//Creates a new population
void Population::NewPopulation(bool elitism)
{
Chromosome** newPop = (Chromosome**) malloc(sizeof(Chromosome*) * popSize);
int i = 0;
//if elitism is actived save the fittest chromosome
if(elitism)
{
newPop[0] = population[0];
i++;
}
for(i; i < popSize; i++)
{
//Gets two chromosomes based on ranking
Chromosome* x = GetRankingChromosome();
Chromosome* y = GetRankingChromosome();
newPop[i] = new Chromosome(x,y);
}
delete(population);
population = (Chromosome**) malloc(sizeof(Chromosome*) * popSize);
for(int i = 0 ; i < popSize; i++)
{
population[i] = newPop[i];
}
delete(newPop);
for(int i = 0; i < popSize; i++)
{
population[i]->SetPower(Fitness::GetPower(population[i]));
population[i]->SetFitness(Fitness::GetFitness(population[i]));
}
sortPopulation();
}
//Creates a population of a given size
Population::Population(int size)
{
population = (Chromosome**) malloc(sizeof(Chromosome*) * size);
popSize = size;
for(int i = 0; i < popSize; i++)
{
population[i] = new Chromosome();
population[i]->SetPower(Fitness::GetPower(population[i]));
population[i]->SetFitness(Fitness::GetFitness(population[i]));
}
sortPopulation();
}
void doReproduce(){
struct Chromosome XoverPop[4]; // Small population of 4 individuals
XoverPop[0] = Population[selectParent()]; // Select parent 1
XoverPop[1] = Population[selectParent()]; // Select parent 2
/*** Crossover ***/
int GeneNr;
for(GeneNr = 0; GeneNr < GENETIC_PURSUERS;GeneNr++){ // Take one gene from each parent
XoverPop[2].gene[GeneNr ] = XoverPop[0].gene[GeneNr];
XoverPop[3].gene[GeneNr ] = XoverPop[1].gene[GeneNr];
XoverPop[2].gene[GeneNr+1] = XoverPop[1].gene[GeneNr+1];
XoverPop[3].gene[GeneNr+1] = XoverPop[0].gene[GeneNr+1];
GeneNr++;
}
/*** Mutation ***/
doMutation(&XoverPop[2]); // Mutate the generated individual
doMutation(&XoverPop[3]); // Mutate the generated individual
/*** sort to add best individes ***/
int i = 0;
for(i=2;i<4;i++)
calculateFitness(&XoverPop[i]); // Calculate fitness for children
sortPopulation(XoverPop, 4); // Sort after fitness
addToNewPopulation(XoverPop[0]); // Add best individual to new population
addToNewPopulation(XoverPop[1]); // Add second best individual to new population
}
//
//main controller of the evolution, this function never returns
//
static int run()
{
const double *fit;
double finished=0;
//double values[4]= {0.0,1.0,0.0,0.0};
//int epoch, reset_position;
// as long as individual is being evaluated, print current fitness and return
int n = wb_receiver_get_queue_length(receiver);
if (n) {
fit = (double *)wb_receiver_get_data(receiver); //gets msg[4]={fitness, finished,epoch,reset}
fitness[evaluated_inds]=fit[0];
finished=fit[1];
//epoch= (int) fit[2];
//reset_position= (int) fit[3];
//if(reset_position) resetRobotPosition();
//if(1 == epoch || 3 == epoch){
//wb_supervisor_field_set_sf_rotation(pattern_rotation, values);
//printf("Flag: %d, world is set.\n", epoch);
//}else{
//values[3]=pi;
//wb_supervisor_field_set_sf_rotation(pattern_rotation, values);
//printf("\n Flag: %d, world is rotated.\n", epoch);
//}
// print generational info on screen
char message[100];
sprintf(message, "Gen: %d Ind: %d Fit: %.2f", generation, evaluated_inds, fit[0]);
wb_supervisor_set_label(0, message, 0, 0, 0.1, 0xff0000,0);
wb_receiver_next_packet(receiver);
}
// if still evaluating the same individual, return.
if (!finished) return TIME_STEP; //if not finished, !finished ==1.
// when evaluation is done, an extra flag is returned in the message
if(EVOLVING) {
// if whole population has been evaluated
if ((evaluated_inds+1) == POP_SIZE ) {
// sort population by fitness
sortPopulation();
// find and log current and absolute best individual
bestfit=sortedfitness[0][0];
bestind=(int)sortedfitness[0][1];
if (bestfit > abs_bestfit) {
abs_bestfit=bestfit;
abs_bestind=bestind;
logBest();
}
//printf("best fit: %f\n", bestfit);
//write data to files
logPopulation();
//rank population, select best individuals and create new generation
createNewPopulation();
generation++;
if(200==generation) return 0;
//printf("\nGENERATION %d\n", generation);
evaluated_inds = 0;
avgfit = 0.0;
bestfit = -1.0;
bestind = -1.0;
resetRobotPosition();
wb_emitter_send(emitter, (void *)pop_bin[evaluated_inds], GENOME_LENGTH*sizeof(_Bool));
}
else {
// assign received fitness to individual
//printf("fitness: %f\n", fitness[evaluated_inds]);
evaluated_inds++;
// send next genome to experiment
resetRobotPosition();
wb_emitter_send(emitter, (void *)pop_bin[evaluated_inds], GENOME_LENGTH*sizeof(_Bool));
}
}
return TIME_STEP;
}
/*** Algorithm ***/
void genAlg(int *solution) { // Main call function for Genetic Algorithm
int currentGeneration=0, currentPopulation=0;
int isSolved = 0;
int k,i,j;
int isChanged = 1;
for(;GENETIC_POPULATION_SIZE<GENETIC_POPULATION_MAX_SIZE;GENETIC_POPULATION_SIZE+=GENETIC_INCREMENT_POPULATION){
for(i = GENETIC_POPULATION_SIZE; i < GENETIC_POPULATION_SIZE+GENETIC_INCREMENT_POPULATION; i++){ // Reset all genes.
for(j = 0; j < GENETIC_PURSUERS; j++)
for(k=0;k<GENETIC_STEPS;k++)
Population[i].gene[j].allele[k] = 4;
Population[i].inS4=999; // Reset fitness value (S4), just set to high value
Population[i].chrSteps=999; // Reset fitness value (steps), set to high value
Population[i].fitnessScore = 1; // Low value = bad solution, must be positive
for(j = 0; j < GENETIC_PURSUERS; j++)
for(k = 0; k < 2; k++)
Population[i].gene[j].start[k] = Population[0].gene[j].start[k];
int GeneNr=0;
for(GeneNr = 0; GeneNr < GENETIC_PURSUERS; GeneNr++){ // For each Gene
getRandom(&(Population[i].gene[GeneNr]),0); // Generate a random step sequence
}
}
if(isChanged == 1){
i = 0;
isChanged = 0;
}
else{
i = GENETIC_POPULATION_SIZE;
}
for(; i < GENETIC_POPULATION_SIZE+GENETIC_INCREMENT_POPULATION; i++){ // Calculate fitness for population
calculateFitness(&Population[i]);
if(Population[i].inS4 == 0){
isSolved = 1;
if(Population[i].chrSteps < GENETIC_STEPS){
isChanged = 1;
GENETIC_STEPS = Population[i].chrSteps;
}
}
}
if(isSolved==1 && GENETIC_POPULATION_SIZE>GENETIC_MIN_POP_SIZE)
break;
}
printf("genAlg\n");
printf("**** Genetic Algorithm info ****\n");
printf("Population size:\t%d\n", GENETIC_POPULATION_SIZE);
printf("Pursuers:\t\t%d\n", GENETIC_PURSUERS);
printf("Maximum steps:\t\t%d\n", GENETIC_STEPS);
printf("Maximum generations:\t%d\n", GENETIC_GENERATIONS);
printf("Convergence %%:\t\t%d\n", abs(GENETIC_CONVERGENCE_PERCENT*100));
printf("Mutation %%:\t\t%d\n", abs(GENETIC_MUTATION_PROBABILITY*100));
sortPopulation(Population, GENETIC_POPULATION_SIZE); // Sort the population after fitness
for(currentGeneration = 0; currentGeneration < GENETIC_GENERATIONS; currentGeneration++){
/*** New generation ***/
/*
calculateFitness(&Population[0]);
printStates();
printf("Generation %d\n", currentGeneration);
*/
addToNewPopulation(Population[0]); // Elite selection
addToNewPopulation(Population[1]); // Elite selection
while(NewPopLocation < GENETIC_POPULATION_SIZE)
doReproduce(); // Reproduction
sortPopulation(New_Population, GENETIC_POPULATION_SIZE); // Sort the new population after fitness
/*** Swap populations ***/
int i;
for(i = 0; i < GENETIC_POPULATION_SIZE;i++)
Population[i] = New_Population[i]; // Overwrite old population with new
memcpy(Population, New_Population, sizeof New_Population);
/*
if(currentGeneration%1==0){
printf("Best Fitness: %f, States: %d, steps: %d\n", Population[0].fitnessScore, Population[0].inS4, Population[0].chrSteps);
printf("Compare Fitness (%d): %f, States: %d, steps: %d\n", abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT), Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].fitnessScore, Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].inS4, Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].chrSteps);
printf("Worst Fitness (%d): %f, States: %d, steps: %d\n", GENETIC_POPULATION_SIZE, Population[GENETIC_POPULATION_SIZE-1].fitnessScore, Population[GENETIC_POPULATION_SIZE-1].inS4, Population[GENETIC_POPULATION_SIZE-1].chrSteps);
}
*/
if(Population[0].inS4 == 0 && Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].inS4 == 0) // If a complete solution has been found, check if convergence level is reached
if((Population[0].chrSteps==Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].chrSteps)) // If 90% of the population has the same number of steps, no need to continue to do more generations.
if(Population[0].fitnessScore==Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].fitnessScore) // Redundant check, check fitness score
break;
NewPopLocation=0;
}
printf("%d generations used.\n", currentGeneration);
printf("Best Fitness: %f, States: %d, steps: %d\n", Population[0].fitnessScore, Population[0].inS4, Population[0].chrSteps);
printf("Compare Fitness: %f, States: %d, steps: %d\n", Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].fitnessScore, Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].inS4, Population[abs(GENETIC_POPULATION_SIZE*GENETIC_CONVERGENCE_PERCENT)].chrSteps);
printf("Worst Fitness: %f, States: %d, steps: %d\n", Population[GENETIC_POPULATION_SIZE-1].fitnessScore, Population[GENETIC_POPULATION_SIZE-1].inS4, Population[GENETIC_POPULATION_SIZE-1].chrSteps);
solution[0]=GENETIC_PURSUERS; // Write number of pursuers to solution
solution[1]=GENETIC_STEPS; // Write maximum number of steps to solution
if(Population[0].chrSteps<=MAX_SIZE_SOLUTION){
doDecode(&Population[0], solution); // Decode solution to positions
solution[1]=calculateStates(solution); // Calculate states, and update steps to minimum
}
else
solution[1]=Population[0].chrSteps; // If the solution was to long, or not found, no need to return path
/*** Free allocated memory ***/
free(Population);
free(New_Population);
/*** Free memory for NodeMatrix ***/
for(i = 0; i < ROWS;i++)
free(NodeMatrix[i]);
free(NodeMatrix);
return;
}
int main(int argc, char **argv){
tspsMap_t map;
tspsConfig_t config;
tspsPopulation_t population;
unsigned long int numGenerations = 0;
int mpiNumProcs = 0;
double start, end;
//starting MPI directives
MPI_Init(NULL,NULL);
MPI_Comm_size(MPI_COMM_WORLD,&mpiNumProcs);
MPI_Comm_rank(MPI_COMM_WORLD,&mpiId);
logg("* Starting tspgen...\n");
// parse the command line args
if(readConfig(&config, argc, argv) != TSPS_RC_SUCCESS){
return TSPS_RC_FAILURE;
}
// parse the map
logg("* Parsing map...\n");
if(parseMap(&map) != TSPS_RC_SUCCESS){
logg("Error! Unable to read map 'maps/brazil58.tsp'!\n");
return TSPS_RC_FAILURE;
}
// initialize random seed:
srand ( time(NULL)*mpiId );
logg("* Generating population...\n");
if(generatePopulation(&population, &config) != TSPS_RC_SUCCESS){
logg("Error! Failed to create a new random population!");
return TSPS_RC_FAILURE;
}
// start a timer (mpi_barrier + mpi_wtime)
MPI_Barrier(MPI_COMM_WORLD);
start = MPI_Wtime();
logg("* Initializing reproduction loop...\n");
while(1){
numGenerations++;
calculateFitnessPopulation(&population, &map);
if(numGenerations % 500 == 0){
logg("- Generation %d...\n", numGenerations);
printIndividual(&population.individuals[0], "Current Top Individual");
}
sortPopulation(&population);
if(config.numGenerations > 0 && numGenerations == config.numGenerations){
logg("* Max number of generations [%d] reached!\n", config.numGenerations);
break;
}
crossoverPopulation(&population, &config);
mutatePopulation(&population, &config);
// migrate population at every n generation
if(numGenerations % config.migrationRate == 0){
migrateIndividuals(&population, mpiId, mpiNumProcs, &config);
}
}
// join all the populations
joinPopulations(&population, mpiId, mpiNumProcs);
sortPopulation(&population);
// get the best inidividual and print it
printIndividual(&population.individuals[0], "Top Individual");
printIndividual(&population.individuals[config.populationSize-1], "Worst (of the top ones) Individual");
// stop the timer
MPI_Barrier(MPI_COMM_WORLD); /* IMPORTANT */
end = MPI_Wtime();
if(mpiId == 0) { /* use time on master node */
printf("* Runtime = %f\n", end-start);
}
logg("* tspgen finished!\n");
free(population.individuals);
free(map.nodes);
MPI_Finalize();
return TSPS_RC_SUCCESS;
}
