#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(Universe *universe, scalar_t scale, FILE *file) {
+ const int depth = 4;
+ const int width = int(universe->width() * scale);
+ const int height = int(universe->height() * scale);
+
+ 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_scale(context_resource, scale, scale);
+
+ cairo_set_source_rgb(context_resource, 1.0, 1.0, 1.0);
+
+ cairo_rectangle(context_resource, 0, 0,
+ universe->width(), universe->height());
+
+ cairo_fill(context_resource);
+
+ 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;
+}
+#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
}
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;
}
retina.set_location(manipulator.hand_x(), manipulator.hand_y());
SimpleWindow *window_main = 0, *window_brain = 0;
+#ifdef CAIRO_SUPPORT
+ cairo_t *cairo_cr = 0;
+#endif
- int winfd = -1;
+ int window_main_fd = -1;
MapConcatener sensory_map(2);
sensory_map.add_map(&retina);
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
+ 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());
+ 12 + task->width(), 4,
+ retina.width(), retina.height() + manipulator.parameter_height());
window_brain->map();
- } else {
- cout << "Started without windows." << endl;
}
int tick = 0;
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);
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());
+
+ 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
+
manipulator.draw_on_universe(window_main);
retina.draw_on_universe(window_main);
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;
+
{
XFigTracer tracer("/tmp/universe.fig");
- universe.print_fig(&tracer);
+ universe.print_xfig(&tracer);
+ }
+
+#ifdef CAIRO_SUPPORT
+ {
+ FILE *file = fopen("/tmp/universe.png", "w");
+ generate_png(&universe, 0.25, file);
+ // generate_png(task->width(), task->height(), &universe, "/tmp/universe.png");
+ cout << "Universe image saved in /tmp/universe.png" << endl;
}
+#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) {
projects / universe.git / blobdiff