void DefaultObserver::get_observed_state(const double *prev_measurement, const double* prev_action,
const double *current_measurement, const int cycle_ctr,
double *observed_state)
{
__ss.str("");
for (int i=0; i<__observed_state_dim; i++) {
observed_state[i] = current_measurement[i];
__ss << observed_state[i] << " ";
}
if (__verbose)
IOUT("Observation: " << __ss.str());
}
static void out(register cell xval, stack wam)
{ register term xref;
static char ibuf[MAX1];
FDEREF(xval);
if(g.stop-g.sbuf>(bp_long)max.SBUF-MAX1)
{ warnmes("string buffer (-i option) exceeded or infinite term"); return; }
if(VAR(xval))
{
/* obsolete
ASSERT2((void*)g.shared[BBoardStk].base<(void*)htable &&
(void*)htable<(void*)wam[HeapStk].base, xval);
*/
VOUT(HeapStk,COUT('x'))
BOUT(COUT('b'))
TVOUT(htable,max.DICT*3*sizeof(cell),COUT('h'))
MVOUT(COUT('m'));
}
else
{
if(INTEGER(xval))
{IOUT(OUTPUT_INT(xval));}
else
{
if(!GETARITY(xval))
{SOUT(NAME(xval));}
/* operators can be handled here easily
else if(g.DIF==xval)
{
out(xref+1,wam),
SOUT(NAME(s));
out(xref+2,wam);
}
*/
else if IS_LIST(xval)
{
COUT('[');
out((cell)(++xref),wam);
++xref;
FDEREF(T2C(xref));
while(IS_LIST(xval))
{
COUT(',');
out((cell)(++xref),wam);
++xref;
FDEREF(T2C(xref));
}
if(g.NIL!=xval)
{
COUT('|');
out((cell)xref,wam);
}
COUT(']');
}
else if (BP_FLOAT(xval))
{
FLOAT_OUT(ints_to_double(
(half)(xref[1]),
(half)(xref[2]),
(half)(xref[3])));
}
else
{ register no i;
SOUT(NAME(xval));
COUT('(');
for (i=1; i<GETARITY(xval); i++)
{
out(xref[i],wam);
COUT(',');
}
out((cell)(xref+i),wam);
COUT(')');
}
}
}
bool JoystickController::init(const int observed_state_dim, const int action_dim, double deltat, const char *fname, const char* chapter)
{
joydev = "/dev/input/js1";
rumbdev = "/dev/input/event7";
udim = action_dim;
odim = observed_state_dim;
xwork = SetDef();
fail_controller = 0;
fail_controller_name = "";
fail_controller_fname = fname;
fail_controller_active = false;
for (int i=0; i<MAX_CONTROLLER; i++) {
aux_controller[i] = 0;
aux_controller_name[i] = "";
aux_controller_fname[i] = fname;
aux_controller_button[i] = i;
aux_controller_active[i] = false;
}
if (!read_options(fname, chapter==0 ? "Controller" : chapter)) {
EOUT("in reading options.");
return false;
}
if (fail_controller_name!="") {
fail_controller = ControllerFactory::getTheControllerFactory()->create(fail_controller_name.c_str());
if (fail_controller == 0) {
EOUT ("No implementation found for Controller (" << fail_controller_name << ")!");
return false;
}
if (!fail_controller->init(observed_state_dim,
action_dim,
deltat,
fail_controller_fname.c_str())) {
EOUT("Can not init fail_controller");
return false;
}
}
for (int i=0; i<MAX_CONTROLLER; i++) {
if (aux_controller_name[i]!="") {
aux_controller[i] = ControllerFactory::getTheControllerFactory()->create(aux_controller_name[i].c_str());
if (aux_controller[i] == 0) {
EOUT ("No implementation found for Controller (" << aux_controller_name[i] << ")!");
return false;
}
if (!aux_controller[i]->init(observed_state_dim,
action_dim,
deltat,
aux_controller_fname[i].c_str())) {
EOUT("Can not init aux_controller" << i+1);
return false;
}
IOUT("Inited aux_controller" << i+1 << " " << aux_controller_name[i]);
}
}
joy = 0;
try {
joy = new Joystick(joydev.c_str());
} catch (std::exception& e) {
joy = 0;
EOUT("No Joystick available ... on " << joydev << " : " << e.what());
return false;
}
rumb = new Rumble(rumbdev.c_str());
return true;
}
