static void finish(void)
{
// back to idle
cc110x_strobe(RF_SIDLE);
radio_state = RADIO_IDLE;
restore_conf();
/* Have to put radio back to WOR/RX if old radio state
* was WOR/RX, otherwise no action is necessary */
if ((old_radio_state == RADIO_WOR) || (old_radio_state == RADIO_RX)) {
cc110x_switch_to_rx();
}
radio_release();
// restoreIRQ(cpsr);
}
static void kcd(pp3d_rob protein, int iteraciones, double tpos, double *initial){
int j, ncol;
int conf_in_col;
double tcol,tinit;
double inicio,fin, aux, tiempo,averagecol;
int col_mode_to_be_set;
//printf ("proteina %s, escala: %1.6f , iteraciones %d\n", protein->name, escala, iteraciones);
ChronoOn();
ChronoTimes(&inicio, &aux);
col_mode_to_be_set = p3d_col_mode_kcd;
set_DO_KCD_GJK(TRUE);
p3d_filter_switch_filter_mechanism(FALSE);
p3d_col_set_mode(col_mode_to_be_set);
p3d_col_start(col_mode_to_be_set);
ChronoTimes(&fin, &aux);
tinit= fin - inicio;
printf("inicializacion: %4.4f segundos\n", tinit);
ChronoTimes(&inicio, &aux);
conf_in_col=averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
p3d_col_test();
//kcd_robot_collides_itself(0 , JUST_BOOL);
ncol= p3d_col_number();
if (ncol) conf_in_col++;
averagecol+= ncol;
//printf("numero de colisiones es %d \n", ncol);
}
ChronoTimes(&fin, &aux);
ChronoOff();
tiempo= fin - inicio;
tcol= tiempo - tpos;
averagecol= averagecol / iteraciones;
printf("kcd\n");
printf("%8s %7s %7s %7s %31s\n","col_conf","ncol","tinit","tpos","tcol");
printf(" %7d %7.2f %7.2f %7.2f %31.2f\n", conf_in_col, averagecol, tinit, tpos, tcol);
restore_conf(initial,protein->njoints);
}
static double sistematica2(pp3d_rob protein, double scale,
int iteraciones, double *initial){
int j,njoints=protein->njoints;
int conf_in_col;
double inicio,fin, aux, tiempo,averagecol,usual_averagecol,averagecol0;
double tinit,tpos,tposzig,trebuild,tprep,tlongdist,tcol,tcolzig,trebuilt_percent0;
Robot_structure *rob;
p3d_init_random_seed(0);
printf ("numero de joints: %d\n", njoints);
printf ("proteina %s, iteraciones %d, escala %4.3f\n", protein->name, iteraciones,escala_cont_pos);
/*for (i=0;i<njoints;i++){
printf("%s,%2.2f, %2.2f\n ", protein->joints[i]->name,protein->joints[i]->vmin,protein->joints[i]->vmax);
} */
charlatan=0;
ChronoOn();
ChronoTimes(&inicio, &aux);
bio_set_col_mode(NORMAL_BIOCOL_MODE);
#ifdef HYDROGEN_BOND
bio_init_molecules(0.8);
printf("compilado con HYDROGEN_BOND", tpos);
#else
bio_init_molecules(scale);
#endif
rob=bcd_robots[0];
ChronoTimes(&fin, &aux);
tinit= fin - inicio;
printf("inicializacion: %4.4f segundos\n", tinit);
/**************** unuseful action; only to "inject fuel to the machine" ***********/
/*
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
sup_collision(rob->superroot, rob->superroot);
}
restore_conf(initial,njoints); */
/****************** end of unuseful action ******************************** */
/*tpos */
ChronoTimes(&inicio, &aux);
for (j=0;j<iteraciones;j++){
random_pos(protein);
}
ChronoTimes(&fin, &aux);
tpos= fin - inicio;
printf("pos: %4.4f segundos\n", tpos);
restore_conf(initial,njoints);
//goto abrevia;
/*trbuild */
ChronoTimes(&inicio, &aux);
averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
}
ChronoTimes(&fin, &aux);
//ChronoOff();
tiempo= fin - inicio;
averagecol= averagecol / iteraciones;
trebuild= tiempo - tpos;
printf("rebuild: %4.4f segundos \n", trebuild);
restore_conf(initial,njoints);
/* tshordistance */
ChronoTimes(&inicio, &aux);
averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
averagecol+= get_n_collisions();
// printf("numero de colisiones es %d \n", get_n_collisions());
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
averagecol= averagecol / iteraciones;
tprep= tiempo - (tpos + trebuild);
printf("preprog: %4.4f segundos, %3.2f colisiones\n", tprep, averagecol);
restore_conf(initial,njoints);
abrevia:
/* tlongdistance */
ChronoTimes(&inicio, &aux);
conf_in_col=averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
if (get_n_collisions()) conf_in_col++;
averagecol+= get_n_collisions();
// printf("numero de colisiones es %d \n", get_n_collisions());
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
averagecol= averagecol / iteraciones;
tlongdist= tiempo - (tpos + trebuild + tprep);
printf("sup: %4.4f segundos, conf. en colision %d, %3.2f colisiones\n",
tlongdist,conf_in_col, averagecol);
restore_conf(initial,njoints);
tcol= tiempo - tpos;
usual_averagecol=averagecol;
//goto t0;
/* tposzig */
ChronoTimes(&inicio, &aux);
for (j=0;j<iteraciones;j++){
zigzag_change_pos(protein);
}
ChronoTimes(&fin, &aux);
tposzig= fin - inicio;
printf("poszig: %4.4f segundos\n", tposzig);
restore_conf(initial,njoints);
/* tzig */
ChronoTimes(&inicio, &aux);
averagecol=0;
for (j=0;j<iteraciones;j++){
zigzag_change_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
averagecol+= get_n_collisions();
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
printf("tiempo total escala pequegna %5.2f\n", tiempo);
averagecol= averagecol / iteraciones;
tcolzig= tiempo - tposzig;
restore_conf(initial,njoints);
averagecol0= averagecol;
t0:
/* t0 */
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
if (get_n_collisions() != averagecol0) printf("\n NO HAY LAS MISMAS COLISIONES!!!\n\n");
printf("colisiones en posicion inicial %d\n", get_n_collisions());
//goto acaba;
ChronoTimes(&inicio, &aux);
for (j=0;j<iteraciones;j++){
set_n_collisions_to_zero();
//rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
printf("tiempo total escala 0: %5.2f\n", tiempo);
trebuilt_percent0= (100 *(tcolzig - tiempo ))/ tcolzig;
restore_conf(initial,njoints);
acaba:
//free_robot(rob);
printf("bio\n");
printf("%8s %7s %7s %7s %7s %7s %7s %7s %7s %7s\n", "col_conf", "ncol", "tinit", "tpos", "tbuild", "tshort", "tlong",
"tcol", "ncol0", "%build0");
printf(" %7d %7.2f %7.2f %7.2f %7.2f %7.2f %7.2f %7.2f %7.1f %7.2f\n",
conf_in_col,usual_averagecol,tinit,tpos,trebuild,tprep,tlongdist,tcol,averagecol0,trebuilt_percent0);
/* tiempo surf_distance */
bio_set_col_mode(SURFACE_DISTANCE_BIOCOL_MODE);
bio_set_surface_d(0.8);
ChronoTimes(&inicio, &aux);
conf_in_col=averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
if (get_n_collisions()) conf_in_col++;
averagecol+= get_n_collisions();
// printf("numero de colisiones es %d \n", get_n_collisions());
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
averagecol= averagecol / iteraciones;
printf("SURF_DISTANCE: %4.4f segundos, conf. en colision %d, %3.2f colisiones\n",
tiempo - tpos, conf_in_col, averagecol);
restore_conf(initial,njoints);
/* tiempo minimum_surf_distance */
bio_set_col_mode(MINIMUM_DISTANCE_BIOCOL_MODE);
ChronoTimes(&inicio, &aux);
conf_in_col=averagecol=0;
for (j=0;j<iteraciones;j++){
random_pos(protein);
set_n_collisions_to_zero();
set_minimum_Sdistance_to_max();
rebuild(rob);
preprogr_collisions(rob);
my_robot_autocollision(rob);
if (get_n_collisions()) conf_in_col++;
averagecol+= get_n_collisions();
// printf("numero de colisiones es %d \n", get_n_collisions());
}
ChronoTimes(&fin, &aux);
tiempo= fin - inicio;
averagecol= averagecol / iteraciones;
printf("MINIMUM_DISTANCE: %4.4f segundos, conf. en colision %d, %3.2f colisiones\n",
tiempo - tpos, conf_in_col, averagecol);
restore_conf(initial,njoints);
bio_set_col_mode(NORMAL_BIOCOL_MODE);
ChronoOff();
return tpos;
}
