Particle Sensor::getMeasurement(const Particles &input_measurement)
{
//
auto __input = input_measurement.getParticles();
//
float len = __input.size();
//
auto it = __input.begin();
//
Particle vals = Particle(_size);
//
std::vector<float> __vals(_size);
//
for(;it<__input.end();it++)
{
//
auto in = it->getStates().begin();
//
auto vl = __vals.begin();
//
for(;in<it->getStates().end();in++,vl++)
{
//
*vl+=(*in)*(it->getWeight());
}
}
//
vals.setStates(__vals);
//
return vals;
}
const RegionState* RegionAutomaton::findState(const Region& region) const {
RegionState query(region);
StateSet::const_iterator it = getStates().find(&query);
if (it == getStates().end())
return NULL;
return *it;
}
Particle ExampleSystem::getState(const Particles &input_state)
{
//
auto __input = input_state.getParticles();
//
auto it = __input.begin();
//
Particle vals = Particle(_size);
//std::cout<<"size:"<<_size<<std::endl;
//
std::vector<float> __vals(_size);
//
float len = __input.size();
//
for(;it<__input.end();it++)
{
//
auto in = it->getStates().begin();
//
auto vl = __vals.begin();
//
for(;in<it->getStates().end();in++,vl++)
{
//
//std::cout<<*vl<<std::endl;
*vl+=*in*(it->getWeight());
}
}
//
vals.setStates(__vals);
//
return vals;
}
TreeOutput DecisionTree::decide(std::vector<std::pair<States, bool>> states){
//Check if current node is not a leaf
if (!m_currentNode->getIsLeaf()){
bool stateCondition = NULL;
if (m_currentNode->getStateID() != States::DEFAULTSTATE){
stateCondition = getStates(states, m_currentNode->getStateID());
}
bool leftCondition = NULL;
if (m_currentNode->getLeftNode()->getCondition() != NULL){
leftCondition = m_currentNode->getLeftNode()->getCondition();
}
bool rightCondition = NULL;
if (m_currentNode->getRightNode()->getCondition() != NULL){
rightCondition = m_currentNode->getRightNode()->getCondition();
}
if (stateCondition == leftCondition){
m_currentNode = m_currentNode->getLeftNode();
return decide(states);
}
else if (stateCondition == rightCondition){
m_currentNode = m_currentNode->getRightNode();
return decide(states);
}
else {
}
}
TreeOutput target = m_currentNode->getTarget();
m_currentNode = m_rootNode;
return target;
}
void TuringMachine::operator()(char a){
int transitionsSize = strlen(getCurrent().getTransitions());
char temp;
bool done = false;
for (int i = 0; i < transitionsSize && !done; i += 4){
temp = getCurrent().getTransitions()[i];
done = false;
if (getCurrent().getTransitions()[i] == a){
write(head, getCurrent().getTransitions()[i + 3]);
move(getCurrent().getTransitions()[i + 2]);
for (int j = 0; j < getSize() && !done; j++)
if (getStates()[j].getName() == getCurrent().getTransitions()[i + 1]){
setCurrent(getStates()[j]);
done = true;
}
}
}
}
void Player::moveBackward(){
if (getStates(States::HEALTH)){
m_position.x -= m_speed* m_deltaTime *m_viewDirection.x;
m_position.y -= m_speed* m_deltaTime *m_viewDirection.y;
m_position.z -= m_speed* m_deltaTime *m_viewDirection.z;
//std::cout << "Player moveBwd" << std::endl;
notify(*this, Object_Event::OBJECT_MOVED);
}
}
void Player::moveForward(){
if (getStates(States::HEALTH)){
m_position.x += m_speed* m_deltaTime *m_viewDirection.x;
m_position.y += m_speed* m_deltaTime *m_viewDirection.y;
m_position.z += m_speed* m_deltaTime *m_viewDirection.z;
//std::cout << "Player moveFwd to: x:" << m_position.x << "; z: " << m_position.z << std::endl;
notify(*this, Object_Event::OBJECT_MOVED);
}
}
void Player::turnRight(){
if (getStates(States::HEALTH)){
m_phi += m_speedTurn* m_deltaTime;
if (m_phi < 0) m_phi += 360.0;
else if (m_phi > 360) m_phi -= 360;
rotateView(m_phi, m_theta);
notify(*this, Object_Event::OBJECT_ROTATED);
}
}
void Player::moveRight(){
if (getStates(States::HEALTH)){
glm::vec3 directionOrtho = glm::cross(glm::vec3(m_viewDirection), glm::vec3(0, 1, 0));
m_position.x += m_speed* m_deltaTime*directionOrtho.x;
m_position.y += m_speed* m_deltaTime*directionOrtho.y;
m_position.z += m_speed* m_deltaTime*directionOrtho.z;
//std::cout << "Player moveRight" << std::endl;
notify(*this, Object_Event::OBJECT_MOVED);
}
}
void Player::update(){
if (m_health == 0){
//std::cout << "Player: Died" << std::endl;
//TODO OBJECT_DIED, Weil "stopped" den Observervorgang bescheibt , wenn sich das Object nicht mehr bewegt
notify(*this, Object_Event::PLAYER_DIED);
notify(*this, Object_Event::OBJECT_STOPPED);
setStates(States::HEALTH, false);
}
if (getStates(States::HEALTH)){
//std::cout << "<<<<<<<< UpdateMethod <<<<<<<<" << std::endl;
updateStates();
//std::cout << "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" << std::endl;
}
if (m_i > 20){
m_i = 0;
notify(*this, Object_Event::OBJECT_STOPPED);
}
m_i++;
}
DFA::DFA(int _startState, int* _finalStates, int _countOfFinalStates,
std::map<int, std::map<char, int> > _table) {
int k = 0;
for (int i = 97; i <= 122; i++)
alphabet[k++] = (char) i;
for (int i = 48; i <= 57; i++)
alphabet[k++] = (char) i;
alphabet[k] = '\0';
countOfAlphabet = k;
table = _table;
countOfFinalStates = _countOfFinalStates;
countOfStates = getCountOfStates();
states = new int[countOfStates];
states = getStates();
finalStates = new int[countOfFinalStates];
std::sort(_finalStates, _finalStates + countOfFinalStates);
for (int i = 0; i < countOfFinalStates; i++)
finalStates[i] = _finalStates[i];
if (isValidState(_startState))
startState = _startState;
else
throw "Error: start state is not valid.";
}
QJsonObject copySelected(const Scenario_T& sm, QObject* parent)
{
auto selectedConstraints = selectedElements(getConstraints(sm));
auto selectedEvents = selectedElements(getEvents(sm));
auto selectedTimeNodes = selectedElements(getTimeNodes(sm));
auto selectedStates = selectedElements(getStates(sm));
for(const ConstraintModel* constraint : selectedConstraints)
{
auto start_it = find_if(selectedStates,
[&] (const StateModel* state) { return state->id() == constraint->startState();});
if(start_it == selectedStates.end())
{
selectedStates.push_back(&sm.state(constraint->startState()));
}
auto end_it = find_if(selectedStates,
[&] (const StateModel* state) { return state->id() == constraint->endState();});
if(end_it == selectedStates.end())
{
selectedStates.push_back(&sm.state(constraint->endState()));
}
}
for(const StateModel* state : selectedStates)
{
auto ev_it = find_if(selectedEvents,
[&] (const EventModel* event) { return state->eventId() == event->id(); });
if(ev_it == selectedEvents.end())
{
selectedEvents.push_back(&sm.event(state->eventId()));
}
// If the previous or next constraint is not here, we set it to null in a copy.
}
for(const EventModel* event : selectedEvents)
{
auto tn_it = find_if(selectedTimeNodes,
[&] (const TimeNodeModel* tn) { return tn->id() == event->timeNode(); });
if(tn_it == selectedTimeNodes.end())
{
selectedTimeNodes.push_back(&sm.timeNode(event->timeNode()));
}
// If some events aren't there, we set them to null in a copy.
}
std::vector<TimeNodeModel*> copiedTimeNodes;
copiedTimeNodes.reserve(selectedTimeNodes.size());
for(const auto& tn : selectedTimeNodes)
{
auto clone_tn = new TimeNodeModel(*tn, tn->id(), parent);
auto events = clone_tn->events();
for(const auto& event : events)
{
auto absent = none_of(selectedEvents,
[&] (const EventModel* ev) { return ev->id() == event; });
if(absent)
clone_tn->removeEvent(event);
}
copiedTimeNodes.push_back(clone_tn);
}
std::vector<EventModel*> copiedEvents;
copiedEvents.reserve(selectedEvents.size());
for(const auto& ev : selectedEvents)
{
auto clone_ev = new EventModel(*ev, ev->id(), parent);
auto states = clone_ev->states();
for(const auto& state : states)
{
auto absent = none_of(selectedStates,
[&] (const StateModel* st) { return st->id() == state; });
if(absent)
clone_ev->removeState(state);
}
copiedEvents.push_back(clone_ev);
}
std::vector<StateModel*> copiedStates;
copiedStates.reserve(selectedStates.size());
auto& stack = iscore::IDocument::documentContext(*parent).commandStack;
for(const StateModel* st : selectedStates)
{
auto clone_st = new StateModel(*st, st->id(), stack, parent);
// NOTE : we must not serialize the state with their previous / next constraint
// since they will change once pasted and cause crash at the end of the ctor
// of StateModel. They are saved in the previous / next state of constraint anyway.
SetNoPreviousConstraint(*clone_st);
SetNoNextConstraint(*clone_st);
copiedStates.push_back(clone_st);
}
QJsonObject base;
base["Constraints"] = arrayToJson(selectedConstraints);
base["Events"] = arrayToJson(copiedEvents);
base["TimeNodes"] = arrayToJson(copiedTimeNodes);
base["States"] = arrayToJson(copiedStates);
for(auto elt : copiedTimeNodes)
delete elt;
for(auto elt : copiedEvents)
delete elt;
for(auto elt : copiedStates)
delete elt;
return base;
}
int main(void)
{
//Initialization routines
initIO();
setPort(&PORTB);
sendColor(LEDCLK,LEDDAT,colors[0]);
sei();
initAD();
initTimer();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
//Set up timing ring buffers
for(uint8_t i = 0; i<6; i++){
timeBuf[i]=0;
}
mode = running;
while(1)
{
if(mode==sleep){
disAD();
//
DDRB &= ~IR;//Set direction in
PORTB &= ~IR;//Set pin tristated
sendColor(LEDCLK, LEDDAT, dark);
PORTA |= POWER;//Set LED and Mic power pin high (off)
wake = 0;
while(!wake){
cli();
uint32_t diff = timer-powerDownTimer;
sei();
if(diff>500){
sleep_cpu();
wake = 1;
}
}
holdoff=500;
PORTA &= ~POWER;
uint8_t done = 0;
cli();
uint32_t startTime = timer;
sei();
while(!done){
cli();
uint32_t time = timer;
sei();
if(time-startTime>250){
done=1;
}
}
done = 0;
cli();
startTime = timer;
sei();
DDRB |= IR;//Set direction out
PORTB |= IR;//Set pin on
sendColor(LEDCLK, LEDDAT, transmitColor);
while(!done){
cli();
uint32_t time = timer;
sei();
if(time-startTime>500){
done=1;
}
}
enAD();
powerDownTimer = timer;
sleepTimer = timer;
mode = running;
}else if(mode==running){
if(click){
uint8_t neighborStates[6];
getStates(neighborStates);
uint8_t clickColor[] = {bright(colors[state][0]),bright(colors[state][1]),bright(colors[state][2])};
sendColor(LEDCLK, LEDDAT, clickColor);
uint8_t numOn = 0;
sync = 3;//request sync pulse be sent at next possible opportunity (set to 4 for logistical reasons)
for (uint8_t i = 0; i< 6; i++)
{
//at the moments specific state detection is a bit iffy,
//so mapping any received state>1 to a state of 1 works for now
if(neighborStates[i]>0){
numOn++;
}
}
//Logic for what to do to the state based on number of on neighbors
if(state == 0) {
if(birthRules[numOn]) {
state=1;
}
}
else {
if(deathRules[numOn]) {
state = (state + 1) % numStates;
}
}
//End logic
//prevent another click from being detected for a bit
holdoff = 100;
click = 0;
}
//periodically update LED once every 0x3F = 64 ms (fast enough to feel responsive)
cli();
if(!(timer & 0x3F)){
if(timer!=lastTime){
lastTime=timer;
cycleTimer++;
cycleTimer %= CYCLE_TIME;
uint8_t outColor[3] = {(colors[state][0]*breatheCycle[cycleTimer])/255,
(colors[state][1]*breatheCycle[cycleTimer])/255,
(colors[state][2]*breatheCycle[cycleTimer])/255};
sendColor(LEDCLK, LEDDAT, outColor);
}
}
sei();
//check if we enter sleep mode
cli();//temporarilly prevent interrupts to protect timer
if(timer-sleepTimer>1000*TIMEOUT){
mode = sleep;
}
sei();
}else if(mode==recieving){
//disable A/D
disAD();
//set photo transistor interrupt to only trigger on specific direction
setDir(progDir);
//set recieving color
sendColor(LEDCLK, LEDDAT, recieveColor);
//record time entering the mode for timeout
cli();
uint32_t modeStart = timer;
sei();
while(mode==recieving){//stay in this mode until instructed to leave or timeout
cli();
uint32_t diff = timer-modeStart;
sei();
if(diff>3000){//been in mode 1 for more than 5 seconds
mode = transmitting;
}
}
}else if(mode==transmitting){
//disable Phototransistor Interrupt
setDirNone();
//set LED to output
DDRB |= IR;//Set direction out
//send 5 pulses
uint32_t startTime = timer;
if(bitsRcvd>=8 && comBuf[0]!=seqNum){
for(int i=0; i<5; i++){
while(timer==startTime){
PORTB &= ~IR;
}
startTime = timer;
while(timer==startTime){
PORTB |= IR;
}
startTime = timer;
}
parseBuffer();
}else{
bitsRcvd = 0;
}
startTime = timer;
sendColor(LEDCLK, LEDDAT, transmitColor);//update color while waiting
while(timer<startTime+20);//pause for mode change
startTime = timer;
uint16_t timeDiff;
uint16_t bitNum;
while(bitsRcvd>0){
timeDiff = (timer-startTime)/PULSE_WIDTH;
bitNum = timeDiff/2;
if(timeDiff%2==0){//first half
if(comBuf[bitNum/8]&(1<<bitNum%8)){//bit high
PORTB &= ~IR;
}else{//bit low
PORTB |= IR;
}
}else{//second half
if(comBuf[bitNum/8]&(1<<bitNum%8)){//bit high
PORTB |= IR;
}else{//bit low
PORTB &= ~IR;
}
}
if(bitNum>=bitsRcvd){
bitsRcvd = 0;
}
}
//while(timer<startTime+2000);//pause for effect
//done transmitting
//re-enable A/D
enAD();
//re-enable all phototransistors
setDirAll();
state = 0;
mode = running;
}
}
}