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buzz_argos [2018/03/18 23:19] – [Debugging Buzz Programs] root | buzz_argos [2018/03/18 23:31] – root | ||
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Compile and install Buzz following the instructions reported in the [[https:// | Compile and install Buzz following the instructions reported in the [[https:// | ||
- | ==== ARGoS + Buzz: Basic information | + | ==== Library Configuration |
The Buzz integration library for ARGoS is composed of two elements: | The Buzz integration library for ARGoS is composed of two elements: | ||
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- A set of ARGoS controllers. At the moment, available controllers include one for the [[http:// | - A set of ARGoS controllers. At the moment, available controllers include one for the [[http:// | ||
- | - A special definition of ARGoS' QtOpenGL user functions, which allow Buzz scripts to draw in the OpenGL visualization of ARGoS. With these, a developer can [[# | + | - A special definition of ARGoS' QtOpenGL user functions, which allow Buzz scripts to draw in the OpenGL visualization of ARGoS. |
To have ARGoS find the Buzz integration library in case you installed it in a non-default location, set the environment variable '' | To have ARGoS find the Buzz integration library in case you installed it in a non-default location, set the environment variable '' | ||
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If you installed Buzz without specifying a custom installation prefix (e.g., using only '' | If you installed Buzz without specifying a custom installation prefix (e.g., using only '' | ||
- | === Defining an ARGoS experiment file === | + | ==== Defining an ARGoS experiment file ==== |
To use ARGoS and Buzz together, define your '' | To use ARGoS and Buzz together, define your '' | ||
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<code xml> | <code xml> | ||
+ | < | ||
+ | For a full example of an ARGoS configuration file, refer to | ||
+ | |||
+ | | ||
+ | |||
+ | and the other examples at | ||
+ | |||
+ | | ||
+ | --> | ||
+ | |||
+ | ... | ||
+ | |||
< | < | ||
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</ | </ | ||
</ | </ | ||
+ | |||
+ | ... | ||
</ | </ | ||
- | To activate drawing, use '' | + | If you want ARGoS to start with a Buzz script already loaded, you can specify that in the '' |
<code xml> | <code xml> | ||
+ | ... | ||
+ | |||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | < | ||
+ | </ | ||
+ | < | ||
+ | < | ||
+ | </ | ||
+ | | ||
+ | <!-- This loads the specified files at startup --> | ||
+ | <params bytecode_file=" | ||
+ | | ||
+ | </ | ||
+ | | ||
+ | ... | ||
+ | | ||
+ | </ | ||
+ | |||
+ | To activate the Buzz editor and support debugging, use '' | ||
+ | |||
+ | <code xml> | ||
+ | <!-- For a full example of an ARGoS configuration file, refer to | ||
+ | | ||
+ | --> | ||
+ | |||
< | < | ||
< | < | ||
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== Writing Text on Top of a Robot == | == Writing Text on Top of a Robot == | ||
- | == Drawing the Trajectory | + | * '' |
+ | * prints a message on top of the robot, after the robot id | ||
+ | * '' | ||
- | You can draw the trajectory | + | == Drawing |
* '' | * '' | ||
* enable trajectory tracking setting how many points should be stored and the drawing color | * enable trajectory tracking setting how many points should be stored and the drawing color | ||
+ | * '' | ||
* '' | * '' | ||
* enable trajectory tracking setting how many points should be stored | * enable trajectory tracking setting how many points should be stored | ||
* '' | * '' | ||
* enable trajectory tracking keeping maxpoints' | * enable trajectory tracking keeping maxpoints' | ||
+ | * '' | ||
* '' | * '' | ||
* enable trajectory tracking keeping maxpoints' | * enable trajectory tracking keeping maxpoints' | ||
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* draw a ray from the reference point of the robot to '' | * draw a ray from the reference point of the robot to '' | ||
* '' | * '' | ||
+ | * '' | ||
* '' | * '' | ||
* draw a ray from '' | * draw a ray from '' | ||
* '' | * '' | ||
+ | * '' | ||
+ | * debug.rays.clear() | ||
+ | * delete all the rays |