SSL_WrapperPacket* SSLWorld::generatePacket()
{
SSL_WrapperPacket* packet = new SSL_WrapperPacket;
float x,y,z,dir;
ball->getBodyPosition(x,y,z);
packet->mutable_detection()->set_camera_id(0);
packet->mutable_detection()->set_frame_number(framenum);
double t_elapsed = timer->elapsed()/1000.0;
packet->mutable_detection()->set_t_capture(t_elapsed);
packet->mutable_detection()->set_t_sent(t_elapsed);
float dev_x = cfg->noiseDeviation_x();
float dev_y = cfg->noiseDeviation_y();
float dev_a = cfg->noiseDeviation_angle();
if (cfg->noise()==false) {dev_x = 0;dev_y = 0;dev_a = 0;}
if ((cfg->vanishing()==false) || (rand0_1() > cfg->ball_vanishing()))
{
SSL_DetectionBall* vball = packet->mutable_detection()->add_balls();
vball->set_x(randn_notrig(x*1000.0f,dev_x));
vball->set_y(randn_notrig(y*1000.0f,dev_y));
vball->set_z(z*1000.0f);
vball->set_pixel_x(x*1000.0f);
vball->set_pixel_y(y*1000.0f);
vball->set_confidence(0.9 + rand0_1()*0.1);
}
for(int i = 0; i < ROBOT_COUNT; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->blue_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_blue();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
for(int i = ROBOT_COUNT; i < ROBOT_COUNT*2; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->yellow_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_yellow();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i-ROBOT_COUNT);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
return packet;
}
void adjust_v(void)
{
int i;
for (i = 0; i < 10; i++) {
v[i] = v[i] + C1 * rand0_1() * (p[i].pbest - p[i].current) +
C2 * rand0_1() * (gbest - p[i].current);
if (v[i] > VMAX) {
v[i] = VMAX;
}
}
}
void norm2(double *n1, double *n2){
//n1=0; n2=0;
static bool first=true;
if (first){
srand(time(NULL)); // initialize the rand() function
first=false;
}
double u1,u2;
u1 = rand0_1();
u2 = rand0_1();
*n1 = xnorm(u1,u2);
*n2 = ynorm(u1,u2);
}
int main(int argc, char *argv[])
{
srand((unsigned) time(NULL));
particle_init();
pso();
printf("gbest: %f\n", gbest);
for (int i = 0; i < 10; i++) {
printf("rand%d: %f\n", i, rand0_1());
}
printf("rand: %f\n", rand0_1());
printf("rand: %f\n", rand0_1());
return 0;
}
SSL_WrapperPacket* SSLWorld::generatePacket()
{
SSL_WrapperPacket* packet = new SSL_WrapperPacket;
dReal x,y,z,dir;
ball->getBodyPosition(x,y,z);
packet->mutable_detection()->set_camera_id(0);
packet->mutable_detection()->set_frame_number(framenum);
dReal t_elapsed = timer->elapsed()/1000.0;
packet->mutable_detection()->set_t_capture(t_elapsed);
packet->mutable_detection()->set_t_sent(t_elapsed);
dReal dev_x = cfg->noiseDeviation_x();
dReal dev_y = cfg->noiseDeviation_y();
dReal dev_a = cfg->noiseDeviation_angle();
if (sendGeomCount++ % cfg->sendGeometryEvery() == 0)
{
SSL_GeometryData* geom = packet->mutable_geometry();
SSL_GeometryFieldSize* field = geom->mutable_field();
field->set_line_width(CONVUNIT(cfg->Field_Line_Width()));
field->set_field_length(CONVUNIT(cfg->Field_Length()));
field->set_field_width(CONVUNIT(cfg->Field_Width()));
field->set_boundary_width(CONVUNIT(cfg->Field_Margin()));
field->set_referee_width(CONVUNIT(cfg->Field_Referee_Margin()));
field->set_goal_width(CONVUNIT(cfg->Goal_Width()));
field->set_goal_depth(CONVUNIT(cfg->Goal_Depth()));
field->set_goal_wall_width(CONVUNIT(cfg->Goal_Thickness()));
field->set_center_circle_radius(CONVUNIT(cfg->Field_Rad()));
field->set_defense_radius(CONVUNIT(cfg->Field_Defense_Rad()));
field->set_defense_stretch(CONVUNIT(cfg->Field_Defense_Stretch()));
field->set_free_kick_from_defense_dist(CONVUNIT(cfg->Field_Free_Kick()));
//TODO: verify if these fields are correct:
field->set_penalty_line_from_spot_dist(CONVUNIT(cfg->Field_Penalty_Line()));
field->set_penalty_spot_from_field_line_dist(CONVUNIT(cfg->Field_Penalty_Point()));
}
if (cfg->noise()==false) {dev_x = 0;dev_y = 0;dev_a = 0;}
if ((cfg->vanishing()==false) || (rand0_1() > cfg->ball_vanishing()))
{
SSL_DetectionBall* vball = packet->mutable_detection()->add_balls();
vball->set_x(randn_notrig(x*1000.0f,dev_x));
vball->set_y(randn_notrig(y*1000.0f,dev_y));
vball->set_z(z*1000.0f);
vball->set_pixel_x(x*1000.0f);
vball->set_pixel_y(y*1000.0f);
vball->set_confidence(0.9 + rand0_1()*0.1);
}
for(int i = 0; i < ROBOT_COUNT; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->blue_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_blue();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
for(int i = ROBOT_COUNT; i < ROBOT_COUNT*2; i++){
if ((cfg->vanishing()==false) || (rand0_1() > cfg->yellow_team_vanishing()))
{
if (!robots[i]->on) continue;
SSL_DetectionRobot* rob = packet->mutable_detection()->add_robots_yellow();
robots[i]->getXY(x,y);
dir = robots[i]->getDir();
rob->set_robot_id(i-ROBOT_COUNT);
rob->set_pixel_x(x*1000.0f);
rob->set_pixel_y(y*1000.0f);
rob->set_confidence(1);
rob->set_x(randn_notrig(x*1000.0f,dev_x));
rob->set_y(randn_notrig(y*1000.0f,dev_y));
rob->set_orientation(normalizeAngle(randn_notrig(dir,dev_a))*M_PI/180.0f);
}
}
return packet;
}
