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Environment.cpp
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Environment.cpp
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/*
* Environment.cpp
*
* Created on: Jul 10, 2016
* Author: amarnath
*/
#include "Environment.h"
#include <algorithm>
#include <vector>
#include <cstdio>
Environment::Environment(int w, int h, int dw, int dh) {
// TODO Auto-generated constructor stub
this->width = w;
this->height = h;
this->dispHeight = dh;
this->dispWidth = dw;
this->slotSize = 50;
this->withGrid = false;
}
Environment::~Environment() {
// TODO Auto-generated destructor stub
}
void Environment::setObstacle(Point p, int w, int h) {
Obstacle obs;
int woffset = dispWidth - width;
int hoffset = dispHeight - height;
obs.tlc.set(woffset + p.x, hoffset + p.y);
obs.width = w;
obs.height = h;
obstacles.push_back(obs);
}
void Environment::setTarget(Point p, int w, int h) {
Obstacle tgt;
int woffset = dispWidth - width;
int hoffset = dispHeight - height;
tgt.tlc.set(woffset + p.x, hoffset + p.y);
tgt.width = w;
tgt.height = h;
targets.push_back(tgt);
}
void Environment::draw() {
// Check if Allegro Env is Initialized
if (!al_init()) {
printf(
"Error: Environment::draw() : Allegro Environment Not Initialized Yet\n");
return;
}
// Draw if Allegro Display exists
if (obstacles.size()) {
std::list<Obstacle>::iterator itr = obstacles.begin();
while (itr != obstacles.end()) {
//printf("obstacle draw called\n");
al_draw_filled_rectangle(itr->tlc.x, itr->tlc.y,
itr->tlc.x + itr->width, itr->tlc.y + itr->height,
al_map_rgb(255, 255, 255));
itr++;
}
}
if (targets.size()) {
std::list<Obstacle>::iterator itr1 = targets.begin();
while (itr1 != targets.end()) {
//printf("obstacle draw called\n");
al_draw_filled_rectangle(itr1->tlc.x, itr1->tlc.y,
itr1->tlc.x + itr1->width, itr1->tlc.y + itr1->height,
al_map_rgb(0, 255, 0));
itr1++;
}
}
if (withGrid) {
drawGrid(true);
}
}
Point Environment::getGridSlotCenter(int x, int y) {
if (!withGrid) {
printf(
"Environment::getGridSlotCenter: do 'setGrid(enable, slotSize)' to enable grid operations\n");
return Point(-1, -1);
}
//bottom left
float bly = dispHeight; //height - ((height - rows*slotSize) / 2 );
float blx = dispWidth - width; //(width - columns*slotSize) / 2 ;
// calculate offset
Point P(0, 0);
P.x = blx + x * slotSize + (slotSize / 2);
// P.y = bly - ((rows - y - 1)*slotSize + ( slotSize / 2 ));
P.y = bly - ((y) * slotSize + (slotSize / 2));
return P;
}
void Environment::setGrid(bool enable, int slotSize) {
this->withGrid = enable;
if (enable) {
this->slotSize = slotSize;
}
}
void Environment::drawGrid(bool showCenter) {
if (!withGrid) {
printf(
"Environment::drawGrid(): do setGrid(true,<slotSize>) to perform grid operations\n");
}
// calculate rows and columns of the grid
int rows = height / slotSize;
int columns = width / slotSize;
// top left corner of the grid
float y = dispHeight - height; // (displayHeight - rows*slotSize) / 2 ;
float x = dispWidth - width; // (displayWidth - columns*slotSize) / 2 ;
int line_size = 3;
al_draw_rectangle(x, y, x + columns * slotSize, y + rows * slotSize,
al_map_rgb(0, 255, 0), 5);
// vertical lines
for (int i = 1; i <= columns - 1; i++) {
al_draw_line(x + i * slotSize, y, x + i * slotSize, y + rows * slotSize,
al_map_rgb(0, 255, 0), line_size);
}
// horizontal lines
for (int i = 1; i <= rows - 1; i++) {
al_draw_line(x, y + i * slotSize, x + columns * slotSize,
y + i * slotSize, al_map_rgb(0, 255, 0), line_size);
}
if (showCenter) {
ALLEGRO_FONT* font = al_load_font("arial.ttf", 12, 0);
if (!font) {
printf("Environment::drawGrid(): font couldn't be loaded\n");
return;
}
// find slot centre for each row and column
// and add text there
for (int i = 0; i < columns; i++) {
for (int j = 0; j < rows; j++) {
Point p = getGridSlotCenter(i, j);
//al_draw_filled_circle(p.x, p.y, 5.0, al_map_rgb(255, 0, 0));
al_draw_textf(font, al_map_rgb(255, 255, 255), p.x, p.y,
ALLEGRO_ALIGN_CENTER, "%d,%d", i, j);
}
}
al_destroy_font(font);
}
/*
//draw slant lines in each slot
for(int i = 0; i < rows; i++){
for(int j = 0; j < columns; j++){
if(!is_obstacle(j, rows - i - 1) && ( (j != target.x) || ((rows - i - 1) != target.y) ) ){
// draw leftward slant lines
al_draw_line(x + j*slotSize,y + i*slotSize, x + (j+1)*slotSize, y + (i+1)*slotSize,
al_map_rgb(255,255,255),line_size);
// draw rightward slant lines
al_draw_line(x + j*slotSize, y + (i+1)*slotSize, x + (j+1)*slotSize, y + (i)*slotSize,
al_map_rgb(255,255,255),line_size);
}
}
}
*/
}
Point Environment::getContainingSlotCenter(Point P) {
// Point is assumed with respect to
return Point(-1, -1);
}
bool Environment::hasGrid() {
return withGrid;
}
bool Environment::isTarget(Point pos) {
// check if reached target
for (std::list<Obstacle>::iterator itr = targets.begin();
itr != targets.end(); itr++) {
if (itr->hasPoint(pos.x, pos.y)) {
return true;
}
}
return false;
}
void Environment::visualizePlaceCellFiring(std::vector<Point> neuronMap, std::vector<float>rates){
for(unsigned int i=0 ;i <neuronMap.size(); i++){
float max = *std::max_element(std::begin(rates), std::end(rates));
int intensity = rates[i]*255/max;
al_draw_filled_circle(neuronMap[i].x, neuronMap[i].y, 10., al_map_rgb(0, 0, intensity));
}
}
// check if a given position is invalid
bool Environment::isInvalid(Point p){
// check if out of borders
if(p.x <= 0 || p.x >= width || p.y <= 0 || p.y >= height){
return true;
}else { // check all obstacles
for(std::list<Obstacle>::iterator itr = obstacles.begin(); itr != obstacles.end(); itr++){
if(itr->hasPoint(p.x, p.y)){
return true;
}
}
}
return false;
}