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#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include <unistd.h>
#include <cstdlib>
#include <cassert>
#include <sys/time.h>
#include <cstring>
#include "params.h"
#include "world.h"
#include "parse.h"
#ifndef _WIN32
# include <signal.h>
#endif
using namespace std;
static ScreenBuffer *sb;
#ifndef _WIN32
static void signalHandler(int sig){
if(sig==SIGINT){
sb->emergencyDeinit();
_exit(130);
}
}
#endif
struct RobotSpec{
string fname;
bool random;
int x,y,heading;
};
int parseInt(const char *str){
char *endp;
int v=strtol(str,&endp,10);
if(str[0]=='\0'||*endp!='\0'){
cerr<<"Invalid number '"<<str<<"'"<<endl;
exit(1);
}
return v;
}
void usage(char **argv){
cerr<<"Usage: "<<argv[0]<<" [-r <fname>]* [-p <fname> <x> <y> <heading>]* [-s <sleeptime>] [-t]"<<endl;
}
int main(int argc,char **argv){
struct timeval tv;
gettimeofday(&tv,nullptr);
srand(tv.tv_sec*1000000+tv.tv_usec);
World world;
vector<Team> teams;
vector<RobotSpec> robotSpecs;
int sleeptime=3000;
bool step = false;
if(argc<=1){
usage(argv);
return 1;
}
for(int i=1;i<argc;i++){
if(argv[i][0]!='-'||strlen(argv[i])!=2){
cerr<<"Unexpected argument '"<<argv[i]<<"'"<<endl;
return 1;
}
switch(argv[i][1]){
case 'h':
usage(argv);
return 0;
case 'r':
if(i>=argc-1){
cerr<<"Expected file name after '-r'"<<endl;
return 1;
}
robotSpecs.push_back({argv[i+1],true,0,0,0});
i+=1;
break;
case 'p':
if(i>=argc-4){
cerr<<"Expected file name, x, y and heading after '-p'"<<endl;
return 1;
}
robotSpecs.push_back({argv[i+1],false,parseInt(argv[i+2]),parseInt(argv[i+3]),parseInt(argv[i+4])});
i+=4;
break;
case 's':
if(i>=argc-1){
cerr<<"Expected sleep time after '-s'"<<endl;
return 1;
}
sleeptime=parseInt(argv[i+1]);
i+=1;
break;
case 't':
step = true;
break;
default:
cerr<<"Unknown switch in '"<<argv[i]<<"'"<<endl;
return 1;
}
}
for(const RobotSpec &rs : robotSpecs){
ifstream f(rs.fname);
if(!f){
cerr<<"Cannot open file '"<<rs.fname<<"'"<<endl;
return 1;
}
teams.push_back(assemble(preprocess(f)));
Team &t=teams.back();
Robot &r=rs.random ? world.create(&t,2,t.banks.size(),false)
: world.create(&t,2,t.banks.size(),false,rs.x,rs.y,rs.heading);
for(int i=0;i<(int)t.banks.size();i++){
r.load(i,t.banks[i]);
r.active=1;
}
}
sb=new ScreenBuffer(SIZE*3, SIZE+1);
#ifndef _WIN32
signal(SIGINT,signalHandler);
#endif
world.print(*sb);
sb->draw();
for(int i=0;i<C::autoTimeout;i++){
if(step) cin.get();
else usleep(sleeptime);
world.tick();
world.print(*sb);
sb->mvprintf(0, SIZE, "step: %5i", i+2);
sb->draw();
}
delete sb;
}
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