marxbotsensors.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 MARXBOTSENSORS_H
#define MARXBOTSENSORS_H

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

namespace farsa {

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

    virtual ~MarXbotSensor();

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

    static void describe(QString type);

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

    QString m_marxbotResource;

    QString m_neuronsIteratorResource;
};

class FARSA_EXPERIMENTS_API MarXbotProximityIRSensor : public MarXbotSensor
{
public:
    MarXbotProximityIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotProximityIRSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const QVector<bool> m_activeSensors;

    const int m_numActiveSensors;
};

class FARSA_EXPERIMENTS_API MarXbotGroundBottomIRSensor : public MarXbotSensor
{
public:
    MarXbotGroundBottomIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotGroundBottomIRSensor();

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

    static void describe(QString type);

    virtual void update();

    virtual int size();

    bool invertActivation() const
    {
        return m_invertActivation;
    }

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

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    Arena* m_arena;

    const bool m_invertActivation;
};

class FARSA_EXPERIMENTS_API MarXbotGroundAroundIRSensor : public MarXbotSensor
{
public:
    MarXbotGroundAroundIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotGroundAroundIRSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    Arena* m_arena;
};

class FARSA_EXPERIMENTS_API MarXbotLinearCameraSensor : public MarXbotSensor
{
public:
    MarXbotLinearCameraSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotLinearCameraSensor();

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

    static void describe(QString type);

    virtual void update();

    virtual int size();

    const LinearCamera* getLinearCamera() const
    {
        return m_camera;
    }

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

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const int m_numReceptors;

    const bool m_useRedChannel;

    const bool m_useGreenChannel;

    const bool m_useBlueChannel;

    const int m_usedColorChannels;

    const real m_aperture;

    const real m_maxDistance;

    LinearCamera* m_camera;

    const bool m_drawCamera;
};

class FARSA_EXPERIMENTS_API MarXbotLinearCameraSensorNew : public MarXbotSensor
{
public:
    MarXbotLinearCameraSensorNew(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotLinearCameraSensorNew();

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

    static void describe(QString type);

    virtual void update();

    virtual int size();

    const LinearCameraNew::LinearCamera* getLinearCamera() const
    {
        return m_camera;
    }

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

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    int m_numReceptors;

    const bool m_useRedChannel;

    const bool m_useGreenChannel;

    const bool m_useBlueChannel;

    const int m_usedColorChannels;

    const real m_aperture;

    const real m_maxDistance;

    QVector<SimpleInterval> m_receptorsRanges;

    LinearCameraNew::LinearCamera* m_camera;

    const bool m_drawCamera;
};

namespace __MarXbotTractionSensor_internal {
    class TractionSensorGraphic;
}

class FARSA_EXPERIMENTS_API MarXbotTractionSensor : public MarXbotSensor
{
public:
    MarXbotTractionSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotTractionSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const real m_maxForce;

    const real m_minForce;

    const bool m_drawSensor;

    __MarXbotTractionSensor_internal::TractionSensorGraphic* m_graphics;
};

class FARSA_EXPERIMENTS_API MarXbotSampledProximityIRSensor : public MarXbotSensor
{
public:
    MarXbotSampledProximityIRSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotSampledProximityIRSensor();

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

    static void describe(QString type);

    virtual void update();

    virtual int size();

    const SampledIRDataLoader& getRoundSamples() const
    {
        return m_roundSamples;
    }

    const SampledIRDataLoader& getSmallSamples() const
    {
        return m_smallSamples;
    }

    const QVector<bool>& getActiveSensors() const
    {
        return m_activeSensors;
    }

    int getNumActiveSensors() const
    {
        return m_numActiveSensors;
    }

    int getAverageNum() const
    {
        return m_averageNum;
    }

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

    MarXbot* m_robot;

    Arena* m_arena;

    NeuronsIterator* m_neuronsIterator;

    const QVector<bool> m_activeSensors;

    const int m_averageNum;

    const int m_numActiveSensors;

    const SampledIRDataLoader m_roundSamples;

    const SampledIRDataLoader m_smallSamples;

    const SampledIRDataLoader m_wallSamples;
};

class FARSA_EXPERIMENTS_API MarXbotAttachmentDeviceSensor : public MarXbotSensor
{
public:
    MarXbotAttachmentDeviceSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotAttachmentDeviceSensor();

    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);

    MarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const bool m_enablePosition;

    const bool m_enableStatus;

    const bool m_enableAttached;

    const bool m_enableOtherAttached;

    const int m_numInputs;
};

class FARSA_EXPERIMENTS_API MarXbotWheelSpeedsSensor : public MarXbotSensor
{
public:
    enum Mode {
        AbsoluteMode, 
        DeltaMode, 
        UnknownMode
    };

    static QString modeToString(Mode mode);

    static Mode stringToMode(QString mode);

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

    virtual ~MarXbotWheelSpeedsSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    const Mode m_mode;
};

class FARSA_EXPERIMENTS_API MarXbotLaserFrontDistanceSensor : public MarXbotSensor
{
public:
    MarXbotLaserFrontDistanceSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotLaserFrontDistanceSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    SingleIR* m_sensorLeft;

    SingleIR* m_sensorCenter;

    SingleIR* m_sensorRight;


    const real m_maxDistance;

    real m_aperture;

    const bool m_drawSensors;

    const bool m_drawRays;

    const bool m_drawRaysRange;

};


class FARSA_EXPERIMENTS_API MarXbotLaserOmniDistanceSensor : public MarXbotSensor
{
public:
    MarXbotLaserOmniDistanceSensor(ConfigurationParameters& params, QString prefix);

    virtual ~MarXbotLaserOmniDistanceSensor();

    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);

    PhyMarXbot* m_robot;

    NeuronsIterator* m_neuronsIterator;

    SingleIR* m_sensorLeft;

    SingleIR* m_sensorCenter;

    SingleIR* m_sensorRight;

    SingleIR* m_sensorRearLeft;

    SingleIR* m_sensorRear;

    SingleIR* m_sensorRearRight;

    const real m_maxDistance;

    const bool m_drawSensors;

    const bool m_drawRays;

    const bool m_drawRaysRange;

    const bool m_avgSensors;
};

}


#endif