int main(int argc, char *argv[])
{
// Create the world
Enki::World world(200, 200);
// Create a Khepera and position it
Enki::EPuck *ePuck = new Enki::EPuck;
ePuck->pos = Enki::Point(100, 100);
ePuck->leftSpeed = 30;
ePuck->rightSpeed = 20;
// objects are garbage collected by the world on destruction
world.addObject(ePuck);
Enki::Polygone p;
const double amount = 9;
const double radius = 5;
const double height = 20;
for (double a = 0; a < 2*M_PI; a += 2*M_PI/amount)
p.push_back(Enki::Point(radius * cos(a), radius * sin(a)));
Enki::PhysicalObject* o = new Enki::PhysicalObject;
Enki::PhysicalObject::Hull hull(Enki::PhysicalObject::Part(p, height));
o->setCustomHull(hull, 1);
o->pos = Enki::Point(100, 100);
o->setColor(Enki::Color(0.4,0.6,0.8));
world.addObject(o);
// Run for some times
for (unsigned i=0; i<10; i++)
{
// step of 50 ms
world.step(0.05);
std::cout << "E-puck pos is (" << ePuck->pos.x << "," << ePuck->pos.y << ")" << std::endl;
}
}
void TEnkiEnvironment::addCubeWithParameters (double x, double y, Enki::Color color, int objectNumber)
{
// Создаем полигон, являющийся основнанием куба
Enki::Polygone p;
p.push_back(Enki::Point(cubeSize/2.0,cubeSize/2.0));
p.push_back(Enki::Point(-cubeSize/2.0,cubeSize/2.0));
p.push_back(Enki::Point(-cubeSize/2.0,-cubeSize/2.0));
p.push_back(Enki::Point(cubeSize/2.0,-cubeSize/2.0));
Enki::PhysicalObject* o = new Enki::PhysicalObject;
Enki::PhysicalObject::Hull hull(Enki::PhysicalObject::Part(p, cubeSize)); // Задаем форму куба
o->setCustomHull(hull, -100000); // Отрицательная масса - то же, что бесконечная, поэтому куб сдвинуть с места будет невозможно ));
o->collisionElasticity = 0; // Все тепло от столкновения поглощается
o->setColor(color);
o->pos = Enki::Point(x, y);
o->objectNumber = objectNumber;
world->addObject(o);
}
// Меняем местами положение кубов (в том числе и в массиве целей)
void TEnkiEnvironment::swapCubesForColors(double r1, double g1, double b1, double r2, double g2, double b2) {
// Находим кубы в массиве объектов ENKI по их цвету, а затем перекрашиваем их
std::set<Enki::PhysicalObject *>objects = world->objects;
std::set<Enki::PhysicalObject *>::iterator someObject;
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
Enki::Color color;
color = actualObject->getColor();
if ((color.components[0] == r1) && (color.components[1] == g1) && (color.components[2] == b1)) {
color.components[0] = r2;
color.components[1] = g2;
color.components[2] = b2;
actualObject->setColor(color);
cout << "found first cube" << std::endl;
} else if ((color.components[0] == r2) && (color.components[1] == g2) && (color.components[2] == b2)) {
color.components[0] = r1;
color.components[1] = g1;
color.components[2] = b1;
actualObject->setColor(color);
cout << "found second cube" << std::endl;
}
}
// Находим кубы в массиве объектов среды (который служит для определения достижения целей) и меняем их в нем местами
/*int firstIndexToSwap = 0;
int secondIndexToSwap = 0;
for (int i=0; i<objectsArray.size(); i++) {
TEnkiObject someEnkiObject = objectsArray[i];
if ((someEnkiObject.color[0]/255.0 == r1) && (someEnkiObject.color[1]/255.0 == g1) && (someEnkiObject.color[2]/255.0 == b1)) {
firstIndexToSwap = i;
} else if ((someEnkiObject.color[0]/255.0 == r2) && (someEnkiObject.color[1]/255.0 == g2) && (someEnkiObject.color[2]/255.0 == b2)) {
secondIndexToSwap = i;
}
}
TEnkiObject storedObject = objectsArray.at(firstIndexToSwap);
objectsArray.at(firstIndexToSwap) = objectsArray.at(secondIndexToSwap);
objectsArray.at(secondIndexToSwap) = storedObject;*/
}
int main(int argc, char *argv[])
{
Q_INIT_RESOURCE(asebaqtabout);
QApplication app(argc, argv);
QCoreApplication::setOrganizationName(ASEBA_ORGANIZATION_NAME);
QCoreApplication::setOrganizationDomain(ASEBA_ORGANIZATION_DOMAIN);
app.setApplicationName("Playground");
QTextCodec::setCodecForTr(QTextCodec::codecForName("UTF-8"));
QTextCodec::setCodecForCStrings(QTextCodec::codecForName("UTF-8"));
// Translation support
QTranslator qtTranslator;
qtTranslator.load("qt_" + QLocale::system().name());
app.installTranslator(&qtTranslator);
QTranslator translator;
translator.load(QString(":/asebaplayground_") + QLocale::system().name());
app.installTranslator(&translator);
QTranslator aboutTranslator;
aboutTranslator.load(QString(":/qtabout_") + QLocale::system().name());
app.installTranslator(&aboutTranslator);
// create document
QDomDocument domDocument("aseba-playground");
QString sceneFileName;
// Get cmd line arguments
bool ask = true;
if (argc > 1)
{
sceneFileName = argv[1];
ask = false;
}
// Try to load xml config file
do
{
if (ask)
{
QString lastFileName = QSettings("EPFL-LSRO-Mobots", "Aseba Playground").value("last file").toString();
sceneFileName = QFileDialog::getOpenFileName(0, app.tr("Open Scenario"), lastFileName, app.tr("playground scenario (*.playground)"));
}
ask = true;
if (sceneFileName.isEmpty())
{
std::cerr << "You must specify a valid setup scenario on the command line or choose one in the file dialog." << std::endl;
exit(1);
}
QFile file(sceneFileName);
if (file.open(QIODevice::ReadOnly))
{
QString errorStr;
int errorLine, errorColumn;
if (!domDocument.setContent(&file, false, &errorStr, &errorLine, &errorColumn))
{
QMessageBox::information(0, "Aseba Playground",
app.tr("Parse error at file %1, line %2, column %3:\n%4")
.arg(sceneFileName)
.arg(errorLine)
.arg(errorColumn)
.arg(errorStr));
}
else
{
QSettings("EPFL-LSRO-Mobots", "Aseba Playground").setValue("last file", sceneFileName);
break;
}
}
}
while (true);
// Scan for colors
typedef QMap<QString, Enki::Color> ColorsMap;
ColorsMap colorsMap;
QDomElement colorE = domDocument.documentElement().firstChildElement("color");
while (!colorE.isNull())
{
colorsMap[colorE.attribute("name")] = Enki::Color(
colorE.attribute("r").toDouble(),
colorE.attribute("g").toDouble(),
colorE.attribute("b").toDouble()
);
colorE = colorE.nextSiblingElement ("color");
}
// Scan for areas
typedef QMap<QString, Enki::Polygon> AreasMap;
AreasMap areasMap;
QDomElement areaE = domDocument.documentElement().firstChildElement("area");
while (!areaE.isNull())
{
Enki::Polygon p;
QDomElement pointE = areaE.firstChildElement("point");
while (!pointE.isNull())
{
p.push_back(Enki::Point(
pointE.attribute("x").toDouble(),
pointE.attribute("y").toDouble()
));
pointE = pointE.nextSiblingElement ("point");
}
areasMap[areaE.attribute("name")] = p;
areaE = areaE.nextSiblingElement ("area");
}
// Create the world
QDomElement worldE = domDocument.documentElement().firstChildElement("world");
Enki::Color worldColor(Enki::Color::gray);
if (!colorsMap.contains(worldE.attribute("color")))
std::cerr << "Warning, world walls color " << worldE.attribute("color").toStdString() << " undefined\n";
else
worldColor = colorsMap[worldE.attribute("color")];
Enki::World::GroundTexture groundTexture;
if (worldE.hasAttribute("groundTexture"))
{
const QString groundTextureFileName(QFileInfo(sceneFileName).absolutePath() + QDir::separator() + worldE.attribute("groundTexture"));
QImage image(groundTextureFileName);
if (!image.isNull())
{
// flip vertically as y-coordinate is inverted in an image
image = image.mirrored();
// convert to a specific format and copy the underlying data to Enki
image = image.convertToFormat(QImage::Format_ARGB32);
groundTexture.width = image.width();
groundTexture.height = image.height();
const uint32_t* imageData(reinterpret_cast<const uint32_t*>(image.constBits()));
std::copy(imageData, imageData+image.width()*image.height(), std::back_inserter(groundTexture.data));
// Note: this works in little endian, in big endian data should be swapped
}
else
{
qDebug() << "Could not load ground texture file named" << groundTextureFileName;
}
}
Enki::World world(
worldE.attribute("w").toDouble(),
worldE.attribute("h").toDouble(),
worldColor,
groundTexture
);
// Create viewer
Enki::PlaygroundViewer viewer(&world, worldE.attribute("energyScoringSystemEnabled", "false").toLower() == "true");
if (Enki::simulatorEnvironment)
qDebug() << "A simulator environment already exists, replacing";
Enki::simulatorEnvironment.reset(new Enki::PlaygroundSimulatorEnvironment(sceneFileName, viewer));
// Zeroconf support to advertise targets
#ifdef ZEROCONF_SUPPORT
Aseba::QtZeroconf zeroconf;
#endif // ZEROCONF_SUPPORT
// Scan for camera
QDomElement cameraE = domDocument.documentElement().firstChildElement("camera");
if (!cameraE.isNull())
{
const double largestDim(qMax(world.h, world.w));
viewer.setCamera(
QPointF(
cameraE.attribute("x", QString::number(world.w / 2)).toDouble(),
cameraE.attribute("y", QString::number(0)).toDouble()
),
cameraE.attribute("altitude", QString::number(0.85 * largestDim)).toDouble(),
cameraE.attribute("yaw", QString::number(-M_PI/2)).toDouble(),
cameraE.attribute("pitch", QString::number((3*M_PI)/8)).toDouble()
);
}
// Scan for walls
QDomElement wallE = domDocument.documentElement().firstChildElement("wall");
while (!wallE.isNull())
{
Enki::PhysicalObject* wall = new Enki::PhysicalObject();
if (!colorsMap.contains(wallE.attribute("color")))
std::cerr << "Warning, color " << wallE.attribute("color").toStdString() << " undefined\n";
else
wall->setColor(colorsMap[wallE.attribute("color")]);
wall->pos.x = wallE.attribute("x").toDouble();
wall->pos.y = wallE.attribute("y").toDouble();
wall->setRectangular(
wallE.attribute("l1").toDouble(),
wallE.attribute("l2").toDouble(),
wallE.attribute("h").toDouble(),
!wallE.attribute("mass").isNull() ? wallE.attribute("mass").toDouble() : -1 // normally -1 because immobile
);
if (! wallE.attribute("angle").isNull())
wall->angle = wallE.attribute("angle").toDouble(); // radians
world.addObject(wall);
wallE = wallE.nextSiblingElement ("wall");
}
// Scan for cylinders
QDomElement cylinderE = domDocument.documentElement().firstChildElement("cylinder");
while (!cylinderE.isNull())
{
Enki::PhysicalObject* cylinder = new Enki::PhysicalObject();
if (!colorsMap.contains(cylinderE.attribute("color")))
std::cerr << "Warning, color " << cylinderE.attribute("color").toStdString() << " undefined\n";
else
cylinder->setColor(colorsMap[cylinderE.attribute("color")]);
cylinder->pos.x = cylinderE.attribute("x").toDouble();
cylinder->pos.y = cylinderE.attribute("y").toDouble();
cylinder->setCylindric(
cylinderE.attribute("r").toDouble(),
cylinderE.attribute("h").toDouble(),
!cylinderE.attribute("mass").isNull() ? cylinderE.attribute("mass").toDouble() : -1 // normally -1 because immobile
);
world.addObject(cylinder);
cylinderE = cylinderE.nextSiblingElement("cylinder");
}
// Scan for feeders
QDomElement feederE = domDocument.documentElement().firstChildElement("feeder");
while (!feederE.isNull())
{
Enki::EPuckFeeder* feeder = new Enki::EPuckFeeder;
feeder->pos.x = feederE.attribute("x").toDouble();
feeder->pos.y = feederE.attribute("y").toDouble();
world.addObject(feeder);
feederE = feederE.nextSiblingElement ("feeder");
}
// TODO: if needed, custom color to feeder
// Scan for doors
typedef QMap<QString, Enki::SlidingDoor*> DoorsMap;
DoorsMap doorsMap;
QDomElement doorE = domDocument.documentElement().firstChildElement("door");
while (!doorE.isNull())
{
Enki::SlidingDoor *door = new Enki::SlidingDoor(
Enki::Point(
doorE.attribute("closedX").toDouble(),
doorE.attribute("closedY").toDouble()
),
Enki::Point(
doorE.attribute("openedX").toDouble(),
doorE.attribute("openedY").toDouble()
),
Enki::Point(
doorE.attribute("l1").toDouble(),
doorE.attribute("l2").toDouble()
),
doorE.attribute("h").toDouble(),
doorE.attribute("moveDuration").toDouble()
);
if (!colorsMap.contains(doorE.attribute("color")))
std::cerr << "Warning, door color " << doorE.attribute("color").toStdString() << " undefined\n";
else
door->setColor(colorsMap[doorE.attribute("color")]);
doorsMap[doorE.attribute("name")] = door;
world.addObject(door);
doorE = doorE.nextSiblingElement ("door");
}
// Scan for activation, and link them with areas and doors
QDomElement activationE = domDocument.documentElement().firstChildElement("activation");
while (!activationE.isNull())
{
if (areasMap.find(activationE.attribute("area")) == areasMap.end())
{
std::cerr << "Warning, area " << activationE.attribute("area").toStdString() << " undefined\n";
activationE = activationE.nextSiblingElement ("activation");
continue;
}
if (doorsMap.find(activationE.attribute("door")) == doorsMap.end())
{
std::cerr << "Warning, door " << activationE.attribute("door").toStdString() << " undefined\n";
activationE = activationE.nextSiblingElement ("activation");
continue;
}
const Enki::Polygon& area = *areasMap.find(activationE.attribute("area"));
Enki::Door* door = *doorsMap.find(activationE.attribute("door"));
Enki::DoorButton* activation = new Enki::DoorButton(
Enki::Point(
activationE.attribute("x").toDouble(),
activationE.attribute("y").toDouble()
),
Enki::Point(
activationE.attribute("l1").toDouble(),
activationE.attribute("l2").toDouble()
),
area,
door
);
world.addObject(activation);
activationE = activationE.nextSiblingElement ("activation");
}
// load all robots in one loop
std::map<std::string, RobotType> robotTypes {
{ "thymio2", { "Thymio II", createRobotSingleVMNode<Enki::DashelAsebaThymio2> } },
{ "e-puck", { "E-Puck", createRobotSingleVMNode<Enki::DashelAsebaFeedableEPuck> } },
};
QDomElement robotE = domDocument.documentElement().firstChildElement("robot");
unsigned asebaServerCount(0);
while (!robotE.isNull())
{
const auto type(robotE.attribute("type", "thymio2"));
auto typeIt(robotTypes.find(type.toStdString()));
if (typeIt != robotTypes.end())
{
// retrieve informations
const auto& cppTypeName(typeIt->second.prettyName);
const auto qTypeName(QString::fromStdString(cppTypeName));
auto& countOfThisType(typeIt->second.number);
const auto qRobotNameRaw(robotE.attribute("name", QString("%1 %2").arg(qTypeName).arg(countOfThisType)));
const auto qRobotNameFull(QObject::tr("%2 on %3").arg(qRobotNameRaw).arg(QHostInfo::localHostName()));
const auto cppRobotName(qRobotNameFull.toStdString());
const unsigned port(robotE.attribute("port", QString("%1").arg(ASEBA_DEFAULT_PORT+asebaServerCount)).toUInt());
const int16_t nodeId(robotE.attribute("nodeId", "1").toInt());
// create
const auto& creator(typeIt->second.factory);
#ifdef ZEROCONF_SUPPORT
auto robot(creator(zeroconf, port, cppRobotName, cppTypeName, nodeId));
#else // ZEROCONF_SUPPORT
auto robot(creator(port, cppRobotName, cppTypeName, nodeId));
#endif // ZEROCONF_SUPPORT
asebaServerCount++;
countOfThisType++;
// setup in the world
robot->pos.x = robotE.attribute("x").toDouble();
robot->pos.y = robotE.attribute("y").toDouble();
robot->angle = robotE.attribute("angle").toDouble();
world.addObject(robot);
// log
viewer.log(app.tr("New robot %0 of type %1 on port %2").arg(qRobotNameRaw).arg(qTypeName).arg(port), Qt::white);
}
else
viewer.log("Error, unknown robot type " + type, Qt::red);
robotE = robotE.nextSiblingElement ("robot");
}
// Scan for external processes
QList<QProcess*> processes;
QDomElement procssE(domDocument.documentElement().firstChildElement("process"));
while (!procssE.isNull())
{
QString command(procssE.attribute("command"));
// create process
processes.push_back(new QProcess());
processes.back()->setProcessChannelMode(QProcess::MergedChannels);
// make sure it is killed when we close the window
QObject::connect(processes.back(), SIGNAL(started()), &viewer, SLOT(processStarted()));
QObject::connect(processes.back(), SIGNAL(error(QProcess::ProcessError)), &viewer, SLOT(processError(QProcess::ProcessError)));
QObject::connect(processes.back(), SIGNAL(readyReadStandardOutput()), &viewer, SLOT(processReadyRead()));
QObject::connect(processes.back(), SIGNAL(finished(int, QProcess::ExitStatus)), &viewer, SLOT(processFinished(int, QProcess::ExitStatus)));
// check whether it is a relative command
bool isRelative(false);
if (!command.isEmpty() && command[0] == ':')
{
isRelative = true;
command = command.mid(1);
}
// process the command into its components
QStringList args(command.split(" ", QString::SkipEmptyParts));
if (args.size() == 0)
{
viewer.log(app.tr("Missing program in command"), Qt::red);
}
else
{
const QString program(QDir::toNativeSeparators(args[0]));
args.pop_front();
if (isRelative)
processes.back()->start(QCoreApplication::applicationDirPath() + QDir::separator() + program, args, QIODevice::ReadOnly);
else
processes.back()->start(program, args, QIODevice::ReadOnly);
}
procssE = procssE.nextSiblingElement("process");
}
// Show and run
viewer.setWindowTitle(app.tr("Aseba Playground - Simulate your robots!"));
viewer.show();
// If D-Bus is used, register the viewer object
#ifdef HAVE_DBUS
new Enki::EnkiWorldInterface(&viewer);
QDBusConnection::sessionBus().registerObject("/world", &viewer);
QDBusConnection::sessionBus().registerService("ch.epfl.mobots.AsebaPlayground");
#endif // HAVE_DBUS
// Run the application
const int exitValue(app.exec());
// Stop and delete ongoing processes
foreach(QProcess*process,processes)
{
process->terminate();
if (!process->waitForFinished(1000))
process->kill();
delete process;
}
void TEnkiEnvironment::makeGnuplotScriptAndRunIt(std::string graphFilename, double xmin, double xmax, double ymin, double ymax) {
// Чтобы замкнуть линии в гнуплоте
std::set<Enki::PhysicalObject *>objects = world->objects;
std::set<Enki::PhysicalObject *>::iterator someObject;
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
if (actualObject != ePuckBot) {
ofstream objectsFile;
stringstream buf;
buf << "C:/enki-log-files/gnuplotObjects" << actualObject->objectNumber << ".txt";
objectsFile.open(buf.str().c_str());
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y+cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x+cubeSize/2.0 << "\t" << actualObject->pos.y+cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x+cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile.close();
}
}
ofstream gnuplotGraphFile;
gnuplotGraphFile.open((graphFilename).c_str());
gnuplotGraphFile << "set terminal pdf size 10cm," << 10*(ymax-ymin)/(xmax-xmin) << "cm font 'Times-New-Roman,5'" << std::endl;
gnuplotGraphFile << "set output '" << graphFilename << ".pdf'" << std::endl;
gnuplotGraphFile << "set xtics " << static_cast<int>(xmin) <<",50," << static_cast<int>(xmax) << std::endl;
gnuplotGraphFile << "set ytics " << static_cast<int>(ymin) <<",50," << static_cast<int>(ymax) << std::endl;
gnuplotGraphFile << "set mxtics 5\nset mytics 5" << std::endl;
gnuplotGraphFile << "set grid xtics ytics mytics mxtics lt 1 lw 1 linecolor rgb \"gray\"" << std::endl;
gnuplotGraphFile << "set palette defined ( 0 \"#660099\", 1 \"#0000CC\", 2 \"#3399FF\", 3 \"#00CC00\", 4 \"#FFFF33\", 5 \"#FF6600\", 6 \"#CC0000\" )" << std::endl;
gnuplotGraphFile << "unset colorbox" << std::endl;
std::string objectsColorsStrings[10];
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
if (actualObject->objectNumber >= 0) {
const Enki::Color objectColor = actualObject->getColor();
std::string rColor = "00";
if (objectColor.components[0] == 1.0) {
rColor = "FF";
}
std::string gColor = "00";
if (objectColor.components[1] == 1.0) {
gColor = "FF";
}
std::string bColor = "00";
if (objectColor.components[2] == 1.0) {
bColor = "FF";
}
objectsColorsStrings[actualObject->objectNumber] = "#" + rColor + gColor + bColor;
/*if ((objectColor.components[0] == 1.0) && (objectColor.components[1] == 0.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "red";
} else if ((objectColor.components[0] == 1.0) && (objectColor.components[1] == 1.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "yellow";
} else if ((objectColor.components[0] == 0.0) && (objectColor.components[1] == 1.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "green";
} else if ((objectColor.components[0] == 0.0) && (objectColor.components[1] == 0.0) && (objectColor.components[2] == 1.0)) {
objectsColorsStrings[actualObject->objectNumber] = "blue";
}*/
}
}
gnuplotGraphFile << "plot " << "[" << static_cast<int>(xmin) << ":" << static_cast<int>(xmax) << "] "
<< "[" << static_cast<int>(ymin) << ":" << static_cast<int>(ymax) << "] "
<< "'" << gnuplotOutputString << "'" << " u 1:2:(0.2):3 with circles palette notitle, ";
for (int i = 0; i < 10; i++) {
if (objectsColorsStrings[i].length()) {
if (i>=1) {
gnuplotGraphFile << ", ";
}
gnuplotGraphFile << "'C:/enki-log-files/gnuplotObjects" << i << ".txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[i].c_str() << "\"";
} else {
break;
}
}
gnuplotGraphFile << std::endl;
/*<< "'C:/enki-log-files/gnuplotObjects1.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[0] << "\", "
<< "'C:/enki-log-files/gnuplotObjects2.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[1] << "\", "
<< "'C:/enki-log-files/gnuplotObjects3.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[2] << "\", "
<< "'C:/enki-log-files/gnuplotObjects4.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[3] << "\", " << std::endl;*/
//gnuplotGraphFile << "__EOF" << std::endl;
gnuplotGraphFile.close();
//system(("chmod +x "+graphFilename+".sh").c_str());
system(("gnuplot "+graphFilename).c_str());
}
void TEnkiEnvironment::loadEnvironment(std::string environmentFilename) {
// Получаем параметры среды из файла
std::ifstream environmentFile;
environmentFile.open(environmentFilename.c_str());
string tmp_str;
environmentFile >> tmp_str; // Считываем размеры прямоугольной арены
xSize = atof(tmp_str.c_str());
environmentFile >> tmp_str;
ySize = atof(tmp_str.c_str());
environmentFile >> tmp_str;
xBirthMin = atof(tmp_str.c_str());
environmentFile >> tmp_str;
xBirthMax = atof(tmp_str.c_str());
environmentFile >> tmp_str;
yBirthMin = atof(tmp_str.c_str());
environmentFile >> tmp_str;
yBirthMax = atof(tmp_str.c_str());
environmentFile >> tmp_str; // Считываем количество объектов в среде (по умолчанию - кубы)
objectsNumber = atoi(tmp_str.c_str());
for (int i=0; i<objectsNumber; i++) { // Заполняем массив объектов, каждый из которых имеет позицию своего центра и цвет
TEnkiObject someNewObject = TEnkiObject();
environmentFile >> tmp_str;
someNewObject.x = atof(tmp_str.c_str());
environmentFile >> tmp_str;
someNewObject.y = atof(tmp_str.c_str());
environmentFile >> tmp_str;
someNewObject.color[0] = atof(tmp_str.c_str());
environmentFile >> tmp_str;
someNewObject.color[1] = atof(tmp_str.c_str());
environmentFile >> tmp_str;
someNewObject.color[2] = atof(tmp_str.c_str());
objectsArray.push_back(someNewObject);
}
environmentFile >> tmp_str;
goalsNumber = atoi(tmp_str.c_str()); // Считываем количество целей
for (int i=0; i<goalsNumber; i++) { // Заполняем массив целей, каждая из которых имеет длину последовательности, награду и саму последовательность посещения объектов
TEnkiAim someNewAim = TEnkiAim();
environmentFile >> tmp_str;
someNewAim.aimComplexity = atoi(tmp_str.c_str());
if (someNewAim.aimComplexity > someNewAim.MAX_AIM_COMPLEXITY) {
cout << "Warning in TEnkiEnvironment: aim complexity can't be greater than the MAX_AIM_COMPLEXITY. Setting it to the MAX_AIM_COMPLEXITY by force now to avoid crash.";
someNewAim.aimComplexity = someNewAim.MAX_AIM_COMPLEXITY;
}
environmentFile >> tmp_str;
someNewAim.reward = atof(tmp_str.c_str());
for (int j=0; j<someNewAim.aimComplexity; j++) {
environmentFile >> tmp_str;
someNewAim.actionsSequence[j] = atoi(tmp_str.c_str());
if (someNewAim.actionsSequence[j] > objectsNumber) {
cout << "Warning in TEnkiEnvironment: action number can't be greater than the number of objects. Setting it to the number of objects by force now to avoid crash.";
someNewAim.actionsSequence[j] = objectsNumber;
}
}
goalsArray.push_back(someNewAim);
}
//Переходим к постройке мира исходя из параметров, полученных из файла
// Создаем саму арену
world = new Enki::World(xSize, ySize, Enki::Color(0.1, 0.1, 0.1));
// Создаем объекты
Enki::Polygone p2;
p2.push_back(Enki::Point(cubeSize/2.0,cubeSize/2.0));
p2.push_back(Enki::Point(-cubeSize/2.0,cubeSize/2.0));
p2.push_back(Enki::Point(-cubeSize/2.0,-cubeSize/2.0));
p2.push_back(Enki::Point(cubeSize/2.0,-cubeSize/2.0));
for (int i = 0; i < objectsNumber; i++)
{
Enki::PhysicalObject* o = new Enki::PhysicalObject;
Enki::PhysicalObject::Hull hull(Enki::PhysicalObject::Part(p2, cubeSize));
o->setCustomHull(hull, -100000); // Отрицательная масса - то же, что бесконечная, поэтому объекты сдвинуть с места будет невозможно
o->setColor(Enki::Color(objectsArray.at(i).color[0]/255.0, objectsArray.at(i).color[1]/255.0, objectsArray.at(i).color[2]/255.0 ));
o->collisionElasticity = 0; // Все тепло от столкновения поглощается
o->pos = Enki::Point(objectsArray.at(i).x, objectsArray.at(i).y);
o->objectNumber = i;
world->addObject(o);
//objectsInTheWorld.push_back(o);
}
// Создаем E-PUCK и размещаем его в среде
ePuckBot = new Enki::EPuck();
ePuckBot->pos = Enki::Point(4.0, 4.0);
ePuckBot->angle = 0;
ePuckBot->leftSpeed = 0;
ePuckBot->rightSpeed = 0;
ePuckBot->objectNumber = -1;
ePuckBot->setColor(Enki::Color(1, 0, 0));
world->addObject(ePuckBot);
}