int main(int argc, char *argv[])
{
srand((unsigned) time(NULL));
particle_init();
pso();
printf("gbest: %f\n", gbest);
for (int i = 0; i < 10; i++) {
printf("rand%d: %f\n", i, rand0_1());
}
printf("rand: %f\n", rand0_1());
printf("rand: %f\n", rand0_1());
return 0;
}
void MainWindow::on_FPS_clicked()
{
//initial graph
graphs gr;
gr.setModal(true);
int k = 0;
while(k < COUNT){
TotalFitness = 0;
population.clear();
newpopulation.clear();
generatePopulations(false);
//sort by fitness
sort(this->population.begin(), this->population.end(), by_fitness());
int j = 0;
while(j < COUNT){
calc_prob_ranges(false);
//offsprings
for(int i=0; i<((COUNT/2)/2); i++){
float val = randomRange(0, 1);
temp = generateOffspring(val);
offsprint_x1 = temp.x;
offsprint_y1 = temp.y;
val = randomRange(0, 1);
temp = generateOffspring(val);
offsprint_x2 = temp.x;
offsprint_y2 = temp.y;
//mutation process
mutation(offsprint_x1, offsprint_y2, offsprint_x2, offsprint_y1, false);
}
//merge new with old population
population.insert(population.end(), newpopulation.begin(), newpopulation.end());
//clear new population
newpopulation.clear();
//sort by compute
sort(population.begin(), population.end(), by_fitness());
// erase unecessary elements/population:
population.erase(population.begin()+COUNT,population.end());
//cout << "population for new iteration" << endl;
TotalFitness = 0;
for(int i=0; i < population.size(); i++ ){
TotalFitness = TotalFitness + population[i].fitness;
//cout << population[i].x << "," << population[i].y << "," << population[i].fitness << endl;
}
//best of iteration
best.push_back(population[0].fitness);
//cout << "fps best" << population[0].fitness << endl;
//avg of iteration
avg.push_back(population[(COUNT/2)-1].fitness);
j++;
}
k++;
TotalFitness = 0;
pso();
ais();
gr.data.push_back({best, avg, pso_best, ais_best, ais_avg,COUNT});
reverse(pso_best.begin(), pso_best.end());
reverse(ais_best.begin(), ais_best.end());
reverse(ais_avg.begin(), ais_avg.end());
reverse(best.begin(), best.end());
reverse(avg.begin(), avg.end());
best_best.push_back(best[0]);
avg_avg.push_back(avg[0]);
ais_avg_avg.push_back(ais_avg[0]);
pso_bb.push_back(pso_best[0]);
pso_best.clear();
ais_bb.push_back(ais_best[0]);
ais_best.clear();
ais_avg.clear();
best.clear();
avg.clear();
}
gr.data.push_back({best_best,avg_avg, pso_bb, ais_bb, ais_avg_avg,COUNT});
best_best.clear();
avg_avg.clear();
ais_bb.clear();
pso_bb.clear();
ais_avg_avg.clear();
// for(int i=0; i < COUNT; i++ ){
// gr.best.push_back({best[i].fitness});
// gr.avg.push_back({avg[i].fitness});
// }
// cout << gr.best.size() << endl;
// gr.generation = COUNT;
gr.makePlot(0);
gr.exec();
}
int main(int argc, char **argv)
{
int numParticles = 1024;
int maxIters = 50;
int numThreads = 32;
float eps = 10^-6;
if (checkCmdLineFlag(argc,(const char **)argv,"help"))
{
helper();
exit(0);
}
if (checkCmdLineFlag(argc, (const char **) argv, "n"))
{
numParticles = getCmdLineArgumentFloat(argc, (const char **)argv, "n");
}
if (checkCmdLineFlag(argc, (const char **) argv, "m"))
{
maxIters = getCmdLineArgumentFloat(argc, (const char **)argv, "m");
}
if (checkCmdLineFlag(argc, (const char **) argv, "threads"))
{
numThreads = getCmdLineArgumentFloat(argc, (const char **)argv, "threads");
}
std::cout<<"PSO Algorithm: "<<" n= "<<numParticles<<", m= "<<maxIters<<", threads= "<<numThreads<<std::endl;
PSO pso(numParticles);
float cpu_time = pso.Solve(maxIters, eps);
std::cout<<"CPU result: "<<std::endl;
std::cout<<"a: "<<pso.gBest.x<<" b: "<<pso.gBest.y<<" iters: "<<pso.iters<<" time: "<<cpu_time<<"ms"<<std::endl;
CudaPSO cuda_pso(numParticles);
float cuda_time = cuda_pso.Solve(maxIters, numThreads, eps);
std::cout<<"GPU result: "<<std::endl;
std::cout<<" a: "<<cuda_pso.gBest.x<<" b: "<<cuda_pso.gBest.y<<" iters: "<<cuda_pso.iters<<" time: "<<cuda_time<<"ms"<<std::endl;
std::cout<<std::endl<<"GPU perf./CPU perf. = "<<cpu_time/cuda_time<<std::endl;
time_t now = time(NULL);
struct tm timeinfo = *localtime(&now);
char name[50];
strftime(name, sizeof(name),"%Y%m%d%H%M%S", &timeinfo);
std::string filename = std::string(name)+std::string(".log");
std::ofstream fout(filename.c_str(), std::ios::app);
fout<<"CPU RME\t\t"<<"GPU RME"<<std::endl;
for (int i=0; i<std::min(pso.iters, cuda_pso.iters); i++) {
fout<<pso.RME[i]<<"\t\t"<<cuda_pso.RME[i]<<std::endl;
}
fout.close();
std::cout<<std::endl<<"RMEs have been written into ./"<<filename<<std::endl;
//uncomment if want to output RMEs to terminal
/*
std::cout<<std::endl;
std::cout<<"CPU RME:"<<std::endl;
for (int i=0; i<pso.iters; i++){
std::cout<<pso.RME[i]<<"\t";
}
std::cout<<std::endl;
std::cout<<"GPU RME:"<<std::endl;
for (int i=0; i<cuda_pso.iters; i++){
std::cout<<cuda_pso.RME[i]<<"\t";
}
*/
return 0;
}
void
operator()(packed_oarchive& ar, const object& obj, const unsigned int)
{
packed_skeleton_oarchive pso(ar);
pso << extract<T&>(obj.attr("object"))();
}
d_t_fit_min mpc_pso(d_t_in2 dx1_in,d_t_in1 dx2_in,d_t_in1 y_in,d_t_in1 u_in,d_t_in1 ref_in)
{
d_t_fit_min duu;
ap_fixed<30,6,AP_RND_CONV,AP_SAT> Sx[20][2]={0.999999887494521, 0.000980908441683,
1.999999443182048, 0.002905510919606,
2.999998456081107, 0.005738004675732,
3.999996723214666, 0.009443945051661,
4.999994049306499, 0.013990193972083,
5.999990246489080, 0.019344870382393,
6.999985134022543, 0.025477302566354,
7.999978538024314, 0.032357982272474,
8.999970291208991, 0.039958520580513,
9.999960232638099, 0.048251605442091,
10.999948207479330, 0.057210960831894,
11.999934066774919, 0.066811307448406,
12.999917667218810, 0.077028324905356,
13.999898870942264, 0.087838615357362,
14.999877545307610, 0.099219668505353,
15.999853562709818, 0.111149827929432,
16.999826800385591, 0.123608258698829,
17.999797140229713, 0.136574916210506,
18.999764468618345, 0.150030516209793,
19.999728676239037, 0.163956505948230};
ap_fixed<30,8,AP_RND_CONV,AP_SAT> g[2][20]={ 0.295173465193610, 1.16571436196475, 2.58979392352947, 4.54641140982271, 7.01536269810910, 9.97721006504063, 13.4132531149660, 17.3055008110112, 21.6366445671002, 26.3900323606712, 31.5496438273702, 37.1000663004737, 43.0264717592035, 49.3145946514563, 55.9507105577808, 62.9216156646895, 70.2146070166061, 77.8174635169120, 85.7184276496769, 93.9061878947356,
0, 0.295173465193610, 1.71925302675833, 3.67587051305157, 6.14482180133796, 9.10666916826949, 12.5427122181949, 16.4349599142401, 20.7661036703291, 25.5194914639001, 30.6791029305990, 36.2295254037026, 42.1559308624323, 48.4440537546851, 55.0801696610096, 62.0510747679183, 69.3440661198349, 76.9469226201408, 84.8478867529057, 93.0356469979644};
//double g[2][20];
int i;
int j;
ap_fixed<20,2,AP_RND_CONV,AP_SAT> Umax=0.8;
ap_fixed<20,2,AP_RND_CONV,AP_SAT> Umin=-0.8;
d_t_state SxDx[20];
d_t_b b[4];
d_t_G G[2];
d_t_state Ep[20];
// double UU[2]={0.0,0.0};
b[0]=u_in - Umax;
b[1]=u_in - Umax;
b[2]=Umin-u_in ;
b[3]=Umin-u_in ;
//printf("b[0]=%lf\n",b[0].to_double());
//printf("b[2]=%lf\n",b[2].to_double());
mpc_pso_label3:for( i=0;i<20;i++)
{
SxDx[i]=Sx[i][0]*dx1_in+Sx[i][1]*dx2_in;
//printf("SxDx[%d]=%lf\n",i,SxDx[i].to_double());
}
mpc_pso_label11:for( i=0;i<20;i++)
{
Ep[i]=ref_in-SxDx[i]-y_in;
}
for(i=0;i<2;i++)
{
d_t_state sum=0.0;
for(j=0;j<20;j++)
sum+=g[i][j]*Ep[j];
//G[i]=10000000000*sum;
G[i]=sum;
//printf("G[%d]=%lf\n",i,G[i].to_double());
}
duu=pso(G,b);
//write_result_aa(duu.to_double());
//duu=duu+u_in;
//printf("duu=%lf\n",duu.to_double());
return duu;
}
