-////////////////////////////////////////////////////////////////////////////////
-// This program is free software; you can redistribute it and/or //
-// modify it under the terms of the GNU General Public License //
-// version 2 as published by the Free Software Foundation. //
-// //
-// 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. //
-// //
-// Written and (C) by François Fleuret //
-// Contact <francois.fleuret@epfl.ch> for comments & bug reports //
-////////////////////////////////////////////////////////////////////////////////
+// Written and (C) by Francois Fleuret
+// Contact <francois.fleuret@idiap.ch> for comments & bug reports
#include <iostream>
#include <fstream>
#include "task.h"
#include "simple_window.h"
#include "universe.h"
-#include "retina.h"
+#include "plotter.h"
#include "manipulator.h"
#include "intelligence.h"
+#include "canvas_cairo.h"
+
+void generate_png(Universe *universe, scalar_t scale, FILE *file) {
+ CanvasCairo canvas(scale, universe->width(), universe->height());
+ universe->draw(&canvas);
+ canvas.write_png(file);
+}
+
// To train
// ./main --task hit_shape.task 0 --action-mode=random --nb-ticks=5000 --proportion-for-training=0.5 --save-file=dump.mem --no-window
//////////////////////////////////////////////////////////////////////
-void check_opt(int argc, char **argv, int n_opt, int n, char *help) {
+void check_opt(int argc, char **argv, int n_opt, int n, const char *help) {
if(n_opt + n >= argc) {
cerr << "Missing argument for " << argv[n_opt] << "." << endl;
cerr << "Expecting " << help << "." << endl;
}
void print_help_and_exit(int e) {
- cout << "$Id: main.cc,v 1.89 2007-06-16 13:51:53 fleuret Exp $" << endl;
- cout << endl;
cout << "Arguments:" << endl;
cout << " --no-window" << endl;
cout << " --nb-ticks=<int: number of ticks>" << endl;
scalar_t last_hand_x = 0, last_hand_y = 0;
Polygon *last_grabbing = 0;
bool no_window = false;
+ bool save_frames = false;
//////////////////////////////////////////////////////////////////////
// Parsing the shell arguments
while(*o) *u++ = *o++;
}
- if(strcmp(variable_name, "nb-ticks") == 0)
+ if(strcmp(variable_name, "nb-ticks") == 0) {
nb_ticks = atoi(variable_value);
- else if(strcmp(variable_name, "nb-training-iterations") == 0)
+ } else if(strcmp(variable_name, "nb-training-iterations") == 0) {
nb_training_iterations = atoi(variable_value);
- else if(strcmp(variable_name, "proportion-for-training") == 0)
+ } else if(strcmp(variable_name, "proportion-for-training") == 0) {
proportion_for_training = atof(variable_value);
- else if(strcmp(variable_name, "no-window") == 0)
+ } else if(strcmp(variable_name, "no-window") == 0) {
no_window = true;
- else if(strcmp(variable_name, "save-file") == 0)
+ } else if(strcmp(variable_name, "save-file") == 0) {
strcpy(intelligence_save_file, variable_value);
- else if(strcmp(variable_name, "load-file") == 0)
+ } else if(strcmp(variable_name, "load-file") == 0) {
strcpy(intelligence_load_file, variable_value);
- else if(strcmp(variable_name, "action-mode") == 0) {
- if(strcmp(variable_value, "idle") == 0) action_mode = IDLE;
- else if(strcmp(variable_value, "random") == 0) action_mode = RANDOM;
- else if(strcmp(variable_value, "intelligent") == 0) action_mode = INTELLIGENT;
- else {
+ } else if(strcmp(variable_name, "save-frames") == 0) {
+ save_frames = true;
+ } else if(strcmp(variable_name, "action-mode") == 0) {
+ if(strcmp(variable_value, "idle") == 0) {
+ action_mode = IDLE;
+ } else if(strcmp(variable_value, "random") == 0) {
+ action_mode = RANDOM;
+ } else if(strcmp(variable_value, "intelligent") == 0) {
+ action_mode = INTELLIGENT;
+ } else {
cerr << "The only known modes are idle, random and intelligent" << endl;
exit(1);
}
}
cout << "FlatLand, a toy universe for goal-planning experiments." << endl;
- cout << "$Id: main.cc,v 1.89 2007-06-16 13:51:53 fleuret Exp $" << endl;
if(!task) {
- task = load_task("dummy.task");
+ task = load_task("./dummy.so");
task_degree = 0;
}
Universe universe(100, task->width(), task->height());
task->init(&universe, task_degree);
- Retina retina(&universe);
Manipulator manipulator(task);
manipulator.force_move(task->width()/2, task->height()/2);
- retina.set_location(manipulator.hand_x(), manipulator.hand_y());
- SimpleWindow *window_main = 0, *window_brain = 0;
+ SimpleWindow *window_main = 0;
+ int window_main_fd = -1;
- int winfd = -1;
+#ifdef CAIRO_SUPPORT
+ // cairo_t *window_main_cairo_cr = 0;
+#endif
MapConcatener sensory_map(2);
- sensory_map.add_map(&retina);
sensory_map.add_map(&manipulator);
sensory_map.init();
cout << "done." << endl ;
}
- if(!no_window) {
+ if(no_window) {
+ cout << "Started without windows." << endl;
+ } else {
window_main = new SimpleWindow("Universe (main window)", 4, 4, task->width(), task->height());
- winfd = window_main->file_descriptor();
+ window_main_fd = window_main->file_descriptor();
window_main->map();
+#ifdef CAIRO_SUPPORT
+ // window_main_cairo_cr = window_main->get_cairo_context_resource();
+#endif
cout << "When the main window has the focus, press `q' to quit and click and drag to move" << endl
<< "objects." << endl;
- window_brain = new SimpleWindow("Universe (brain)",
- 12 + task->width(), 4,
- retina.width(), retina.height() + manipulator.parameter_height());
- window_brain->map();
- } else {
- cout << "Started without windows." << endl;
}
int tick = 0;
int r;
fd_set fds;
+#ifdef CAIRO_SUPPORT
+ if(save_frames) {
+ char buffer[1024];
+ sprintf(buffer, "frame-%06d.png", tick);
+ FILE *file = fopen(buffer, "w");
+ generate_png(&universe, 0.25, file);
+ cout << "Universe image saved in " << buffer << endl;
+ fclose(file);
+ }
+#endif
if(window_main) {
struct timeval tv;
FD_ZERO (&fds);
- FD_SET (winfd, &fds);
+ FD_SET (window_main_fd, &fds);
tv.tv_sec = 0;
tv.tv_usec = 5000; // 0.05s
- r = select(winfd + 1, &fds, 0, 0, &tv);
+ r = select(window_main_fd + 1, &fds, 0, 0, &tv);
} else r = 0;
time_t t = time(0);
for(int k = 0; k < nb_it; k++) {
manipulator.update(dt, &universe);
task->update(dt, &universe, &manipulator);
+ universe.apply_gravity(dt, 0.0, 2.0);
changed |= universe.update(dt);
}
last_hand_x = manipulator.hand_x();
last_hand_y = manipulator.hand_y();
last_grabbing = manipulator.grabbing();
- retina.set_location(manipulator.hand_x(), manipulator.hand_y());
if(window_main) {
window_main->color(0.0, 0.0, 0.0);
+ window_main->color(1.0, 1.0, 1.0);
window_main->fill();
- task->draw(window_main);
universe.draw(window_main);
+
+ task->draw(window_main);
manipulator.draw_on_universe(window_main);
- retina.draw_on_universe(window_main);
if(grabbed_polygon) {
int x, y, delta = 3;
}
window_main->show();
-
- if(window_brain) {
- retina.draw_parameters(0, 0, window_brain);
- manipulator.draw_parameters(0, retina.height() + 1, window_brain);
- window_brain->show();
- }
}
}
got_event = true;
- if(FD_ISSET(winfd, &fds)) {
+ if(FD_ISSET(window_main_fd, &fds)) {
SimpleEvent se;
case SimpleEvent::MOUSE_MOTION:
{
- if(press_shift) manipulator.force_move(se.x, se.y);
- else {
- if(grabbed_polygon) {
- scalar_t xf, yf, force_x, force_y, f, fmax = 100;
- xf = grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y);
- yf = grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y);
- force_x = se.x - xf;
- force_y = se.y - yf;
- f = sqrt(sq(force_x) + sq(force_y));
- if(f > fmax) { force_x = (force_x * fmax)/f; force_y = (force_y * fmax)/f; }
- grabbed_polygon->apply_force(0.1, xf, yf, force_x, force_y);
- }
+ if(press_shift) {
+ manipulator.force_move(se.x, se.y);
+ } else if(grabbed_polygon) {
+ scalar_t xf, yf, force_x, force_y, f, fmax = 100;
+ xf = grabbed_polygon->absolute_x(relative_grab_x, relative_grab_y);
+ yf = grabbed_polygon->absolute_y(relative_grab_x, relative_grab_y);
+ force_x = se.x - xf;
+ force_y = se.y - yf;
+ f = sqrt(sq(force_x) + sq(force_y));
+ if(f > fmax) { force_x = (force_x * fmax)/f; force_y = (force_y * fmax)/f; }
+ grabbed_polygon->apply_force(0.1, xf, yf, force_x, force_y);
}
break;
}
case SimpleEvent::KEY_PRESS:
{
- if(strcmp(se.key, "q") == 0) quit = true;
+ if(strcmp(se.key, "q") == 0) {
+ quit = true;
+ }
+
else if(strcmp(se.key, "s") == 0) {
- retina.save_as_ppm("/tmp/retina.ppm");
- cout << "Retina screen shot saved in /tmp/retina.ppm" << endl;
+
{
- ofstream out("/tmp/universe.fig");
- universe.print_fig(out);
+ Plotter plotter(int(universe.width()), int(universe.height()), 4);
+ plotter.save_as_ppm(&universe, "/tmp/plotter.ppm", 16);
}
+
+#ifdef CAIRO_SUPPORT
+ {
+ FILE *file = fopen("/tmp/screenshot.png", "w");
+ generate_png(&universe, 0.25, file);
+ cout << "Universe image saved in /tmp/screenshot.png" << endl;
+ fclose(file);
+ }
+#endif
+
}
- else if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) press_shift = true;
- else if(strcmp(se.key, "Up") == 0) manipulator.do_action(Manipulator::ACTION_MOVE_UP);
- else if(strcmp(se.key, "Right") == 0) manipulator.do_action(Manipulator::ACTION_MOVE_RIGHT);
- else if(strcmp(se.key, "Down") == 0) manipulator.do_action(Manipulator::ACTION_MOVE_DOWN);
- else if(strcmp(se.key, "Left") == 0) manipulator.do_action(Manipulator::ACTION_MOVE_LEFT);
- else if(strcmp(se.key, "g") == 0) manipulator.do_action(Manipulator::ACTION_GRAB);
- else if(strcmp(se.key, "r") == 0) manipulator.do_action(Manipulator::ACTION_RELEASE);
+ else if(strcmp(se.key, "Shift_L") == 0 || strcmp(se.key, "Shift_R") == 0) {
+ press_shift = true;
+ }
+
+ else if(strcmp(se.key, "Up") == 0) {
+ manipulator.do_action(Manipulator::ACTION_MOVE_UP);
+ }
+
+ else if(strcmp(se.key, "Right") == 0) {
+ manipulator.do_action(Manipulator::ACTION_MOVE_RIGHT);
+ }
+
+ else if(strcmp(se.key, "Down") == 0) {
+ manipulator.do_action(Manipulator::ACTION_MOVE_DOWN);
+ }
+
+ else if(strcmp(se.key, "Left") == 0) {
+ manipulator.do_action(Manipulator::ACTION_MOVE_LEFT);
+ }
+
+ else if(strcmp(se.key, "g") == 0) {
+ manipulator.do_action(Manipulator::ACTION_GRAB);
+ }
+
+ else if(strcmp(se.key, "r") == 0) {
+ manipulator.do_action(Manipulator::ACTION_RELEASE);
+ }
else if(strcmp(se.key, "space") == 0) {
switch(action_mode) {
intelligence.save(os);
}
- delete window_brain;
delete window_main;
}
projects / universe.git / blobdiff