/*
* The call to wb_robot_step is mandatory for the function
* supervisor_node_was_found to be able to work correctly.
*/
static void reset(void)
{
int i;
for(i=0; i<POP_SIZE; i++) fitness[i]=-1;
srand(time(0));
pF1= fopen("initPop.txt","w+");
//pF2= fopen("real2IntGenome.txt","w+");
//pF3= fopen("encodedPop.txt","w+");
// Initiate the emitter used to send genomes to the experiment
emitter = wb_robot_get_device("emittersupervisor");
// Initiate the receiver used to receive fitness
receiver = wb_robot_get_device("receiversupervisor");
wb_receiver_enable(receiver, TIME_STEP);
// Create a supervised node for the robot
robot = wb_supervisor_node_get_from_def("EPUCK");
assert(robot!=NULL);
pattern=wb_supervisor_node_get_from_def("FLOOR");
pattern_rotation = wb_supervisor_node_get_field(pattern,"rotation");
assert(pattern!=NULL);
assert(pattern_rotation!=NULL);
trans_field = wb_supervisor_node_get_field(robot,"translation");
rot_field = wb_supervisor_node_get_field(robot,"rotation");
ctrl_field= wb_supervisor_node_get_field(robot,"controller");
wb_robot_step(0);
wb_robot_step(0); //this is magic
// set the robot controller to nn
const char *controller_name = "drive2";
wb_supervisor_field_set_sf_string(ctrl_field,controller_name);
//check whether robot was found
if (wb_supervisor_node_get_type(robot) == WB_NODE_NO_NODE)
puts("Error: node EPUCK not found!!!");
if(EVOLVING) {
//Open log files
f1= fopen ("../../data/fitness.txt", "wt");
f2= fopen ("../../data/genomes.txt", "wt");
//pR= fopen("savePop.txt","w+");
//initial weights randomly
initializePopulation();
//rtoi(); //real to int conversion before encoding
popEncoder();
//puts("NEW EVOLUTION");
//puts("GENERATION 0");
// send genomes to experiment
resetRobotPosition();
wb_emitter_send(emitter, (void *)pop_bin[evaluated_inds], GENOME_LENGTH*sizeof(_Bool));
//instead save binary genomes to a file
//puts("Genes sent.");
}
else {
// testing best individual
// Read best genome from bestgenome.txt and initialize weights.
f3= fopen ("../../data/bestgenome.txt", "rt");
fscanf(f3,"%d %d", &generation, &evaluated_inds);
//TODO either read binary genome or make sure it is decoded prior to storage
for(i=0;i<GENOME_LENGTH;i++) fscanf(f3,"%d ",&pop_bin[0][i]);
//printf("TESTING INDIVIDUAL %d, GENERATION %d\n", evaluated_inds, generation);
// send genomes to experiment
resetRobotPosition();
// wb_emitter_send(emitter, (void *)pop[0], NB_GENES*sizeof(double));
}
return;
}
static void set_controller(int robot, const char *controller) {
if (robot_controller[robot])
wb_supervisor_field_set_sf_string(robot_controller[robot], controller);
}
