param.c

遗传算法和神经网络结合

    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("COMPASS_SENSOR",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useCompass);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("ENERGY_SENSOR",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useEnergy);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("EPOCHS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&amoebaEpochs);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("FITNESS_FILE",findThis)==0){
    sscanf(lineBuffer[i],"%s",fitnessFile);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("FITNESS_FUNCTION",findThis)==0){
    sscanf(lineBuffer[i],"%d",&ffitness);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("FRONT_INFRARED",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfFrontInfrared);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("GENERATIONS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfGenerations);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("GRIPPER",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useGripper);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("GRIPPER_NO_NOISE",findThis)==0){
    sscanf(lineBuffer[i],"%d",&gripperNoise);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("GRIPPER_SENSOR",findThis)==0){
    sscanf(lineBuffer[i],"%d",&gripperSensor);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("GROUND_SENSOR",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useGround);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("INDIVIDS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfIndivids);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("LIGHT_CAMERA",findThis)==0){
    sscanf(lineBuffer[i],"%s",lightCamera);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("LIGHTBULB_SENSORS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useLightbulbSensors);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("LOG_PATH",findThis)==0){
    sscanf(lineBuffer[i],"%s",logPath);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("MOTOR_CAMERA",findThis)==0){
    sscanf(lineBuffer[i],"%s",motorCamera);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("MOVE_OBSTACLES",findThis)==0){
    sscanf(lineBuffer[i],"%d",&moveObstacles);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("NOISE_PERCENTAGE",findThis)==0){
    sscanf(lineBuffer[i],"%f",&amountOfNoise);
    free(findThis);
    if(amountOfNoise!=0)
      amountOfNoise = amountOfNoise / 100.0;
    parseGetNext(&i,&findThis);
  }
  if(strcmp("NR_OF_INDIVIDS_TO_LOG",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfIndividsToLog);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("NR_OF_STEPS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfSteps);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("OFFSPRINGS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfKids);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("PARENTS",findThis)==0){
    sscanf(lineBuffer[i],"%d",&nrOfFathers);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("PICTURE_ROBOT",findThis)==0){
    sscanf(lineBuffer[i],"%s",robotPicFile);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("PICTURE_WORLD",findThis)==0){
    sscanf(lineBuffer[i],"%s",worldPicFile);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("ROBOT_CAMERA",findThis)==0){
    sscanf(lineBuffer[i],"%s",robotCamera);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("ROD_NOISE",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useRodNoise);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("ROD_SENSOR",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useRodSensor);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("RUN_REAL",findThis)==0){
    sscanf(lineBuffer[i],"%d",&useSerialLine);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("SAVE_WEIGHTS_EVERY_x_GENERATION",findThis)==0){
    sscanf(lineBuffer[i],"%d",&saveGeneration);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("SCALE",findThis)==0){
    sscanf(lineBuffer[i],"%f",&xScale);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("SELECTION_METHOD",findThis)==0){
    sscanf(lineBuffer[i],"%d",&selectionMethod);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("SENSOR_NOISE",findThis)==0){
    sscanf(lineBuffer[i],"%d",&sensorNoise);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  baudCount=0;
  serialDevice = (char**) malloc(sizeof(char*)*paramNrOfRobots);
  while(strcmp("SERIAL_LINE",findThis)==0 && baudCount < paramNrOfRobots){
      serialDevice[baudCount] = (char*) malloc(sizeof(char) * 20);
      sscanf(lineBuffer[i],"%s",serialDevice[baudCount++]);
      printf("Serial line 0 is %s \n", serialDevice[0]);
      free(findThis);
      parseGetNext(&i,&findThis);
  } 
  if(strcmp("SMALL_CAMERA",findThis)==0){
    sscanf(lineBuffer[i],"%s",smallCamera);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("START_GENERATION",findThis)==0){
    sscanf(lineBuffer[i],"%d",&startGeneration);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("TEST_SAME_START_POSITION",findThis)==0){
    sscanf(lineBuffer[i],"%d",&testSameStartPosition);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("UPDATE_DELAY",findThis)==0){
    sscanf(lineBuffer[i],"%d",&updateDelay);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("VERBOSE_LEVEL",findThis)==0){
    sscanf(lineBuffer[i],"%d",&verboseLevel);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("WALL_CAMERA",findThis)==0){
    sscanf(lineBuffer[i],"%s",wallCamera);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("WEIGHT_FILE",findThis)==0){
    sscanf(lineBuffer[i],"%s",weightsFile);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("WORLD_FILE",findThis)==0){
    sscanf(lineBuffer[i],"%s",worldFile);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(strcmp("WORLD_PATH",findThis)==0){
    sscanf(lineBuffer[i],"%s",worldPath);
    free(findThis);
    parseGetNext(&i,&findThis);
  }
  if(findThis)
    free(findThis);
  mapping = (int**)malloc(sizeof(int*)*paramNrOfRobots);
  input   = (double**)malloc(sizeof(double*)*paramNrOfRobots);         
  simoutput = (double**)malloc(sizeof(double*)*paramNrOfRobots);
  for( i=0; i < paramNrOfRobots; i++){
    input[i]   = (double*)malloc(sizeof(double)*(NETWORK_INPUTS));
    simoutput[i] = (double*)malloc(sizeof(double)*(NETWORK_INPUTS));
    mapping[i] = (int*)malloc(sizeof(int)*(NETWORK_INPUTS));
  }


}

void printParams(){
  if(verboseLevel>1){
    printf("------Simulator options-----\n");
    if(useCompass==1)
      printf("Using khepera compass\n");
    printf("Using %d front sensors\n",nrOfFrontInfrared);
    if(nrOfBackInfrared>0)
      printf("Using back sensors\n");
    if(sensorNoise==1){
      printf("Using sensor noise\n");
      printf("amount of sensor noise %f\n",amountOfNoise);
    }
    printf("Sensors :\n");
    if (useEnergy==1)
      printf(" * Energy, energy lost each cycle : %.2f\n",energyDecrease);
    if (useGround==1)
      printf(" * Ground \n");       	       
    if (useCompass==1)
      printf(" * Compass \n");

    if(useGripper==1){
      printf("Using khepera gripper");
      if(gripperSensor){
	printf(" with gripper sensor");
	if(gripperNoise)
	  printf("\nadding gripper noise (not wise in my opinion)");
      }
      printf("\n");
    }
    
    printf("Graphical scale %f\n",xScale);
    
    printf("\nNr of generations to run:   %d\n",nrOfGenerations);
    printf("Nr of individs per generation %d\n",nrOfIndivids);
    printf("Nr of fathers  per generation %d\n",nrOfFathers);
    printf("Nr of kids     per father     %d\n",nrOfKids);
    if (startGeneration > 0)
      printf("Starting generation             : %d\n",startGeneration);
    printf("Epochs,steps,timelaps          : %d %d\n",amoebaEpochs,nrOfSteps);
    printf("Generations,best,offspring      : %d %d %d\n",
	   nrOfGenerations,nrOfFathers,nrOfKids);
    printf("Logging the best %d individs each generation\n",nrOfIndividsToLog);
    printf("Random seed : %d\n", seed);
    printf("Fitness function : %d\n",ffitness);
  }
}
/**
 * Loads option file, parse it and set global variables and options.
 * @param paramFile Filename of the option file to load.
 */
void loadParams(char *paramFile){
  if((fp=fopen(paramFile,"r"))==NULL){
    fprintf(stderr,"Couldnt open optionsfile %s \n",paramFile);
    exit(-1);
  }
  readFile();
  sortFile();  
  removeMojs();
  printf("Kept %3d config lines\n",readLines-nrOfLines);
  parseFile();
  printParams();
  // Cean up memory
  freeBuffers();
}