void Update()
{
timeCurrent = Time.timeSinceLevelLoad;
Debug.Log("RUNNING GENERATION: " + testGeneration.generationIndex);
Debug.Log("RUNNING INDIVIDUAL: " + currentIndex);
rawirDataArray = SimpleCarController.returnRawIRdata();
rawldrDataArray = SimpleCarController.returnRawLDRdata();
ldrDataArray = SimpleCarController.returnLDRdata();
irDataArray = SimpleCarController.returnIRdata();
if (simulationRunning)
{
// IF we have passed the start screen...
if (pastStartScreen)
{
// If this is the first run after passing the start screen...
if (firstRun)
{
trialTime = MainMenu.INPUTtrialLength;
Debug.Log("THIS IS THE TRIAL TIME: " + trialTime);
// Create a generation.
testGeneration.setGenerationParameters(MainMenu.INPUTavgGenomeSize, MainMenu.INPUTnumberOfGenerations, MainMenu.INPUTnumberOfIndividuals);
testGeneration.createStartGeneration();
}
if (!(firstGenerationRun))
{
if (timeCurrent < trialTime)
{
evaluateTrialFitness(rawldrDataArray, rawirDataArray, testGeneration.collectionOfIndividuals[currentIndex].paramsCollection.chosenSensorArray);
beginRun(ldrDataArray, irDataArray);
}
else if (timeCurrent >= trialTime)
{
SimpleCarController.stopMovement();
Debug.Log("DONE RUNNING INDIVIDUAL: " + currentIndex);
testGeneration.collectionOfIndividuals[currentIndex].fitnessScore = finalFitnessCalculation();
int numberOfindividuals = testGeneration.numberOfIndividualsInGeneration;
if (currentIndex < numberOfindividuals)
{
// testGeneration.collectionOfIndividuals[currentIndex].fitnessScore = finalFitnessCalculation();
SimpleCarController.stopMovement();
reset();
}
else if (currentIndex >= numberOfindividuals)
{
if (testGeneration.generationIndex < testGeneration.numberOfGenerations)
{
Debug.Log("Starting next generation");
testGeneration.createNewGeneration();
currentIndex = 0;
SceneManager.LoadScene("Experiment");
}
else if (testGeneration.generationIndex >= testGeneration.numberOfGenerations)
{
Debug.Log("END OF SIMULATION REACHED, NUMBER OF GENERATIONS EVALUATED: " + testGeneration.numberOfGenerations);
simulationRunning = false;
}
}
}
}
else
{
totalIterations = 0;
}
firstGenerationRun = false;
}
}
else
{
Debug.Log("Simulation has finished!");
}
}
