callbacks.cc

神经网络和遗传算法组合应用

  case BTRUE: robotBody = BFALSE; gui_print("Robot body off"); break;
  }
#ifdef DEBUG_GUI
  printf("robotBody %d\n",robotBody);
#endif
}


void
on_trace_tgl_toggled                   (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{
  if(notTrajactoryRobot){
    notTrajactoryRobot=0;
    gui_print("Trajactory trace turned on");
  }
  else{
    gui_print("Trajactory turned turned off");
    notTrajactoryRobot=1;
  }
}


void
on_refresh_btn_clicked                 (GtkButton       *button,
                                        gpointer         user_data)
{
  sim_redrawWorld();
}


void
on_draw_tgl_toggled                    (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{
  switch(gfxUpdate){
  case 1: gfxUpdate=0; gui_print("GUI update turned off"); break;
  case 0: gfxUpdate=1; gui_print("GUI update turned on");break;
  }
}


void
on_generation_next_btn_clicked         (GtkToggleButton *togglebutton,
                                        gpointer         user_data)
{
   on_paus_btn_clicked(NULL,NULL);
   sim_loadNextIndivid();
   on_run_btn_clicked(NULL,NULL);
   
}

GtkWidget* create_main_window()
{ /* main window */
  window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
  gtk_object_set_data (GTK_OBJECT (window), "window", window);
  gtk_window_set_title (GTK_WINDOW (window), _("YAKS - Yet Another Khepera Simulator"));
     
  { /* vbox window */
    vbox_window = gtk_vbox_new (FALSE, 0);
    gtk_widget_ref (vbox_window);
    gtk_object_set_data_full (GTK_OBJECT (window), "vbox_window", vbox_window,
			      (GtkDestroyNotify) gtk_widget_unref);
    gtk_widget_show (vbox_window);
    gtk_container_add (GTK_CONTAINER (window), vbox_window);
    { /* vbox ->  menu_bar */
      menubar_window = gtk_menu_bar_new ();
      gtk_widget_ref (menubar_window);
      gtk_object_set_data_full (GTK_OBJECT (window), "menubar_window", menubar_window,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (menubar_window);
      gtk_box_pack_start (GTK_BOX (vbox_window), menubar_window, FALSE, FALSE, 0);
      
      file_menubar = gtk_menu_item_new_with_label (_("File"));
      gtk_widget_ref (file_menubar);
      gtk_object_set_data_full (GTK_OBJECT (window), "file_menubar", file_menubar,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (file_menubar);
      gtk_container_add (GTK_CONTAINER (menubar_window), file_menubar);
      
      file_menu = gtk_menu_new ();
      gtk_widget_ref (file_menu);
      gtk_object_set_data_full (GTK_OBJECT (window), "file_menu", file_menu,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_menu_item_set_submenu (GTK_MENU_ITEM (file_menubar), file_menu);
      file_menu_accels = gtk_menu_ensure_uline_accel_group (GTK_MENU (file_menu));
      
      quit_menu_item = gtk_menu_item_new_with_label (_("Quit"));
      gtk_widget_ref (quit_menu_item);
      gtk_object_set_data_full (GTK_OBJECT (window), "quit_menu_item", quit_menu_item,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (quit_menu_item);
      gtk_container_add (GTK_CONTAINER (file_menu), quit_menu_item);
    }

    { /* vbox -> table       */
      table_vbox = gtk_table_new (1, 2, FALSE);
      gtk_widget_ref (table_vbox);
      gtk_object_set_data_full (GTK_OBJECT (window), "table_vbox", table_vbox,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (table_vbox);
      gtk_box_pack_start (GTK_BOX (vbox_window), table_vbox, TRUE, TRUE, 0);
      { /* simulation frame */
	sim_frame_table = gtk_frame_new (_("Simulation"));
	gtk_widget_ref (sim_frame_table);
	gtk_object_set_data_full (GTK_OBJECT (window), "sim_frame_table", sim_frame_table,
				  (GtkDestroyNotify) gtk_widget_unref);
	gtk_widget_show (sim_frame_table);
	gtk_table_attach (GTK_TABLE (table_vbox), sim_frame_table, 0, 1, 0, 1,
			  (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
			  (GtkAttachOptions) (GTK_EXPAND | GTK_FILL), 0, 0);
	gtk_container_set_border_width (GTK_CONTAINER (sim_frame_table), 3);
	gtk_frame_set_label_align (GTK_FRAME (sim_frame_table), 0.5, 0.5);
	gtk_frame_set_shadow_type (GTK_FRAME (sim_frame_table), GTK_SHADOW_ETCHED_OUT);
	{ /* simulation vbox */

	  vbox_sim_frame = gtk_vbox_new (FALSE, 0);
	  gtk_widget_ref (vbox_sim_frame);
	  gtk_object_set_data_full (GTK_OBJECT (window), "vbox_sim_frame", vbox_sim_frame,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (vbox_sim_frame);
	  gtk_container_add (GTK_CONTAINER (sim_frame_table), vbox_sim_frame);
	  { /* Simulation buttons -  toolbar_vbox_sim_frame */
	    toolbar_vbox_sim_frame = gtk_toolbar_new (GTK_ORIENTATION_HORIZONTAL, GTK_TOOLBAR_ICONS);
	    gtk_widget_ref (toolbar_vbox_sim_frame);
	    gtk_object_set_data_full (GTK_OBJECT (window), "toolbar_vbox_sim_frame", toolbar_vbox_sim_frame,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (toolbar_vbox_sim_frame);
	    gtk_box_pack_start (GTK_BOX (vbox_sim_frame), toolbar_vbox_sim_frame, FALSE, FALSE, 0);
	
	    tmp_toolbar_icon = create_pixmap (window, "pill_play.xpm");
	    gtk_widget_ref(tmp_toolbar_icon);
	    run_btn = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar_vbox_sim_frame),
						  GTK_TOOLBAR_CHILD_BUTTON,
						  NULL,
						  _("Run"),
						  NULL, NULL,
						  tmp_toolbar_icon, NULL, NULL);
	    gtk_widget_ref (run_btn);
	    gtk_object_set_data_full (GTK_OBJECT (window), "run_btn", run_btn,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (run_btn);
	
	    tmp_toolbar_icon = create_pixmap (window, "pill_paus.xpm");
	    gtk_widget_ref(tmp_toolbar_icon);
	    paus_btn = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar_vbox_sim_frame),
						   GTK_TOOLBAR_CHILD_BUTTON,
						   NULL,
						   _("Pause"),
						   NULL, NULL,
						   tmp_toolbar_icon, NULL, NULL);
	    gtk_widget_ref (paus_btn);
	    gtk_object_set_data_full (GTK_OBJECT (window), "paus_btn", paus_btn,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (paus_btn);
	
	    tmp_toolbar_icon = create_pixmap (window, "pill_step.xpm");
	    gtk_widget_ref(tmp_toolbar_icon);
	    step_btn = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar_vbox_sim_frame),
						   GTK_TOOLBAR_CHILD_BUTTON,
						   NULL,
						   _("Step"),
						   NULL, NULL,
						   tmp_toolbar_icon, NULL, NULL);
	    gtk_widget_ref (step_btn);
	    gtk_object_set_data_full (GTK_OBJECT (window), "step_btn", step_btn,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (step_btn);

	    tmp_toolbar_icon = create_pixmap (window, "pill_evol.xpm");
	    gtk_widget_ref(tmp_toolbar_icon);
	    evolution_tgl = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar_vbox_sim_frame),
							GTK_TOOLBAR_CHILD_TOGGLEBUTTON,
							NULL,
							_("togglebutton5"),
							NULL, NULL,
							tmp_toolbar_icon, NULL, NULL);
	    gtk_widget_ref (evolution_tgl);
	    gtk_object_set_data_full (GTK_OBJECT (window), "evolution_tgl", evolution_tgl,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (evolution_tgl);
	    tmp_toolbar_icon = create_pixmap (window, "pill_norefresh.xpm");
	    gtk_widget_ref(tmp_toolbar_icon);
	    draw_tgl = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar_vbox_sim_frame),
						   GTK_TOOLBAR_CHILD_TOGGLEBUTTON,
						   NULL,
						   _("togglebutton8"),
						   NULL, NULL,
						   tmp_toolbar_icon, NULL, NULL);
	    gtk_widget_ref (draw_tgl);
	    gtk_object_set_data_full (GTK_OBJECT (window), "draw_tgl", draw_tgl,
				      (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show (draw_tgl);
	  }
	
	  { /* simulator area */
	    simulatorArea = gtk_drawing_area_new();
	    gtk_drawing_area_size(GTK_DRAWING_AREA(simulatorArea),sim_area_x_size,sim_area_y_size);
	    gtk_widget_ref(simulatorArea);
	    gtk_object_set_data_full(GTK_OBJECT(window),"simulatorArea",simulatorArea,
				     (GtkDestroyNotify) gtk_widget_unref);
	    gtk_widget_show(simulatorArea);
	    gtk_box_pack_start (GTK_BOX (vbox_sim_frame), simulatorArea, TRUE, TRUE, 0);
	  }
	}
      }
      { /* draw_frame_table */
	draw_frame_table = gtk_frame_new (_("Drawing"));
	gtk_widget_ref (draw_frame_table);
	gtk_object_set_data_full (GTK_OBJECT (window), "draw_frame_table", draw_frame_table,
				  (GtkDestroyNotify) gtk_widget_unref);
	gtk_widget_show (draw_frame_table);
	gtk_table_attach (GTK_TABLE (table_vbox), draw_frame_table, 1, 2, 0, 1,
			  (GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
			  (GtkAttachOptions) (GTK_FILL), 0, 0);
	gtk_container_set_border_width (GTK_CONTAINER (draw_frame_table), 2);
	gtk_frame_set_label_align (GTK_FRAME (draw_frame_table), 0.5, 0.5);
	gtk_frame_set_shadow_type (GTK_FRAME (draw_frame_table), GTK_SHADOW_ETCHED_OUT);
	
	vbox_draw_frame = gtk_vbox_new (FALSE, 0);
	gtk_widget_ref (vbox_draw_frame);
	gtk_object_set_data_full (GTK_OBJECT (window), "vbox_draw_frame", vbox_draw_frame,
				  (GtkDestroyNotify) gtk_widget_unref);
	gtk_widget_show (vbox_draw_frame);
	gtk_container_add (GTK_CONTAINER (draw_frame_table), vbox_draw_frame);
	{ /*robot frame -> vbox_draw_frame -> drawing_frame */
	  robot_frame_vbox = gtk_frame_new (_("Robot"));
	  gtk_widget_ref (robot_frame_vbox);
	  gtk_object_set_data_full (GTK_OBJECT (window), "robot_frame_vbox", robot_frame_vbox,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (robot_frame_vbox);
	  gtk_box_pack_start (GTK_BOX (vbox_draw_frame), robot_frame_vbox, FALSE, TRUE, 0);
	  gtk_frame_set_shadow_type (GTK_FRAME (robot_frame_vbox), GTK_SHADOW_ETCHED_OUT);
	  
	  vbox_robot_frame = gtk_vbox_new (FALSE, 0);
	  gtk_widget_ref (vbox_robot_frame);
	  gtk_object_set_data_full (GTK_OBJECT (window), "vbox_robot_frame", vbox_robot_frame,
				  (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (vbox_robot_frame);
	  gtk_container_add (GTK_CONTAINER (robot_frame_vbox), vbox_robot_frame);
	  
	  toolbar8 = gtk_toolbar_new (GTK_ORIENTATION_HORIZONTAL, GTK_TOOLBAR_ICONS);
	  gtk_widget_ref (toolbar8);
	  gtk_object_set_data_full (GTK_OBJECT (window), "toolbar8", toolbar8,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (toolbar8);
	  gtk_box_pack_start (GTK_BOX (vbox_robot_frame), toolbar8, FALSE, FALSE, 0);
	  gtk_container_set_border_width (GTK_CONTAINER (toolbar8), 4);
	  
	  tmp_toolbar_icon = create_pixmap (window, "pill_wheel.xpm");
	  gtk_widget_ref(tmp_toolbar_icon);
	  wheel_rbtn = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar8),
						   GTK_TOOLBAR_CHILD_RADIOBUTTON,
						   NULL,
						   _("Wheel"),
						   NULL, NULL,
						   tmp_toolbar_icon, NULL, NULL);
	  gtk_widget_ref (wheel_rbtn);
	  gtk_object_set_data_full (GTK_OBJECT (window), "wheel_rbtn", wheel_rbtn,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (wheel_rbtn);
	  gtk_toggle_button_set_mode (GTK_TOGGLE_BUTTON (wheel_rbtn), FALSE);
	  
	  tmp_toolbar_icon = create_pixmap (window, "pill_arrow.xpm");
	  gtk_widget_ref(tmp_toolbar_icon);
	  arrow_rbtn = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar8),
						   GTK_TOOLBAR_CHILD_RADIOBUTTON,
						   wheel_rbtn,
						   _("Arrow\n"),
						   NULL, NULL,
						   tmp_toolbar_icon, NULL, NULL);
	  gtk_widget_ref (arrow_rbtn);
	  gtk_object_set_data_full (GTK_OBJECT (window), "arrow_rbtn", arrow_rbtn,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (arrow_rbtn);
	  gtk_toggle_button_set_mode (GTK_TOGGLE_BUTTON (arrow_rbtn), FALSE);
	  
	  toolbar10 = gtk_toolbar_new (GTK_ORIENTATION_HORIZONTAL, GTK_TOOLBAR_ICONS);
	  gtk_widget_ref (toolbar10);
	  gtk_object_set_data_full (GTK_OBJECT (window), "toolbar10", toolbar10,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (toolbar10);
	  gtk_box_pack_start (GTK_BOX (vbox_robot_frame), toolbar10, FALSE, FALSE, 0);
	  gtk_container_set_border_width (GTK_CONTAINER (toolbar10), 4);
	  
	  tmp_toolbar_icon = create_pixmap (window, "pill_bodyb.xpm");
	  gtk_widget_ref(tmp_toolbar_icon);
	  body_tgl = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar10),
						 GTK_TOOLBAR_CHILD_TOGGLEBUTTON,
						 NULL,
						 _("Body"),
						 NULL, NULL,
						 tmp_toolbar_icon, NULL, NULL);
	  gtk_widget_ref (body_tgl);
	  gtk_object_set_data_full (GTK_OBJECT (window), "body_tgl", body_tgl,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (body_tgl);
	  
	  tmp_toolbar_icon = create_pixmap (window, "pill_traceb.xpm");
	  gtk_widget_ref(tmp_toolbar_icon);
	  trace_tgl = gtk_toolbar_append_element (GTK_TOOLBAR (toolbar10),
						  GTK_TOOLBAR_CHILD_TOGGLEBUTTON,
						  NULL,
						  _("togglebutton7"),
						  NULL, NULL,
						  tmp_toolbar_icon, NULL, NULL);
	  gtk_widget_ref (trace_tgl);
	  gtk_object_set_data_full (GTK_OBJECT (window), "trace_tgl", trace_tgl,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (trace_tgl);
	  
	  Robots_frm = gtk_frame_new (_("Robots"));
	  gtk_widget_ref (Robots_frm);
	  gtk_object_set_data_full (GTK_OBJECT (window), "Robots_frm", Robots_frm,
				    (GtkDestroyNotify) gtk_widget_unref);
	  gtk_widget_show (Robots_frm);
	  gtk_box_pack_start (GTK_BOX (vbox_draw_frame), Robots_frm, TRUE, TRUE, 0);
	  gtk_frame_set_shadow_type (GTK_FRAME (Robots_frm), GTK_SHADOW_ETCHED_OUT);
	}
      }
    }
    { /* generation progressbar  */      
      adj = (GtkAdjustment *) gtk_adjustment_new (0, 1, 100, 0, 0, 0);
      
      
      generation_progress_bar = gtk_progress_bar_new_with_adjustment (adj);
      
      gtk_widget_ref (generation_progress_bar);
      gtk_object_set_data_full (GTK_OBJECT (window), "generation_progress_bar", generation_progress_bar,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (generation_progress_bar);
      gtk_box_pack_start (GTK_BOX (vbox_window), generation_progress_bar, FALSE, FALSE, 0);
      gtk_progress_set_show_text (GTK_PROGRESS (generation_progress_bar), TRUE);
      gtk_progress_bar_set_bar_style(GTK_PROGRESS_BAR (generation_progress_bar),GTK_PROGRESS_CONTINUOUS);
      gtk_progress_set_activity_mode(GTK_PROGRESS (generation_progress_bar),FALSE);
      gtk_progress_set_format_string (GTK_PROGRESS (generation_progress_bar),"(%p%%)");
    }
    { /* status bar */
      statusbar1 = gtk_statusbar_new ();
      gtk_widget_ref (statusbar1);
      gtk_object_set_data_full (GTK_OBJECT (window), "statusbar1", statusbar1,
				(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (statusbar1);
      gtk_box_pack_start (GTK_BOX (vbox_window), statusbar1, FALSE, FALSE, 0);
    }
  }
  gtk_signal_connect (GTK_OBJECT (quit_menu_item), "activate",
		      GTK_SIGNAL_FUNC (gtk_main_quit),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (run_btn), "clicked",
		      GTK_SIGNAL_FUNC (on_run_btn_clicked),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (paus_btn), "clicked",
		      GTK_SIGNAL_FUNC (on_paus_btn_clicked),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (step_btn), "clicked",
		      GTK_SIGNAL_FUNC (on_step_btn_clicked),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (evolution_tgl), "toggled",
		      GTK_SIGNAL_FUNC (on_evolution_tgl_toggled),
			NULL);
  gtk_signal_connect (GTK_OBJECT (wheel_rbtn), "toggled",
		      GTK_SIGNAL_FUNC (on_wheel_rbtn_toggled),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (arrow_rbtn), "toggled",
		      GTK_SIGNAL_FUNC (on_arrow_rbtn_toggled),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (body_tgl), "toggled",
		      GTK_SIGNAL_FUNC (on_body_tgl_toggled),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (trace_tgl), "toggled",
		      GTK_SIGNAL_FUNC (on_trace_tgl_toggled),
		      NULL);
  gtk_signal_connect (GTK_OBJECT (draw_tgl), "toggled",
		      GTK_SIGNAL_FUNC (on_draw_tgl_toggled),
		      NULL);
  
  return window;
}