task autonomous()
{
repat();
stopper();
repat();
stopper();
repat();
stopper();
repat();
wait1Msec(4000);
shoot(0);
intaked(0);
}
void runCloseTest(bool abortive) {
Server server;
int sock = createConnectedSocket(server.port());
std::thread stopper([&server, abortive] {
std::this_thread::sleep_for(std::chrono::milliseconds(200));
server.stop(abortive);
server.join();
});
char c;
int r = read(sock, &c, 1);
if (abortive) {
int e = errno;
EXPECT_EQ(-1, r);
EXPECT_EQ(ECONNRESET, e);
} else {
EXPECT_EQ(0, r);
}
close(sock);
stopper.join();
EXPECT_EQ(0, server.closeClients(false)); // closed by server when it exited
}
task autonomous()
{
driver(127);
wait1Msec(8000);
driver(0);
intaked(-127);
wait1Msec(4000);
stopper();
}
int main(int argc, char** argv)
{
if(argc < 2)
{
std::cout << "Podaj nazwe pliku z danymi proby jako argument" << std::endl;
return 1;
}
Options opt(argv[1]);
double mVariance = opt.mutationVariance();
double mutationFactor = opt.mutationFactor();
double crossFactor = opt.crossFactor();
double goalValue = opt.goalValue();
int popSize = opt.populationSize();
int dims = opt.dims();
bool runStopThread = opt.stopThread();
MultiDimGauss gauss = opt.getFF();
if(dims == 2)
{
std::cout << "Generating gauss.dat - grid data file for gnuplot with"
<< " fitness function values..." << std::endl;
gauss.saveAsGridData("presentation/data/gauss.dat", 3, 0.05);
std::cout << "Grid data file generated." << std::endl << std::endl;
}
else
{
std::cout << "Grid data generating skiped becouse dims != 2 (dims = "
<< dims << ")." << std::endl;
}
FunctionValue goal(goalValue, gauss);
evol::SubjectPtr prototype((evol::Subject*) new MultiDimPoint(dims, gauss, mVariance));
MyPopulation pop((FitnessFunction&) goal, prototype, popSize, mutationFactor, crossFactor);
pop.registerObserver( NObserverPtr( new PodgladPostepu() ) );
if(runStopThread)
{
Stopper stopper(pop);
boost::thread stThread(stopper);
std::cout << "Type 'stop' in console to stop evaluation after current generation" << std::endl;
}
pop.start();
return 0;
}
