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remove temp file

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This commit is contained in:
laurent.deleers@gmail.com
2024-11-13 11:44:46 +01:00
parent b86f62ccf2
commit 05c43c2c36
12 changed files with 0 additions and 8064 deletions
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312
InterfaceCpp/car.cpp~
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@@ -1,312 +0,0 @@
#include <iostream>
#include <SDL.h>
#include <math.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include "sdlcommon.h"
#include "car.h"
#include "shmdata.h"
using namespace std;
Car::Car()
{
initShm();
reset();
showbar=1;
angstep=5;
for(int i=0;i<CAMVECT;i++) camera[i]=0;
carimage=0;
for(int i=0;i<TRAINEESIZE;i++) { trainee[i][0]=0; trainee[i][1]=0; }
traineepos=0;
traineesize=1;
}
void Car::loadImage(char *imagefile)
{
SDL_Surface *voitsurf;
Uint32 cur=SDL_GetTicks();
voitsurf=SDL_LoadBMP(imagefile);
printf("Precaching Surfaces ..... \n");
for(int i=0;i<360;i++)
{
Surface_car[i]=SDL_CreateRGBSurface(SDL_HWSURFACE, voitsurf->w, voitsurf->h, 32, 0,0,0,0);
if(SDL_SetColorKey(Surface_car[i], SDL_SRCCOLORKEY | SDL_RLEACCEL, SDL_MapRGB(Surface_car[i]->format, 255,0,255)) == -1)
fprintf(stderr, "Warning: colorkey will not be used, reason: %s\n", SDL_GetError());
rotatesurface(voitsurf,Surface_car[i],i);
}
carimage=1;
printf("Done ... (%d ms)\n",SDL_GetTicks()-cur);
}
void Car::updateCar(SDL_Surface* screen)
{
int i;
for(i=0;(SData->read!=0) && i<200;i++) usleep(5); // on attends 1 seconde
if(i==200)
{
cout << "AutoPilot Timed Out ...";
exit(0);
}
if(SData->Res[0]) decAngle();
if(SData->Res[1]) incAngle();
SData->Res[0]=0;
SData->Res[1]=0;
SData->pos_x+=getSpeed()*(cos(SData->angle*PI/180));
SData->pos_y+=getSpeed()*(sin(SData->angle*PI/180));
showTrainee(screen);
showCamera(screen); /* obligé pour avoir les pixels :-) */
// CAMERASIZE // CAMERASTEP
if(carimage) /* on blit la voiture */
{
SDL_Rect r;
r.w=Surface_car[SData->angle]->w;
r.h=Surface_car[SData->angle]->h;
r.x=(int)SData->pos_x-(r.w/2);
r.y=(int)SData->pos_y-(r.h/2);
SDL_BlitSurface( Surface_car[SData->angle], NULL, screen, &r);
}
else for(int i=0;i<20;i++) /* affichage de la voiture simplifiée (ligne rouge) */
{
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);
}
for(int i=0;i<CAMVECT;i++)
{
// cout << camera[i];
SData->V[i]=camera[i];
}
SData->read=1; /* on a lu :D */
//cout << endl;
}
void Car::showTrainee(SDL_Surface* screen)
{
int k;
trainee[traineepos][0]=(int)SData->pos_x;
trainee[traineepos][1]=(int)SData->pos_y;
traineepos=(traineepos+1)%traineesize;
k=traineepos;
k=(k+1)%traineesize;
for(int i=0; /*i < traineesize &&*/ k!=traineepos;i++) /* affichage de la trainée */
{
//setpixel(screen,trainee[k][0],trainee[k][1],0,(int)(i*(256.0/traineesize))%256,255);
int x0,y0,x1,y1;
x0=trainee[(k+traineesize-1)%traineesize][0];
y0=trainee[(k+traineesize-1)%traineesize][1];
x1=trainee[k][0];
y1=trainee[k][1];
if(x0==0) x0=x1;
if(y0==0) y0=y1;
if(x1==0) x1=x0;
if(y1==0) y1=y0;
DrawLine(screen,x0,y0,x1,y1,0,0,255);
k=(k+1)%traineesize;
}
}
void Car::showCamera(SDL_Surface* screen)
{
double x,y;
int k,ang;
x=SData->pos_x + ( cos(SData->angle*PI/180) * CAMERADISTANCE );
y=SData->pos_y + ( sin(SData->angle*PI/180) * CAMERADISTANCE );
ang=(SData->angle+90)%360;
x-=CAMERASIZE/2*cos(ang*PI/180);
y-=CAMERASIZE/2*sin(ang*PI/180);
k=0;
for(int i=0;i<CAMERASIZE;i++)
{
x+=cos(ang*PI/180);
y+=sin(ang*PI/180);
if(!(i%CAMERASTEP))
{
camera[k]=1;
if(inCarArea(screen,(int)x,(int)y)) //if(x>0 && x<screen->w && y>0 && y<screen->h)
camera[k]=(((getpixel(screen,(int)x,(int)y))%2)+1)%2;
else camera[k]=0;
if(camera[k] && showbar)
{
setpixel(screen, (int)x, (int)y,255,0,0);
//setpixel(screen, (int)x, (int)y-1,255,0,0);
//setpixel(screen, (int)x-1, (int)y,255,0,0);
//setpixel(screen, (int)x-1, (int)y-1,255,0,0);
}
else if(showbar)
{
setpixel(screen, (int)x, (int)y,0,255,0);
//setpixel(screen, (int)x, (int)y-1,0,255,0);
//setpixel(screen, (int)x-1, (int)y,0,255,0);
//setpixel(screen, (int)x-1, (int)y-1,0,255,0);
}
k++;
}
else
{
if(showbar) setpixel(screen, (int)x, (int)y,0,0,255);
}
}
}
void Car::incAngle()
{
SData->angle=(SData->angle+angstep)%360;
}
void Car::decAngle()
{
SData->angle=(SData->angle+360-angstep)%360;
}
int Car::incAngleStep(int i)
{
angstep+=i;
return angstep;
}
void Car::incSpeed()
{
if(SData->Res[2]==0)
{
SData->Res[0]=0;
SData->Res[1]=0;
SData->Res[2]=1;
if(SData->speed==0) SData->speed=1;
}
SData->speed++;
}
void Car::decSpeed()
{
SData->speed--;
}
bool Car::APToggle()
{
SData->APon=(SData->APon+1)%2;
return SData->APon;
}
bool Car::APState() const
{
return SData->APon;
}
bool Car::neurToggle()
{
SData->Neuron=(SData->Neuron+1)%2;
return SData->Neuron;
}
bool Car::neurState() const
{
return SData->Neuron;
}
void Car::initShm()
{
if ((shmid = shmget(SHMKEY, sizeof(struct shmdata), 0666)) < 0)
{
perror("shmget");
exit(1);
}
if (( SData = (struct shmdata *)shmat(shmid, NULL, 0)) == (struct shmdata *) -1)
{
perror("shmat");
exit(1);
}
}
int Car::getSpeed() const
{
if(SData->Res[2])
return SData->speed;
return 0;
}
int Car::getAngle() const
{
return SData->angle;
}
bool Car::showBar(int i)
{
showbar=(showbar+i)%2;
return showbar;
}
bool* Car::getVect()
{
return SData->Res;
}
bool* Car::getView()
{
return SData->V;
}
void Car::reset()
{
SData->pos_x=200;
SData->pos_y=200;
SData->speed=1;
SData->angle=0;
SData->Res[2]=1;
}
void Car::turn180()
{
SData->angle=(SData->angle+180)%360;
}
int Car::incTraineeSize(int s)
{
int i,k;
if(s==0) return traineesize;
if(traineesize==1 && s<0) return traineesize;
if(traineesize+s > TRAINEESIZE) s=TRAINEESIZE-traineesize-1;
if(traineesize+s < 0) s=1-TRAINEESIZE;
int tmp[traineesize+s][2];
k=traineepos;
if(s<0) k=(traineesize+traineepos-s)%traineesize;
for(i=0;i<(traineesize+s);i++)
{
if(i>traineesize)
{
tmp[i][0]=0;
tmp[i][1]=0;
}
else
{
tmp[i][0]=trainee[k][0];
tmp[i][1]=trainee[k][1];
}
k=(k+1)%traineesize;
}
for(i=0;i<traineesize+s;i++)
{
trainee[i][0]=tmp[i][0];
trainee[i][1]=tmp[i][1];
}
traineepos=traineesize-1;
// if(traineesize<1) { traineesize=1; traineepos=0; }
if(s<0)traineepos=0;
traineesize+=s;
return traineesize;
}
void Car::setDelay(int del)
{
SData->delay=del;
}
void Car::harakiri()
{
cout << " EXIT INTERFACE ...\n";
SData->read=666;
usleep(100);
SData->read=666;
usleep(100);
SData->read=666;
}
void Car::saveState()
{
SData->action=SAVE_STATE;
}
void Car::loadState()
{
SData->action=RELOAD_STATE;
}
void Car::showNetwork(bool a)
{
SData->viewNetwork=a;
}
bool Car::showNetworkState()
{
return SData->viewNetwork;
}

57
InterfaceCpp/car.h~
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#ifndef __CAR_H
#define __CAR_H
#define PI 3.141592
#define ANGLESTEP 5
#define TRAINEESIZE 8192
#include "shmdata.h"
class Car
{
private :
SDL_Surface *Surface_car[360];
SDL_Rect rect;
bool carimage;
bool showbar;
bool camera[CAMVECT];
struct shmdata *SData;
int shmid;
int angstep;
int trainee[TRAINEESIZE][2];
int traineepos;
int traineesize;
public :
Car();
void updateCar(SDL_Surface* screen);
void loadImage(char *imagefile);
void initShm();
int incTraineeSize(int);
void incAngle();
void decAngle();
void incSpeed();
void decSpeed();
int incAngleStep(int);
bool APToggle();
bool APState() const;
bool neurToggle();
bool neurState() const;
int getSpeed() const;
int getAngle() const;
bool showBar(int i);
bool* getVect();
bool* getView();
void reset();
void turn180();
void showCamera(SDL_Surface* screen);
void showTrainee(SDL_Surface* screen);
void loadState();
void saveState();
void harakiri();
void setDelay(int del);
bool showNetwork(bool a);
bool showNetworkState();
};
#endif

376
InterfaceCpp/fenetre.cpp~
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@@ -1,376 +0,0 @@
#include <SDL.h>
#include <SDL_image.h>
#include <time.h>
#include <iostream>
#include "sdlcommon.h"
#include "fenetre.h"
#include "shmdata.h"
using namespace std;
Fenetre::Fenetre ()
{
obstacle=0;
SHOWcamera=1;
SHOWpilot=1;
fps=0;
font=SFont_InitFont(IMG_Load(FONT_PATH));
if( SDL_Init(SDL_INIT_VIDEO) < 0 )
{
fprintf(stderr, "Could not initialize SDL: %s\n", SDL_GetError());
return ;
}
atexit(SDL_Quit);
screen = SDL_SetVideoMode(800,600, 32, SDL_HWSURFACE);
/* SDL_HWSURFACE / SDL_SWSURFACE */
/*|SDL_ANYFORMAT*/
if( screen==NULL )
{
fprintf(stderr, "Could not create surface: %s\n", SDL_GetError());
return ;
}
return ;
Voiture.loadImage("Cars/voiture4.bmp");
circuit=1;
}
Fenetre::Fenetre (int largeur = 800, int hauteur = 600, int nb_couleurs = 16, char *titre = "Fenetre SDL", char *background=NULL)
{
obstacle=0;
SHOWcamera=1;
SHOWpilot=1;
fps=0;
font=SFont_InitFont(IMG_Load(FONT_PATH));
if (SDL_Init (SDL_INIT_VIDEO) < 0)
{
cerr << "Erreur dans l'initialisation de la librairie" << endl;
}
screen = SDL_SetVideoMode (largeur, hauteur, nb_couleurs, SDL_HWSURFACE | SDL_DOUBLEBUF);
//SDL_CreateRGBSurface(SDL_HWSURFACE, largeur,hauteur,32,0,0,0,0);
if (screen == NULL)
{
cerr << "Erreur dans l'initialisation des modes vidéos:" <<
SDL_GetError ();
SDL_Quit ();
}
SDL_WM_SetCaption (titre, NULL);
fond = SDL_LoadBMP (background);
SDL_BlitSurface (fond, NULL, screen, NULL);
SDL_Flip (screen);
HardBG=SDL_CreateRGBSurface(SDL_HWSURFACE, largeur, hauteur, 32, 0,0,0,0);
SDL_BlitSurface( fond, NULL, HardBG, NULL);
Voiture.loadImage("Cars/voiture4.bmp");
circuit=1;
}
void Fenetre::loadBG(char *background)
{
fond = SDL_LoadBMP (background);
SDL_BlitSurface (fond, NULL, /*screen*/HardBG, NULL);
SDL_BlitSurface( fond, NULL, HardBG, NULL);
SDL_Flip (screen);
}
Fenetre::~Fenetre ()
{
/*
if(fond) SDL_FreeSurface (fond);
if(screen) SDL_FreeSurface (screen);
*/
SDL_Quit ();
}
void Fenetre::showView(int x,int y)
{
bool* v=Voiture.getView();
SDL_Rect r;
r.x=x; r.y=y-1; r.h=1; r.w=4*CAMVECT;
SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 255,0,0));
r.x=x; r.y=y+4; r.h=1; r.w=4*CAMVECT;
SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 255,0,0));
for(int i=0;i<CAMVECT;i++)
{
if(v[i])
{
r.x=x+(4*i);
r.y=y;
r.w=4;
r.h=4;
SDL_FillRect(screen,&r, SDL_MapRGB(screen->format, 0,0,0));
}
}
}
void Fenetre::showObstacle()
{
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;
}
}
}

34
InterfaceCpp/fenetre.h~
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@@ -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

26
InterfaceCpp/sdlcommon.h~
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@@ -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

33
InterfaceCpp/shmdata.h~
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@@ -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