basic_spaceship::basic_spaceship(phys_agent_specification const& spec, phys_system* system):
simple_rigid_body(spec, system),
m_t_cfg(new thruster_config< WorldDimensionality::dim2D >(thruster_presets::square_complete())),
m_t_system(m_t_cfg)
{
m_half_width = spec.spec_acc["size"].as< double >() * 0.5;
m_mass = spec.spec_acc["mass"].as< double >();
m_rotational_inertia = spec.spec_acc["rotational_inertia"].as< double >();
m_thruster_strength = spec.spec_acc["thruster_strength"].as< double >();
m_sensor_range = spec.spec_acc["sensor_range"].as< double >();
auto world = system->get_world();
b2BodyDef bd;
bd.type = b2_dynamicBody;
bd.position.Set(0.0f, 0.0f);
bd.angle = 0.0f;
auto body = world->CreateBody(&bd);
b2PolygonShape shape;
shape.SetAsBox(m_half_width, m_half_width);
b2FixtureDef fd;
fd.shape = &shape;
fd.density = 1.0f;
body->CreateFixture(&fd);
// Override mass and rotational inertia
// TODO: should be optional parameters, and if unspecified, left as auto b2d defaults
b2MassData md;
md.center = b2Vec2(0, 0);
md.mass = m_mass;
md.I = m_rotational_inertia;
body->SetMassData(&md);
set_body(body);
/* phys_sensor_defn sdef(SensorType::Fan);
sdef.body = body;
sdef.pos = b2Vec2(0, 0);
sdef.orientation = 0;
sdef.range = m_sensor_range;
sdef.type_specific = fan_sensor_data{ b2_pi / 3 };
m_front_sensor = create_sensor(sdef);
sdef.orientation = b2_pi;
m_rear_sensor = create_sensor(sdef);
sdef.orientation = b2_pi / 2;
m_left_sensor = create_sensor(sdef);
sdef.orientation = -b2_pi / 2;
m_right_sensor = create_sensor(sdef);
*/
phys_sensor_defn sdef(SensorType::Directional);
sdef.body = body;
sdef.pos = b2Vec2(0, 0);
sdef.orientation = 0;
sdef.range = m_sensor_range;
sdef.type_specific = directional_sensor_data{};
m_front_sensor = create_sensor(sdef);
sdef.orientation = b2_pi;
m_rear_sensor = create_sensor(sdef);
sdef.orientation = b2_pi / 2;
m_left_sensor = create_sensor(sdef);
sdef.orientation = -b2_pi / 2;
m_right_sensor = create_sensor(sdef);
m_collisions = 0;
m_damage = 0.0;
}
int main(int argc, char*argv[])
{
char *conf_file_name = NULL;
FILE *conf_file_pointer = NULL;
char line[LINE_MAX] = {'\0'};
char *tokens[TOKEN_MAX] = {NULL};
int count = 0;
sensor_create_params sensor_device = {NULL, NULL, NULL};
sensor_handle sensor = NULL;
LOG_DEBUG(("DEBUG: Number of arguments are: %d\n", argc));
if(argc<3)
{
LOG_ERROR(("ERROR: Please provide configuration file name(s)\n"));
return (0);
}
conf_file_name = argv[1];
LOG_DEBUG(("DEBUG: Configuration File Name is %s\n", conf_file_name));
conf_file_pointer = fopen(conf_file_name, "r");
if(!conf_file_pointer)
{
LOG_ERROR(("ERROR: Error in opening configuration file\n"));
return (0);
}
/* Read line */
if(fgets(line, LINE_MAX, conf_file_pointer) == NULL)
{
LOG_DEBUG(("DEBUG: Cleanup and return\n"));
fclose(conf_file_pointer);
LOG_ERROR(("ERROR: Wrong configuration file\n"));
return (0);
}
str_tokenize(line, ":\n\r", tokens, &count);
if(count<2)
{
LOG_ERROR(("ERROR: Wrong configuration file\n"));
fclose(conf_file_pointer);
return (0);
}
str_copy(&sensor_device.gateway_ip_address, tokens[0]);
str_copy(&sensor_device.gateway_port_no, tokens[1]);
LOG_DEBUG(("DEBUG: Gateway IP Address: %s\n", sensor_device.gateway_ip_address));
LOG_DEBUG(("DEBUG: Gateway Port No: %s\n", sensor_device.gateway_port_no));
/* Read line */
if (fgets(line, LINE_MAX, conf_file_pointer) == NULL)
{
LOG_DEBUG(("DEBUG: Cleanup and return\n"));
fclose(conf_file_pointer);
LOG_ERROR(("ERROR: Wrong configuration file\n"));
return (0);
}
str_tokenize(line, ":\r\n", tokens, &count);
if (count < 4)
{
LOG_ERROR(("ERROR: Wrong configuration file\n"));
fclose(conf_file_pointer);
return (0);
}
if(strcmp("sensor", tokens[0])!=0)
{
LOG_ERROR(("ERROR: Wrong configuration file\n"));
fclose(conf_file_pointer);
return (0);
}
str_copy(&sensor_device.sensor_ip_address, tokens[1]);
str_copy(&sensor_device.sensor_port_no, tokens[2]);
str_copy(&sensor_device.sensor_area_id, tokens[3]);
sensor_device.sensor_value_file_name = argv[2];
LOG_DEBUG(("DEBUG: sensor ip_address: %s\n", sensor_device.sensor_ip_address));
LOG_DEBUG(("DEBUG: sensor port_no: %s\n", sensor_device.sensor_port_no));
LOG_DEBUG(("DEBUG: sensor area_id: %s\n", sensor_device.sensor_area_id));
int return_value = create_sensor(&sensor, &sensor_device);
if(return_value != E_SUCCESS)
{
LOG_ERROR(("ERROR: Unable to create sensor\n"));
free(sensor_device.gateway_ip_address);
free(sensor_device.gateway_port_no);
free(sensor_device.sensor_area_id);
free(sensor_device.sensor_ip_address);
free(sensor_device.sensor_port_no);
fclose(conf_file_pointer);
return (0);
}
LOG_ERROR(("Sensor started successfully\n"));
char choice;
printf("Press enter to exit\n");
scanf("%c", &choice);
delete_sensor(sensor);
free(sensor_device.gateway_ip_address);
free(sensor_device.gateway_port_no);
free(sensor_device.sensor_area_id);
free(sensor_device.sensor_ip_address);
free(sensor_device.sensor_port_no);
fclose(conf_file_pointer);
logger_close();
return (0);
}
int main() {
int k = 1, err = 10, iter = 0;
float ratio = 0;
int A[4][5] = {
{ 1, 1, 1, 1, 1},
{ 1, 0, 0, 0, 1},
{ 1, 1, 1, 1, 1},
{ 1, 0, 0, 0, 1} };
int C[4][5] = {
{ 1, 1, 1, 1, 1},
{ 1, 0, 0, 0, 0},
{ 1, 0, 0, 0, 0},
{ 1, 1, 1, 1, 1} };
int L[4][5];
int last_used_matrix[4][5] = {
{ -1, -1, -1, -1, -1},
{ -1, -1, -1, -1, -1},
{ -1, -1, -1, -1, -1},
{ -1, -1, -1, -1, -1} };
t_neuron d_neuron = { .potential = 0, .threshold = 0.5, .output = 0 };
t_synapse synapses[20];
// Création du réseau
for (int i = 0; i < 20; i++) {
synapses[i].source = create_sensor();
synapses[i].target = &d_neuron;
synapses[i].weight = 0;
}
// Phase d'apprentissage
do {
feed_neural_network(&synapses, A);
learning_phase(&synapses, EPSILON, 1, 0);
feed_neural_network(&synapses, C);
learning_phase(&synapses, EPSILON, 0, 1);
feed_neural_network(&synapses, A);
calculate_potential(&synapses, &d_neuron);
if (d_neuron.output != 1)
err++;
feed_neural_network(&synapses, C);
calculate_potential(&synapses, &d_neuron);
if (d_neuron.output != 0)
err++;
iter++;
ratio = (float) iter / (float) err;
//printf("iter: %d && err: %d\n", iter, err);
//printf("ratio:%f\n", ratio);
} while ( ratio < 0.8);
// Phase de test pour A
while (k < 20) {
int i = 0;
int success = 0;
while (i < 100000) {
while (true) {
// Generer copie d'une lettre
lcpy(&L, &A);
// Generer du bruit sur cette copie
generate_noise(&L, k);
//print_letter(L);
//printf("\n");
if (!matrices_are_equal(L, last_used_matrix)) {
lcpy(&last_used_matrix, &L);
break;
}
}
feed_neural_network(&synapses, L);
calculate_potential(&synapses, &d_neuron);
if (d_neuron.output == 1)
success++;
i++;
}
success /= 1000;
printf("%d%% de succes sur %d essais avec %d%% de bruit.\n", success, i, k*5);
k++;
}
// Phase de test pour C
k = 1;
while (k < 20) {
int i = 0;
int success = 0;
while (i < 100000) {
while (true) {
// Generer copie d'une lettre
lcpy(&L, &C);
// Generer du bruit sur cette copie
generate_noise(&L, k);
if (!matrices_are_equal(L, last_used_matrix)) {
lcpy(&last_used_matrix, &L);
break;
}
}
feed_neural_network(&synapses, L);
calculate_potential(&synapses, &d_neuron);
if (d_neuron.output == 0)
success++;
i++;
}
success /= 1000;
printf("%d%% de succes sur %d essais avec %d%% de bruit.\n", success, i, k*5);
k++;
}
}
