#!/usr/bin/env python
# -*- coding: iso-8859-15 -*-

# simulator.py, Simulator
# Copyright (C) 2006 por Rafael Treviño Menéndez
# Autor: Rafael Treviño Menéndez <skasi.7@gmail.com>

# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU Library General Public
# License as published by the Free Software Foundation; either
# version 2 of the License, or (at your option) any later version.

# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# Library General Public License for more details.

# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

import genyal2, simulation, robot, utils, sys, sequence

model = None
output = None
samples = 10

def convertToSeq (chromo):
	final = []
	for i in xrange (0, len (chromo), samples):
		final.append (chromo [i: i + samples])
	return final

def fitness (chromo):
	simulation.initSim ([model], [convertToSeq (chromo)], 0, 0, None)
	simulation.simulationLoop (sys.argv, 10.0, 0)
	return utils.distance (simulation.getRobotInitPosition (0), simulation.getRobotLastPosition (0))

if __name__ == '__main__':
	if len (sys.argv) < 3:
		print 'optimizer: Use: %s <robot file> <output file>'
		sys.exit (-1)
	model = robot.robot (sys.argv [1], None, None, None, None, None, None)
	model = model.structure
	output = sys.argv [2]
	ga = genyal2.Genyal (M = 10, bases = range (-90, 90), N = len (model) * samples, fitness = fitness, historics = True, probs = [0.1, 0.5])
	best = 0.0
	gen = 0
	while gen < 1000:
		ga.nextGen ()
		gen, mean, best = ga.statics ()
		print 'Generation %d' % gen
		print 'Best:', best
	print ga.bestIndividual ()
	final = zip (*convertToSeq (ga.bestIndividual ()))
	seq = sequence.sequence (final)
	seq.writeGait (output)
	ga.histoDump ('historico.m')