[167] | 1 | #include <cstdlib> |
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| 2 | #include <assert.h> |
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| 3 | #include "SimpleAgent.h" |
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| 4 | |
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| 5 | SimpleAgent::SimpleAgent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList) |
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| 6 | : Agent(sensorList, actuatorList, channelList), |
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| 7 | m_sensorLeft(NULL), |
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| 8 | m_sensorRight(NULL), |
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| 9 | m_sensorUp(NULL), |
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| 10 | m_sensorDown(NULL), |
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| 11 | m_actuatorLeft(NULL), |
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| 12 | m_actuatorRight(NULL), |
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| 13 | m_actuatorUp(NULL), |
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| 14 | m_actuatorDown(NULL), |
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| 15 | m_channelLeft(NULL), |
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| 16 | m_channelRight(NULL), |
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| 17 | m_channelUp(NULL), |
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| 18 | m_channelDown(NULL), |
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| 19 | m_timeStep(0), |
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| 20 | m_timeWave(0) |
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| 21 | { |
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| 22 | int i; |
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| 23 | |
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| 24 | for (i = 0; i < (int) sensorList.size(); i++) |
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| 25 | { |
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| 26 | Sensor *sensor = sensorList[i]; |
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| 27 | switch (sensor->getData()->orient) |
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| 28 | { |
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| 29 | case LEFT: |
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| 30 | m_sensorLeft = sensor; |
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| 31 | break; |
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| 32 | case RIGHT: |
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| 33 | m_sensorRight = sensor; |
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| 34 | break; |
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| 35 | case UP: |
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| 36 | m_sensorUp = sensor; |
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| 37 | break; |
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| 38 | case DOWN: |
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| 39 | m_sensorDown = sensor; |
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| 40 | break; |
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| 41 | } |
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| 42 | } |
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| 43 | |
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| 44 | for (i = 0; i < (int) actuatorList.size(); i++) |
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| 45 | { |
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| 46 | Actuator *actuator = actuatorList[i]; |
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| 47 | switch (actuator->getData()->orient) |
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| 48 | { |
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| 49 | case LEFT: |
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| 50 | m_actuatorLeft = actuator; |
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| 51 | break; |
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| 52 | case RIGHT: |
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| 53 | m_actuatorRight = actuator; |
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| 54 | break; |
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| 55 | case UP: |
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| 56 | m_actuatorUp = actuator; |
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| 57 | break; |
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| 58 | case DOWN: |
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| 59 | m_actuatorDown = actuator; |
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| 60 | break; |
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| 61 | } |
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| 62 | } |
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| 63 | |
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| 64 | for (i = 0; i < (int) channelList.size(); i++) |
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| 65 | { |
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| 66 | CommChannel *channel = channelList[i]; |
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| 67 | switch (channel->getOrient()) |
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| 68 | { |
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| 69 | case LEFT: |
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| 70 | m_channelLeft = channel; |
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| 71 | break; |
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| 72 | case RIGHT: |
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| 73 | m_channelRight = channel; |
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| 74 | break; |
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| 75 | case UP: |
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| 76 | m_channelUp = channel; |
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| 77 | break; |
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| 78 | case DOWN: |
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| 79 | m_channelDown = channel; |
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| 80 | break; |
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| 81 | } |
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| 82 | } |
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| 83 | } |
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| 84 | |
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| 85 | SimpleAgent::~SimpleAgent() |
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| 86 | { |
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| 87 | } |
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| 88 | |
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| 89 | void SimpleAgent::step() |
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| 90 | { |
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| 91 | int rank; |
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| 92 | |
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| 93 | MPI_Comm_rank(MPI_COMM_WORLD, &rank); |
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| 94 | |
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| 95 | if (m_actuatorLeft) { |
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| 96 | float p = (float) (PI * sin(PI / 4 * 2 * local - m_timeStep * PI / 100)); |
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| 97 | m_actuatorLeft->setTargetAngle(p); |
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| 98 | } |
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| 99 | if (m_actuatorRight) { |
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| 100 | float p = (float) (PI * sin(PI / 4 * (2 * local + 1) - m_timeStep * PI / 100)); |
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| 101 | m_actuatorRight->setTargetAngle(p); |
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| 102 | } |
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| 103 | if (m_actuatorUp) { |
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| 104 | m_actuatorUp->setTargetAngle(0); |
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| 105 | } |
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| 106 | if (m_actuatorDown) { |
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| 107 | m_actuatorDown->setTargetAngle(0); |
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| 108 | } |
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| 109 | |
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| 110 | int x = 0; |
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| 111 | |
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| 112 | if(!m_channelLeft) { |
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| 113 | if(!m_timeStep) x = 1; |
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| 114 | } else if(m_channelLeft->getChannel()->available()) { |
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| 115 | m_channelLeft->getChannel()->read(&x, MPI_INT, 1); |
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| 116 | // printf("[%d] received %d\n", rank, x); |
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| 117 | m_timeWave = m_timeStep; |
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| 118 | local = x; |
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| 119 | } |
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| 120 | if(m_channelRight && x) { |
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| 121 | // printf("[%d] sent %d\n", rank, x); |
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| 122 | x++; |
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| 123 | m_channelRight->getChannel()->write(&x, MPI_INT, 1); |
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| 124 | } |
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| 125 | |
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| 126 | m_timeStep++; |
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| 127 | } |
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