fastsim_keyboard.cpp

#include <boost/foreach.hpp>
#include "simu_fastsim.hpp"

using namespace sferes;
struct Params {
  struct simu {
    SFERES_STRING(map_name, "modules/fastsim/cuisine.pbm");
    SFERES_CONST float dt = 0.01;
  };
};

#ifdef USE_SDL


int main(int argc, char *argv[]) {
  using namespace fastsim;
  typedef simu::Fastsim<Params> simu_t;
  simu_t s;
  s.robot().set_pos(Posture(250, 250, 0));
  s.robot().use_camera();
  s.robot().add_laser(Laser(M_PI / 3, 50));
  s.robot().add_laser(Laser(0, 50));
  s.robot().add_laser(Laser(-M_PI / 3, 50));

  Map::ill_sw_t s1 = Map::ill_sw_t(new IlluminatedSwitch(1, 10, 300, 251, true));
  Map::ill_sw_t s2 = Map::ill_sw_t(new IlluminatedSwitch(2, 10, 530, 150, true));
  Map::ill_sw_t s3 = Map::ill_sw_t(new IlluminatedSwitch(3, 10, 200, 150, true));
  Map::ill_sw_t s4 = Map::ill_sw_t(new IlluminatedSwitch(4, 10, 400, 350, true));

  s.map()->add_illuminated_switch(s1);
  s.map()->add_illuminated_switch(s2);
  s.map()->add_illuminated_switch(s3);
  s.map()->add_illuminated_switch(s4);


  s.init_view();

  int numkey;
  while(true) {
    SDL_PumpEvents();
    Uint8* keys = SDL_GetKeyState(&numkey);
    if (keys[SDLK_UP])
      s.move_robot(1.0, 1.0);
    if (keys[SDLK_DOWN])
      s.move_robot(-1.0, -1.0);
    if (keys[SDLK_LEFT])
      s.move_robot(1.0, -1.0);
    if (keys[SDLK_RIGHT])
      s.move_robot(-1.0, 1.0);
    s.refresh();
    s.refresh_view();
  }

  return 0;
}
#else
# warning FASTSIM_KEYBOARD not compiled because SDL was not activated
#endif