bitwise_weight_value BitwiseWeight::guided_mutation( bitwise_weight_value elite_value, bitwise_weight_value new_value, RandomNumberGenerator& rng )
{
int i;
bitwise_weight_value weight;
weight.integer = 0;
int elite = elite_value.integer, newv = new_value.integer;
bool is_neg;
if( rng.getRandom() > config->gm_prob_of_mutation )
is_neg = elite < 0;
else
is_neg = newv < 0;
if( elite < 0 ) elite *= -1;
if( newv < 0 ) newv *= -1;
int num = 0x1;
for( i = 0; i < number_of_elements - 1; i++ )
{
bool gm = rng.getRandom() < config->gm_prob_of_mutation;
if( ( gm && elite % 2 )
|| (!gm && newv % 2 ) )
weight.integer += num;
num <<= 1;
elite >>= 1;
newv >>= 1;
}
if( is_neg )
weight.integer *= -1;
weight.decimal = get_decimal_value( weight.integer );
return weight;
}
bitwise_weight_value BitwiseWeight::get_weight( RandomNumberGenerator& rng )
{
int i;
bitwise_weight_value weight;
weight.decimal = 0.;
weight.integer = 0;
int max_size = 2;
int num = 0x1;
for( i = 0; i < number_of_elements - 1; i++ )
{
if( elements[i].get_value( rng ) == 1 )
weight.integer += num;
num <<= 1;
max_size *= 2;
}
max_size--;
if( elements[i].get_value( rng ) == 1 )
weight.integer *= -1;
weight.decimal = get_decimal_value( weight.integer );
return weight;
}
void* CmdThreadProc(void* data)
{
char* p;
uint8 state;
uint8 val = 0;
uint8 cmd = 0;
char* cmd_str;
char* val_str;
char input[128];
while (1)
{
printf("cmd: ");
scanf("%s", input);
p = strchr(input, ':');
val_str = cmd_str = NULL;
if (p != NULL)
{
val_str = p + 1;
input[(p - input)] = '\0';
}
cmd_str = input;
cmd = get_command_id(cmd_str);
if (cmd == CMD_UNKNOWN)
{
printf("unknown command!\n");
continue;
}
switch (cmd)
{
case CMD_TEENSY_MODE:
state = get_state_id(val_str);
if (state == STATE_UNKNOWN)
{
printf("unknown mode!\n");
continue;
}
send_command(tty_fd, cmd, state);
break;
case CMD_CHANGE_STATE:
state = get_state_id(val_str);
if (state == STATE_UNKNOWN)
{
printf("unknown state!\n");
continue;
}
send_command(tty_fd, cmd, state);
break;
case CMD_HARD_TURN:
val = get_turn_id(val_str);
if (val == TURN_UNKNOWN)
{
printf("unknown turn!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_SOFT_TURN:
val = get_turn_id(val_str);
if (val == TURN_UNKNOWN)
{
printf("unknown turn!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_SET_DIRECTION:
val = get_move_id(val_str);
if (val == MOVE_UNKNOWN)
{
printf("unknown move direction!\n");
continue;
}
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_CENTER:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_LEFT:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_DIST_RIGHT:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_SPEED:
val = get_decimal_value(val_str);
send_command(tty_fd, cmd, val);
break;
case CMD_HELP:
val = get_command_id(val_str);
if (val == CMD_UNKNOWN)
{
printf("command syntax: <command>:<value>\n");
print_command_list();
}
else
{
switch (val)
{
case CMD_CHANGE_STATE:
printf("state:<state>, where <state> is one of the following:\n");
printf("nothing, basic, orders, dance.\n");
break;
default:
printf("command syntax: <command>:<value>\n");
print_command_list();
break;
}
}
break;
case CMD_QUIT:
exit(0);
break;
}
}
pthread_exit(NULL);
}
