world.h

神经网络和遗传算法组合应用

#ifndef WORLD_H
#define WORLD_H

#include <stdio.h>
#include <stdlib.h>
#include <gdk/gdk.h>
#include <gtk/gtk.h>
#include "callbacks.h"

#include <unistd.h>

#define GUI_COLORS 6
#define GUI_WHITE 0
#define GUI_BLACK 1
#define GUI_BLUE 2
#define GUI_RED 3
#define GUI_GREEN 4
#define GUI_YELLOW 5

typedef struct Window{
  GtkWidget *window;
  GdkColormap *cm;
  GdkColor **palette;
  GdkGC *pen;
  GtkDrawingArea *da;
  gint w;
  gint h;
  GdkPixmap *bb;
  Window *next;
};



/* Draw */
extern void gui_drawRobot(int x, int y, double direction, int radius,int drawOrErase, int color);
extern void gui_drawWall(int x1, int y1, int x2, int y2);
extern void gui_drawSObst(int x, int y, int radius);
extern void gui_drawObst(int x, int y, int radius);
extern void gui_drawZone(int x, int y, int radius);
extern void gui_drawLight(int x, int y, int radius);
extern void gui_redrawWorld();
extern void gui_setSensorWindow(int nrOfSens, int sensHeight, int sensHistory);
extern void gui_setSensor(int i, float value);
extern void gui_recreateWorld();
extern void gui_setWorldSize(int x, int y);
extern void gui_clearSensor();
extern void gui_drawSensor(int sensor, int time, double value, int color);
extern void gui_drawSensorMarker(int time);
extern void gui_redrawSensors();
extern void gui_clear();
extern void gui_drawBG();
extern void gui_drawGripper(int *a, int *b, int layer, int color,int c);
extern void gui_updateSensorWindow(int robotNr);

/* Creates a new window 
   with specified dimensions in pixels
   and title as specified by title.
   It has a preallocated gray scale 
   palette with 256 entries

   Returns the newly created window
*/
extern Window *gui_window_new(gint width, gint height,
			      const gchar *title);

/*
  Changes the palette entry of window specified with
  color [0..255] with the new values
  specified by red, green, blue [0..65536]
*/
extern void gui_window_palette_change(Window *window,
				      gint color,
				      guint red,
				      guint green,
				      guint blue);
/*
  Sets the current drawing color
*/
extern void gui_window_set_color(Window *window,
				 gint color);
/*
  Draws a line between point x1,y1 and x2,y2
*/
extern void gui_window_line(Window *window,
			    gint x1, gint y1,
			    gint x2, gint y2);
/*
  Draws a rectangle with the corner
  x1,y1 and x2,y2. Filled [0..1] where
  0 is non filled and 1 is filled.
 */
extern void gui_window_rectangle(Window *window,
				 gint x1, gint y1,
				 gint x2, gint y2,
				 gint filled);
/*
  Draws a circle with center x,y and radius
  radius. Filled [0..1] where 0 is non filled
  and 1 is filled.
*/
extern void gui_window_circle(Window *window,
			      gint x, gint y,
			      gint radius,
			      gint filled);
/*
  Draws a arc with center x,y from startAngle
  specified in degrees where 0 degrees is at 
  3 o'clock and ends the arc at the endAngle
  specified relative startAngle.
  The arc is drawn counter clockwise.
  Filled [0..1] where 0 is non filled and
  1 is filled.
 */
extern void gui_window_arc(Window *window,
			   gint x, gint y,
			   gint radius,
			   gint filled,
			   gint startAngle,
			   gint endAngle);
/*
  Plots a pixel with the current color
  at point x,y.
*/
extern void gui_window_plot(Window *window,
			    gint x, gint y);
/*
  Clears the window using the color specified
  with the index color [0..255].
*/

extern void gui_window_clear(Window *window,
			     gint color);
/*
  Flushes all draws to window to screen.
  Call when you want the window to be updated.
*/			 

extern void gui_window_flush(Window *window);

#endif /* WORLD_H */