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/* sonar, Copyright (c) 1998-2012 Jamie Zawinski and Stephen Martin
*
* Permission to use, copy, modify, distribute, and sell this software and its
* documentation for any purpose is hereby granted without fee, provided that
* the above copyright notice appear in all copies and that both that
* copyright notice and this permission notice appear in supporting
* documentation. No representations are made about the suitability of this
* software for any purpose. It is provided "as is" without express or
* implied warranty.
*
* This implements the "simulation" sensor for sonar.
*/
#include "screenhackI.h"
#include "sonar.h"
typedef struct {
const char *team_a_name;
const char *team_b_name;
int team_a_count;
int team_b_count;
sonar_bogie *targets;
Bool debug_p;
} sim_data;
static void
sim_free_data (sonar_sensor_data *ssd, void *closure)
{
sim_data *sd = (sim_data *) closure;
free (sd);
}
static void
sim_free_bogie_data (sonar_sensor_data *ssd, void *closure)
{
free (closure);
}
/* Return an updated (moved) copy of the bogies.
*/
static sonar_bogie *
sim_scan (sonar_sensor_data *ssd)
{
sim_data *sd = (sim_data *) ssd->closure;
sonar_bogie *b, *b2, *list = 0;
double scale = 0.01;
for (b = sd->targets; b; b = b->next)
{
b->r += scale * (0.5 - frand(1.0));
b->th += scale * (0.5 - frand(1.0));
while (b->r < 0.2) b->r += scale * 0.1;
while (b->r > 0.9) b->r -= scale * 0.1;
b2 = sonar_copy_bogie (ssd, b);
b2->next = list;
list = b2;
}
return list;
}
static void
make_bogies (sonar_sensor_data *ssd)
{
sim_data *sd = (sim_data *) ssd->closure;
int i, j;
for (j = 0; j <= 1; j++)
for (i = 0; i < (j ? sd->team_a_count : sd->team_b_count); i++)
{
sonar_bogie *b = (sonar_bogie *) calloc (1, sizeof(*b));
const char *name = (j ? sd->team_a_name : sd->team_b_name);
b->name = (char *) malloc (strlen(name) + 10);
sprintf (b->name, "%s%03d", name, i+1);
b->r = 0.3 + frand(0.5);
b->th = frand (M_PI*2);
b->next = sd->targets;
sd->targets = b;
if (sd->debug_p)
fprintf (stderr, "%s: %s: %5.2f %5.2f\n", progname,
b->name, b->r, b->th);
}
}
sonar_sensor_data *
sonar_init_simulation (Display *dpy, char **error_ret, char **desc_ret,
const char *team_a_name, const char *team_b_name,
int team_a_count, int team_b_count,
Bool debug_p)
{
sonar_sensor_data *ssd = (sonar_sensor_data *) calloc (1, sizeof(*ssd));
sim_data *sd = (sim_data *) calloc (1, sizeof(*sd));
sd->team_a_name = team_a_name;
sd->team_b_name = team_b_name;
sd->team_a_count = team_a_count;
sd->team_b_count = team_b_count;
sd->debug_p = debug_p;
ssd->closure = sd;
ssd->scan_cb = sim_scan;
ssd->free_data_cb = sim_free_data;
ssd->free_bogie_cb = sim_free_bogie_data;
make_bogies (ssd);
return ssd;
}
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