UTM_APP.cpp

#include "GCS_UTM.h"

//#define GRIDVIEW 

#ifdef GRIDVIEW
#include "GridView.h"
#endif

std::vector<std::string> tests = {"Test1"};
std::string runningTest = tests[0];

int main(int argc, char const* argv[])
{
	GridConfig gconf;
	gconf.refArea = 0.01;
	gconf.gridSize = 20;
	gconf.updateGrid();
	GCS_UTM* gcs = new GCS_UTM(gconf);

#ifdef GRIDVIEW

	if (gcs->gridView)
	{
		Application::Config conf;
		conf.width = 800;
		conf.height = 800;
		conf.resizable = true;
		conf.title = "AIRSPACE GRID";
		conf.msaa = true;
		GridView grid(conf, gcs);
		grid.run();
	}
	
#else
//	else {

		std::cout << "\n------------- Initialization Waiting Drones Containers ----------------------\n";
		sleep(35);
		std::cout << "\n------------- Initialization Checking Systems ----------------------\n";		
		gcs->checkSystems();		
		sleep(20);
		std::cout << "\n------------- Initialization Ready ----------------------\n";

		while (tests.size() > 0)
		{
			double runTime = gcs->getSimTime();
			
			//Eval UAV Tasks (every 0.1 second)
			if (runTime - gcs->lastEvalTasks >= 0.1)
			{
				gcs->lastEvalTasks = runTime;

				//std::cout << "\n------------- Evaluating Tasks ( "<< runTime <<" ----------------------\n";
				for (auto company : gcs->CompanyList)
				{
					for (auto const& [key, uav] : company->UAV_MAP)
					{
						uav->evaluateTasks();
					}
				}
			}

			//Update UAV positions (every 1 second)
			if (runTime - gcs->lastCheckSlots >= 1)
			{
				gcs->lastCheckSlots = runTime;
				gcs->updateSlots();
			}

			//Run Tests
			if (runTime - gcs->lastCheckTest >= 1)
			{
				gcs->checkSystems();
				gcs->lastCheckTest = runTime;
				gcs->runTests(runningTest);
				if (gcs->finished == true)
				{
					tests.pop_back();
					gcs->finished = false;
				}
			}
			usleep(100);
		}

		gcs->generateStats(runningTest + ".csv");
//	}
	
#endif

}