From e71df69612e1b1043c7f09f33a138123ed71569a Mon Sep 17 00:00:00 2001
From: Felix Pankratz <mail@felixpankratz.de>
Date: Sat, 14 Dec 2024 13:17:12 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=A7=B9=20add=20cleanup=20routine?=
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---
 organism/src/main.cpp | 64 ++++++++++++++++++++++++++++---------------
 1 file changed, 42 insertions(+), 22 deletions(-)

diff --git a/organism/src/main.cpp b/organism/src/main.cpp
index 037f253..691a32e 100644
--- a/organism/src/main.cpp
+++ b/organism/src/main.cpp
@@ -36,12 +36,9 @@
 
 MatrixPanel_I2S_DMA *matrix = nullptr;
 
-//#define NUM_AGENTS 300
 
-//#define AGENT_MOVE_DISTANCE 1
-#define AGENT_DROP_AMOUNT 1 //5
-//#define AGENT_ANGLE 0.175
-#define NUM_ITERATIONS 1000
+#define AGENT_DROP_AMOUNT 10
+#define NUM_ITERATIONS 500
 struct SlimeAgent {
   int x_position;
   int y_position;
@@ -57,7 +54,6 @@ float AGENT_SENSOR_ANGLE;
 
 float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
 int iterations = 0;
-//SlimeAgent agents[NUM_AGENTS];
 std::vector<SlimeAgent> agents;
 
 void init_attractant() {
@@ -107,10 +103,15 @@ void init_agents() {
     //agents[a].x_position = random(12, 52);
     //agents[a].y_position = random(12, 20);
     agents.push_back({
-        random(0,64),
-        random(0,32),
+        random(2,63),
+        random(2,31),
         (random(0, 100) / 100.0) * (PI*2)
     });
+    //agents.push_back({
+    //    random(6,58),
+    //    random(4,28),
+    //    (random(0, 100) / 100.0) * (PI*2)
+    //});
     //agents[a].x_position = random(0, 64);
     //agents[a].y_position = random(0, 32);
     //agents[a].heading = (random(0, 100) / 100.0) * (PI*2);
@@ -166,7 +167,7 @@ void draw_bg() {
 void draw_attractant() {
   for(int x = 0; x<PANEL_WIDTH; x++) {
     for(int y = 0; y<PANEL_HEIGHT; y++){
-      if (attractant[x][y] > 20.0) {
+      if (attractant[x][y] > 17.0) {
         matrix->drawPixel(x, y, matrix->color565(
               int((255.0 / 255.0) * round(attractant[x][y])),
               int((80.0 / 255.0) * round(attractant[x][y])),
@@ -188,7 +189,6 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
   for(int i; i < width; i++) {
     kernel[i] = sum/width;
   }
-  Serial.printf("%f %f %f\n", kernel[0], kernel[1], kernel[2]);
 }
 
 #define GAUSS_WIDTH 1
@@ -197,7 +197,6 @@ void setupGaussianKernel(float* kernel, int width, float sigma) {
 float first_pass[PANEL_WIDTH][PANEL_HEIGHT];
 void gaussian_blur() {
   float kernel[GAUSS_WIDTH];
-   //  first_pass[PANEL_WIDTH][PANEL_HEIGHT];
   memset(first_pass, 0.0, sizeof first_pass);
   setupGaussianKernel(kernel, GAUSS_WIDTH, GAUSS_SIGMA);
   // horizontal pass
@@ -279,17 +278,41 @@ void box_blur() {
       }
 
       float result = (sum/additions); // * DECAY_FACTOR;
-      //Serial.printf("result: %f", result); //additions: %d\n", sum, additions);
       //attractant[x][y] = (((8.0*attractant[x][y]) + result) / 9.0);
       attractant[x][y] = result;
     } 
   }
 }
 
+int cleanup_x = 0;
+void cleanup() {
+  int progress = iterations - NUM_ITERATIONS;
+  matrix->drawFastVLine(cleanup_x, 0, PANEL_HEIGHT, matrix->color565(254, 242, 255));
+  if (cleanup_x > 0) {
+    matrix->fillRect(0, 0, cleanup_x, PANEL_HEIGHT, matrix->color565(16, 0, 16));
+  }
+  int h_lines = round(PANEL_HEIGHT / 7);
+  int v_lines = round(cleanup_x / 7);
+  for(int v = 0; v < cleanup_x; v++) {
+    if (v%7  == 2) {
+      matrix->drawFastVLine(v, 0, PANEL_HEIGHT, matrix->color565(41, 17, 76));
+    }
+  }
+  for(int h = 0; h <= h_lines; h++) {
+    matrix->drawFastHLine(0, 7*h + 1, cleanup_x-1, matrix->color565(41, 17, 76));
+  }
+  cleanup_x++;
+  if (cleanup_x > PANEL_WIDTH) {
+      iterations = 0;
+      cleanup_x = 0;
+      init_attractant();
+      init_agents();
+  }
+}
+
 void loop() {
   matrix ->flipDMABuffer();
   delay(10);
-  //matrix->clearScreen();
   matrix->fillScreenRGB888(15, 0, 10);
 
   // draw background and organism
@@ -298,8 +321,8 @@ void loop() {
 
   for(int a = 0; a < NUM_AGENTS; a++) {
     //matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
-    // motor step
-    // check if agent can move forward
+    // motor step: check if agent can move forward
+    // if yes, do so, if not, turn randomly
     float target_x = agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE;
     float target_y = agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE;
     int move_x = round(target_x);
@@ -312,10 +335,9 @@ void loop() {
       }
     } else {
       agents[a].heading = (random(0, 100)/100.0) * (PI*2);
-     // agents[a].heading = (2*PI) - agents[a].heading;//(random(0, 100)/100.0) * (PI*2);
     }
   }
-  // sample step
+  // sample step - check the 3 positions
   for(int a = 0; a < NUM_AGENTS; a++) {
     //matrix->drawPixel(agents[a].x_position, agents[a].y_position, matrix->color565(0, 0, attractant[agents[a].x_position][agents[a].y_position]));
     int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_SENSOR_DISTANCE);
@@ -338,15 +360,13 @@ void loop() {
     }
   }
   iterations++;
-  if (iterations % 4 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
-    //box_blur();
+  if (iterations % 2 == 0) { //64 && iterations % 64 == 0) { // (( == 0) {
+    box_blur();
     //gaussian_blur();
     ;
   }
   if (iterations >= NUM_ITERATIONS) {
-    init_attractant();
-    init_agents();
-    iterations = 0;
+    cleanup();
   }
 }