real.h

遗传算法和神经网络结合

/*
  YAKS, a Khepera simulator including a separate GA and ANN 
  (Genetic Algoritm, Artificial Neural Net).
  Copyright (C) 2000  Johan Carlsson ([e-mail])
  
  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU General Public License
  as published by the Free Software Foundation; either version 2
  of the License, or any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

*/
#ifndef REAL_H
#define REAL_H
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <fcntl.h>
#include <termio.h>
#include <string.h>
#include <time.h>
#include <ctype.h>
#include "param.h"

#define	KHEP_DEFAULT_TIMEOUT	5			/* 1/10 seconds	*/
#define	KHEP_NB_RETRY		3
typedef unsigned char boolean;
#ifndef TRUE
#define TRUE 1
#endif

#ifndef FALSE
#define FALSE 0
#endif

#define clear(var, mask)  var &= (~(mask))
#define set(var, mask)	  var |= (mask)

class Real{
 public:
  Real();
  ~Real();
  boolean init();
  void setInput(int robotNr);
  void runStep(double mot1,double mot2,int robotNr);
  void nextIndivid();
 private:
  boolean khepTalk(int fd,char *send,char *receive,int recv_len);
  boolean khepSendRecv(int fd, char *send, char *recieve, int recv);
  void serialDrain(int fd, boolean verbose);
  static int order(int whichRobot, char *command, char *answear, int aSize);
  static int readline(int fd, char *buffer, int bsize);
  static int serialLine[50];

};



#endif /* REAL_H */