Colony

Simulator¶

How to use the Simulator

Goals - Final Specs for Simulator

• Components to Model

Simulator Process

• IPC communication and shared memory
• GUI
• keep track of robot environment
  • struct with a single robot state
    • contain structs that define motors, sensors, etc
• scheduling
  • brad has a way to time robot process and have it stop after a specified amount of time
    • a signal is sent to the simulator process to inform it to update the robot state
    • when signals from all robots are in, simulator can increment one step and update robot shared memory

Robot Process

• Replace robot library
  • insert calls to simulator to replace sensors
• have IPC shared memory to hold motor, sensor values for this step in the simulation
• locking for shared memory access:
  • just delay the timing signal until the memory access is completed