double EMSCRIPTEN_KEEPALIVE evaluate(int ptr, int length) {
unsigned char* data = (unsigned char*) ptr;
boost::random::mt19937 rng;
rng.seed(ptr);
ProtobufPacket<robogenMessage::EvaluationRequest> packet;
std::vector<unsigned char> payloadBuffer;
for (unsigned int i = ProtobufPacket<robogenMessage::EvaluationRequest>::HEADER_SIZE ; i < length; ++i) {
payloadBuffer.push_back(data[i]);
}
packet.decodePayload(payloadBuffer);
// ---------------------------------------
// Decode configuration file
// ---------------------------------------
boost::shared_ptr<RobogenConfig> configuration =
ConfigurationReader::parseRobogenMessage(
packet.getMessage()->configuration());
if (configuration == NULL) {
std::cerr
<< "Problems parsing the configuration file. Quit."
<< std::endl;
return -1;
}
// ---------------------------------------
// Setup environment
// ---------------------------------------
boost::shared_ptr<Scenario> scenario =
ScenarioFactory::createScenario(configuration);
if (!scenario) {
return -1;
}
std::cout
<< "-----------------------------------------------"
<< std::endl;
// ---------------------------------------
// Run simulations
// ---------------------------------------
JSViewer* viewer = new JSViewer();
unsigned int simulationResult = runSimulations(scenario,
configuration, packet.getMessage()->robot(),
viewer, rng);
delete viewer;
if (simulationResult == SIMULATION_FAILURE) {
return -1;
}
// ---------------------------------------
// Compute fitness
// ---------------------------------------
double fitness;
if (simulationResult == CONSTRAINT_VIOLATED) {
fitness = MIN_FITNESS;
} else {
fitness = scenario->getFitness();
}
std::cout << "Fitness for the current solution: " << fitness
<< std::endl << std::endl;
return fitness;
}
Scenarios generate(const Emma::RunState* state) {
Logging::log(state, "generating data");
Scenarios simulations = runSimulations(state);
std::cout << "\tcollect statistics from simulations" << std::endl;
return simulations;
}
