int main(int argc, char* argv[]) {
RandGen* rng;
MPIWrapper mpi;
double mGT,t,maxGT;
int i=0;
mpi.init(&argc,&argv);
rng = new RandGen(1000,mpi.getRank());
maxGT = mGT = t = 0.0;
while(mGT < 100.0) {
t += rng->getRandom(0.0);
if(i > 10) {
mpi.barrier();
mGT = mpi.allReduceDouble(t,MPI_MIN);
maxGT = mpi.allReduceDouble(t,MPI_MAX);
if(mpi.isRoot())
cout << mGT << " " << maxGT << endl;
i=0;
}
++i;
}
mpi.shutdown();
}
int Dice::Roll()
// postcondition: number of rolls updated
// random 'die' roll returned
{
RandGen gen; // random number generator
myRollCount_= myRollCount_ + 1; // update # of times die rolled
return gen.RandInt(1,mySides_); // in range [1..mySides_]
}
void drawLandscape(window &w, color skycolor, color groundcolor) { // creates landscape. only called once
setBrushAndPenColor(w, skycolor);
w.DrawRectangle(0, 0, w.GetWidth(), w.GetHeight(), FILLED);
RandGen r;
int ystart = r.RandInt((double) w.GetHeight() * 0.666, (double) w.GetHeight() * 0.75); // semi random height of ground near bottom of screen
setBrushAndPenColor(w, groundcolor);
for (double x = 0; x < w.GetWidth(); x++) {
int yval = ystart + sin((double) (x / 60)) * 15; // ground will be sin curve
w.DrawLine(x, yval, x, w.GetHeight()); // draws line from ground level to bottom of screen
}
}
void LiveWLdiagram :: updateZe_ab ()
{
int online_worms = int(mob_a.online()) + int(mob_b.online());
// No worm in the diagram
if (online_worms == 0) {
// Insert the first worm:
int comp = rand.choice2();
int site = rand.choice (Diagram::SITEN);
double time = Wld::Diag::BETA * rand.uniform();
bool up = rand.choice2();
bool creat = rand.choice2();
Iter it_goal = Wld::Diag::find_aft (site, time);
int ninit = it_goal->z.nbef(comp);
// Check whether cannot creat or annihilate particle anymore
if (check_nlimit (ninit, creat, nMAX, nMIN)) {
Worm& mob = comp ? mob_b : mob_a;
Iter& fix = comp ? fix_b : fix_a;
insert (it_goal, comp, time, creat, up, mob, fix);
}
}
else if (online_worms == 1) {
Worm& mob_on = mob_a.online() ? mob_a : mob_b;
Iter& fix_on = mob_a.online() ? fix_a : fix_b;
// 1. Insert another worm:
if (rand.uniform() < Pab) {
int comp_on = mob_a.online() ? 0 : 1;
int comp_off = !comp_on;
Worm& mob_off = mob_a.online() ? mob_b : mob_a;
Iter& fix_off = mob_a.online() ? fix_b : fix_a;
int site = fix_on->site();
double time = fix_on->time();
bool up = rand.choice2();
bool creat = mob_on.it()->z.creat() ? !up : up; // For PSF. Opposite for SCF.
Iter it_goal = Wld::Diag::find_aft (site, time);
int ninit = it_goal->z.nbef (comp_off);
if (check_nlimit (ninit, creat, nMAX, nMIN)) {
insert (it_goal, comp_off, time, creat, up, mob_off, fix_off);
}
}
// 2. Worm can global move.
else {
updateZe_to_halt (mob_on);
}
}
else if (online_worms == 2) {
int comp = rand.choice2();
Worm& mob = (comp == 0 ? mob_a : mob_b);
Iter& fix = (comp == 0 ? fix_a : fix_b);
updateZe_to_halt (mob);
}
}
int MultinomialSampler::Sample(RandGen &rand_gen)
{
if (intervals_ == 0)
return -1;
//unsigned int val = uint_dist(generator);
unsigned int val = rand_gen.NextRandom() % kDefMaxVal;
int l = 0, r = num_vals - 1, m;
while (l <= r)
{
m = (l + r) >> 1;
if (intervals_[m] > val)
r = m - 1;
else
l = m + 1;
}
if (l >= num_vals)
l = num_vals - 1;
return l;
}
inline LiveWLdiagram::Status LiveWLdiagram :: updateZe (Worm& worm)
{
double Ewalk = walk_energy (worm.it(), worm.up());
double dtime = -log (rand.uniform()) / Ewalk;
Iter it_block;
Status stat = walk (dtime, worm, it_block);
#ifdef PRINT_STATUS
cout << _printi << setw(16) << left << " walk "+string(worm.up() ? "up" : "down")+": " << to_str(stat) << endl;
#endif
ActStatus astat = act (worm, stat, Ewalk, it_block);
#ifdef PRINT_STATUS
cout << _printi << setw(16) << left << " act: " << to_str(astat) << endl;
_printi++;
#endif
return stat;
}
UINT RandGen::GetRand(INT nStart, INT nEnd)
{
return (INT)((nEnd-nStart)*g_RandGen.RandDouble()) + nStart;
}
LiveWLdiagram::ActStatus LiveWLdiagram :: act (Worm& worm, Status stat, double Ewalk, const Iter& it_block)
// Member-functions used in this function (like hop, relink_hop,...)
// should not specify the base class (for example: don't use WLdiagram::hop,...),
// so that the higher-level class (InfoWLdiagram) can overload them.
{
table.clear();
int site = worm.it()->site();
int comp = worm.it()->z.comp();
if (stat == FREE) {
// 1.1 bounce
table.add (Ewalk);
// 1.2 insert interaction
for(int nbi = 0; nbi < Wld::Diag::_latt(site).nbs(); ++nbi) {
int n = worm.it()->assoc(nbi)->z.nbef(comp);
bool creat = (worm.up() != worm.it()->z.creat());
if (check_nlimit (n, creat, nMAX, nMIN)) {
// Check whether cannot creat or annihilate particle anymore
int dir = _latt(site).nbdir(nbi);
double weight = BH_t(comp,dir) * (creat ? n+1 : n);
table.add (weight, nbi);
}
}
// 1.3 choose
#ifdef LOCAL_OPTIMAL
table.locally_optimal();
#endif
int choice = table.get_choice (rand.uniform());
if (choice == 0) {
bounce (worm);
return ACT_BOUNCE;
}
else {
hop (worm, table.nbi(choice));
return ACT_HOP;
}
}
else if (stat == HALTED) {
Iter it_to = it_block->conj(); // 'it_to' is the to-node in remove case, or the middle-node in relink case
// 2.1 bounce
int dir = _latt.dir (site, it_to->site());
double weight = BH_t(comp,dir) * (worm.it()->z.creat() ? worm.it()->z.naft(comp) : worm.it()->z.nbef(comp));
table.add (weight);
// 2.2 remove interaction
double Ebef = diagonal_energy (it_to, it_to->z.nbef(0), it_to->z.nbef(1));
double Eaft = diagonal_energy (it_to, it_to->z.naft(0), it_to->z.naft(1));
if (worm.up())
weight = shift_energy (Eaft, Ebef);
else
weight = shift_energy (Ebef, Eaft);
table.add (weight);
// 2.3 relink interaction
for(int nbi = 0; nbi < Wld::Diag::_latt(it_to->site()).nbs(); ++nbi) {
Iter it_nb = it_to->assoc(nbi);
if (it_nb->site() != worm.it()->site()) {
// Check whether relink to the self site
int n = it_nb->z.nbef(comp);
bool creat = (worm.up() == worm.it()->z.creat());
if (check_nlimit (n, creat, nMAX, nMIN)) {
// Check whether cannot creat or annihilate particle anymore
int dir = _latt(site).nbdir(nbi);
weight = BH_t(comp,dir) * (creat ? n+1 : n);
table.add (weight, nbi);
}
}
}
// 2.4 choose
#ifdef LOCAL_OPTIMAL
table.locally_optimal();
#endif
int choice = table.get_choice (rand.uniform());
if (choice == 0) {
bounce (worm);
return ACT_BOUNCE;
}
else if (choice == 1) {
delete_hop (worm);
return ACT_DELETE_HOP;
}
else {
relink_hop (worm, table.nbi(choice));
return ACT_RELINK_HOP;
}
}
else if (stat == CRASH) {
remove (worm);
return ACT_REMOVE_WORMS;
}
return ACT_NOTHING;
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-0.0114359, 6.66848, 0.922832), Pos(178.866, -7.43884, 0));
// initialization
// - set noise to 0.1
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.setParam("noise", 0.05);
global.odeConfig.setParam("controlinterval", 1);
global.odeConfig.setParam("cameraspeed", 250);
// use Playground as boundary:
// playground = new Playground(odeHandle, osgHandle, osg::Vec3(8, 0.2, 1), 1);
// // playground->setColor(Color(0,0,0,0.8));
// playground->setGroundColor(Color(2,2,2,1));
// playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
// global.obstacles.push_back(playground);
controller=0;
addParameter("k",&k);
addParameter("gamma_s",&teacher);
global.configs.push_back(this);
for(int i=0; i< bars; i++){
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.,0.,0.)),
osg::Vec3(1,10,0.3+i*.1),0.0);
b->setPosition(osg::Vec3(10+i*7,0,0));
global.obstacles.push_back(b);
}
double h = 0.;
RandGen rgen;
rgen.init(2);
for(int i=0; i<stairs; i++){
do{
h+=(rgen.rand()-.5)*0.6; // values between (-.25.25)
}while(h<0);
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.3,0.3,0.3)),
osg::Vec3(1,10,h),0.0);
b->setPosition(osg::Vec3(5+i,0,0));
global.obstacles.push_back(b);
}
/******* S L I D E R - w H E E L I E *********/
SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
mySliderWheelieConf.segmNumber = segmnum;
mySliderWheelieConf.motorPower = 5;
mySliderWheelieConf.jointLimitIn = M_PI/3;
// mySliderWheelieConf.frictionGround=0.5;
// mySliderWheelieConf.segmLength=1.4;
mySliderWheelieConf.sliderLength = 0;
mySliderWheelieConf.motorType = SliderWheelieConf::CenteredServo;
mySliderWheelieConf.showCenter = false;
vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)),
mySliderWheelieConf, "sliderWheelie_" + std::itos(teacher*10000));
vehicle->place(Pos(0,0,.1));
global.configs.push_back(vehicle);
// InvertMotorNStepConf cc = InvertMotorNStep::getDefaultConf();
// cc.cInit=1.0;
// cc.useS=false;
// cc.someInternalParams=true;
// InvertMotorNStep *semox = new InvertMotorNStep(cc);
// semox->setParam("steps", 1);
// semox->setParam("continuity", 0.005);
// semox->setParam("teacher", teacher);
SeMoXConf cc = SeMoX::getDefaultConf();
//cc.cInit=.95;
cc.cInit=.5;
cc.modelExt=false;
// cc.someInternalParams=true;
cc.someInternalParams=false;
SeMoX* semox = new SeMoX(cc);
// AbstractController* controller = new SineController(~0, SineController::Sine); // local variable!
// // // motorpower 20
// controller->setParam("period", 300);
// controller->setParam("phaseshift", 0.3);
if(useSym){
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
}else{
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
}
semox->setParam("rootE", 3);
semox->setParam("s4avg", 1);
semox->setParam("gamma_cont", 0.005);
semox->setParam("gamma_teach", teacher);
//controller=semox;
controller = new CrossMotorCoupling( semox, semox, 0.4);
// AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
//AbstractWiring* wiring = new MotorAsSensors(new ColorUniformNoise(0.1));
AbstractWiring* wiring = new FeedbackWiring(new ColorUniformNoise(0.1),
FeedbackWiring::Motor, 0.75);
//global.plotoptions.push_back(PlotOption(GuiLogger,Robot,5));
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
if(track) agent->setTrackOptions(TrackRobot(true,false,false, false,
change != 0 ? std::itos(change).c_str() : "uni", 50));
global.agents.push_back(agent);
global.configs.push_back(controller);
this->getHUDSM()->setColor(Color(1.0,1.0,0));
this->getHUDSM()->setFontsize(18);
this->getHUDSM()->addMeasure(teacher,"gamma_s",ID,1);
this->getHUDSM()->addMeasure(k_double,"k",ID,1);
setCMC(k);
blink=0;
}
//--------------
// medPing_Main \
//----------------------------------------------------------------------
// called from iPhone runSim-tab
int medPing_Main()
{
// print a message to the cell phone
mP.CELL_PrintF("Hello medPing patient ...\n\n");
//======= DATA STRUCTURE ======================================
// to hold patient's history of vital signs
oneVitalHistoryRecord vitalHistory[MAX_HISTORY];
// hmr (how many really) vital signs 0 <= hmr < MAX_HISTORY
long hmr = 0;
//=============================================================
RandGen randGenerator; // i need a random number generator
time_t start, now; // keep track of time in simulation
// ask user at CELL to input length of simulation
mP.CELL_PrintF("How many SECONDS would you like to simulate?\n");
double simulationTime = mP.CELL_fetchReal();
time(&start);
// simulation loop ....
time(&now);
while ( difftime(now,start) < simulationTime ) // while still time to simulate ...
{
long waitThisLongSEC = randGenerator.RandInt(1, MAX_WAIT_SEC);
mP.CELL_PrintF("\n--------------------------\n");
mP.CELL_PrintF("\n[PAUSE ... (%d seconds) ]\n", waitThisLongSEC);
sleep(waitThisLongSEC); // ZZzzzz.....
// WINDOWS uses the function called: Sleep( milliseconds )
// Sleep(waitThisLongSEC*1000); // ZZzzzz.....
// check our watch ...
long nSecs = time(&now);
// fetch vital signs from the medPing chip HERE (use mP object, right?)
double newTemp;
newTemp = mP.getBodyTemperature_F();
// :
// :
// now ADD these new vital signs to our history DATA STRUCTURE
//AddHistoryRecord(nSecs, newTemp, /* ... more here ... ,*/ vitalHistory, hmr);
// PRINT ALL of the series of vital signs so far
printAllVitalRecords(mP, vitalHistory, hmr);
} // while still more to simulate ...
mP.CELL_PrintF("\n\nSIMULATION OVER.\n\n");
// prompt for a record to delete HERE,
// find it (using your Find function)
// and delete it if found (using your Delete function)
mP.CELL_PrintF("\n\nDONE.\n");
// WINDOWS
// system("PAUSE");
return 0;
} // end medPing_Main()
