kheperasensors.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU 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 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 St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef KHEPERASENSORS_H
#define KHEPERASENSORS_H

#include "experimentsconfig.h"
#include "neuroninterfaces.h"
#include "world.h"
#include "robots.h"
#include "phybox.h"
#include "phycylinder.h"
#include "sensors.h"

namespace farsa {

class FARSA_EXPERIMENTS_API KheperaSensor : public Sensor
{
public:
    KheperaSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

protected:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    QString m_kheperaResource;

    QString m_neuronsIteratorResource;
};

class FARSA_EXPERIMENTS_API KheperaProximityIRSensor : public KheperaSensor
{
public:
    KheperaProximityIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaProximityIRSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    PhyKhepera* m_robot;

    NeuronsIterator* m_neuronsIterator;
};

class FARSA_EXPERIMENTS_API KheperaSampledProximityIRSensor : public KheperaSensor
{
public:
    KheperaSampledProximityIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaSampledProximityIRSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    Khepera* m_robot;

    Arena* m_arena;

    NeuronsIterator* m_neuronsIterator;

    const QVector<bool> m_activeSensors;

    const int m_numActiveSensors;

    const SampledIRDataLoader m_roundSamples;

    const SampledIRDataLoader m_smallSamples;

    const SampledIRDataLoader m_wallSamples;
};

class FARSA_EXPERIMENTS_API KheperaSampledLightSensor : public KheperaSensor
{
public:
    KheperaSampledLightSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaSampledLightSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    Khepera* m_robot;

    Arena* m_arena;

    NeuronsIterator* m_neuronsIterator;

    const QVector<bool> m_activeSensors;

    const int m_numActiveSensors;

    const SampledIRDataLoader m_lightSamples;

};

class FARSA_EXPERIMENTS_API KheperaGroundSensor : public KheperaSensor
{
public:
    KheperaGroundSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaGroundSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    Khepera* m_robot;

    Arena* m_arena;

    NeuronsIterator* m_neuronsIterator;

};


class FARSA_EXPERIMENTS_API KheperaWheelSpeedsSensor : public KheperaSensor
{
public:
    enum Mode {
        AbsoluteMode, 
        DeltaMode, 
        UnknownMode
    };

    static QString modeToString(Mode mode);

    static Mode stringToMode(QString mode);

public:
    KheperaWheelSpeedsSensor(ConfigurationParameters& params, QString prefix);

    virtual ~KheperaWheelSpeedsSensor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

private:
    virtual void resourceChanged(QString resourceName, ResourceChangeType changeType);

    PhyKhepera* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const Mode m_mode;
};



}

#endif