init commit

InterfaceCpp/.#sdlcommon.h.1.3

@@ -0,0 +1,28 @@
+#ifndef __SDLCOMMON_H
+#define __SDLCOMMON_H
+#include <SDL.h>
+#include <SDL_image.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

InterfaceCpp/Back/CVS/Entries

@@ -0,0 +1,11 @@
+/bg1.bmp/1.1/Wed Apr 13 15:04:02 2005//
+/bg1.dia/1.1/Wed Apr 13 15:04:03 2005//
+/bg2.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/bg2.dia/1.1/Wed Apr 13 15:04:02 2005//
+/bg3.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/bg3.dia/1.1/Wed Apr 13 15:04:03 2005//
+/bg4.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/bg4.dia/1.1/Wed Apr 13 15:04:03 2005//
+/bg5.bmp/1.2/Wed Apr 13 15:04:03 2005//
+/bg5.dia/1.2/Wed Apr 13 15:04:03 2005//
+D

InterfaceCpp/Back/CVS/Repository

@@ -0,0 +1 @@
+ia2005/InterfaceCpp/Back

InterfaceCpp/Back/CVS/Root

@@ -0,0 +1 @@
+:pserver:feeling@jfroche.be:/opt/cvsroot

InterfaceCpp/CVS/CVS/Entries

@@ -0,0 +1 @@
+D

InterfaceCpp/CVS/CVS/Repository

@@ -0,0 +1 @@
+ia2005/InterfaceCpp/CVS

InterfaceCpp/CVS/CVS/Root

@@ -0,0 +1 @@
+:pserver:feeling@jfroche.be:/opt/cvsroot

InterfaceCpp/CVS/Entries

@@ -0,0 +1,15 @@
+D/CVS////
+D/Cars////
+D/Back////
+/Makefile/1.4/Wed Apr 13 15:04:03 2005//
+/SFont.c/1.2/Wed Apr 13 15:04:03 2005//
+/SFont.h/1.1/Wed Apr 13 15:04:03 2005//
+/fenetre.h/1.4/Wed Apr 13 15:04:03 2005//
+/font.png/1.1/Wed Apr 13 15:04:03 2005//
+/main.cpp/1.3/Wed Apr 13 15:04:03 2005//
+/sdlcommon.cpp/1.5/Thu Apr 14 17:40:11 2005//
+/sdlcommon.h/1.4/Thu Apr 14 17:38:15 2005//
+/car.cpp/1.20/Thu Apr 14 17:36:20 2005//
+/car.h/1.11/Thu Apr 14 17:34:22 2005//
+/shmdata.h/1.8/Thu Apr 14 16:59:58 2005//
+/fenetre.cpp/1.22/Thu Apr 14 18:45:30 2005//

InterfaceCpp/CVS/Repository

@@ -0,0 +1 @@
+ia2005/InterfaceCpp

InterfaceCpp/CVS/Root

@@ -0,0 +1 @@
+:pserver:feeling@jfroche.be:/opt/cvsroot

InterfaceCpp/Cars/CVS/Entries

@@ -0,0 +1,5 @@
+/voiture1.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/voiture2.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/voiture3.bmp/1.1/Wed Apr 13 15:04:03 2005//
+/voiture4.bmp/1.1/Wed Apr 13 15:04:03 2005//
+D

InterfaceCpp/Cars/CVS/Repository

@@ -0,0 +1 @@
+ia2005/InterfaceCpp/Cars

InterfaceCpp/Cars/CVS/Root

@@ -0,0 +1 @@
+:pserver:feeling@jfroche.be:/opt/cvsroot

InterfaceCpp/Makefile

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+#$Id: Makefile,v 1.4 2005/04/10 11:46:45 feeling Exp $'
+CFLAGS= -Wno-deprecated -std=c++14
+CPP= g++
+GCC= gcc
+INCLUDES= -L/usr/lib -I/usr/include/SDL
+LIBS= -L/usr/lib -lSDL -lpthread -lSDL_image
+all : interface
+interface : fenetre.o main.o car.o sdlcommon.o SFont.o
+	$(CPP) fenetre.o main.o car.o sdlcommon.o SFont.o -o iface -L/usr/lib -lSDL -lpthread -lSDL_image -Wno-deprecated -std=c++14
+fenetre.o : fenetre.cpp
+	$(CPP) -c fenetre.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+main.o : main.cpp
+	$(CPP) -c main.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+car.o : car.cpp
+	$(CPP) -c car.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+sdlcommon.o : sdlcommon.cpp
+	$(CPP) -c sdlcommon.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+SFont.o : SFont.c
+	$(GCC) -c SFont.c -L/usr/lib -I/usr/include/SDL
+
+#         g++ -c fenetre.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+#         g++ -c main.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+#         g++ -c car.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+#         g++ -c sdlcommon.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated -std=c++14
+#         gcc -c SFont.c -L/usr/lib -I/usr/include/SDL
+#         g++ fenetre.o main.o car.o sdlcommon.o SFont.o -o iface -L/usr/lib -lSDL -lpthread -lSDL_image -Wno-deprecated -std=c++14
+
+
+#	g++ -c fenetre.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c main.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c car.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c sdlcommon.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	gcc -c SFont.c -L/usr/lib -I/usr/include/SDL 
+#	g++ fenetre.o main.o car.o sdlcommon.o SFont.o -o iface -L/usr/lib -lSDL -lpthread -lSDL_image -Wno-deprecated
+
+mrproper:
+	rm -rf *.o
+	rm -rf iface
+clean: 
+	rm -rf *.o

InterfaceCpp/Makefile_

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+#$Id: Makefile,v 1.4 2005/04/10 11:46:45 feeling Exp $'
+CFLAGS= -Wall -g -Wno-deprecated -std=c++14
+CPP= g++
+GCC= gcc
+INCLUDES= -I/usr/include/SDL
+LIBS= -L/usr/lib -lSDL -lpthread -lSDL_image
+all : interface
+interface : fenetre.o main.o car.o sdlcommon.o SFont.o
+	$(CPP) $(CFLAGS) $(LIBS) -o iface fenetre.o main.o car.o sdlcommon.o SFont.o
+fenetre.o : fenetre.cpp
+	$(CPP) $(CFLAGS) $(INCLUDES) -c fenetre.cpp
+main.o : main.cpp
+	$(CPP) $(CFLAGS) $(INCLUDES) -c main.cpp
+car.o : car.cpp
+	$(CPP) $(CFLAGS) $(INCLUDES) -c car.cpp
+sdlcommon.o : sdlcommon.cpp
+	$(CPP) $(CFLAGS) $(INCLUDES) -c sdlcommon.cpp
+SFont.o : SFont.c
+	$(CPP) $(CFLAGS) $(INCLUDES) -c SFont.c
+
+#	g++ -c fenetre.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c main.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c car.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	g++ -c sdlcommon.cpp -L/usr/lib -I/usr/include/SDL -Wno-deprecated
+#	gcc -c SFont.c -L/usr/lib -I/usr/include/SDL 
+#	g++ fenetre.o main.o car.o sdlcommon.o SFont.o -o iface -L/usr/lib -lSDL -lpthread -lSDL_image -Wno-deprecated
+
+mrproper:
+	rm -rf *.o
+	rm -rf iface
+clean: 
+	rm -rf *.o

InterfaceCpp/SFont.c

@@ -0,0 +1,189 @@
+/*  SFont: a simple font-library that uses special .pngs as fonts
+    Copyright (C) 2003 Karl Bartel
+
+    License: GPL or LGPL (at your choice)
+    WWW: http://www.linux-games.com/sfont/
+
+    This program is free software; you can redistribute it and/or modify        
+    it under the terms of the GNU General Public License as published by        
+    the Free Software Foundation; either version 2 of the License, or           
+    (at your option) any later version.                                         
+                                                                                
+    This program is distributed in the hope that it will be useful,       
+    but WITHOUT ANY WARRANTY; without even the implied warranty of              
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               
+    GNU General Public License for more details.                
+                                                                               
+    You should have received a copy of the GNU General Public License           
+    along with this program; if not, write to the Free Software                 
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA   
+                                                                                
+    Karl Bartel
+    Cecilienstr. 14                                                    
+    12307 Berlin
+    GERMANY
+    karlb@gmx.net                                                      
+*/                                                                            
+#include <SDL.h>
+
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include "SFont.h"
+
+static Uint32 GetPixel(SDL_Surface *Surface, Sint32 X, Sint32 Y)
+{
+   Uint8  *bits;
+   Uint32 Bpp;
+
+   assert(X>=0);
+   assert(X<Surface->w);
+   
+   Bpp = Surface->format->BytesPerPixel;
+   bits = ((Uint8 *)Surface->pixels)+Y*Surface->pitch+X*Bpp;
+
+   switch(Bpp) {
+      case 1:
+         return *((Uint8 *)Surface->pixels + Y * Surface->pitch + X);
+         break;
+      case 2:
+         return *((Uint16 *)Surface->pixels + Y * Surface->pitch/2 + X);
+         break;
+      case 3: {  
+         Uint8 r, g, b;
+         r = *((bits)+Surface->format->Rshift/8);
+         g = *((bits)+Surface->format->Gshift/8);
+         b = *((bits)+Surface->format->Bshift/8);
+         return SDL_MapRGB(Surface->format, r, g, b);
+         }
+         break;
+      case 4:
+         return *((Uint32 *)Surface->pixels + Y * Surface->pitch/4 + X);
+         break;
+   }
+
+   return 0;
+}
+
+SFont_Font* SFont_InitFont(SDL_Surface* Surface)
+{
+    int x = 0, i = 0;
+    Uint32 pixel;
+    SFont_Font* Font;
+    Uint32 pink;
+
+    if (Surface == NULL)
+	return NULL;
+
+    Font = (SFont_Font *) malloc(sizeof(SFont_Font));
+    Font->Surface = Surface;
+
+    SDL_LockSurface(Surface);
+
+    pink = SDL_MapRGB(Surface->format, 255, 0, 255);
+    while (x < Surface->w) {
+	if (GetPixel(Surface, x, 0) == pink) { 
+    	    Font->CharPos[i++]=x;
+    	    while((x < Surface->w) && (GetPixel(Surface, x, 0)== pink))
+		x++;
+	    Font->CharPos[i++]=x;
+	}
+	x++;
+    }
+    Font->MaxPos = x-1;
+    
+    pixel = GetPixel(Surface, 0, Surface->h-1);
+    SDL_UnlockSurface(Surface);
+    SDL_SetColorKey(Surface, SDL_SRCCOLORKEY, pixel);
+
+    return Font;
+}
+
+void SFont_FreeFont(SFont_Font* FontInfo)
+{
+    SDL_FreeSurface(FontInfo->Surface);
+    free(FontInfo);
+}
+
+void SFont_Write(SDL_Surface *Surface, const SFont_Font *Font,
+		 int x, int y, const char *text)
+{
+    const char* c;
+    int charoffset;
+    SDL_Rect srcrect, dstrect;
+
+    if(text == NULL)
+	return;
+
+    /* these values won't change in the loop */
+    srcrect.y = 1;
+    dstrect.y = y;
+    srcrect.h = dstrect.h = Font->Surface->h - 1;
+
+    for(c = text; *c != '\0' && x <= Surface->w ; c++) {
+	charoffset = ((int) (*c - 33)) * 2 + 1;
+	/* skip spaces and nonprintable characters */
+	if (*c == ' ' || charoffset < 0 || charoffset > Font->MaxPos) {
+	    x += Font->CharPos[2]-Font->CharPos[1];
+	    continue;
+	}
+
+	srcrect.w = dstrect.w = 
+	    (Font->CharPos[charoffset+2] + Font->CharPos[charoffset+1])/2 -
+	    (Font->CharPos[charoffset] + Font->CharPos[charoffset-1])/2;
+	srcrect.x = (Font->CharPos[charoffset]+Font->CharPos[charoffset-1])/2;
+	dstrect.x = (Sint16)(x - (float)(Font->CharPos[charoffset] - Font->CharPos[charoffset-1])/2);
+
+	SDL_BlitSurface(Font->Surface, &srcrect, Surface, &dstrect); 
+
+	x += Font->CharPos[charoffset+1] - Font->CharPos[charoffset];
+    }
+}
+
+int SFont_TextWidth(const SFont_Font *Font, const char *text)
+{
+    const char* c;
+    int charoffset=0;
+    int width = 0;
+
+    if(text == NULL)
+	return 0;
+
+    for(c = text; *c != '\0'; c++) {
+	charoffset = ((int) *c - 33) * 2 + 1;
+	/* skip spaces and nonprintable characters */
+        if (*c == ' ' || charoffset < 0 || charoffset > Font->MaxPos) {
+            width += Font->CharPos[2]-Font->CharPos[1];
+	    continue;
+	}
+	
+	width += Font->CharPos[charoffset+1] - Font->CharPos[charoffset];
+    }
+
+    return width;
+}
+
+int SFont_TextHeight(const SFont_Font* Font)
+{
+    return Font->Surface->h - 1;
+}
+
+void SFont_WriteCenter(SDL_Surface *Surface, const SFont_Font *Font,
+		       int y, const char *text)
+{
+    SFont_Write(Surface, Font, Surface->w/2 - SFont_TextWidth(Font, text)/2,
+	    	y, text);
+}
+
+void SFont_Write_V(SDL_Surface *Surface, const SFont_Font *Font, int x, int y,
+				 const char *text)
+	{
+	int i,ph;
+	char bf[4];
+	ph=SFont_TextHeight(Font);
+	for(i=0;i<((int)strlen(text));i++)
+		{
+		sprintf(bf,"%c",text[i]);
+		SFont_Write(Surface,Font, x-(SFont_TextWidth(Font,bf)/2) , y+(i*ph) , bf);
+		}
+	}

InterfaceCpp/SFont.h

@@ -0,0 +1,85 @@
+/*  SFont: a simple font-library that uses special bitmaps as fonts
+    Copyright (C) 2003 Karl Bartel
+
+    License: GPL or LGPL (at your choice)
+    WWW: http://www.linux-games.com/sfont/
+
+    This program is free software; you can redistribute it and/or modify        
+    it under the terms of the GNU General Public License as published by        
+    the Free Software Foundation; either version 2 of the License, or           
+    (at your option) any later version.                                         
+                                                                                
+    This program is distributed in the hope that it will be useful,       
+    but WITHOUT ANY WARRANTY; without even the implied warranty of              
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               
+    GNU General Public License for more details.                
+                                                                               
+    You should have received a copy of the GNU General Public License           
+    along with this program; if not, write to the Free Software                 
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA   
+                                                                                
+    Karl Bartel
+    Cecilienstr. 14                                                    
+    12307 Berlin
+    GERMANY
+    karlb@gmx.net                                                      
+*/                                                                            
+
+/************************************************************************ 
+*    SFONT - SDL Font Library by Karl Bartel <karlb@gmx.net>		*
+*                                                                       *
+*  All functions are explained below. There are two versions of each    *
+*  funtction. The first is the normal one, the function with the        *
+*  2 at the end can be used when you want to handle more than one font  *
+*  in your program.                                                     *
+*                                                                       *
+************************************************************************/
+#ifndef SFONT_H
+#define SFONT_H
+
+#include <SDL.h>
+
+#ifdef __cplusplus 
+extern "C" {
+#endif
+
+/*Delcare one variable of this type for each font you are using.
+ To load the fonts, load the font image into YourFont->Surface
+ and call InitFont( YourFont );
+*/
+typedef struct {
+	SDL_Surface *Surface;	
+	int CharPos[512];
+	int MaxPos;
+} SFont_Font;
+
+/* Initializes the font
+   Font: this contains the suface with the font.
+       The font must be loaded before using this function.
+*/
+SFont_Font* SFont_InitFont (SDL_Surface *Font);
+void SFont_FreeFont(SFont_Font* Font);
+
+/* Blits a string to a surface
+ Destination: the suface you want to blit to
+ text: a string containing the text you want to blit.
+*/
+void SFont_Write(SDL_Surface *Surface, const SFont_Font *Font, int x, int y,
+				 const char *text);
+void SFont_Write_V(SDL_Surface *Surface, const SFont_Font *Font, int x, int y,
+				 const char *text);
+ 
+/* Returns the width of "text" in pixels */
+int SFont_TextWidth(const SFont_Font* Font, const char *text);
+/* Returns the height of "text" in pixels (which is always equal to Font->Surface->h) */
+int SFont_TextHeight(const SFont_Font* Font);
+
+/* Blits a string to Surface with centered x position */
+void SFont_WriteCenter(SDL_Surface *Surface, const SFont_Font* Font, int y,
+					   const char *text);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SFONT_H */

InterfaceCpp/car.cpp

@@ -0,0 +1,313 @@
+#include <iostream>
+#include <unistd.h>
+#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;
+	}

InterfaceCpp/car.cpp~

@@ -0,0 +1,312 @@
+#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;
+	}

InterfaceCpp/car.h

@@ -0,0 +1,57 @@
+#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);
+		void showNetwork(bool a);
+		bool showNetworkState();
+	};
+
+#endif

InterfaceCpp/car.h~

@@ -0,0 +1,57 @@
+#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

InterfaceCpp/fenetre.cpp

@@ -0,0 +1,376 @@
+#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:
+					Voiture.harakiri();
+					exitkey = 1;
+					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;
+			}
+		}
+	}

InterfaceCpp/fenetre.cpp~

@@ -0,0 +1,376 @@
+#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;
+			}
+		}
+	}

InterfaceCpp/fenetre.h

@@ -0,0 +1,34 @@
+#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

InterfaceCpp/fenetre.h~

@@ -0,0 +1,34 @@
+#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

InterfaceCpp/main.cpp

@@ -0,0 +1,17 @@
+#include <iostream>
+#include <SDL.h>
+#include "fenetre.h"
+
+using namespace std;
+
+int main()
+	{
+	
+	Fenetre f(800,600,32,"Auto Pilot","Back/bg1.bmp");
+
+	f.redraw();	
+	f.handle();
+	
+	return 1;
+	
+	}

InterfaceCpp/sdlcommon.cpp

@@ -0,0 +1,238 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <SDL.h>
+#include <math.h>
+#include "sdlcommon.h"
+
+bool inCarArea(SDL_Surface *screen, int x, int y)
+	{
+	if(x<0 || y<0 || x>screen->w || y>screen->h) return 0;
+	if(x<320 && y<100) return 0;
+	//DrawLine(screen,0,100,320,100,0,0,128);
+	return 1;
+	}
+
+void setpixel(SDL_Surface *screen, int x, int y, Uint8 r, Uint8 g, Uint8 b)
+	{
+	Uint8 *ubuff8;
+	Uint16 *ubuff16;
+	Uint32 *ubuff32;
+	Uint32 color;
+	char c1, c2, c3;
+	
+	if(x >= screen->w || x < 0 || y >= screen->h || y <0 ) return;
+	
+	if(SDL_MUSTLOCK(screen)) 
+		{
+		if(SDL_LockSurface(screen) < 0) 
+		return;
+		}	
+	color = SDL_MapRGB( screen->format, r, g, b );
+	switch(screen->format->BytesPerPixel) 
+		{
+		case 1: 
+			ubuff8 = (Uint8*) screen->pixels;
+			ubuff8 += (y * screen->pitch) + x; 
+			*ubuff8 = (Uint8) color;
+			break;
+		case 2:
+			ubuff8 = (Uint8*) screen->pixels;
+			ubuff8 += (y * screen->pitch) + (x*2);
+			ubuff16 = (Uint16*) ubuff8;
+			*ubuff16 = (Uint16) color; 
+			break;  
+		case 3:
+			ubuff8 = (Uint8*) screen->pixels;
+			ubuff8 += (y * screen->pitch) + (x*3);
+			if(SDL_BYTEORDER == SDL_LIL_ENDIAN) 
+				{
+				c1 = (color & 0xFF0000) >> 16;
+				c2 = (color & 0x00FF00) >> 8;
+				c3 = (color & 0x0000FF);
+				} 
+			else	{
+				c3 = (color & 0xFF0000) >> 16;
+				c2 = (color & 0x00FF00) >> 8;
+				c1 = (color & 0x0000FF);
+				}
+			ubuff8[0] = c3;
+			ubuff8[1] = c2;
+			ubuff8[2] = c1;
+			break;
+		case 4:
+			ubuff8 = (Uint8*) screen->pixels;
+			ubuff8 += (y*screen->pitch) + (x*4);
+			ubuff32 = (Uint32*)ubuff8;
+			*ubuff32 = color;
+			break;
+		default:
+			fprintf(stderr, "Error: Unknown bitdepth!\n");
+		}
+	if(SDL_MUSTLOCK(screen)) 
+		{
+		SDL_UnlockSurface(screen);
+		}
+	}
+	
+int getpixel(SDL_Surface *screen, int x, int y)
+	{
+	int bpp = screen->format->BytesPerPixel;
+	Uint8 *p = (Uint8 *)screen->pixels + y * screen->pitch + x * bpp;
+	switch(bpp)
+		{
+		case 1:
+		return *p;
+		case 2:
+			return *(Uint16 *)p;
+		case 3:
+			if(SDL_BYTEORDER == SDL_BIG_ENDIAN)
+				return p[0] << 16 | p[1] << 8 | p[2];
+			else
+				return p[0] | p[1] << 8 | p[2] << 16;
+		case 4:
+			return *(Uint32 *)p;
+		default:
+			return 0;
+		}
+	}
+	
+void interpole(SDL_Surface* src, SDL_Surface* dst, Uint32 nulcol)
+	{
+	/* Interpolation */
+	Uint32 ipol;
+	for(int i=1;i< (src->w-1) ;i++)
+		for(int j=1;j< (src->h-1);j++)
+			{
+			if((ipol=getpixel(src,i,j))==nulcol)
+				{
+				Uint32 ir=0,ig=0,ib=0;
+				int tot=0;
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-1,j-1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				
+					
+				if((ipol=getpixel(src,i,j-2))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i,j+1))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i-2,j))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				if((ipol=getpixel(src,i+2,j))!=NULLCOL){
+					ir+=(ipol>>16)%256; ig+=(ipol>>8)%256; ib+=(ipol)%256;
+					tot++;
+					}
+				
+				if(tot>3) 
+					{
+					ir/=tot;
+					ig/=tot;
+					ib/=tot;
+					//printf("interpol pixel %d,%d, with %d,%d,%d (%d)\n",i,j,ir,ig,ib,tot);
+					setpixel(dst,i,j,(Uint8)ir,(Uint8)ig,(Uint8)ib);
+					//setpixel(dst,i,j,255,0,0);
+					}
+				// else pixel à interpolé entouré de rien ...
+				}
+			else	{
+				setpixel(dst,i,j,(Uint8)(ipol>>16),(Uint8)(ipol>>8),(Uint8)(ipol));
+				//setpixel(dst,i,j,0,255,0);
+				}
+			
+			}	
+	}
+
+void DrawLine(SDL_Surface* screen, int x1, int y1, int x2, int y2, char r, char g, char b)
+        {
+        double dx,dy,x,y;
+        int step,i;
+        if(abs(x2-x1)>abs(y2-y1)) step=abs(x2-x1);
+        else step=abs(y2-y1);
+        dx=(x2-x1);
+        dy=(y2-y1);
+        dx/=step;
+        dy/=step;
+        x=x1;
+        y=y1;
+        for(i=0;i<step;i++)
+                {
+                x=x+dx;
+                y=y+dy;
+                setpixel(screen,(int)x,(int)y,r,g,b);
+                }
+        }
+
+void rotatesurface(SDL_Surface *src, SDL_Surface *dst, int anginc)
+	{
+	Uint32 pix,x,y;
+	double angle,ba,ca,norm;
+	Uint8 r,g,b;
+	SDL_Surface *tmp;
+	SDL_Rect rec;
+	rec.h=src->h;
+	rec.w=src->w;
+	rec.x=0;
+	rec.y=0;
+	
+tmp=SDL_CreateRGBSurface(SDL_HWSURFACE, src->w, src->h, 32, 0,0,0,0);
+SDL_FillRect(tmp,&rec, SDL_MapRGB(tmp->format,NULLCOLR,NULLCOLG,NULLCOLB/**/));
+SDL_FillRect(dst,&rec, SDL_MapRGB(tmp->format,NULLCOLR,NULLCOLG,NULLCOLB/**/));
+
+	for(int i=0;i<src->w;i++)
+		for(int j=0;j<src->h;j++)
+			{
+			pix=getpixel(src,i,j);
+			r=pix>>16;		// couleur R
+			g=pix>>8;		// couleur G
+			b=pix;			// couleur B
+			ba=(src->w/2)-i;	// base
+			ca=(src->h/2)-j;	// cote adjascent
+			norm=sqrt(ba*ba+ca*ca);	// norme
+			angle=atan(ca/ba);	// angle
+			if(i>(src->w)/2) angle+=(PI); 
+			angle+=(anginc*PI/180); // angle tourné
+			x=(int)round((src->w/2)-(norm*cos(angle)));
+			y=(int)round((src->h/2)-(norm*sin(angle)));
+			setpixel(tmp, x,y, r,g,b);
+			}
+	pix=getpixel(src,(src->w/2),(src->h/2));
+	setpixel(tmp, (src->w/2),(src->h/2), pix>>16,pix>>8,pix);
+	
+//SDL_BlitSurface(tmp , NULL, dst, NULL);
+	interpole(tmp,dst, NULLCOL);
+	}

InterfaceCpp/sdlcommon.h

@@ -0,0 +1,28 @@
+#ifndef __SDLCOMMON_H
+#define __SDLCOMMON_H
+#include <SDL.h>
+#include <SDL_image.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

InterfaceCpp/sdlcommon.h~

@@ -0,0 +1,26 @@
+#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

InterfaceCpp/shmdata.h

@@ -0,0 +1,34 @@
+#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 */
+	bool viewNetwork; /* afficher le reseau */
+	};
+
+#endif
+

InterfaceCpp/shmdata.h~

@@ -0,0 +1,33 @@
+#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
+