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logging is ready
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@mani-monaj
mani-monaj committed Dec 5, 2011
1 parent b74cfe4 commit ffa803f
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Showing 2 changed files with 72 additions and 14 deletions.
75 changes: 65 additions & 10 deletions contribcircle.cc
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Expand Up @@ -69,7 +69,12 @@ static list<Stg::Pose> HomePositions;
static bool isGlobalInitDone = false;
static int loggerID; // The first robot who become active in Stage, logs everything
static int NUMBEROFSEARCHINGROBOTS = 0; //For Performance analysis
static double timeorigin;
static double timeOrigin;
static bool bEnabled = true; //Behaviour Enabled
static bool leaderEnabled = false;
static int globalRelayCount = 3;
static long int totalMessageCounterNaive = (NUMBEROFROBOTS * (NUMBEROFROBOTS - 1)) / 2;
static long int totalMessageCounterMy = 0;


const double FATTMAX = 1.0;
Expand Down Expand Up @@ -99,10 +104,12 @@ void setRobotState(robot_t* r, RobotState s)
/* For analysis */
if ((r->state != INGROUP) && (s == INGROUP))
{
totalMessageCounterNaive += NUMBEROFROBOTS;
NUMBEROFSEARCHINGROBOTS++;
}
else if ((r->state == INGROUP) && (s != INGROUP))
{
totalMessageCounterNaive += NUMBEROFROBOTS;
NUMBEROFSEARCHINGROBOTS--;
}
/* end */
Expand Down Expand Up @@ -156,6 +163,7 @@ void sendMessage(MessageType type, int sender, int receiver, unsigned int rid, u

if (!found)
{
totalMessageCounterMy++;
MessageList.push_back(msg);
}
}
Expand Down Expand Up @@ -195,7 +203,7 @@ int FiducialUpdate( ModelFiducial* fid, robot_t* robot );

// Stage calls this when the model starts up

extern "C" int Init( Model* mod )
extern "C" int Init( Model* mod, CtrlArgs* args )
{

srand ( time(NULL) );
Expand All @@ -206,7 +214,7 @@ extern "C" int Init( Model* mod )
if (isGlobalInitDone == false)
{
loggerID = robot->position->GetId();
timeorigin = getCurrentTimeStamp();
timeOrigin = getCurrentTimeStamp();
printf("\nDoing one time init process, logger robot is %d \n", loggerID);
Stg::Pose center(0.0, -14.0, 0.0, 0.0);
Stg::Pose p;
Expand All @@ -217,9 +225,45 @@ extern "C" int Init( Model* mod )
HomePositions.push_front(p);
}
isGlobalInitDone = true;


if (args->cmdline.find("--disabled") != std::string::npos)
{
printf("[ARG] Usage of knowledge disabled.\n");
bEnabled = false;
}
else
{
printf("[ARG] Usage of knowledge enabled.\n");
}

if (args->cmdline.find("--leader") != std::string::npos)
{
printf("[ARG] One robot will start as INGROUP.\n");
leaderEnabled = true;
}
else
{
printf("[ARG] No robot will start as INGROUP.\n");
}

size_t found = args->cmdline.find("--relaycount");
if (found != std::string::npos)
{
globalRelayCount = atoi(args->cmdline.substr(found+12, args->cmdline.length()).c_str());
}

if (globalRelayCount <= 0)
{
printf("[ERROR] Invalid Relay Count! \n");
exit(1);
}
else
{
printf("[ARG] Relay Count : %d \n", globalRelayCount);
}
}



// subscribe to the ranger, which we use for navigating
robot->ranger = (ModelRanger*)mod->GetUnusedModelOfType( "ranger" );
Expand All @@ -241,6 +285,10 @@ extern "C" int Init( Model* mod )
robot->position->SetPose(robot->charger);
robot->teammates.push_front(robot->position->GetId());
setRobotState(robot, SEARCHING);
if ((robot->position->GetId() == loggerID) && (leaderEnabled))
{
setRobotState(robot, INGROUP);
}
robot->energy = 1000.0 + (robot->position->GetId() * 200.0);


Expand Down Expand Up @@ -297,13 +345,17 @@ int FiducialUpdate( ModelFiducial* fid, robot_t* robot)

if (robot->position->GetId() == loggerID)
{
printf("\n%8.4f, %d,", 0.0, NUMBEROFSEARCHINGROBOTS);
fprintf(stderr, "\n%ld,%ld,%ld,%d,", (unsigned long int) (robot->position->GetWorld()->SimTimeNow() /1000.0), totalMessageCounterNaive, totalMessageCounterMy, NUMBEROFSEARCHINGROBOTS);
}

if (robot->state == INGROUP)
{
printf("%d,", (int) robot->teammates.size());
fprintf(stderr, "%d,", (int) robot->teammates.size());
}
// else
// {
// fprintf(stderr, "\"\",");
// }

if (robot->state == SEARCHING)
{
Expand Down Expand Up @@ -485,12 +537,12 @@ int FiducialUpdate( ModelFiducial* fid, robot_t* robot)
{
for (tit = welcomeacklist.begin(); tit != welcomeacklist.end(); ++tit)
{
sendMessage(ADDROBOT, robot->position->GetId(), *nit, *tit, 1);
sendMessage(ADDROBOT, robot->position->GetId(), *nit, *tit, globalRelayCount);
}

for (tit = byeacklist.begin(); tit != byeacklist.end(); ++tit)
{
sendMessage(REMOVEROBOT, robot->position->GetId(), *nit, *tit, 1);
sendMessage(REMOVEROBOT, robot->position->GetId(), *nit, *tit, globalRelayCount);
}

}
Expand All @@ -505,12 +557,12 @@ int FiducialUpdate( ModelFiducial* fid, robot_t* robot)
}
robot->teammates.clear();

//robot->charger = Stg::Pose::Random(-10.0, 10.0, -16.0, -10.0);
robot->position->Stop();
setRobotState(robot, HOMING);
}



}
else if (robot->state == HOMING)
{
Expand Down Expand Up @@ -567,7 +619,10 @@ int FiducialUpdate( ModelFiducial* fid, robot_t* robot)


double att_force;
double rmin_adaptive = RMIN + ((double) robot->teammates.size() / 4.0);

/* This function must be calculated via Computation Geometery Methods*/

double rmin_adaptive = RMIN + ((bEnabled) ? ((double) robot->teammates.size() / 4.0) : 0.0);
if (att_d < rmin_adaptive)
{
att_force = -FATTMAX;
Expand Down
11 changes: 7 additions & 4 deletions maniproject.world
View file
Expand Up @@ -5,15 +5,17 @@
include "pioneer.inc"
include "map.inc"

speedup -1

speedup 100
paused 1

# stop Stage after x seconds, 0 = run forever
quit_time 360.0

# low resolution gives fast raytracing. set this only as small as you need for your application
resolution 0.02

# this is very helpful if you have multiple CPUs - a good value is $(number of CPU cores) -
# threads 1
threads 2

# configure the GUI window
window
Expand All @@ -36,8 +38,9 @@ floorplan

#define agent pioneer2dx_front_sonar
#define agent pioneer3dx
define agent pioneer2dx
#define agent pioneer2dx
#define agent fancypioneer2dx
define agent pioneer2dx_front_sonar
(
color "random"
# ctrl "pioneer_flocking"
Expand Down

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