source: proiecte/SIMEO/Simeo/src/SimeoEngine/SimpleAgent.cpp @ 167

#include <cstdlib>
#include <assert.h>
#include "SimpleAgent.h"

SimpleAgent::SimpleAgent(vector<Sensor *> sensorList, vector<Actuator *> actuatorList, vector<CommChannel *> channelList)
: Agent(sensorList, actuatorList, channelList),
m_sensorLeft(NULL),
m_sensorRight(NULL),
m_sensorUp(NULL),
m_sensorDown(NULL),
m_actuatorLeft(NULL),
m_actuatorRight(NULL),
m_actuatorUp(NULL),
m_actuatorDown(NULL),
m_channelLeft(NULL),
m_channelRight(NULL),
m_channelUp(NULL),
m_channelDown(NULL),
m_timeStep(0),
m_timeWave(0)
{
        int i;

        for (i = 0; i < (int) sensorList.size(); i++)
        {
                Sensor *sensor = sensorList[i];
                switch (sensor->getData()->orient)
                {
                case LEFT:
                        m_sensorLeft = sensor;
                        break;
                case RIGHT:
                        m_sensorRight = sensor;
                        break;
                case UP:
                        m_sensorUp = sensor;
                        break;
                case DOWN:
                        m_sensorDown = sensor;
                        break;
                }
        }

        for (i = 0; i < (int) actuatorList.size(); i++)
        {
                Actuator *actuator = actuatorList[i];
                switch (actuator->getData()->orient)
                {
                case LEFT:
                        m_actuatorLeft = actuator;
                        break;
                case RIGHT:
                        m_actuatorRight = actuator;
                        break;
                case UP:
                        m_actuatorUp = actuator;
                        break;
                case DOWN:
                        m_actuatorDown = actuator;
                        break;
                }
        }

        for (i = 0; i < (int) channelList.size(); i++)
        {
                CommChannel *channel = channelList[i];
                switch (channel->getOrient())
                {
                case LEFT:
                        m_channelLeft = channel;
                        break;
                case RIGHT:
                        m_channelRight = channel;
                        break;
                case UP:
                        m_channelUp = channel;
                        break;
                case DOWN:
                        m_channelDown = channel;
                        break;
                }
        }
}

SimpleAgent::~SimpleAgent()
{
}

void SimpleAgent::step()
{
        int rank;

        MPI_Comm_rank(MPI_COMM_WORLD, &rank);

        if (m_actuatorLeft) {
                float p = (float) (PI * sin(PI / 4 * 2 * local - m_timeStep * PI / 100));
                m_actuatorLeft->setTargetAngle(p);
        }
        if (m_actuatorRight) {
                float p = (float) (PI * sin(PI / 4 * (2 * local + 1) - m_timeStep * PI / 100));
                m_actuatorRight->setTargetAngle(p);
        }
        if (m_actuatorUp) {
                m_actuatorUp->setTargetAngle(0);
        }
        if (m_actuatorDown) {
                m_actuatorDown->setTargetAngle(0);
        }

        int x = 0;

        if(!m_channelLeft) {
                if(!m_timeStep) x = 1;
        } else if(m_channelLeft->getChannel()->available()) {
                m_channelLeft->getChannel()->read(&x, MPI_INT, 1);
//              printf("[%d] received %d\n", rank, x);
                m_timeWave = m_timeStep;
                local = x;
        }
        if(m_channelRight && x) {
//              printf("[%d] sent %d\n", rank, x);
                x++;
                m_channelRight->getChannel()->write(&x, MPI_INT, 1);
        }

        m_timeStep++;
}