public void newTrainEpoch()
{
lock (carModelGraphicControl1.trainingModels)
{
carModelGraphicControl1.trainingModels = new List <CarModel>();
lock (carModelGraphicControl1.trainingModels)
{
if (neuralController.trainInnerStates != null)
{
foreach (GridCarModelState s in neuralController.trainInnerStates)
{
carModelGraphicControl1.trainingModels.Add(new CarModel(GridCarModelState.ToCarModelState(s)));
}
}
if (neuralController.trainInnerStatesOrig != null)
{
foreach (GridCarModelState s in neuralController.trainInnerStatesOrig)
{
carModelGraphicControl1.trainingModels.Add(new CarModel(GridCarModelState.ToCarModelState(s), Color.Brown));
}
}
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (carRunning)
{
if (timerDiv == 0)
{
ICarPositionProvider carPos;
IFinishPositionProvider finishPos;
if (simulation)
{
itemManager.TakeSample();
carPos = itemManager;
finishPos = itemManager;
}
else
{
cameraCarPosition.TakeSample();
carPos = cameraCarPosition;
finishPos = cameraCarPosition;
}
//leallitas ha beert a celba
double errx = carPos.GetCarState().Position.X - finishPos.GetFinishState(0).Position.X;
double erry = carPos.GetCarState().Position.Y - finishPos.GetFinishState(0).Position.Y;
double errox = carPos.GetCarState().Orientation.X - finishPos.GetFinishState(0).Orientation.X;
double erroy = carPos.GetCarState().Orientation.Y - finishPos.GetFinishState(0).Orientation.Y;
if ((errx * errx + erry * erry < CarModel.SHAFT_LENGTH * CarModel.SHAFT_LENGTH) && (errox * errox + erroy * erroy < 0.2))
{
buttonStopSim_Click(this, null);
}
else
{
carModelGraphicControl1.SetReceiveCommand();
GridCarModelInput oi;
GridCarModelState os;
neuralController.SimulateOneStep(GridCarModelState.FromCarModelState(carPos.GetCarState()), out oi, out os);
outState = GridCarModelState.ToCarModelState(os);
outInput = new CarModelInput(oi.Angle);
//outInput = new CarModelInput(20, 100);
if (checkBoxSerial.Checked)
{
byte leftspd = (byte)Convert.ToSByte(ComMath.Normal(outInput.LeftSpeed, -180, 180, -128, 127));
byte rightspd = (byte)Convert.ToSByte(ComMath.Normal(outInput.RightSpeed, -180, 180, -128, 127)); //-125, 124
if (checkBoxCarEnable.Checked)
{
serialComm.Motor_I2C_Forward(1, leftspd, rightspd);
}
//Thread.Sleep(200);
}
}
}
timerDiv = (timerDiv + 1) % (long)(CarModel.SIMULATION_TIME_STEP * 1000.0 / timer1.Interval);
if (simulation)
{
//itemManager.Simulate(new MathModelSimulator(), outInput, timer1.Interval / 1000.0);
itemManager.SimualteGrid(new GridMathModelSimulator(), new GridCarModelInput(outInput.LeftSpeed, outInput.RightSpeed), timer1.Interval / 1000.0);
}
else
{
cameraCarPosition.Simulate(new MathModelSimulator(), outInput, timer1.Interval / 1000.0);
}
}
carModelGraphicControl1.Invalidate();
}