Major commit - new algo working, ui working

epuck/algoworker.cpp

@@ -1087,6 +1087,8 @@ void AlgoWorker::onTimeout()
 
         case SAVE_CURRENT_POSITION:
             totDistance = 0.0;
+            numRounds = 0;
+            numActivations = 0;
             for(int i = 0; i < NUMBOTS; ++i)
             {
                 savedPosition[i] = cvPoint(localBS.bot[i].x, localBS.bot[i].y);
@@ -1098,6 +1100,8 @@ void AlgoWorker::onTimeout()
         {
             int numCompleted = 0;
             totDistance = 0.0;
+            numRounds = 0;
+            numActivations = 0;
             for(int i = 0; i < NUMBOTS; ++i)
             {
                 if(moveToPoint(savedPosition[i], localBS.bot[i], i))
@@ -1143,7 +1147,7 @@ void AlgoWorker::onTimeout()
             {
                 ls.push_back(LineSegment(x1, y1, x2, y2));
             }
-
+            output.close();
             for(int i = 0; i < NUMBOTS; ++i)
             {
                 destinationPoint[i] = getDestinationVoronoi(i);
@@ -1196,14 +1200,15 @@ void AlgoWorker::onTimeout()
                 bool allOnCircle = true;
                 for(int i = 0; i < NUMBOTS; ++i)
                 {
-                    if(fabs(getDistance(destinationPoint[i], destinationCircle.centre) - destinationCircle.radius) > 5)
+                    if(fabs(getDistance(destinationPoint[i], destinationCircle.centre) - destinationCircle.radius) > FINAL_REACHED_THRESHOLD)
                     {
                         allOnCircle = false;
                         break;
                     }
                 }
                 if(allOnCircle == false)
                 {
+                    qDebug() << "All not on circle";
                     currentState = MAKE_CIRCLE;
                 }
                 else
@@ -1386,7 +1391,7 @@ void AlgoWorker::onTimeout()
             //calculate the destination points
             //assume leader is destinationPoint[0]
             const double stableAngle = 2.0*CV_PI/((double)NUMBOTS);
-            CvPoint myPoint[5];
+            CvPoint myPoint[NUMBOTS];
             for(int i = 0; i < NUMBOTS; ++i)
             {
                 myPoint[i] = angleToPoint(pointToAngle(destinationPoint[0]) + stableAngle*i);

epuck/commondefs.h

@@ -4,7 +4,7 @@
 #include <opencv2/opencv.hpp>
 
 //enum Command {FORWARD, BACKWARD, LEFT, RIGHT, UP, DOWN, STOP, SPEED1, SPEED2, SPEED3, SPEED4, F_PULSE, B_PULSE, L_PULSE, R_PULSE};
-#define NUMBOTS 5
+#define NUMBOTS 10
 #define SIMULATION 1
 //plz to store angle in radians
 struct Bot

epuck/in.txt

@@ -1,5 +1,10 @@
-389 167
-354 359
-439 280
-249 293
-265 189
+235 108
+206 251
+502 175
+200 216
+451 322
+241 310
+317 60
+203 172
+424 71
+328 358

epuck/out.txt

@@ -1,11 +1,26 @@
--81 189 -257539 -39419.9
--81 189 340.455 253.839
-280.757 359 342.265 261.146
-280.757 359 -3097.68 5733.79
-325.048 167 -300.055 -3356.31
-325.048 167 340.455 253.839
-359.788 280 342.265 261.146
-359.788 280 1568.08 1580.06
-340.455 253.839 341.873 255.415
-342.265 261.146 341.873 255.415
-341.873 255.415 1787.16 -384.091
+-121.167 172 -1.46998e+06 -100046
+-121.167 172 346.333 203.875
+100.917 251 343.261 209.455
+100.917 251 -233682 40328.1
+155 108 -28550.5 -14244.8
+155 108 345.931 203.466
+173.771 310 343.261 209.455
+173.771 310 -20618.1 12644.2
+261.951 60 -3132.52 -5738.89
+261.951 60 345.931 203.466
+271.259 358 351.958 211.732
+271.259 358 -2827.57 5974.63
+369.935 71 671.451 -2861.93
+369.935 71 356.367 202.975
+384.232 322 351.958 211.732
+384.232 322 1096.62 2756.01
+343.261 209.455 349.908 206.556
+345.931 203.466 346.333 203.875
+346.333 203.875 349.908 206.556
+349.908 206.556 352.214 207.257
+351.958 211.732 352.214 207.257
+393.667 175 1863.26 -927.198
+393.667 175 356.367 202.975
+352.214 207.257 354.4 206.139
+356.367 202.975 354.4 206.139
+354.4 206.139 2000.17 777.119