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| 81 |
robot_create(argv[optind]); |
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| 82 |
robot_create(argv[optind]); |
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| 83 |
robot_create(argv[optind]); |
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| 84 |
robot_create(argv[optind]); |
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| 85 |
robot_create(argv[optind]); |
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| 86 |
robot_create(argv[optind]); |
|
| 87 |
robot_create(argv[optind]); |
|
| 88 |
robot_create(argv[optind]);*/ |
|
| 89 |
|
|
| 90 |
|
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| 91 | 71 |
sigset_t set; |
| 92 | 72 |
//TODO: errors |
| 93 | 73 |
sigemptyset(&set); |
| branches/simulator/projects/simulator/simulator/core/robot.c | ||
|---|---|---|
| 308 | 308 |
|
| 309 | 309 |
ret = pthread_mutex_lock(&all_finished_mutex); |
| 310 | 310 |
if(ret) |
| 311 |
err(errno, "error locking mutex in even loop");
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|
| 311 |
err(errno, "error locking mutex in even loop");
|
|
| 312 | 312 |
// TODO: race condition for adding robots? |
| 313 | 313 |
if (finished < num_robots) |
| 314 | 314 |
{
|
| ... | ... | |
| 328 | 328 |
if (robots[i].id != -1) |
| 329 | 329 |
{
|
| 330 | 330 |
robot_update(i); |
| 331 |
|
|
| 332 | 331 |
commit(&robots[i],i,timeStep); |
| 333 | 332 |
} |
| 334 | 333 |
for (i = 0; i < robots_size; i++) |
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