void
main(void)
{
twi_master_init();
mpu6500_init();
mpu6500_stop();
disable_i2c();
simble_init("Motion");
motion_ctx.sampling_period = DEFAULT_SAMPLING_PERIOD;
//Set the timer parameters and initialize it.
struct rtc_ctx rtc_ctx = {
.rtc_x[NOTIF_TIMER_ID] = {
.type = PERIODIC,
.period = motion_ctx.sampling_period,
.enabled = false,
.cb = notif_timer_cb,
}
};
batt_serv_init(&rtc_ctx);
rtc_init(&rtc_ctx);
ind_init();
motion_init(&motion_ctx);
simble_adv_start();
simble_process_event_loop();
}
population_t *pop_init(sat_t *sat, uint32_t size) {
population_t *population = NULL;
population = calloc(1, sizeof(population_t));
assert(population);
population->sat = sat;
population->inds_cnt = size;
population->inds = calloc(size, sizeof(ind_t));
if (!population->inds) {
fprintf(stderr, "calloc individuals\n");
goto error;
}
for (uint32_t i = 0; size > i; i++) {
population->inds[i] = ind_init(sat);
assert(population->inds[i]);
}
return (population);
error: //
population_free(population);
return (NULL);
}
void sat_simulated_evolution(sat_t *sat, uint32_t pop_size) {
population_t *pop = NULL;
population_t *pop_next = NULL;
population_t *pop_swap = NULL;
pop = pop_init(sat, pop_size);
pop_next = pop_init(sat, pop_size);
uint32_t ic = sat->vars_cnt;
uint32_t favg; /* average fitness */
ind_t *ind_best = ind_init(sat);
for (uint32_t gen = 0; gen < 10000; gen++) {
for (uint32_t i = 0; i < pop->inds_cnt; i += 2) {
memcpy(pop_next->inds[i + 0]->ch, ga_select(pop)->ch,
sizeof(bool) * ic);
memcpy(pop_next->inds[i + 1]->ch, ga_select(pop)->ch,
sizeof(bool) * ic);
ga_cross_2p(pop_next->inds[i + 0]->ch, pop_next->inds[i + 1]->ch,
ic);
ga_mutate(pop_next->inds[i + 0]->ch, ic);
ga_mutate(pop_next->inds[i + 1]->ch, ic);
ind_compute_fitness(pop_next->inds[i + 0]);
ind_compute_fitness(pop_next->inds[i + 1]);
}
pop_swap = pop;
pop = pop_next;
pop_next = pop_swap;
qsort(pop->inds, pop->inds_cnt, sizeof(ind_t **), ga_fitness_cmp);
/* compute average fitness */
favg = 0;
for (uint32_t i = 0; i < pop->inds_cnt; i++) {
favg += pop->inds[i]->fitness;
}
favg /= pop->inds_cnt;
// fprintf(stdout, "gen=%u avg=%u best ind:", gen, favg);
// ind_print(pop->inds[0]);
if (ind_best->fitness < pop->inds[0]->fitness) {
memcpy(ind_best->ch, pop->inds[0]->ch, sizeof(bool) * ic);
}
}
fprintf(stdout, "total best: %u\n", ind_best->fitness);
// ind_print(ind_best);
// printf("best ind: ");
// ind_print(pop->inds[0]);
ind_free(ind_best);
population_free(pop);
population_free(pop_next);
}
int main()
{
u8 data[ 4 ];
int res;
leds_init();
btn_init();
ind_init();
uart_init();
sei();
ledvm_init();
i2cee_init();
pgm_init();
//stdout = &mystdout;
nrf_init();
nrf_set_own_addr( lights_addr );
nrf_set_mode( NRF_MODE_RX );
while( 1 )
{
// Something to execute?
if( pgm_crt != -1 )
{
res = ledvm_run();
if( res != LEDVM_ERR_OK )
{
if( res == LEDVM_ERR_FINISHED ) // program finished, look for the next one
{
if( pgm_cycle )
{
res = pgm_get_next_index( pgm_crt, 1 );
if( res != -1 ) // if found use the other program, otherwise don't change it
pgm_crt = res;
}
ledvm_init();
}
else
{
ledvm_ll_setrgb( 0, 0, 0 );
pgm_crt = -1;
}
}
}
// New data via radio?
if( nrf_get_packet( data, 4, NULL ) == 4 )
{
// Got data, interpret it
if( data[ 0 ] == CMD_START_WRITE )
{
pgm_recv_on = 1;
pgm_recv_slot = data[ 3 ];
pgm_recv_addr = 0;
pgm_recv_buf_idx = 0;
if( pgm_recv_slot == pgm_crt )
pgm_crt = -1;
}
else if( data[ 0 ] == CMD_END_WRITE )
{
pgm_recv_on = 0;
pgm_recv_to_flash();
pgm_set_program_state( pgm_recv_slot, 1 );
if( pgm_crt == -1 )
pgm_crt = pgm_get_first_index();
}
else if( data[ 0 ] == CMD_RUN )
{
if( pgm_mask & ( 1 << data[ 3 ] ) )
{
pgm_crt = data[ 3 ];
ledvm_init();
}
}
else if( data[ 0 ] == CMD_RAW )
{
pgm_crt = -1;
ledvm_ll_setrgb( data[ 1 ], data[ 2 ], data[ 3 ] );
}
else if( data[ 0 ] == CMD_DEL )
{
pgm_set_program_state( data[ 3 ], 0 );
if( pgm_crt == data[ 3 ] )
{
pgm_crt = pgm_get_first_index();
ledvm_init();
}
}
else if( pgm_recv_on ) // instruction
{
memcpy( pgm_recv_buffer + pgm_recv_buf_idx, data, 4 );
pgm_recv_buf_idx += 4;
if( pgm_recv_buf_idx == PGM_EE_PAGE_SIZE )
pgm_recv_to_flash();
}
}
// Handle buttons
if( pgm_crt != -1 )
{
btn_handler();
if( btn_is_pressed( BTN_NEXT_PIN ) )
{
res = pgm_get_next_index( pgm_crt, 1 );
if( res != -1 )
pgm_crt = res;
ledvm_init();
}
else if( btn_is_pressed( BTN_PREV_PIN ) )
{
res = pgm_get_next_index( pgm_crt, -1 );
if( res != -1 )
pgm_crt = res;
ledvm_init();
}
else if( btn_is_pressed( BTN_REPEAT_PIN ) )
ind_set( 1 - pgm_cycle );
}
}
}
