callbacks.cc

神经网络和遗传算法组合应用

#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <string.h>
#include <gdk/gdkkeysyms.h>
#include <gtk/gtk.h>
#include <glib.h>
#include <sim.h>
#include <param.h>
#include <geom.h>

#include "support.h"
#include "callbacks.h"


sem_t simAreaUpdate_S;
sem_t simArea_S;
sem_t simAreaBB_S;
sem_t simRobotsBB_S;
int gui_stepping=0;

guint contextId;
guint lastMsg=0;
guint currMsg=0;

#define gui_print(msg) { currMsg = gtk_statusbar_push(GTK_STATUSBAR(statusbar1),contextId,msg); gtk_statusbar_remove(GTK_STATUSBAR(statusbar1),contextId,lastMsg); lastMsg=currMsg;} 

gushort pal[6][3]={{0xffff,0xffff,0xffff},
		  {0x0,0x0,0x0},
		  {0x0,0x0,0xffff},
		  {0xffff,0x0,0x0},
		  {0x0,0xffff,0x0},
		  {0xffff,0xffff,0x0}};

/* Window */
GtkWidget *window;
GtkWidget *vbox_window;
GtkWidget *menubar_window;
GtkWidget *file_menubar;
GtkWidget *file_menu;
GtkAccelGroup *file_menu_accels;
GtkWidget *quit_menu_item;
GtkWidget *table_vbox;
GtkWidget *sim_frame_table;
GtkWidget *vbox_sim_frame;
GtkWidget *toolbar_vbox_sim_frame;
GtkWidget *tmp_toolbar_icon;
GtkWidget *run_btn;
GtkWidget *paus_btn;
GtkWidget *step_btn;
GtkWidget *evolution_tgl;
GtkWidget *simulatorArea;
GtkWidget *draw_frame_table;
GtkWidget *vbox_draw_frame;
GtkWidget *robot_frame_vbox;
GtkWidget *vbox_robot_frame;
GtkWidget *toolbar8;
GtkWidget *wheel_rbtn;
GtkWidget *arrow_rbtn;
GtkWidget *toolbar10;
GtkWidget *body_tgl;
GtkWidget *trace_tgl;
GtkWidget *Robots_frm;
GtkWidget *draw_tgl;
GtkWidget *generation_progress_bar;
GtkWidget *statusbar1;
GtkAdjustment *adj;
/* end window */

GtkWidget **simRobots;
GtkWidget *window1;
GtkWidget *simArea;      /* simArea widget     */
GdkPixmap *bb_simArea;   /* simArea backbuffer */
GdkPixmap *bg_simArea;   /* simArea background */
GdkPixmap **bb_simRobots;
GdkColormap *cm_simArea; /* simArea colormap   */
GdkColor **pal_simArea;  /* simArea colors     */
const gchar defaultFontName[]="-*-helvetica-bold-r-normal--*-120-*-*-*-*-iso8859-1";
GdkFont *defaultFont;
GdkGC *pen_simArea;
GdkGC *blit_simArea;
GdkGC *internal_blit_simArea;
gint colors = 256;
gint definedColors = 6;
guint simAreaTimer;
/* Simulator area size, robotbody and robottype*/
int sim_area_x_size=200;
int sim_area_y_size=200;
BOOL_T robotBody = BFALSE;
BOT_T robotType = WHEEL;

int sensorAreaVisible=0;
/* Prototypes */
gint init_pal(gpointer *data);
gint on_progress_update(gpointer *);
gint on_gui_update(gpointer*);
void on_expose_event(GtkWidget *w, gpointer user_data);
GtkWidget * create_main_window();

void gui_setWorldSize(int x, int y){
  sim_area_x_size = x;
  sim_area_y_size = y;
}

void gui_init(){
  GtkWidget *rob_frm;
  GtkWidget *tmp;
  GtkWidget *v1,*v2;
  GtkWidget **distribute;
  gchar str[6];
  sem_init(&simAreaUpdate_S,0,0);
  sem_init(&simArea_S,0,0);
  sem_init(&simAreaBB_S,0,1);
  sem_init(&simRobotsBB_S,0,1);
  notTrajactoryRobot = 1;
  
  /*
    init simulator area
  */
  window1 = create_main_window();
  gtk_widget_show(window1);
  
  contextId = gtk_statusbar_get_context_id(GTK_STATUSBAR(statusbar1),"User messages");
  lastMsg = gtk_statusbar_push(GTK_STATUSBAR(statusbar1),contextId,"User Interface Started");
  
  simArea = lookup_widget(window1,"simulatorArea");
  gtk_signal_connect(GTK_OBJECT(simArea),"expose_event",
		     GTK_SIGNAL_FUNC(on_expose_event),
		     NULL);
		     
  bb_simArea = gdk_pixmap_new(simArea->window,
  			      sim_area_x_size,
  			      sim_area_y_size,
			      -1);

  bb_simArea = gdk_pixmap_ref(bb_simArea); 
  
  bg_simArea = gdk_pixmap_new(simArea->window,
  			      sim_area_x_size,
  			      sim_area_y_size,
			      -1);

  bg_simArea = gdk_pixmap_ref(bg_simArea); 
  /* Font */
  defaultFont = gdk_font_load(defaultFontName);
  defaultFont = gdk_font_ref(defaultFont);
  /* Robot windows */
  rob_frm = lookup_widget(window1,"Robots_frm");

  tmp = gtk_hbox_new (FALSE, 0);
  gtk_widget_ref (tmp);
  gtk_object_set_data_full (GTK_OBJECT (window1), "rob_hbox", tmp,
                            (GtkDestroyNotify) gtk_widget_unref);
  gtk_widget_show (tmp);
  gtk_container_add (GTK_CONTAINER (rob_frm), tmp);

  v1 = gtk_toolbar_new(GTK_ORIENTATION_VERTICAL,GTK_TOOLBAR_ICONS);
  gtk_widget_ref(v1);
  gtk_object_set_data_full(GTK_OBJECT (window1), "v1", v1,
                            (GtkDestroyNotify) gtk_widget_unref);
  gtk_widget_show (v1);
  gtk_box_pack_start (GTK_BOX (tmp), v1, FALSE, FALSE, 0);
  gtk_container_set_border_width (GTK_CONTAINER (v1), 1);

  v2 = gtk_toolbar_new(GTK_ORIENTATION_VERTICAL,GTK_TOOLBAR_ICONS);
  gtk_widget_ref(v2);
  gtk_object_set_data_full (GTK_OBJECT (window1), "v2", v2,
                            (GtkDestroyNotify) gtk_widget_unref);
  gtk_widget_show (v2);
  gtk_box_pack_start (GTK_BOX (tmp), v2, FALSE, FALSE, 0);
  gtk_container_set_border_width (GTK_CONTAINER (v2), 1);
  simRobots = (GtkWidget**) malloc(sizeof(GtkWidget*)*paramNrOfRobots);
  distribute = (GtkWidget**) malloc(sizeof(GtkWidget*)*2);
  distribute[0] = v1;
  distribute[1] = v2;
  bb_simRobots = (GdkPixmap**) malloc(sizeof(GdkPixmap*)*paramNrOfRobots);
  printf("Nur of robots %d \n",paramNrOfRobots);
  for(int i=0; i < paramNrOfRobots; i++){
    bb_simRobots[i] = gdk_pixmap_new(NULL,51,90,gdk_visual_get_best_depth());
    bb_simRobots[i] = gdk_pixmap_ref(bb_simRobots[i]);

    simRobots[i] = gtk_drawing_area_new();
    gtk_widget_ref(simRobots[i]);
    gtk_drawing_area_size(GTK_DRAWING_AREA(simRobots[i]),51,90);

    sprintf(str,"rob%d",i);
    gtk_object_set_data_full(GTK_OBJECT(window1),str,simRobots[i],
			     (GtkDestroyNotify) gtk_widget_unref);
    gtk_widget_show(simRobots[i]);
    gtk_toolbar_append_element(GTK_TOOLBAR(distribute[i%2]), 
			       GTK_TOOLBAR_CHILD_WIDGET,
			       simRobots[i], 
			       str,
			       NULL,NULL,NULL,NULL,NULL);
  }
  free(distribute);
  colors = 256;
  cm_simArea = gdk_window_get_colormap(simArea->window);
  
  pal_simArea = (GdkColor**) malloc(sizeof(GdkColor*)*colors);
  for(int i=0; i < colors; i++){
    pal_simArea[i] = (GdkColor*)malloc(sizeof(GdkColor));
    if(i < 6){
      pal_simArea[i]->red = pal[i][0];
      pal_simArea[i]->green = pal[i][1];
      pal_simArea[i]->blue = pal[i][2];
    }
    else{
      pal_simArea[i]->red = int(65536.0 * cos(i/double(63)*M_PI/3));
      pal_simArea[i]->green = int(65536.0 * sin(i/double(63)*M_PI/3));
      pal_simArea[i]->blue = 0;
    }
    gdk_colormap_alloc_color(cm_simArea,
  			     pal_simArea[i],
  			     1, /* writeable ->  private */
  			     1);/* bestmatch */
  }
  pen_simArea = gdk_gc_new((GdkWindow *)bb_simArea);
  pen_simArea = gdk_gc_ref(pen_simArea);
  blit_simArea = gdk_gc_new((GdkWindow*)bb_simArea);
  blit_simArea = gdk_gc_ref(blit_simArea);
  internal_blit_simArea = gdk_gc_new((GdkWindow*)bb_simArea);
  internal_blit_simArea = gdk_gc_ref(internal_blit_simArea);

  gtk_timeout_add(500,
		  on_progress_update,
		  NULL);
  gtk_timeout_add(100,
		  on_gui_update,
		  NULL);
  sem_post(&gui_ready);

  gdk_threads_enter();
  gtk_main();
  gdk_threads_leave();
  
  sim_shutdown();
  pthread_exit(0);
}

gint init_pal(gpointer *data){
  
  return (FALSE);
}

gint on_progress_update(gpointer *data){
  gfloat val;
  static GtkWidget *pbar=0;

  if(!pbar)
    pbar = lookup_widget(window1,"generation_progress_bar");
  
  if(startGeneration==-1)
    val = (gfloat)(100.0*((gfloat)(gen)/ (gfloat)(nrOfGenerations)));
  else
    val = (gfloat)(100.0*((gfloat)(gen-startGeneration)/
			  (gfloat)(nrOfGenerations-startGeneration)));
  if(val < 1)
    val = 1;
  if(val > 100)
    val = 100;
  gdk_threads_enter();
  gtk_progress_set_value(GTK_PROGRESS(pbar),val);
  gdk_threads_leave();

  return TRUE;

}

void on_expose_event(GtkWidget *w, gpointer user_data){
  for(int i=0; i < paramNrOfRobots; i++){
    gdk_draw_pixmap(simRobots[i]->window,
		    internal_blit_simArea,
		    bb_simRobots[i],
		    0,0,0,0,
		    -1,-1);
  }
  gdk_draw_pixmap(simArea->window,
		  internal_blit_simArea,
		  bb_simArea,
		  0,0,0,0,
		  -1,-1);
  sem_post(&simAreaUpdate_S);
}

gint on_gui_update(gpointer *data){
  if(sem_trywait(&simArea_S) == 0){
    gdk_threads_enter();
    gtk_widget_draw(simArea,NULL);
    gdk_threads_leave();
  }
  return TRUE;
}


void
on_button_clicked                      (GtkButton       *button,
                                        gpointer         user_data)
{
   printf("Klicked button\n");
}


void
on_run_btn_clicked                     (GtkButton       *button,
                                        gpointer         user_data)
{
  gui_stepping=0;
  sem_post(&gui_run);
  sem_post(&gui_step);
  gui_print("Running simulation");
#ifdef DEBUG_GUI
  printf("run\n");
#endif
}


void
on_paus_btn_clicked                    (GtkButton       *button,
                                        gpointer         user_data)
{
  gui_stepping=1;
  gui_print("Paus...");
#ifdef DEBUG_GUI
  printf("paus\n");
#endif

}


void
on_step_btn_clicked                    (GtkButton       *button,
                                        gpointer         user_data)
{
 sem_post(&gui_step);
 gui_print("Stepping 100 ms");
#ifdef DEBUG_GUI
  printf("step\n");
#endif

}


void
on_evolution_tgl_toggled               (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{

}


void
on_wheel_rbtn_toggled                  (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{
  robotType = WHEEL;
  gui_print("Drawing wheel axis robot");
#ifdef DEBUG_GUI
  printf("wheel robot\n");
#endif

}


void
on_arrow_rbtn_toggled                  (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{
  robotType = ARROW;
  gui_print("Drawing arrow robot");
#ifdef DEBUG_GUI
  printf("arrow robot\n");
#endif

}


void
on_body_tgl_toggled                    (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{  
  switch(robotBody){
  case BFALSE: robotBody = BTRUE; gui_print("Robot body on"); break;