fuzzy.h

#ifndef FUZZY_H
#define FUZZY_H

#include <QThread>
#include <QMutex>
#include <vector>
#include "robot.h" //Robot class
#include "utils.h" //Utils library

struct Selector{
    std::vector<bool> flags;
    Robot r1, r2,r3;

    Selector(){
        flags.assign(3, false);
    }
};

class Fuzzy: public QThread
{
    Q_OBJECT
private:
    QMutex mutex;
    pVector enemy_pos_grid; //posicao em grid dos inimigos
    pVector team_pos_grid; //posicao em grid do time
    p2dVector enemy_pos; //posicao em cm dos inimigo
    Point2d ball_pos; //posicao em cm da bola
    Point2d centroid_atk; //posicao em cm do centro da area de atk
    Point2d centroid_def; //posicao em cm do centro da area de def

    dMatrix mi; //grau de pertinencia
    dMatrix limite;

    vector<int> pertinencia;
    vector<double> D; //Coeficiente de Disparo
    vector<double> y_output;
    vector<double> y_output1;
    vector<double> y_output2;
    vector<double> y_baixo;
    vector<double> y_medio1;
    vector<double> y_medio2;
    vector<double> y_alto;
    vector<double> d_universe; // Dominio dos termos primarios de entrada e saida
    vector<double> input; //vetor de entrada para calculo de decisao do fuzzy (FD,FC,FA)
    vector<double> mi_output; //vetor de saida para calculo da decisao do fuzzy
    vector<int> decisao_robo;

    int num_strategy;  // 0 = teste CPH/CPO; 1 = fuzzy antigo (defensor+ataque); 2 = fuzzy novo (guardian and killer)
    double output; //saida do fuzzy antigo
    double output1; //saida do fuzzy novo
    double output2; //saida do fuzzy novo
    Point2d output_meta;
    bool stop, duniverse_initialized; //variavel de controle de thread
    bool flag_finish_fuzzy;

    Selector selec_robot; //estrutura de selecao dos robos que vao entrar no fuzzy

signals:
    void emitRobots(Selector);

protected:
    void msleep(int ms);
    void run(); //rotina que a thread executa

public:
    Fuzzy();

    void init_duniverse();
    void init_funcao_pertinencia();
    void another_fuzzification();
    void fuzzification();
    void calcula_input(Robot);
    void calcula_another_input();
    int defuzzification();
    void another_defuzzification();
    void set_objectives();
    bool get_flag_finish();
    void zera_flag_finish();
    double min_function(double, double);
    double max_function(double, double);
    void Play();
    bool is_running();
    void Stop();
    bool isStopped() const;
    void set_to_select(Robot, Robot, Robot);
    void set_enemy_pos(p2dVector);
    void set_ball_pos(Point2d);
    void set_centroid_atk(Point2d);
    void set_centroid_def(Point2d);
    void set_strategy(char);
    Point convert_C_to_G(Point2d);
    ~Fuzzy();
};


#endif // FUZZY_H