bool Super_Dumb_Script::load_constructor_files()
{
search_path = file_directory + file_constructor_pattern;
find_handle = FindFirstFile(search_path.c_str(), &find_data);
if(find_handle == INVALID_HANDLE_VALUE)
{
return FALSE;
}
do
{
std::string file_path = file_directory + find_data.cFileName;
std::ifstream in(file_path.c_str());
if(in)
{
variable_map temp_variable = load_variables(file_path);
if(temp_variable.size() > 0)
{
storage.insert(std::pair<std::string, variable_map*>(find_data.cFileName, new variable_map(temp_variable)));
}
}
} while (FindNextFile(find_handle, &find_data) > 0);
if(GetLastError() != ERROR_NO_MORE_FILES)
{
return FALSE;
}
return TRUE;
}
BOOL Cvariable::OnInitDialog()
{
CDialog::OnInitDialog();
load_variables( m_hWnd, 1, 0, localvars);
((CButton *) GetDlgItem(IDC_VTYPE))->SetCheck(1);
RefreshVarpicker();
return TRUE;
}
double
carmen_librlpid_compute_effort(double current_curvature, double desired_curvature, double delta_t)
{
static bool first_time = true;
static rl_data data;
if(first_time)
{
data.params = read_parameters("rlpid_params.txt");
data.pv = initializate_variables(&data); // Step 1
first_time = false;
}else // So começa a rodar a partir da segunda iteração
{
calculate_error_old(desired_curvature, current_curvature, &data); // Step 6 ==> CALCULA ERRO
update_neetwork_hidden_unit_phi_future(&data);// ==> UPDATE PHI
data.future_critic_value = update_critic_value_future(&data); //Step 7 ==> UPDATE V
calculate_td_error(&data); //Step 8 ==> CALCULA ERRO TD
load_variables(&data);
weights_update(&data); //Step 9 ==> UPDATE PESOS
center_vector_update(&data); //Step 10 ==> UPDATE CENTRO
width_scalar_update(&data); //Step 10 ==> UPDATE WIDTH SCALAR
}
//imprime_os_pesos_agora++;
load_variables(&data);
calculate_error_old(desired_curvature, current_curvature, &data); // Step 2 ==> CALCULA ERRO
external_reinforcement_signal(&data); //Step 3 ==> RECOMPENSA
update_neetwork_hidden_unit_phi(&data);// ==> UPDATE PHI
update_recomended_pid_output(&data); //Step 4 ==> UPDATE K`
data.variables.critic_value = update_critic_value_output(&data); //Step 4 ==> UPDATE V
update_pid_params(&data); //Step 5 ==> UPDATE K
update_plant_input_u(current_curvature, desired_curvature, delta_t, &data); //Step 5 ==> UPDATE U
store_variables(&data);
printf("u%lf e %f kp %f ki %f kd %f\n", data.variables.U[0], data.variables.error[0], data.variables.pid_params[0], data.variables.pid_params[1], data.variables.pid_params[2]);
return data.variables.U[0];//carmen_clamp(-100.0, (U[0]), 100.0);
}
bool Super_Dumb_Script::load_variable_files()
{
search_path = file_directory + file_variable_pattern;
find_handle = FindFirstFile(search_path.c_str(), &find_data);
if(find_handle == INVALID_HANDLE_VALUE)
{
return FALSE;
}
do
{
std::string file_path = file_directory + find_data.cFileName;
std::ifstream in(file_path.c_str());
if(in)
{
//going to need checks to account for already loaded files so that the variable map is updated rather than being skipped
variable_map temp_variable = load_variables(file_path);
if(temp_variable.size() > 0)
{
file_map::const_iterator search_result = storage.find(find_data.cFileName);
if(search_result != storage.end())
{
storage.erase(search_result);
storage.insert(std::pair<std::string, variable_map*>(find_data.cFileName, new variable_map(temp_variable)));
}
else
{
storage.insert(std::pair<std::string, variable_map*>(find_data.cFileName, new variable_map(temp_variable)));
}
}
}
} while (FindNextFile(find_handle, &find_data) > 0);
if(GetLastError() != ERROR_NO_MORE_FILES)
{
return FALSE;
}
return TRUE;
}
INPUT* CGI_INIT()
{
cgi = cgi_init();
setup(cgi);
load_variables(cgi);
struct cgi_var *var;
INPUT *tmp, *head = NULL;
for (var = cgi->variables; var; var = var->next) {
tmp = (INPUT*)__ax_malloc(sizeof(INPUT));
strcpy(tmp->name, var->name);
strcpy(tmp->val, var->value);
tmp->next = head;
head = tmp;
}
tmp = head;
destroy(cgi);
return head;
}
