stop

Author: KenN7

loop-functions/gianduja/CMakeLists.txt

@@ -16,6 +16,8 @@ target_link_libraries(gianduja_aggregation_loopfunc argos3_demiurge_loop_functio
 add_library(gianduja_stop_loopfunc SHARED GiandujaStopLoopFunc.h GiandujaStopLoopFunc.cpp )
 target_link_libraries(gianduja_aggregation_loopfunc argos3_demiurge_loop_functions)
 
-add_library(gianduja_beacon_aggregation_loopfunc SHARED GiandujaBeaconAggregationLoopFunc.h GiandujaBeaconAggregationLoopFunc.cpp )
-target_link_libraries(gianduja_beacon_aggregation_loopfunc argos3_demiurge_loop_functions)
+add_library(gianduja_beacon_aggregation_loopfunc SHARED GiandujaBeaconAggregationLoopFunc.h GiandujaBeaconAggregationLoopFunc.cpp  ../../../robots-thesis/src/beacon_epuck/epuck_beacon.h  ../../../robots-thesis/src/beacon_epuck/epuck_beacon.cpp)
+target_link_libraries(gianduja_beacon_aggregation_loopfunc argos3_demiurge_loop_functions )
 
+add_library(gianduja_beacon_stop_loopfunc SHARED GiandujaBeaconStopLoopFunc.h GiandujaBeaconStopLoopFunc.cpp )
+target_link_libraries(gianduja_beacon_stop_loopfunc argos3_demiurge_loop_functions)

loop-functions/gianduja/GiandujaBeaconAggregationLoopFunc.cpp

@@ -103,7 +103,12 @@ void GiandujaBeaconAggregationLoopFunction::SetMessageBeacon() {
         CEPuckEntity& cEntity = dynamic_cast<CEPuckEntity&>(GetSpace().GetEntity("beacon0"));
         CEPuckBeacon& cController = dynamic_cast<CEPuckBeacon&>(cEntity.GetControllableEntity().GetController());
         cController.setMessage(m_unMes);
-        //LOG << "Time=" << m_Tbar << std::endl;
+        if (m_unMes==0) {
+            LOG << "Message=" << m_unMes << "blanc" << std::endl;
+        }
+        else if (m_unMes==1) {
+            LOG << "Message=" << m_unMes << "noir"<< std::endl;
+        }
     } catch (std::exception& ex) {
         LOGERR << "Error while casting SetMessageBeacon: " << ex.what() << std::endl;
     }
@@ -154,11 +159,11 @@ void GiandujaBeaconAggregationLoopFunction::PostStep() {
 /****************************************/
 
 void GiandujaBeaconAggregationLoopFunction::PostExperiment() {
-    LOG<< "fit: " << 24000-m_fObjectiveFunction << std::endl;
+    LOG<< "fit: " << 25200-m_fObjectiveFunction << std::endl;
 }
 
 Real GiandujaBeaconAggregationLoopFunction::GetObjectiveFunction() {
-    SInt32 score = 24000-m_fObjectiveFunction;
+    SInt32 score = 25200-m_fObjectiveFunction;
     return (score);
 }
 

loop-functions/gianduja/GiandujaBeaconStopLoopFunc.cpp

@@ -10,7 +10,7 @@ GiandujaBeaconStopLoopFunction::GiandujaBeaconStopLoopFunction() {
   m_CCoordRect1 = CVector2(1.25,-0.5);
 
   m_CCoordRect2Pos = CVector2(-0.8,-1);
-  //m_CCoordRect2 = CVector2(-1.25,-1.25);
+  m_CCoordRect2 = CVector2(-1.25,-1.25);
 
   m_unCostI = 0;
   m_unCostO = 0;
@@ -87,11 +87,11 @@ argos::CColor GiandujaBeaconStopLoopFunction::GetFloorColor(const argos::CVector
 }
 
 
-void GiandujaBeaconAggregationLoopFunction::ExtractTime() {
+void GiandujaBeaconStopLoopFunction::ExtractTime() {
     try {
         CEPuckEntity& cEntity = dynamic_cast<CEPuckEntity&>(GetSpace().GetEntity("beacon0"));
         CEPuckBeacon& cController = dynamic_cast<CEPuckBeacon&>(cEntity.GetControllableEntity().GetController());
-        m_Tbar = cController.getTBar();
+        m_unTbar = cController.getTBar();
         //LOG << "Time=" << m_Tbar << std::endl;
     } catch (std::exception& ex) {
         LOGERR << "Error while casting ExtractTime: " << ex.what() << std::endl;
@@ -159,7 +159,7 @@ void GiandujaBeaconStopLoopFunction::PostStep() {
         }
         else {
             if ( (cEpuckPosition.GetX()<=m_CCoordRect1.GetX()) && (cEpuckPosition.GetX()>=m_CCoordRect2.GetX()) && (cEpuckPosition.GetY()>=m_CCoordRect2.GetY()) && (cEpuckPosition.GetY()<=m_CCoordRect1.GetY()) ) {
-                m_unCostI+=1
+                m_unCostI+=1;
             }
         }
     }
@@ -185,4 +185,4 @@ Real GiandujaBeaconStopLoopFunction::GetObjectiveFunction() {
   return (m_fObjectiveFunction);
 }
 
-REGISTER_LOOP_FUNCTIONS(GiandujaBeaconStopLoopFunction, "gianduja_stop_loop_functions");
+REGISTER_LOOP_FUNCTIONS(GiandujaBeaconStopLoopFunction, "gianduja_beacon_stop_loop_functions");

loop-functions/gianduja/GiandujaBeaconStopLoopFunc.h

@@ -5,13 +5,16 @@
 #include <argos3/core/simulator/space/space.h>
 #include <argos3/plugins/robots/e-puck/simulator/epuck_entity.h>
 
+
+#include "../../../robots-thesis/src/beacon_epuck/epuck_beacon.h"
+
 using namespace argos;
 
 class GiandujaBeaconStopLoopFunction: public CoreLoopFunctions {
   public:
-    GiandujaStopLoopFunction();
-    GiandujaStopLoopFunction(const GiandujaStopLoopFunction& orig);
-    virtual ~GiandujaStopLoopFunction();
+    GiandujaBeaconStopLoopFunction();
+    GiandujaBeaconStopLoopFunction(const GiandujaBeaconStopLoopFunction& orig);
+    virtual ~GiandujaBeaconStopLoopFunction();
 
     virtual void Destroy();
 
@@ -23,12 +26,14 @@ class GiandujaBeaconStopLoopFunction: public CoreLoopFunctions {
     virtual CVector3 GetRandomPosition();
 
     Real GetObjectiveFunction();
+    void PlaceBeacon();
+    void ExtractTime();
 
   private:
     Real m_fRadius;
     CVector2 m_cCoordSpot1;
     CVector2 m_CCoordRect1;
-    //CVector2 m_CCoordRect2;
+    CVector2 m_CCoordRect2;
     CVector2 m_CCoordRect2Pos;
     CVector2 m_CCoordRect1Pos;