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connect.cpp
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/*****************************************************************************
** **
** Robot qui evite les obstacle **
** en utilisant les reseaux de neurone ML **
** **
** cette application est une simulation du robot Kapera qui **
** est composer de 8 capteur **
** Copyright (C) 1992-2000 chouba nabil All rights reserved. **
** **
** **
******************************************************************************/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "connect.h"
#include <qmessagebox.h>
#include <qlcdnumber.h>
#include <qfiledialog.h>
#include "imge.h"
#include <QPopupMenu.h>
#include <QMenuBar.h>
static QMutex* mutex;
#include <qthread.h>
class MyThread : public QThread {
Q_OBJECT
public:
networkFather *nnt;
bool endExec;
virtual void run();
FormCourbe *monFormCourbe;
};
void MyThread::run()
{
bool removeLast=false;
QList<QPoint> *errorGraph=monFormCourbe->TabErrorGraph[monFormCourbe->curentGraph-1];
endExec= false;
while (1){
while (!nnt->StopLearn)
{
mutex->lock();
int curError=(int) (nnt->launchLearn()*10000);
mutex->unlock();
if (!errorGraph->isEmpty()){
if( errorGraph->getLast()->y() - curError >20 || curError -errorGraph->getLast()->y() >20 ){
errorGraph->append ( new QPoint(nnt->setp,curError));
monFormCourbe->courbeDraw();
removeLast=false;
qWarning("step=%d %d",nnt->setp,errorGraph->count () );
}
else {
//if (removeLast){
// errorGraph->getLast ()->setX (nnt->setp);
//errorGraph->getLast ()->setY (curError);
//}else
errorGraph->append ( new QPoint(nnt->setp,curError));
//removeLast=true;
monFormCourbe->courbeDraw();
}
}
else
errorGraph->append ( new QPoint(nnt->setp,curError));
if ( endExec ) return;
}
if ( endExec ) return;
sleep(1);
}
}
#define ModeProbg 0
#define ModeLearn 1
#define ModeDrawObstcle 2
MyThread a;
//#define MaxOngle 10 //l angle maximal que peux faire le robot
//#define ImpactDistance 16 //la distance que declanche l`appretissage on line
//#define PERIODE_AVANCE 100 //periode de temp donner au timer pour l'avancement
//
// Constructs a ConnectWidget.
//
ConnectWidget::ConnectWidget( QWidget *parent, const char *name )
: QWidget( parent, name, WNorthWestGravity )
{
stateMode=ModeProbg;
resize( 892, 670 );
PixmapLearnOk =new QPixmap( ( const char** ) (imageLearnOk) );
PixmapInLearn =new QPixmap( ( const char** ) (imageInLearn) );
pixmapModeStyle=new QPixmap( ( const char** ) imageModeStyle );
pixmapStyleLoad=new QPixmap( ( const char** ) imageStyleLoad );
pixmapStyleSave=new QPixmap( ( const char** ) imageStyleSave );
pixmapShowObstacle=new QPixmap( ( const char** ) imageShowObstacle );
pixmapOnLineLearn=new QPixmap( ( const char** ) imageOnLineLearn );
pixmapAvancePasAPas=new QPixmap( ( const char** ) imageAvancePasAPas );
pixmapSaveW=new QPixmap( ( const char** ) imageSaveW );
pixmapLoadW=new QPixmap( ( const char** ) imageLoadW );
pixmapFilter=new QPixmap( ( const char** ) imageFilter );
pixmapOffLineLearn=new QPixmap( ( const char** ) imageOffLineLearn );
pixmapGoRobot=new QPixmap( ( const char** ) imageGoRobot );
pixmapStopRobot=new QPixmap( ( const char** ) imageStopRobot );
pixmapLaunchLearn=new QPixmap( ( const char** ) imageLaunchLearn );
ButtonSaveW = new QPushButton( this, "ButtonSaveW" );
ButtonSaveW->setGeometry( QRect( 320, 20, 40, 41 ));
ButtonSaveW->setText( tr( "Save Weights" ) );
ButtonSaveW->setPixmap(* pixmapSaveW );
ButtonLoadW = new QPushButton( this, "ButtonLoadW" );
ButtonLoadW->setGeometry( QRect( 360, 20, 40, 41 ) );
ButtonLoadW->setText( tr( "Load Weights" ) );
ButtonLoadW->setPixmap(* pixmapLoadW );
ButtonGoStopRobot = new QPushButton( this, "ButtonGoStopRobot" );
ButtonGoStopRobot->setGeometry( QRect( 280, 20, 40, 41 ) );
ButtonGoStopRobot->setText( tr( "Avance / arrette robot" ) );
ButtonGoStopRobot->setPixmap(* pixmapGoRobot );
ButtonLearnStyle = new QPushButton( this, "ButtonLearnStyle" );
ButtonLearnStyle->setGeometry( QRect( 0, 20, 40, 41 ));
ButtonLearnStyle->setText( tr( "learn style" ) );
ButtonLearnStyle->setPixmap(* pixmapModeStyle );
ButtonLaunchLearn = new QPushButton( this, "ButtonLaunchLearn" );
ButtonLaunchLearn->setGeometry( QRect( 160, 20, 40, 41 ) );
ButtonLaunchLearn->setText( tr( "Launch learn" ) );
ButtonLaunchLearn->setPixmap(* pixmapLaunchLearn );
ButtonAvancePasAPas = new QPushButton( this, "ButtonAvancePasAPas" );
ButtonAvancePasAPas->setGeometry( QRect( 240, 20, 40, 41 ));
ButtonAvancePasAPas->setText( tr( "Avance pas a pas" ) );
ButtonAvancePasAPas->setPixmap(* pixmapAvancePasAPas );
ButtonFilter = new QPushButton( this, "ButtonFilter" );
ButtonFilter->setGeometry( QRect( 400, 20, 40, 41 ) );
ButtonFilter->setText( tr( "FilterStyle" ) );
ButtonFilter->setPixmap(* pixmapFilter );
ButtonLoadStyle = new QPushButton( this, "ButtonLoadStyle" );
ButtonLoadStyle->setGeometry( QRect( 40, 20, 40, 41 ) );
ButtonLoadStyle->setText( tr( "Load Style" ) );
ButtonLoadStyle->setPixmap(* pixmapStyleLoad );
ButtonShowObstacle = new QPushButton( this, "ButtonShowObstacle" );
ButtonShowObstacle->setGeometry( QRect( 120, 20, 40, 41 ) );
ButtonShowObstacle->setText( tr( "show obstacl" ) );
ButtonShowObstacle->setPixmap(* pixmapShowObstacle );
ButtonOnLineLearn = new QPushButton( this, "ButtonOnLineLearn" );
ButtonOnLineLearn->setGeometry( QRect( 200, 20, 40, 41 ) );
ButtonOnLineLearn->setText( tr( "On line learn" ) );
ButtonOnLineLearn->setPixmap(* pixmapOnLineLearn );
LCDErr = new QLCDNumber( this, "LCDErr" );
LCDErr->setGeometry(QRect( 650, 20, 181, 41 ) );
LCDErr->setNumDigits( 7 );
ButtonLearnInfo = new QPushButton( this, "ButtonLearnInfo" );
ButtonLearnInfo->setGeometry( QRect( 830, 20, 60, 41 ) );
ButtonLearnInfo->setText( tr( "" ) );
ButtonSaveStyle = new QPushButton( this, "ButtonSaveStyle" );
ButtonSaveStyle->setGeometry( QRect( 80, 20, 40, 42 ) );
ButtonSaveStyle->setText( tr( "Save Style" ) );
ButtonSaveStyle->setPixmap(* pixmapStyleSave );
LCDStep = new QLCDNumber( this, "LCDStep" );
LCDStep->setGeometry( QRect( 487, 20, 120, 41 ) );
LCDStep->setNumDigits( 7 );
TextStep = new QLabel( this, "TextStep" );
TextStep->setGeometry( QRect( 440, 20, 47, 41 ));
TextStep->setText( tr( "StepLearn:" ) );
TextError = new QLabel( this, "ErrorStep" );
TextError->setGeometry( QRect( 608, 20, 42, 41));
TextError->setText( tr( "error:" ) );
ButtonLearnInfo->setPixmap( *PixmapLearnOk );
timer =new QTimer( this );
timer->stop ();
connect( timer, SIGNAL(timeout()), SLOT(avanceRobot()) );
setBackgroundColor( white ); // white background
colors = new QColor[MAXCOLORS];
pointMyFin= new QPoint();
pointMyDebut= new QPoint();
for ( int i=0; i<MAXCOLORS; i++ ) // init color array
colors[i] = QColor( rand()&255, rand()&255, rand()&255 );
//trajet a faire par le robot
path= new QList<QPoint>();
//envirenement des obstacle ...
// envrnemt = new QList<obstacle>();
envObstacle =new enverenement();
//load obstacle (static pour le moment)
/* envrnemt->append (new obstacle(QPoint(-1,0),QPoint(0,10)));
envrnemt->append (new obstacle(QPoint(0,-1),QPoint(10,0)));
envrnemt->append (new obstacle(QPoint(10,0),QPoint(11,10)));
envrnemt->append (new obstacle(QPoint(0,10),QPoint(10,11)));
envrnemt->append (new obstacle(QPoint(2,7),QPoint(4,8)));
envrnemt->append (new obstacle(QPoint(3,3),QPoint(5,5)));
envrnemt->append (new obstacle(QPoint(7,1),QPoint(9,4)));
envrnemt->append (new obstacle(QPoint(7,5),QPoint(9,6)));
*/
actualPos = new QPoint(10,10);
robotMover = new Robot(QPoint(250,250),0,8);
robotMover->setObstacle(envObstacle->ensembleObstacle);
OnLineLearn=true;
nnt =new network<FixedPoint>();
n=new net();
n->usedNetWork =nnt;
nnt->LCDErr=LCDErr;
nnt->LCDstep= LCDStep;
newLoadVecteur=false;
monArethemetique=new FormchoitArithmetique(this,"cooool",Qt::WType_Modal);
monFormRobotConf=new FormRobotConf (this,"cooool",Qt::WType_Modal);
monFormRobotConf->setRobot(robotMover);
monFormRobotConf->ok();
monFormSigmoid =new FormSigmoid (this,"cooool",Qt::WType_Modal);
monFormSigmoid->setNetworkFather(nnt);
monFormCourbe =new FormCourbe ();
// Create a menu
QPopupMenu *styleMenu = new QPopupMenu( this );
styleMenu->insertTearOffHandle();
styleMenu->insertItem( "Draw learn style", this,SLOT(learnStyle() ));
styleMenu->insertItem( "Save learn style", this, SLOT(saveTrajet()), CTRL+Key_Q );
styleMenu->insertItem( "Load learn style", this, SLOT(loadStyle ()));
styleMenu->insertItem( "Filter learn style", this, SLOT(ButtonFilterF()));
QPopupMenu *obstacleMenu = new QPopupMenu( this );
obstacleMenu->insertTearOffHandle();
obstacleMenu->insertItem( "Draw obstacle mode", this,SLOT(drawObstacleMode() ));
obstacleMenu->insertItem( "delete all obstacle", this,SLOT(deleteAllObstacle() ));
obstacleMenu->insertItem( "Save obstacle", this, SLOT(ButtonSaveObstacle()) );
obstacleMenu->insertItem( "Load obstacle", this, SLOT(ButtonLoadObstacle ()));
obstacleMenu->insertItem( "Random obstacle", this, SLOT(notyet()));
obstacleMenu->insertItem( "Hide/Show obstacle", this, SLOT(ShowObstacle()));
QPopupMenu *learnMenu = new QPopupMenu( this );
learnMenu->insertTearOffHandle();
learnMenu->insertItem( "Launch learn", this,SLOT(launchLearn() ));
learnMenu->insertItem( "On line learn", this, SLOT(OnLineLearnF()) );
learnMenu->insertItem( "Save etat (Weights)", this, SLOT(ButtonSaveWF ()));
learnMenu->insertItem( "Load etat (Weights)", this, SLOT(ButtonLoadWF()));
QPopupMenu *RobotMenu = new QPopupMenu( this );
RobotMenu->insertTearOffHandle();
RobotMenu->insertItem( "Avance pas a pas", this,SLOT(avanceRobot() ));
RobotMenu->insertItem( "Avance/arret", this, SLOT(avanceRobotAll()) );
RobotMenu->insertItem( "Parametre du robot", this, SLOT(showConfRobt()));
QPopupMenu *MathMenu = new QPopupMenu( this );
MathMenu->insertTearOffHandle();
MathMenu->insertItem( "Arithmetique", this,SLOT(showConfArethemetique() ));
MathMenu->insertItem( "Sigmoid", this,SLOT(showConfSigmoid() ));
QPopupMenu *HelpMenu = new QPopupMenu( this );
HelpMenu->insertItem( "Manual", this,SLOT(notyet() ));
HelpMenu->insertItem( "About ANN38", this,SLOT(showAbout() ));
// Create a menu bar
QMenuBar *m = new QMenuBar( this );
m->setSeparator( QMenuBar::InWindowsStyle );
m->insertItem("&Style", styleMenu );
m->insertItem("&Obstacle", obstacleMenu );
m->insertItem("&Learn", learnMenu );
m->insertItem("&Robot", RobotMenu );
m->insertItem("&Math", MathMenu );
m->insertItem("&Help", HelpMenu );
connect( ButtonSaveW, SIGNAL(clicked()),this , SLOT(ButtonSaveWF()) );
connect( ButtonLoadW, SIGNAL(clicked()),this , SLOT(ButtonLoadWF()) );
connect( ButtonOnLineLearn, SIGNAL(clicked()),this , SLOT(OnLineLearnF()) );
connect( ButtonAvancePasAPas, SIGNAL(clicked()),this , SLOT(avanceRobot()) );
connect( ButtonGoStopRobot, SIGNAL(clicked()),this , SLOT(avanceRobotAll()) );
connect( ButtonLaunchLearn, SIGNAL(clicked()),this , SLOT(launchLearn()) );
connect( ButtonSaveStyle, SIGNAL(clicked()),this , SLOT(saveTrajet()) );
connect( ButtonShowObstacle, SIGNAL(clicked()),this , SLOT(ShowObstacle()) );
connect( ButtonLearnStyle, SIGNAL(clicked()),this , SLOT(learnStyle()) );
connect( ButtonLearnInfo, SIGNAL(clicked()),this , SLOT( stopLearnF ()) );
connect( ButtonLoadStyle, SIGNAL(clicked()),this , SLOT( loadStyle ()) );
connect( ButtonFilter, SIGNAL(clicked()),this , SLOT( ButtonFilterF ()) );
PHautGauche =new QPoint(0,0);
PBasDroit =new QPoint(0,0);
envObstacle->load("save_obstacle.txt");
}
void ConnectWidget::showConfRobt(){monFormRobotConf->show ();}
void ConnectWidget::showConfSigmoid(){monFormSigmoid->show();}
void ConnectWidget::showConfArethemetique(){monArethemetique->show();}
void ConnectWidget::showAbout()
{
QMessageBox::about( this, "ANN ML for avoiding obstacl (N°380)",
"ANN38 est une application qui permet de simuler\n"
"le comportement d un robot via defferent parametre\n"
"pour bien choisir le model hardware\n\n"
"Copyright 2003-2004 . "
"License Free\n\n"
"For technical support, [email protected] or see\n"
"http://www.kodyha.com\n" );
}
void ConnectWidget::notyet(){
QMessageBox::information( this, "inder Consturction ....","not yet ... next week..." );
}
void ConnectWidget::ButtonSaveWF()
{
QString save(QFileDialog::getSaveFileName( "save_Widget.txt", "*.*", this ));
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (save.length ()) ;i++)
file[i] =(char) save.ref(i);
file[i] =0;
if (save.length () >0 )
nnt->save_w(file);
}
void ConnectWidget::ButtonLoadWF()
{
QString load(QFileDialog::getOpenFileName( "save_Widget.txt", "*.*", this ));
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (load.length ()) ;i++)
file[i] =(char) load.ref(i);
file[i] =0;
if (load.length () >0 )
nnt->Load_w(file);
}
void ConnectWidget::OnLineLearnF()
{
if (OnLineLearn){
ButtonOnLineLearn->setText("not online learn");
ButtonOnLineLearn->setPixmap( *pixmapOffLineLearn );
}
else {
ButtonOnLineLearn->setText("online learn");
ButtonOnLineLearn->setPixmap( *pixmapOnLineLearn );
}
OnLineLearn = !OnLineLearn;
}
void ConnectWidget::stopLearnF()
{
// monFormSigmoid->show();
// monFormRobotConf->show();
// monArethemetique->show();
//envObstacle->save("cool.txt");
//envObstacle->load("cool.txt");
monFormCourbe->show ();
monFormCourbe->setActiveWindow () ;
if (nnt->StopLearn){
ButtonLearnInfo->setPixmap( *PixmapInLearn );
monFormCourbe->clearAllCourbe->setDisabled (true);
}
else{
ButtonLearnInfo->setPixmap( *PixmapLearnOk );
monFormCourbe->clearAllCourbe->setEnabled (true);
}
nnt->StopLearn = !nnt->StopLearn;
}
void ConnectWidget::ButtonSaveObstacle()
{
QString save(QFileDialog::getSaveFileName( "save_obstacle.txt", "*.*", this ));
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (save.length ()) ;i++)
file[i] =(char) save.ref(i);
file[i] =0;
if (save.length () >0 )
envObstacle->save(file);
update();
}
void ConnectWidget::ButtonLoadObstacle()
{
QString load(QFileDialog::getOpenFileName( "save_obstacle.txt", "*.*", this ));
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (load.length ()) ;i++)
file[i] =(char) load.ref(i);
file[i] =0;
if (load.length () >0 )
envObstacle->load(file);
update();
}
void ConnectWidget::ShowObstacle()
{
envObstacle->inversVisibliter();
update();
}
void ConnectWidget::learnStyle()
{
// learnStyl = !learnStyl;
stateMode++;//0,1 soit mode probagation soit mode learn
if (stateMode>=2) stateMode=0;
update();
if(stateMode==ModeLearn)
{
delete path;
path= new QList<QPoint>();
}
}
void ConnectWidget::launchLearn()
{
monFormCourbe->clearAllCourbe->setDisabled (true);
monFormCourbe->show ();
monFormCourbe->setActiveWindow () ;
//add new graph
monFormCourbe->TabErrorGraph[monFormCourbe->curentGraph]= new QList<QPoint>();
monFormCourbe->curentGraph++;
//kill thread !!!
a.endExec = true;
while (a.running ()) ;
//repaint();
FixedPoint::ExpoBit=monArethemetique->getFirstParm();
FixedPoint::MontiBit=monArethemetique->getSecndParm();
VirtalFloat::ExpoBit=monArethemetique->getFirstParm();
VirtalFloat::MontiBit=monArethemetique->getSecndParm();
if (nnt!=NULL)
delete (nnt);
nnt=NULL;
if (monArethemetique->isVFloatingPoint())
nnt =new network<VirtalFloat>();
else if (monArethemetique->isFixedPoint())
nnt =new network<FixedPoint>();
else if (monArethemetique->isPcFloatingPoint())
nnt =new network<float>();
monFormSigmoid->setNetworkFather(nnt);
n->usedNetWork =nnt;
nnt->LCDErr=LCDErr;
nnt->LCDstep= LCDStep;
//pour le test
// n->loadVector("c:\\nabil test.txt");
//conversion de Strig a *char
if (newLoadVecteur){
char file[200];
for(int i=0;i< (int) (loadStylFile->length ()) ;i++)
file[i] =(char) loadStylFile->ref(i);
file[i] =0;
n->loadVector(file);
n->saveVector("patern.txt");
}
n->restNetwork();
n->setVectorToNetwork();
ButtonLearnInfo->setPixmap( *PixmapInLearn );
//ButtonLearnInfo->repaint () ;
// system("test.exe");//auto filter
//if (!nnt->StopLearn) nnt->launchLearn();
a.nnt = nnt;
a.monFormCourbe = monFormCourbe;
a.start();
//nnt->StopLearn=0;
//ButtonLearnInfo->setPixmap( *PixmapLearnOk );
//ButtonLearnInfo->repaint () ;
}
void ConnectWidget::avanceRobotAll()
{
//elle avance le robot chaque timetoAvance
if (timer->isActive())
{
timer->stop ();
ButtonGoStopRobot->setPixmap(* pixmapGoRobot );
}
else
{
ButtonGoStopRobot->setPixmap( *pixmapStopRobot );
timer->start( robotMover->timetoAvance, false );
}
}
//
// Handles paint events for the connect widget.
//
void ConnectWidget::paintEvent( QPaintEvent * )
{
QPainter paint( this );
paint.setBrush(QBrush( yellow ));
//draw obstacle
envObstacle->drawIt(&paint);
/* QPoint *pw;
QPoint *pNextw;
for ( pw=errorGraph->first(); pw != 0; pw=pNextw )
if(pNextw=errorGraph->next())
paint.drawLine(*pw,*pNextw);
*/
if (stateMode==ModeLearn)
{
//dessine la Trajet
paint.drawLine( *pointMyFin,*pointMyDebut );// plot point
QPoint *p;
QPoint *pNext;
paint.setPen(darkCyan) ;
for ( p=path->first(); p != 0; p=pNext ){
if(pNext=path->next())
paint.drawLine(*p,*pNext);
}
//draw the chouba robot in mode learn
if (path->last ()) robotMover->drawPrime(&paint,*path->last());
}
if (stateMode==ModeProbg) {
robotMover->draw(&paint);
}
if (stateMode==ModeDrawObstcle) {
paint.fillRect (PHautGauche->x(),PHautGauche->y(),
PBasDroit->x() - PHautGauche->x(),
PBasDroit->y() - PHautGauche->y(),
QBrush( colors[9] ));
robotMover->draw(&paint);
}
}
void ConnectWidget::drawObstacleMode(){stateMode=ModeDrawObstcle;}
void ConnectWidget::AfficheRobot(){
QPoint *pNext,*p;
pNext= path->last () ;
p =path->prev () ;
if (p && pNext)
{
//elle doit contenir 2 element enmois
robotMover->CurentPosition = *p;
robotMover->CurentRotation = asin(((p->y()-pNext->y())/robotMover->getDistance(*p,*pNext)))/3.141593*180;
if ((pNext->x() - p->x())>0)
{
if (robotMover->CurentRotation>0)
robotMover->CurentRotation=180-robotMover->CurentRotation;
else robotMover->CurentRotation=-180-robotMover->CurentRotation;
}
}
}
void ConnectWidget::loadStyle(){
loadStylFile = new QString(QFileDialog::getOpenFileName( "monstyle.txt", "*.*", this ));
newLoadVecteur=false;
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (loadStylFile->length ()) ;i++)
file[i] =(char) loadStylFile->ref(i);
file[i] =0;
if (loadStylFile->length () >0 ){
n->loadVector(file);
// n->saveVector("patern.txt");
n->restNetwork();
n->setVectorToNetwork();
}
}
void ConnectWidget::ButtonFilterF(){
saveStylFile = new QString (QFileDialog::getSaveFileName( QString::null, "*.*", this ));
if (saveStylFile->length () >0 )
FilterFile();
}
void ConnectWidget::FilterFile(){
//conversion de Strig a *char
char file[200];
int i;
file[0]='f';
file[1]=' ';
file[2]='"';
for( i=0;i< (int) (saveStylFile->length ()) ;i++)
file[i+3] =(char) saveStylFile->ref(i);
file[i+3] ='"';
file[i+4] =0;
qWarning(file);
system(file);
}
void ConnectWidget::saveTrajet(){
saveStylFile = new QString (QFileDialog::getSaveFileName( QString::null, "*.*", this ));
if (saveStylFile->length () >0 ){
//conversion de Strig a *char
char file[200];
for(int i=0;i< (int) (saveStylFile->length ()) ;i++)
file[i] =(char) saveStylFile->ref(i);
file[i] =0;
FILE *fp=fopen(file,"w");
QPoint *pNext,*p,*testFirst;
int count =0;
for (QPoint *po=path->first();po;po = path->next())
count++;
QPoint *last =path->last();
p =path->first();
bool debut=true;
testFirst=pNext= path->next();
int prevRotation =0;
if (p && pNext )
{
//elle doit contenir 2 element enmois
while (pNext )
{
robotMover->CurentPosition = *p;
prevRotation = robotMover->CurentRotation;
robotMover->CurentRotation = asin(((p->y()-pNext->y())/robotMover->getDistance(*p,*pNext)))/3.141593*180;
if ((pNext->x() - p->x())>0)
{
if (robotMover->CurentRotation>0)
robotMover->CurentRotation=180-robotMover->CurentRotation;
else robotMover->CurentRotation=-180-robotMover->CurentRotation;
}
//pour ne pas avoire d'angle negative
//c si la sortie du reseaux est entre 0 ->360
// if (robotMover->CurentRotation<0)
// robotMover->CurentRotation+=360;
if (testFirst==pNext){
//architecture du resaeux
fprintf(fp,"input %d\n",nnt->nbr_net[0]);
for (int i=1;i<nnt->nbr_layer;i++)
fprintf(fp,"layer %d\n",nnt->nbr_net[i]);
fprintf(fp,"output %d\n",nnt->nbr_net[nnt->nbr_layer]);
//nombre de patern
fprintf(fp,"\nNBR_pat %d\n\n",count-2);
}
//la premier valeur est fausse
if (testFirst!=pNext){
if (!debut ) {
int Rots =0.0;
if ((robotMover->CurentRotation - prevRotation) > 180 ) Rots =-360;
if ((robotMover->CurentRotation - prevRotation) < -180 ) Rots =360;
float tmp =(float) (robotMover->CurentRotation - prevRotation + Rots + robotMover->MaxOngleForLearn ) /(robotMover->MaxOngleForLearn*2);
fprintf(fp,"%f",(float) (robotMover->CurentRotation - prevRotation + Rots + robotMover->MaxOngleForLearn ) /(robotMover->MaxOngleForLearn*2));
qWarning("rot=%d =(cur:%d -prev:%d + robotMover->MaxOngleForLearn) 0= %f",(robotMover->CurentRotation - prevRotation+Rots ),robotMover->CurentRotation,prevRotation,tmp);
}
debut=false;
//la sortie est longle 0 ->360
// fprintf(fp,"%f",(float) robotMover->CurentRotation/360);
//xxxx
//ongle courant est donnner fprintf(fp,"\nIN_vect %f",(float) robotMover->CurentRotation /360);
//ondonnepas
if ( last!=pNext)
{
fprintf(fp,"\nIN_vect ");
for (int i=0;i<robotMover->nbrCapteur/2;i++)
{
float cap0 = (float) robotMover->getCapteurDistance(i,0)/500;
if (cap0 >= 1.0) cap0=(float)0.999999;
float cap1 = (float) robotMover->getCapteurDistance(i,0)/500;
if (cap1 >= 1.0) cap1=(float)0.999999;
fprintf(fp,"%f %f ",
/*(float) robotMover->getCapteurDistance(i,0)/500 ,
(float) robotMover->getCapteurDistance(i,1)/500 );
*/
cap0,cap1);
}
fprintf(fp,"\nOUT_vect ");
}
}
p = pNext;
pNext= path->next();
}
}
// else
fclose(fp);
//on filtre desque on fait la sauvgarde
FilterFile();
//on met le ficher a faire loader le meme ficher
loadStylFile = new QString(*saveStylFile);
newLoadVecteur=true;
}
}
void ConnectWidget::avanceRobot(){
//robotMover->nbrCapteur
float testPattern [9] ;
//l ongle ne entre pas ou net
// testPattern [0] = robotMover->CurentRotation /360;
// int cont = 1;
//ondonnepas
int cont = 0;
for (int i=0;i<robotMover->nbrCapteur/2;i++)
{
//input must be in [1,0]
float cap0= (float) robotMover->getCapteurDistance(i,0)/500 ;
float cap1= (float) robotMover->getCapteurDistance(i,1)/500 ;
if (cap0 > 1.0 ) cap0 =1.0;
if (cap1 > 1.0 ) cap1 =1.0;
testPattern[cont++] =cap0;
testPattern[cont++] =cap1;
/*testPattern[cont++] = (float) robotMover->getCapteurDistance(i,0)/500 ;
testPattern[cont++] = (float) robotMover->getCapteurDistance(i,1)/500 ;*/
}
// QMessageBox::information( this, "obstacle","The factory default will be used instead." );
// robotMover->CurentRotation = nnt->getResulta(testPattern)*360 ;
int temp = robotMover->CurentRotation;
mutex->lock();
robotMover->rotate((nnt->getResulta(testPattern)*(robotMover->MaxOngleForExec*2))-robotMover->MaxOngleForExec);
mutex->unlock();
qWarning("rot=%d",((int)(nnt->getResulta(testPattern)*(robotMover->MaxOngleForExec*2))-robotMover->MaxOngleForExec));
//test si le resulata provoque une colesion
QString s;
int rot=0;
if (OnLineLearn && (robotMover->getCapteurDistance(0,1) <robotMover->ImpactDistance))//33
{
// QMessageBox::information( this, "obstacle","learn ok");
robotMover->CurentRotation = temp ;
/* if (robotMover->getCapteurDistance(2,0)>11) rot=-90; // °45
if (robotMover->getCapteurDistance(2,1)>11) rot=90; // °45
if (robotMover->getCapteurDistance(1,1)>11) rot=45; // °45
if (robotMover->getCapteurDistance(3,0)>11) rot=-45; // °45
// if (robotMover->getCapteurDistance(0,1)>11) rot=0; // °45
// QMessageBox::information( this, "obstacle",
// s.arg ( (int) (nnt->getResulta(testPattern)*360)-180 , 10, 10 )) ;
// s.arg ( rot, 10, 10 )) ;
*/
int m90 = robotMover->getCapteurDistance(2,0);
int p90 = robotMover->getCapteurDistance(2,1);
int p45 = robotMover->getCapteurDistance(1,1);
int m45 = robotMover->getCapteurDistance(3,0);
int sensRot=0;
if (robotMover->prevRot>0) sensRot++; else sensRot--;
if (p45<m45) sensRot--; else sensRot++;
if (p45+p90 < m45+m90) sensRot--; else sensRot++;
if (sensRot>0) rot = robotMover->MaxOngleForExec ;else rot = -robotMover->MaxOngleForExec ;
rot/=6;
robotMover->CurentRotation=(rot)+temp;
vecteur *v=new vecteur(8,1);
int cont =0;
for (int i=0;i<robotMover->nbrCapteur/2;i++)
{
v->in[cont++] = (float) robotMover->getCapteurDistance(i,0)/500 ;
v->in[cont++] = (float) robotMover->getCapteurDistance(i,1)/500 ;
}
v->out[0]=(rot+robotMover->MaxOngleForExec)/(robotMover->MaxOngleForExec*2);
int rotavant =((int)(nnt->getResulta(testPattern)*(robotMover->MaxOngleForExec*2)))-robotMover->MaxOngleForExec;
n->addvect(v);
n->restNetwork();
n->setVectorToNetwork();
ButtonLearnInfo->setPixmap( *PixmapInLearn );
ButtonLearnInfo->repaint () ;
//save les nouveux patern du learn
/*n->saveVector("newPatern.txt");
system("test.exe");
n->loadVector("nabil test.txt");
n->restNetwork();
n->setVectorToNetwork();
*/
mutex->lock();
nnt->launchLearn();
mutex->unlock();
ButtonLearnInfo->setPixmap( *PixmapLearnOk );
ButtonLearnInfo->repaint () ;
qWarning("apres(learn) rot=%d in %d",rot,((int)(nnt->getResulta(testPattern)*(robotMover->MaxOngleForExec*2)))-robotMover->MaxOngleForExec);
qWarning("avant (learn) rot=%d",rotavant);
}
//update data robot
if (robotMover->getCapteurDistance(0,1) >11)
robotMover->move(robotMover->destanceToAvance);
else
{
// robotMover->move(-20);
QApplication::beep ();
if (rot) robotMover->CurentRotation+=60;
else robotMover->CurentRotation-=60;
}
robotMover->prevRot=rot;
/*
qWarning("(3,0)=%d",robotMover->getCapteurDistance(3,0));
qWarning("(3,1)=%d",robotMover->getCapteurDistance(3,1));
qWarning("(2,0)=%d",robotMover->getCapteurDistance(2,0));
qWarning("(2,1)=%d",robotMover->getCapteurDistance(2,1));
qWarning("(1,1)=%d",robotMover->getCapteurDistance(1,1));
qWarning("(0,1)=%d",robotMover->getCapteurDistance(0,1));
*/
update();
}
//
// Handles mouse press events for the connect widget.
//