int main(int argc, char* argv[]) {
double discountFactor;
unsigned int maxNbEvaluations;
char isTerminal = 0;
char keepingTree = 0;
int nbTimestep = -1;
unsigned int branchingFactor = 0;
#ifdef USE_SDL
char isDisplayed = 1;
char isFullscreen = 1;
char verbose = 0;
char resolution[255] = "640x480";
#else
char verbose = 1;
#endif
uniform_instance* instance = NULL;
state* crtState = NULL;
state* nextState = NULL;
double reward = 0.0;
action* optimalAction = NULL;
struct arg_dbl* g = arg_dbl1("g", "discountFactor", "<d>", "The discount factor for the problem");
struct arg_int* n = arg_int1("n", "nbEvaluations", "<n>", "The number of evaluations");
struct arg_int* s = arg_int0("s", "nbtimestep", "<n>", "The number of timestep");
struct arg_int* b = arg_int0("b", "branchingFactor", "<n>", "The branching factor of the problem");
struct arg_lit* k = arg_lit0("k", NULL, "Keep the subtree");
struct arg_str* i = arg_str0(NULL, "state", "<s>", "The initial state to use");
#ifdef USE_SDL
struct arg_lit* d = arg_lit0("d", NULL, "Display the viewer");
struct arg_lit* f = arg_lit0("f", NULL, "Fullscreen");
struct arg_lit* v = arg_lit0("v", NULL, "Verbose");
struct arg_str* r = arg_str0(NULL, "resolution", "<s>", "The resolution of the display window");
void* argtable[11];
int nbArgs = 10;
#else
void* argtable[7];
int nbArgs = 6;
#endif
struct arg_end* end = arg_end(nbArgs+1);
int nerrors = 0;
s->ival[0] = -1;
b->ival[0] = 0;
argtable[0] = g; argtable[1] = n; argtable[2] = s; argtable[3] = k; argtable[4] = b; argtable[5] = i;
#ifdef USE_SDL
argtable[6] = d;
argtable[7] = f;
argtable[8] = v;
argtable[9] = r;
#endif
argtable[nbArgs] = end;
if(arg_nullcheck(argtable) != 0) {
printf("error: insufficient memory\n");
arg_freetable(argtable, nbArgs+1);
return EXIT_FAILURE;
}
nerrors = arg_parse(argc, argv, argtable);
if(nerrors > 0) {
printf("%s:", argv[0]);
arg_print_syntax(stdout, argtable, "\n");
arg_print_errors(stdout, end, argv[0]);
arg_freetable(argtable, nbArgs+1);
return EXIT_FAILURE;
}
discountFactor = g->dval[0];
maxNbEvaluations = n->ival[0];
branchingFactor = b->ival[0];
initGenerativeModelParameters();
if(branchingFactor)
K = branchingFactor;
initGenerativeModel();
if(i->count)
crtState = makeState(i->sval[0]);
else
crtState = initState();
#if USE_SDL
isDisplayed = d->count;
isFullscreen = f->count;
verbose = v->count;
if(r->count)
strcpy(resolution, r->sval[0]);
#endif
nbTimestep = s->ival[0];
keepingTree = k->count;
arg_freetable(argtable, nbArgs+1);
instance = uniform_initInstance(crtState, discountFactor);
#ifdef USE_SDL
if(isDisplayed) {
if(initViewer(resolution, uniform_drawingProcedure, isFullscreen) == -1)
return EXIT_FAILURE;
viewer(crtState, NULL, 0.0, instance);
}
#endif
do {
if(keepingTree)
uniform_keepSubtree(instance);
else
uniform_resetInstance(instance, crtState);
optimalAction = uniform_planning(instance, maxNbEvaluations);
isTerminal = nextStateReward(crtState, optimalAction, &nextState, &reward);
freeState(crtState);
crtState = nextState;
if(verbose) {
printState(crtState);
printAction(optimalAction);
printf("reward: %f depth: %u\n", reward, uniform_getMaxDepth(instance));
}
#ifdef USE_SDL
} while(!isTerminal && (nbTimestep < 0 || --nbTimestep) && !viewer(crtState, optimalAction, reward, instance));
#else
} while(!isTerminal && (nbTimestep < 0 || --nbTimestep));
int main(int argc, char **argv)
{
struct arg_dbl *a = arg_dbl1(NULL,NULL,"a","a is <double>");
struct arg_dbl *b = arg_dbl0(NULL,NULL,"b","b is <double>");
struct arg_dbl *c = arg_dbl0(NULL,NULL,"c","c is <double>");
struct arg_dbl *d = arg_dbln("dD","delta","<double>",0,3,"d can occur 0..3 times");
struct arg_dbl *e = arg_dbl0(NULL,"eps,eqn","<double>","eps is optional");
struct arg_lit *help = arg_lit0(NULL,"help","print this help and exit");
struct arg_end *end = arg_end(20);
void* argtable[] = {a,b,c,d,e,help,end};
int nerrors;
int exitcode=0;
int i;
double sum=0;
/*
printf("a=%p\n",a);
printf("b=%p\n",b);
printf("c=%p\n",c);
printf("d=%p\n",d);
printf("e=%p\n",e);
printf("help=%p\n",help);
printf("end=%p\n",end);
printf("argtable=%p\n",argtable);
*/
/* print the command line */
for (i=0; i<argc; i++)
printf("%s ",argv[i]);
printf("\n");
/* verify the argtable[] entries were allocated sucessfully */
if (arg_nullcheck(argtable) != 0)
{
/* NULL entries were detected, some allocations must have failed */
printf("%s: insufficient memory\n",argv[0]);
exitcode=1;
goto exit;
}
/* Parse the command line as defined by argtable[] */
nerrors = arg_parse(argc,argv,argtable);
/* special case: '--help' takes precedence over error reporting */
if (help->count > 0)
{
printf("Usage: %s ", argv[0]);
arg_print_syntax(stdout,argtable,"\n");
arg_print_glossary(stdout,argtable," %-25s %s\n");
exitcode=0;
goto exit;
}
/* If the parser returned any errors then display them and exit */
if (nerrors > 0)
{
/* Display the error details contained in the arg_end struct.*/
arg_print_errors(stdout,end,argv[0]);
exitcode=1;
goto exit;
}
/* parsing complete, verify all args sum to zero */
for (i=0; i<a->count; i++)
{
printf("a[%d]=%f\n",i,a->dval[i]);
sum += a->dval[i];
}
for (i=0; i<b->count; i++)
{
printf("b[%d]=%f\n",i,b->dval[i]);
sum += b->dval[i];
}
for (i=0; i<c->count; i++)
{
printf("c[%d]=%f\n",i,c->dval[i]);
sum += c->dval[i];
}
for (i=0; i<d->count; i++)
{
printf("d[%d]=%f\n",i,d->dval[i]);
sum += d->dval[i];
}
for (i=0; i<e->count; i++)
{
printf("e[%d]=%f\n",i,e->dval[i]);
sum += e->dval[i];
}
printf("sum=%f\n",sum);
if (sum<-1.0e-6 || sum>1.0e-6)
{
printf("%s: error - sum=%f is non-zero\n",argv[0],sum);
exitcode=1;
goto exit;
}
exit:
/* deallocate each non-null entry in argtable[] */
arg_freetable(argtable,sizeof(argtable)/sizeof(argtable[0]));
printf("%s: exitcode=%d\n\n",argv[0],exitcode);
/* close stdin and stdout to stop memcheck whining about their memory not being freed */
fclose(stdin);
fclose(stdout);
return exitcode;
}
struct Args parse_arguments(int argc, char *argv[]) {
struct Args args;
args.mass = 0.0;
args.diam = 0.0;
args.cd = 0.0;
args.wind = 0.0;
args.run_simulation = 0;
// Simulation options
struct arg_dbl *mass = arg_dbl1("m", "mass", "<float>",
"Mass of rocket without motor (g)");
struct arg_dbl *diam = arg_dbl1("d", "diam", "<float>",
"Diameter of rocket (mm)");
struct arg_dbl *cd = arg_dbl1("c", "cd", "<float>",
"Drag coefficient of rocket");
struct arg_dbl *wind = arg_dbl1("w", "wind", "<float>",
"Wind speed (km/h)");
struct arg_str *motor = arg_str1("M", "motor", "<string>",
"Motor (use '-l' or '--list_motors' to see list");
// Help options
struct arg_lit *help = arg_lit0("h", "help", "Printing help");
struct arg_lit *list_motors = arg_lit0("l", "list_motors", "List motors");
struct arg_end *end = arg_end(20);
// Prepare argtable
void *argtable[] = {mass, diam, cd, wind, motor, help, list_motors, end};
const char *progname = "lawn_dart";
int nerrors;
// Verify the argtable[] entries were allocated sucessfully
if (arg_nullcheck(argtable) != 0) {
// NULL entries were detected, some allocations must have failed
printf("%s: insufficient memory\n",progname);
}
// Parse the command line as defined by argtable[]
nerrors = arg_parse(argc, argv, argtable);
// Check for --help
if (help->count > 0 || argc == 1) {
printf("Lawn Dart: A Model Rocket Flight Simulator\n\n");
printf("%s", progname);
arg_print_syntax(stdout, argtable,"\n");
puts("");
arg_print_glossary(stdout, argtable," %-25s %s\n");
puts("");
print_help();
}
else if (list_motors->count > 0) {
print_motor_list();
}
else {
// If all required options have been specified
if (!nerrors) {
// Get options from params
args.mass = mass->dval[0] / 1000.0;
args.diam = diam->dval[0] / 1000.0;
args.cd = cd->dval[0];
args.wind = wind->dval[0] / 3.6;
// Assert proper values
int all_params_ok = 1;
if (args.mass < 0.001 || args.mass > 1000.0) all_params_ok = 0;
if (args.diam < 0.001 || args.diam > 1.0) all_params_ok = 0;
if (args.cd < 0.0 || args.cd > 1.0) all_params_ok = 0;
if (args.wind < 0.0 || args.wind > 100.0) all_params_ok = 0;
// Confirm to run simulation
if (all_params_ok) {
args.run_simulation = 1;
}
}
else {
puts("--- Missing required parameters ---\n");
printf("%s", progname);
arg_print_syntax(stdout, argtable,"\n");
puts("");
arg_print_glossary(stdout, argtable," %-25s %s\n");
puts("");
print_help();
}
}
return args;
}
