remove temp file
This commit is contained in:
@@ -1,312 +0,0 @@
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#include <iostream>
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#include <SDL.h>
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#include <math.h>
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#include <sys/types.h>
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#include <sys/ipc.h>
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#include <sys/shm.h>
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#include "sdlcommon.h"
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#include "car.h"
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#include "shmdata.h"
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using namespace std;
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Car::Car()
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{
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initShm();
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reset();
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showbar=1;
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angstep=5;
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for(int i=0;i<CAMVECT;i++) camera[i]=0;
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carimage=0;
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for(int i=0;i<TRAINEESIZE;i++) { trainee[i][0]=0; trainee[i][1]=0; }
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traineepos=0;
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traineesize=1;
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}
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void Car::loadImage(char *imagefile)
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{
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SDL_Surface *voitsurf;
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Uint32 cur=SDL_GetTicks();
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voitsurf=SDL_LoadBMP(imagefile);
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printf("Precaching Surfaces ..... \n");
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for(int i=0;i<360;i++)
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{
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Surface_car[i]=SDL_CreateRGBSurface(SDL_HWSURFACE, voitsurf->w, voitsurf->h, 32, 0,0,0,0);
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if(SDL_SetColorKey(Surface_car[i], SDL_SRCCOLORKEY | SDL_RLEACCEL, SDL_MapRGB(Surface_car[i]->format, 255,0,255)) == -1)
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fprintf(stderr, "Warning: colorkey will not be used, reason: %s\n", SDL_GetError());
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rotatesurface(voitsurf,Surface_car[i],i);
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}
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carimage=1;
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printf("Done ... (%d ms)\n",SDL_GetTicks()-cur);
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}
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void Car::updateCar(SDL_Surface* screen)
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{
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int i;
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for(i=0;(SData->read!=0) && i<200;i++) usleep(5); // on attends 1 seconde
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if(i==200)
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{
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cout << "AutoPilot Timed Out ...";
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exit(0);
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}
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if(SData->Res[0]) decAngle();
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if(SData->Res[1]) incAngle();
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SData->Res[0]=0;
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SData->Res[1]=0;
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SData->pos_x+=getSpeed()*(cos(SData->angle*PI/180));
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SData->pos_y+=getSpeed()*(sin(SData->angle*PI/180));
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showTrainee(screen);
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showCamera(screen); /* obligé pour avoir les pixels :-) */
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// CAMERASIZE // CAMERASTEP
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if(carimage) /* on blit la voiture */
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{
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SDL_Rect r;
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r.w=Surface_car[SData->angle]->w;
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r.h=Surface_car[SData->angle]->h;
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r.x=(int)SData->pos_x-(r.w/2);
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r.y=(int)SData->pos_y-(r.h/2);
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SDL_BlitSurface( Surface_car[SData->angle], NULL, screen, &r);
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}
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else for(int i=0;i<20;i++) /* affichage de la voiture simplifiée (ligne rouge) */
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{
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setpixel(screen,(int)(SData->pos_x-(cos(SData->angle*PI/180)*i)),(int)( SData->pos_y-(sin(SData->angle*PI/180)*i)),255,0,0);
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}
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for(int i=0;i<CAMVECT;i++)
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{
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// cout << camera[i];
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SData->V[i]=camera[i];
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}
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SData->read=1; /* on a lu :D */
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//cout << endl;
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}
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void Car::showTrainee(SDL_Surface* screen)
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{
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int k;
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trainee[traineepos][0]=(int)SData->pos_x;
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trainee[traineepos][1]=(int)SData->pos_y;
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traineepos=(traineepos+1)%traineesize;
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k=traineepos;
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k=(k+1)%traineesize;
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for(int i=0; /*i < traineesize &&*/ k!=traineepos;i++) /* affichage de la trainée */
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{
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//setpixel(screen,trainee[k][0],trainee[k][1],0,(int)(i*(256.0/traineesize))%256,255);
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int x0,y0,x1,y1;
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x0=trainee[(k+traineesize-1)%traineesize][0];
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y0=trainee[(k+traineesize-1)%traineesize][1];
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x1=trainee[k][0];
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y1=trainee[k][1];
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if(x0==0) x0=x1;
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if(y0==0) y0=y1;
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if(x1==0) x1=x0;
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if(y1==0) y1=y0;
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DrawLine(screen,x0,y0,x1,y1,0,0,255);
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k=(k+1)%traineesize;
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}
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}
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void Car::showCamera(SDL_Surface* screen)
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{
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double x,y;
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int k,ang;
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x=SData->pos_x + ( cos(SData->angle*PI/180) * CAMERADISTANCE );
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y=SData->pos_y + ( sin(SData->angle*PI/180) * CAMERADISTANCE );
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ang=(SData->angle+90)%360;
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x-=CAMERASIZE/2*cos(ang*PI/180);
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y-=CAMERASIZE/2*sin(ang*PI/180);
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k=0;
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for(int i=0;i<CAMERASIZE;i++)
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{
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x+=cos(ang*PI/180);
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y+=sin(ang*PI/180);
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if(!(i%CAMERASTEP))
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{
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camera[k]=1;
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if(inCarArea(screen,(int)x,(int)y)) //if(x>0 && x<screen->w && y>0 && y<screen->h)
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camera[k]=(((getpixel(screen,(int)x,(int)y))%2)+1)%2;
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else camera[k]=0;
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if(camera[k] && showbar)
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{
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setpixel(screen, (int)x, (int)y,255,0,0);
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//setpixel(screen, (int)x, (int)y-1,255,0,0);
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//setpixel(screen, (int)x-1, (int)y,255,0,0);
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//setpixel(screen, (int)x-1, (int)y-1,255,0,0);
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}
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else if(showbar)
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{
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setpixel(screen, (int)x, (int)y,0,255,0);
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//setpixel(screen, (int)x, (int)y-1,0,255,0);
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//setpixel(screen, (int)x-1, (int)y,0,255,0);
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//setpixel(screen, (int)x-1, (int)y-1,0,255,0);
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}
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k++;
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}
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else
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{
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if(showbar) setpixel(screen, (int)x, (int)y,0,0,255);
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}
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}
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}
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void Car::incAngle()
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{
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SData->angle=(SData->angle+angstep)%360;
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}
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void Car::decAngle()
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{
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SData->angle=(SData->angle+360-angstep)%360;
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}
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int Car::incAngleStep(int i)
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{
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angstep+=i;
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return angstep;
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}
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void Car::incSpeed()
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{
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if(SData->Res[2]==0)
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{
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SData->Res[0]=0;
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SData->Res[1]=0;
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SData->Res[2]=1;
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if(SData->speed==0) SData->speed=1;
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}
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SData->speed++;
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}
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void Car::decSpeed()
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{
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SData->speed--;
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}
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bool Car::APToggle()
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{
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SData->APon=(SData->APon+1)%2;
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return SData->APon;
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}
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bool Car::APState() const
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{
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return SData->APon;
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}
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bool Car::neurToggle()
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{
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SData->Neuron=(SData->Neuron+1)%2;
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return SData->Neuron;
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}
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bool Car::neurState() const
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{
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return SData->Neuron;
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}
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void Car::initShm()
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{
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if ((shmid = shmget(SHMKEY, sizeof(struct shmdata), 0666)) < 0)
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{
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perror("shmget");
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exit(1);
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}
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if (( SData = (struct shmdata *)shmat(shmid, NULL, 0)) == (struct shmdata *) -1)
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{
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perror("shmat");
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exit(1);
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}
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}
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int Car::getSpeed() const
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{
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if(SData->Res[2])
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return SData->speed;
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return 0;
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}
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int Car::getAngle() const
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{
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return SData->angle;
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}
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bool Car::showBar(int i)
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{
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showbar=(showbar+i)%2;
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return showbar;
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}
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bool* Car::getVect()
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{
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return SData->Res;
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}
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bool* Car::getView()
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{
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return SData->V;
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}
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void Car::reset()
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{
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SData->pos_x=200;
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SData->pos_y=200;
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SData->speed=1;
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SData->angle=0;
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SData->Res[2]=1;
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}
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void Car::turn180()
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{
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SData->angle=(SData->angle+180)%360;
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}
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int Car::incTraineeSize(int s)
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{
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int i,k;
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if(s==0) return traineesize;
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if(traineesize==1 && s<0) return traineesize;
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if(traineesize+s > TRAINEESIZE) s=TRAINEESIZE-traineesize-1;
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if(traineesize+s < 0) s=1-TRAINEESIZE;
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int tmp[traineesize+s][2];
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k=traineepos;
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if(s<0) k=(traineesize+traineepos-s)%traineesize;
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for(i=0;i<(traineesize+s);i++)
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{
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if(i>traineesize)
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{
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tmp[i][0]=0;
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tmp[i][1]=0;
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}
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else
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{
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tmp[i][0]=trainee[k][0];
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tmp[i][1]=trainee[k][1];
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}
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k=(k+1)%traineesize;
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}
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for(i=0;i<traineesize+s;i++)
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{
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trainee[i][0]=tmp[i][0];
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trainee[i][1]=tmp[i][1];
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}
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traineepos=traineesize-1;
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// if(traineesize<1) { traineesize=1; traineepos=0; }
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if(s<0)traineepos=0;
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traineesize+=s;
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return traineesize;
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}
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void Car::setDelay(int del)
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{
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SData->delay=del;
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}
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void Car::harakiri()
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{
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cout << " EXIT INTERFACE ...\n";
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SData->read=666;
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usleep(100);
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SData->read=666;
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usleep(100);
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SData->read=666;
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}
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void Car::saveState()
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{
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SData->action=SAVE_STATE;
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}
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void Car::loadState()
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{
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SData->action=RELOAD_STATE;
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}
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void Car::showNetwork(bool a)
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{
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SData->viewNetwork=a;
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}
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bool Car::showNetworkState()
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{
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return SData->viewNetwork;
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}
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@@ -1,57 +0,0 @@
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#ifndef __CAR_H
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#define __CAR_H
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#define PI 3.141592
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#define ANGLESTEP 5
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#define TRAINEESIZE 8192
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#include "shmdata.h"
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class Car
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{
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private :
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SDL_Surface *Surface_car[360];
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SDL_Rect rect;
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bool carimage;
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bool showbar;
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bool camera[CAMVECT];
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struct shmdata *SData;
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int shmid;
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int angstep;
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int trainee[TRAINEESIZE][2];
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int traineepos;
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int traineesize;
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public :
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Car();
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void updateCar(SDL_Surface* screen);
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void loadImage(char *imagefile);
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void initShm();
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int incTraineeSize(int);
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void incAngle();
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void decAngle();
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void incSpeed();
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void decSpeed();
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int incAngleStep(int);
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bool APToggle();
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bool APState() const;
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bool neurToggle();
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bool neurState() const;
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int getSpeed() const;
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int getAngle() const;
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bool showBar(int i);
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bool* getVect();
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bool* getView();
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void reset();
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void turn180();
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void showCamera(SDL_Surface* screen);
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void showTrainee(SDL_Surface* screen);
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void loadState();
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void saveState();
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void harakiri();
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void setDelay(int del);
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bool showNetwork(bool a);
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bool showNetworkState();
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};
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#endif
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@@ -1,376 +0,0 @@
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#include <SDL.h>
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#include <SDL_image.h>
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#include <time.h>
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#include <iostream>
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#include "sdlcommon.h"
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#include "fenetre.h"
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#include "shmdata.h"
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using namespace std;
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Fenetre::Fenetre ()
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{
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obstacle=0;
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SHOWcamera=1;
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SHOWpilot=1;
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fps=0;
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font=SFont_InitFont(IMG_Load(FONT_PATH));
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if( SDL_Init(SDL_INIT_VIDEO) < 0 )
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{
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fprintf(stderr, "Could not initialize SDL: %s\n", SDL_GetError());
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return ;
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}
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atexit(SDL_Quit);
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screen = SDL_SetVideoMode(800,600, 32, SDL_HWSURFACE);
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/* SDL_HWSURFACE / SDL_SWSURFACE */
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/*|SDL_ANYFORMAT*/
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if( screen==NULL )
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{
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fprintf(stderr, "Could not create surface: %s\n", SDL_GetError());
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return ;
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}
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return ;
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Voiture.loadImage("Cars/voiture4.bmp");
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circuit=1;
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}
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Fenetre::Fenetre (int largeur = 800, int hauteur = 600, int nb_couleurs = 16, char *titre = "Fenetre SDL", char *background=NULL)
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{
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obstacle=0;
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SHOWcamera=1;
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SHOWpilot=1;
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fps=0;
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font=SFont_InitFont(IMG_Load(FONT_PATH));
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if (SDL_Init (SDL_INIT_VIDEO) < 0)
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{
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cerr << "Erreur dans l'initialisation de la librairie" << endl;
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}
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screen = SDL_SetVideoMode (largeur, hauteur, nb_couleurs, SDL_HWSURFACE | SDL_DOUBLEBUF);
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//SDL_CreateRGBSurface(SDL_HWSURFACE, largeur,hauteur,32,0,0,0,0);
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if (screen == NULL)
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{
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cerr << "Erreur dans l'initialisation des modes vidéos:" <<
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SDL_GetError ();
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SDL_Quit ();
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}
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SDL_WM_SetCaption (titre, NULL);
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fond = SDL_LoadBMP (background);
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SDL_BlitSurface (fond, NULL, screen, NULL);
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SDL_Flip (screen);
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HardBG=SDL_CreateRGBSurface(SDL_HWSURFACE, largeur, hauteur, 32, 0,0,0,0);
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SDL_BlitSurface( fond, NULL, HardBG, NULL);
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Voiture.loadImage("Cars/voiture4.bmp");
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circuit=1;
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}
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void Fenetre::loadBG(char *background)
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{
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fond = SDL_LoadBMP (background);
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SDL_BlitSurface (fond, NULL, /*screen*/HardBG, NULL);
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SDL_BlitSurface( fond, NULL, HardBG, NULL);
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SDL_Flip (screen);
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}
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Fenetre::~Fenetre ()
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{
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/*
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if(fond) SDL_FreeSurface (fond);
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if(screen) SDL_FreeSurface (screen);
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*/
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SDL_Quit ();
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}
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void Fenetre::showView(int x,int y)
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{
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bool* v=Voiture.getView();
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SDL_Rect r;
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r.x=x; r.y=y-1; r.h=1; r.w=4*CAMVECT;
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SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 255,0,0));
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r.x=x; r.y=y+4; r.h=1; r.w=4*CAMVECT;
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SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 255,0,0));
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for(int i=0;i<CAMVECT;i++)
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{
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if(v[i])
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{
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r.x=x+(4*i);
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r.y=y;
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r.w=4;
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r.h=4;
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SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 0,0,0));
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}
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}
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}
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void Fenetre::showObstacle()
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{
|
||||
SDL_Rect r;
|
||||
r.x=400;
|
||||
r.y=20;
|
||||
r.w=40;
|
||||
r.h=screen->h-40;
|
||||
SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 255,0,0));
|
||||
}
|
||||
|
||||
void Fenetre::showPilot(int x,int y)
|
||||
{
|
||||
if(Voiture.getVect()[0])
|
||||
for(int i=0;i<16;i++)
|
||||
{
|
||||
for(int j=y-i;j<y+i;j++)
|
||||
putPixel(x+i,j,0,0,0);
|
||||
}
|
||||
if(Voiture.getVect()[1])
|
||||
for(int i=0;i<16;i++)
|
||||
{
|
||||
for(int j=y-i;j<y+i;j++)
|
||||
putPixel(x+64-i,j,0,0,0);
|
||||
}
|
||||
if(Voiture.getVect()[2]==1)
|
||||
for(int i=0;i<16;i++)
|
||||
{
|
||||
for(int j=x-i+32;j<x+i+32;j++)
|
||||
putPixel(j,y+i-32,0,0,0);
|
||||
}
|
||||
if(Voiture.getVect()[2]==0)
|
||||
for(int i=0;i<16;i++)
|
||||
{
|
||||
for(int j=x-i+32;j<x+i+32;j++)
|
||||
putPixel(j,y-i+32,0,0,0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Fenetre::drawText()
|
||||
{
|
||||
char *bf=(char*)malloc(256);
|
||||
sprintf(bf,": %d",Voiture.APState());
|
||||
SFont_Write(screen,font,10,10,"AutoPilot (a)");
|
||||
SFont_Write(screen,font,120,10,bf);
|
||||
sprintf(bf,": %d",Voiture.neurState());
|
||||
SFont_Write(screen,font,10,25,"NeuronPilot (n)");
|
||||
SFont_Write(screen,font,120,25,bf);
|
||||
sprintf(bf,": %d",Voiture.getSpeed());
|
||||
SFont_Write(screen,font,10,40,"Speed");
|
||||
SFont_Write(screen,font,120,40,bf);
|
||||
sprintf(bf,": %d",Voiture.getAngle());
|
||||
SFont_Write(screen,font,10,55,"Angle");
|
||||
SFont_Write(screen,font,120,55,bf);
|
||||
sprintf(bf,": %d",fps);
|
||||
SFont_Write(screen,font,10,70,"Framerate");
|
||||
SFont_Write(screen,font,120,70,bf);
|
||||
sprintf(bf,": %d",Voiture.incTraineeSize(0));
|
||||
SFont_Write(screen,font,10,85,"trainee(F8,F9)");
|
||||
SFont_Write(screen,font,120,85,bf);
|
||||
|
||||
sprintf(bf,": %d",Voiture.showBar(0));
|
||||
SFont_Write(screen,font,200,10,"Showbar (b)");
|
||||
SFont_Write(screen,font,300,10,bf);
|
||||
sprintf(bf,": %d",SHOWcamera);
|
||||
SFont_Write(screen,font,200,25,"Showcam (c)");
|
||||
SFont_Write(screen,font,300,25,bf);
|
||||
sprintf(bf,": %d",SHOWpilot);
|
||||
SFont_Write(screen,font,200,40,"Showpilot (p)");
|
||||
SFont_Write(screen,font,300,40,bf);
|
||||
sprintf(bf,": %d",obstacle);
|
||||
SFont_Write(screen,font,200,55,"Obstacle (o)");
|
||||
SFont_Write(screen,font,300,55,bf);
|
||||
|
||||
sprintf(bf,": %d",Voiture.incAngleStep(0));
|
||||
SFont_Write(screen,font,200,70,"AStep (pgU-D)");
|
||||
SFont_Write(screen,font,300,70,bf);
|
||||
|
||||
sprintf(bf,": %d",Voiture.showNetworkState());
|
||||
SFont_Write(screen,font,200,85,"NeuronIface(i)");
|
||||
SFont_Write(screen,font,300,85,bf);
|
||||
|
||||
DrawLine(screen,0,99,319,99,0,0,128);
|
||||
}
|
||||
|
||||
void Fenetre::redraw()
|
||||
{
|
||||
#ifdef __DEBUG_TIME
|
||||
Uint32 deltatime;
|
||||
#endif
|
||||
if(sec!=time(NULL)) { sec=time(NULL); fps=frame; frame=0; }
|
||||
frame++;
|
||||
#ifdef __DEBUG_TIME
|
||||
deltatime=SDL_GetTicks();
|
||||
#endif
|
||||
/* SDL_BlitSurface( fond, NULL, screen, NULL); Software Mode */
|
||||
SDL_BlitSurface( HardBG, NULL, screen , NULL); /* Hardware Mode */
|
||||
#ifdef __DEBUG_TIME
|
||||
printf("Background Blit : %d ms, ",SDL_GetTicks()-deltatime);
|
||||
deltatime=SDL_GetTicks();
|
||||
#endif
|
||||
drawText();
|
||||
if(SHOWpilot) showPilot(440,50);
|
||||
if(SHOWcamera) showView(350,10);
|
||||
if(obstacle) showObstacle();
|
||||
Voiture.updateCar(screen);
|
||||
#ifdef __DEBUG_TIME
|
||||
printf("Car Update : %d ms, ",SDL_GetTicks()-deltatime);
|
||||
deltatime=SDL_GetTicks();
|
||||
#endif
|
||||
SDL_Flip (screen);
|
||||
#ifdef __DEBUG_TIME
|
||||
printf("Screen Refresh : %d ms\n",SDL_GetTicks()-deltatime);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void Fenetre::putPixel(int x, int y, char r, char g, char b)
|
||||
{
|
||||
setpixel(screen,x,y,r,g,b);
|
||||
}
|
||||
|
||||
void Fenetre::handle()
|
||||
{
|
||||
int exitkey = 0;
|
||||
bool shownet= 0;
|
||||
int waitdel = 20;
|
||||
SDL_Event event;
|
||||
while (!exitkey)
|
||||
{
|
||||
SDL_Delay (waitdel);
|
||||
redraw();
|
||||
|
||||
while (SDL_PollEvent (&event))
|
||||
{
|
||||
switch (event.type)
|
||||
{
|
||||
case SDL_QUIT:
|
||||
exitkey = 1;
|
||||
printf ("Quit!\n");
|
||||
break;
|
||||
case SDL_KEYDOWN:
|
||||
switch (event.key.keysym.sym)
|
||||
{
|
||||
case SDLK_ESCAPE:
|
||||
Voiture.harakiri();
|
||||
exitkey = 1;
|
||||
break;
|
||||
case SDLK_LEFT:
|
||||
Voiture.decAngle();
|
||||
break;
|
||||
case SDLK_RIGHT:
|
||||
Voiture.incAngle();
|
||||
break;
|
||||
case SDLK_DOWN:
|
||||
Voiture.decSpeed();
|
||||
break;
|
||||
case SDLK_UP:
|
||||
Voiture.incSpeed();
|
||||
break;
|
||||
case SDLK_a:
|
||||
Voiture.APToggle();
|
||||
break;
|
||||
case SDLK_b:
|
||||
Voiture.showBar(1);
|
||||
break;
|
||||
case SDLK_c:
|
||||
SHOWcamera=(SHOWcamera+1)%2;
|
||||
break;
|
||||
case SDLK_i:
|
||||
shownet=(shownet+1)%2;
|
||||
Voiture.showNetwork(shownet);
|
||||
break;
|
||||
case SDLK_n:
|
||||
Voiture.neurToggle();
|
||||
break;
|
||||
case SDLK_o:
|
||||
obstacle=(obstacle+1)%2;
|
||||
break;
|
||||
case SDLK_p:
|
||||
SHOWpilot=(SHOWpilot+1)%2;
|
||||
break;
|
||||
case SDLK_r:
|
||||
Voiture.reset();
|
||||
break;
|
||||
case SDLK_t:
|
||||
Voiture.turn180();
|
||||
break;
|
||||
case SDLK_w:
|
||||
Voiture.saveState();
|
||||
//SData->action=SAVE_STATE;
|
||||
break;
|
||||
case SDLK_x:
|
||||
Voiture.loadState();
|
||||
//SData->action=RELOAD_STATE;
|
||||
break;
|
||||
case SDLK_F1:
|
||||
printf("Chargement Circuit 1\n");
|
||||
circuit=1;
|
||||
loadBG("Back/bg1.bmp");
|
||||
break;
|
||||
case SDLK_F2:
|
||||
printf("Chargement Circuit 2\n");
|
||||
circuit=2;
|
||||
loadBG("Back/bg2.bmp");
|
||||
break;
|
||||
case SDLK_F3:
|
||||
printf("Chargement Circuit 3\n");
|
||||
circuit=3;
|
||||
loadBG("Back/bg3.bmp");
|
||||
break;
|
||||
case SDLK_F4:
|
||||
printf("Chargement Circuit 4\n");
|
||||
circuit=4;
|
||||
loadBG("Back/bg4.bmp");
|
||||
break;
|
||||
case SDLK_F5:
|
||||
printf("Chargement Circuit 5\n");
|
||||
circuit=5;
|
||||
loadBG("Back/bg5.bmp");
|
||||
break;
|
||||
case SDLK_F6:
|
||||
printf("Chargement Circuit 6\n");
|
||||
circuit=6;
|
||||
loadBG("Back/bg6.bmp");
|
||||
break;
|
||||
case SDLK_F7:
|
||||
Voiture.incTraineeSize(-256);
|
||||
break;
|
||||
case SDLK_F8:
|
||||
Voiture.incTraineeSize(256);
|
||||
break;
|
||||
case SDLK_F9:
|
||||
printf("Chargement Voiture 1\n");
|
||||
Voiture.loadImage("Cars/voiture1.bmp");
|
||||
break;
|
||||
case SDLK_F10:
|
||||
printf("Chargement Voiture 2\n");
|
||||
Voiture.loadImage("Cars/voiture2.bmp");
|
||||
break;
|
||||
case SDLK_F11:
|
||||
printf("Chargement Voiture 3\n");
|
||||
Voiture.loadImage("Cars/voiture3.bmp");
|
||||
break;
|
||||
case SDLK_F12:
|
||||
printf("Chargement Voiture 4\n");
|
||||
Voiture.loadImage("Cars/voiture4.bmp");
|
||||
break;
|
||||
case SDLK_PAGEUP:
|
||||
Voiture.incAngleStep(1);
|
||||
break;
|
||||
case SDLK_PAGEDOWN:
|
||||
Voiture.incAngleStep(-1);
|
||||
break;
|
||||
|
||||
case SDLK_HOME:
|
||||
waitdel+=5;
|
||||
break;
|
||||
case SDLK_END:
|
||||
waitdel-=5;
|
||||
if(waitdel<0) waitdel=0;
|
||||
break;
|
||||
|
||||
default :
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,34 +0,0 @@
|
||||
#ifndef __FENETRE_H
|
||||
#define __FENETRE_H
|
||||
|
||||
#include "car.h"
|
||||
#include "SFont.h"
|
||||
#define FONT_PATH "font.png"
|
||||
|
||||
class Fenetre
|
||||
{
|
||||
private:
|
||||
SDL_Surface* screen;
|
||||
SDL_Surface* fond;
|
||||
SDL_Surface* HardBG;
|
||||
SFont_Font* font;
|
||||
car Voiture;
|
||||
int frame,sec,fps,circuit;
|
||||
bool SHOWpilot,SHOWcamera,obstacle;
|
||||
|
||||
public:
|
||||
Fenetre();
|
||||
Fenetre (int , int , int , char *, char *);
|
||||
~Fenetre();
|
||||
void loadBG(char *);
|
||||
void redraw();
|
||||
void handle();
|
||||
void putPixel(int , int , char, char, char);
|
||||
void showView(int ,int);
|
||||
void showPilot(int,int);
|
||||
void showObstacle();
|
||||
void drawText();
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -1,26 +0,0 @@
|
||||
#ifndef __SDLCOMMON_H
|
||||
#define __SDLCOMMON_H
|
||||
|
||||
#ifndef PI
|
||||
#define PI 3.141592
|
||||
#endif
|
||||
|
||||
#ifndef NULLCOL
|
||||
#define NULLCOL 0x00FF00FF
|
||||
|
||||
#define NULLCOLA 0xFF
|
||||
#define NULLCOLR 0xFF
|
||||
#define NULLCOLG 0x00
|
||||
#define NULLCOLB 0xFF
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
void setpixel(SDL_Surface*, int, int, Uint8, Uint8, Uint8);
|
||||
int getpixel(SDL_Surface*, int, int);
|
||||
void DrawLine(SDL_Surface*, int , int , int , int , char , char, char);
|
||||
void rotatesurface(SDL_Surface*, SDL_Surface*, int);
|
||||
void interpole(SDL_Surface* , SDL_Surface* , Uint32 );
|
||||
bool inCarArea(SDL_Surface* , int , int );
|
||||
|
||||
#endif
|
||||
@@ -1,33 +0,0 @@
|
||||
#ifndef __SHMDATA_H
|
||||
#define __SHMDATA_H
|
||||
#define SHMKEY 5678
|
||||
|
||||
#define CAMERASIZE 128
|
||||
#define CAMERASTEP 2
|
||||
#define CAMERADISTANCE 50
|
||||
#define CAMVECT (CAMERASIZE/CAMERASTEP)
|
||||
|
||||
#define NOMBRE_NEURONES_INTERMEDIAIRES 8
|
||||
#define TAILLERESULTAT 3
|
||||
|
||||
#define SAVE_STATE 1
|
||||
#define RELOAD_STATE 2
|
||||
#define STATE_FILE "State.network"
|
||||
|
||||
struct shmdata
|
||||
{
|
||||
bool V[CAMVECT]; /* vecteur camera */
|
||||
bool Res[3]; /* 0 gauche 1 droite 2 avancer 3 stop*/
|
||||
int read; /* 1 = info a ete traitée */
|
||||
int angle; /* angle de la voiture 0->359 */
|
||||
int speed; /* vitesse */
|
||||
int APon; /* pilote automatique (mode apprentissage) (0/1) */
|
||||
int Neuron; /* activer le reseau de neurone (0/1) */
|
||||
double pos_x; /* position x de la voiture */
|
||||
double pos_y; /* position y de la voiture */
|
||||
int action; /* action a executer (genre sauvegarde) */
|
||||
int delay; /* delai entre les frames */
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
1861
Rapport/class1.dia~
1861
Rapport/class1.dia~
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
1860
Rapport/class2.dia~
1860
Rapport/class2.dia~
File diff suppressed because it is too large
Load Diff
@@ -1,11 +0,0 @@
|
||||
#ifndef _GLOBAL_H
|
||||
#define _GLOBAL_H
|
||||
#define SYNAPSE_WEIGHT_MAX 2.0
|
||||
#define SYNAPSE_WEIGHT_MIN -2.0
|
||||
#define LEARNING_RATE 0.01
|
||||
#define MOMENTUM 0.1
|
||||
#define ACCEPT 0.65 /* Was 0.95 */
|
||||
#define LEARNACCEPT 0.15 /* Was 0.05 */
|
||||
|
||||
|
||||
#endif
|
||||
@@ -1,184 +0,0 @@
|
||||
#include "reseau.h"
|
||||
|
||||
Reseau::Reseau()
|
||||
{
|
||||
}
|
||||
|
||||
Reseau::Reseau(int In, int Hid, int Out)
|
||||
{
|
||||
In++; // pour le noeud de bias
|
||||
Ocouche=OutputCouche(Out);
|
||||
Hcouche=HiddenCouche(Hid,&Ocouche);
|
||||
Icouche=InputCouche(In,&Hcouche);
|
||||
Ocouche.setPrevCouche(&Hcouche);
|
||||
//Icouche.printSynapseMatrix();
|
||||
//Hcouche.printSynapseMatrix();
|
||||
}
|
||||
void Reseau::rebuild(int In, int Hid, int Out) // METHODE BOURRAIN SPOTTED
|
||||
{
|
||||
In++;
|
||||
Ocouche=OutputCouche(Out);
|
||||
Hcouche=HiddenCouche(Hid,&Ocouche);
|
||||
Icouche=InputCouche(In,&Hcouche);
|
||||
Ocouche.setPrevCouche(&Hcouche);
|
||||
Icouche.printSynapseMatrix();
|
||||
Hcouche.printSynapseMatrix();
|
||||
}
|
||||
|
||||
Reseau::~Reseau(){
|
||||
}
|
||||
|
||||
void Reseau::saveState(const char* filename) throw(std::string){
|
||||
unsigned sizeinput = Icouche.getNumber();
|
||||
unsigned sizehidden = Hcouche.getNumber();
|
||||
unsigned sizeoutput = Ocouche.getNumber();
|
||||
std::ofstream outFile(filename);
|
||||
if(outFile.fail()){
|
||||
throw(std::string("Couldn't open output file"));
|
||||
}
|
||||
outFile << sizeinput << " " << sizehidden << " " << sizeoutput << endl;
|
||||
for( unsigned int i=0 ; i < sizeinput ; ++i )
|
||||
for( unsigned int j=0 ; j < sizehidden ; ++j )
|
||||
outFile << Icouche.getSynapse(i,j).getWeight() << " " << endl;
|
||||
for( unsigned int i=0 ; i < sizehidden ; ++i )
|
||||
for( unsigned int j=0 ; j < sizeoutput ; ++j )
|
||||
outFile << Hcouche.getSynapse(i,j).getWeight() << " " << endl;
|
||||
outFile.close();
|
||||
}
|
||||
|
||||
void Reseau::loadState(const char* filename) throw(std::string){
|
||||
std::ifstream inpFile(filename);
|
||||
unsigned int sizeinput,sizehidden,sizeoutput;
|
||||
if(inpFile.fail()){
|
||||
cout << "Can't open input file" << endl;
|
||||
throw(std::string("Couldn't open output file"));
|
||||
}
|
||||
if(!(inpFile >> sizeinput >> sizehidden >> sizeoutput))
|
||||
cout<<"Super error!!!" << endl;
|
||||
if(sizeinput!=Icouche.getNumber() || sizehidden!=Hcouche.getNumber() || sizeoutput != Ocouche.getNumber()){
|
||||
throw(std::string("Wrong size of Couche in file"));
|
||||
}
|
||||
double tmpDouble;
|
||||
//for( unsigned int i=0 ; i < sizeinput ; ++i )
|
||||
for( unsigned int i=0 ; i < sizeinput ; ++i ){
|
||||
for( unsigned int j=0 ; j < sizehidden ; ++j ){
|
||||
if(!(inpFile >> tmpDouble)){
|
||||
cout << "Input ERROR" << endl;
|
||||
}
|
||||
Icouche.getSynapse(i,j).setWeight(tmpDouble);
|
||||
}
|
||||
}
|
||||
|
||||
for( unsigned int i=0 ; i < sizehidden ; ++i ){
|
||||
for( unsigned int j=0 ; j < sizeoutput ; ++j ){
|
||||
if(!(inpFile >> tmpDouble)){
|
||||
cout << "Input ERROR" << endl;
|
||||
}
|
||||
Hcouche.getSynapse(i,j).setWeight(tmpDouble);
|
||||
}
|
||||
}
|
||||
//cout << "==========After=========" << endl;
|
||||
Icouche.printSynapseMatrix();
|
||||
inpFile.close();
|
||||
//cout << sizeinput << " " << sizehidden << " " << sizeoutput << endl;
|
||||
}
|
||||
|
||||
std::vector<double> Reseau::forward(bool input[])
|
||||
{
|
||||
std::vector<bool> tmp;
|
||||
/* on active les couches */
|
||||
for(unsigned i=0;i<(Icouche.getNumber()-1);i++) /* faut passer n-1 brol dans le vecteur d'activation car il y a le neurone de bias ... */
|
||||
{
|
||||
tmp.push_back(input[i]);
|
||||
}
|
||||
Icouche.activate(tmp);
|
||||
Hcouche.activate(Icouche);
|
||||
Ocouche.activate();
|
||||
/* on place le resultat dans la shm */
|
||||
//for(unsigned i=0;i<Ocouche.getNumber();i++) target[i]=util.accept(Ocouche[i].getWeight());
|
||||
std::vector<double> resultat;
|
||||
for(unsigned i=0;i<Ocouche.getNumber();i++) resultat.push_back(Ocouche[i].getWeight());
|
||||
return resultat;
|
||||
}
|
||||
|
||||
void Reseau::backward(bool input[], bool target[])
|
||||
{
|
||||
std::vector<double> hidDelta;
|
||||
std::vector<double> outDelta;
|
||||
double error;
|
||||
hidDelta.clear();
|
||||
outDelta.clear();
|
||||
/* Calcul des delta pour la couche OUPUT */
|
||||
for(unsigned i=0;i<Ocouche.getNumber();i++)
|
||||
{
|
||||
error = (double)target[i] - Ocouche[i].getWeight();
|
||||
outDelta.push_back(util.dsigmoid(Ocouche[i].getWeight()) * error);
|
||||
}
|
||||
/* Calcul des delta pour la couche HIDDEN */
|
||||
for(unsigned i=0;i<Hcouche.getNumber();i++){
|
||||
error = 0.0;
|
||||
for(unsigned j=0;j<Ocouche.getNumber();++j){
|
||||
error += outDelta[j] * Hcouche.getSynapse(i,j).getWeight();
|
||||
}
|
||||
hidDelta.push_back(util.dsigmoid(Hcouche[i].getWeight()) * error);
|
||||
}
|
||||
Ocouche.backPropagate(outDelta);
|
||||
Icouche.backPropagate(hidDelta);
|
||||
}
|
||||
|
||||
void Reseau::initshm()
|
||||
{
|
||||
if ((shmid = shmget(SHMKEY, sizeof(struct shmdata), 0666)) < 0)
|
||||
{
|
||||
perror("Unable to get shm id \n");
|
||||
exit(1);
|
||||
}
|
||||
if ((SData = (struct shmdata *)shmat(shmid, NULL, 0)) == (struct shmdata *) -1)
|
||||
{
|
||||
perror("Unable to attach shm segment\n");
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
double Reseau::getError(bool target[])
|
||||
{
|
||||
double error=0.0;
|
||||
for(unsigned i=0;i<Ocouche.getNumber();i++)
|
||||
{
|
||||
error += pow(((double)target[i] - Ocouche[i].getWeight()),2);
|
||||
}
|
||||
return sqrt(error);
|
||||
}
|
||||
|
||||
double Reseau::learnOne(bool input[], bool target[])
|
||||
{
|
||||
double error=0;
|
||||
forward(input);
|
||||
backward(input,target);
|
||||
error=getError(target);
|
||||
return error;
|
||||
}
|
||||
|
||||
double Reseau::learnAll(std::vector<bool *> inputs, std::vector<bool *> targets)
|
||||
{
|
||||
double error=0.0;
|
||||
unsigned i;
|
||||
for(i=0;i<inputs.size();i++)
|
||||
{
|
||||
error+=learnOne(inputs[i],targets[i]);
|
||||
}
|
||||
return (double)(error/i);
|
||||
}
|
||||
|
||||
Reseau& Reseau::operator=(const Reseau& c){
|
||||
if(this!=&c){
|
||||
Icouche=c.Icouche;
|
||||
Hcouche=c.Hcouche;
|
||||
Ocouche=c.Ocouche;
|
||||
SData=c.SData;
|
||||
shmid=c.shmid;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
/* END */
|
||||
@@ -1,46 +0,0 @@
|
||||
#ifndef __RESEAU_H
|
||||
#define __RESEAU_H
|
||||
#include <iostream>
|
||||
#include <sys/types.h>
|
||||
#include <sys/ipc.h>
|
||||
#include <sys/shm.h>
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include "couche.h"
|
||||
#include "inputCouche.h"
|
||||
#include "hiddenCouche.h"
|
||||
#include "outputCouche.h"
|
||||
#include "../InterfaceCpp/shmdata.h"
|
||||
|
||||
#include "Utils.h"
|
||||
#include "global.h"
|
||||
|
||||
class Reseau {
|
||||
private:
|
||||
|
||||
struct shmdata *SData;
|
||||
int shmid;
|
||||
Utils util;
|
||||
public:
|
||||
InputCouche Icouche;
|
||||
HiddenCouche Hcouche;
|
||||
OutputCouche Ocouche;
|
||||
Reseau();
|
||||
Reseau(int In, int Hid, int Out);
|
||||
void rebuild(int In, int Hid, int Out);
|
||||
~Reseau();
|
||||
// void initshm();
|
||||
std::vector<double> forward(bool input[]);
|
||||
void backward(bool input[], bool target[]); /* */
|
||||
double getError(bool target[]);
|
||||
double learnOne(bool input[], bool target[]); /* */
|
||||
double learnAll(std::vector<bool *> inputs, std::vector<bool *> targets);
|
||||
void saveState(const char* filename) throw(std::string);
|
||||
void loadState(const char* filename) throw(std::string);
|
||||
Reseau& operator=(const Reseau& c);
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user