#include "task.h"
#include "simple_window.h"
#include "universe.h"
-#include "retina.h"
+#include "plotter.h"
#include "manipulator.h"
#include "intelligence.h"
-#include "xfig_tracer.h"
-#ifdef CAIRO_SUPPORT
-#include <cairo.h>
-
-static cairo_status_t write_cairo_to_file(void *closure,
- const unsigned char *data,
- unsigned int length) {
- fwrite(data, 1, length, (FILE *) closure);
- return CAIRO_STATUS_SUCCESS;
-}
-
-void generate_png(int width, int height, Universe *universe, FILE *file) {
- const int depth = 4;
- cairo_surface_t *image;
- cairo_t* context_resource;
- unsigned char *data;
- data = new unsigned char [width * height * depth];
-
- image = cairo_image_surface_create_for_data(data,
- CAIRO_FORMAT_RGB24,
- width,
- height,
- width * depth);
-
- context_resource = cairo_create(image);
-
- cairo_set_source_rgb(context_resource, 1.0, 1.0, 1.0);
- cairo_rectangle(context_resource, 0, 0, width, height);
- cairo_fill(context_resource);
+#include "canvas_cairo.h"
- universe->draw(context_resource);
-
- cairo_surface_write_to_png_stream(image, write_cairo_to_file, file);
-
- cairo_destroy(context_resource);
- cairo_surface_destroy(image);
-
- delete[] data;
+void generate_png(Universe *universe, scalar_t scale, FILE *file) {
+ CanvasCairo canvas(scale, universe->width(), universe->height());
+ universe->draw(&canvas);
+ canvas.write_png(file);
}
-#endif
// 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
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;
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;
+
#ifdef CAIRO_SUPPORT
- cairo_t *cairo_cr = 0;
+ // cairo_t *window_main_cairo_cr = 0;
#endif
- int window_main_fd = -1;
-
MapConcatener sensory_map(2);
- sensory_map.add_map(&retina);
sensory_map.add_map(&manipulator);
sensory_map.init();
window_main_fd = window_main->file_descriptor();
window_main->map();
#ifdef CAIRO_SUPPORT
- cairo_cr = window_main->get_cairo_context_resource();
+ // 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();
}
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;
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_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);
-
-#ifdef CAIRO_SUPPORT
- universe.draw(cairo_cr);
-#else
universe.draw(window_main);
-#endif
+ 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();
- }
}
}
else if(strcmp(se.key, "s") == 0) {
- retina.save_as_ppm("/tmp/retina.ppm");
- cout << "Retina screen shot saved in /tmp/retina.ppm" << endl;
-
{
- XFigTracer tracer("/tmp/universe.fig");
- universe.print_xfig(&tracer);
+ 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/universe.png", "w");
- generate_png(task->width(), task->height(), &universe, file);
- // generate_png(task->width(), task->height(), &universe, "/tmp/universe.png");
- cout << "Universe image saved in /tmp/universe.png" << endl;
+ 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
intelligence.save(os);
}
- delete window_brain;
delete window_main;
}