neuroninterfaces.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 NEURONINTERFACES_H
#define NEURONINTERFACES_H

#include "experimentsconfig.h"
#include "resourcesuser.h"
#include "parametersettable.h"
#include "baseexception.h"
#include "mathutils.h"
#include <QString>
#include <QColor>
#include <QMap>

// All the suff below is to avoid warnings on Windows about the use of the
// unsafe function sprintf and strcpy...
#if defined(_MSC_VER)
    #pragma warning(push)
    #pragma warning(disable:4996)
#endif

namespace farsa {

class Evonet;

class FARSA_EXPERIMENTS_TEMPLATE NeuronsIterator : public Resource {
public:
    virtual ~NeuronsIterator() { /*nothing to do*/ };
    virtual bool setCurrentBlock( QString blockName ) = 0;
    virtual bool nextNeuron() = 0;
    virtual void setInput( double value ) = 0;
    virtual double getInput() = 0;
    virtual double getOutput() = 0;
    virtual void setGraphicProperties( QString label, double minValue, double maxValue, QColor color ) = 0;
};

class FARSA_EXPERIMENTS_API NoisyDevice : public ParameterSettableInConstructor {
public:
    NoisyDevice( ConfigurationParameters& params, QString prefix );

    ~NoisyDevice();

    void save( ConfigurationParameters& params, QString prefix );

    static void describe( QString type );

protected:
    double applyNoise(double v, double minValue, double maxValue) const;

private:
    enum NoiseTypes {
        NoNoise, 
        Uniform, 
        Gaussian 
    };

    NoiseTypes noiseType;

    double noiseRange;

    double noiseParameter;
};

class FARSA_EXPERIMENTS_API Sensor : public NoisyDevice, public ConcurrentResourcesUser {
public:
    Sensor( ConfigurationParameters& params, QString prefix );
    ~Sensor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    QString name();
    void setName( QString name );
    virtual void update() = 0;
    virtual int size() = 0;
protected:
    void checkAllNeededResourcesExist();
    void resetNeededResourcesCheck();
    QString actualResourceNameForMultirobot(QString resourceName) const;
private:
    bool allNeededResourcesExist;
    QString sensorName;
    QString resourcePrefix;
};

class FARSA_EXPERIMENTS_API Motor : public NoisyDevice, public ConcurrentResourcesUser {
public:
    Motor( ConfigurationParameters& params, QString prefix );
    ~Motor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    QString name();
    void setName( QString name );
    virtual void update() = 0;
    virtual int size() = 0;
protected:
    void checkAllNeededResourcesExist();
    void resetNeededResourcesCheck();
    QString actualResourceNameForMultirobot(QString resourceName) const;
private:
    bool allNeededResourcesExist;
    QString motorName;
    QString resourcePrefix;
};

class FARSA_EXPERIMENTS_API EvonetIterator : public NeuronsIterator {
public:
    EvonetIterator();
    virtual ~EvonetIterator();
    void setEvonet( Evonet* evonet );
    Evonet* getEvonet();
    typedef enum { InputLayer, HiddenLayer, OutputLayer } layer_t;
    void defineBlock( QString name, layer_t layer, int startIndex, int size );
    bool setCurrentBlock( QString blockName );
    bool nextNeuron();
    void setInput( double value );
    double getInput();
    double getOutput();
    void setGraphicProperties( QString label, double minValue, double maxValue, QColor color );
private:
    void checkCurrentStatus( const QString& funcName = QString() ) const;
    class BlockInfo {
    public:
        EvonetIterator::layer_t layer;
        int startIndex;
        int endIndex;
    };
    QMap<QString, BlockInfo> blocks;
    layer_t currLayer;
    int currStartIndex;
    int currEndIndex;
    int currIndex;
    Evonet* evonet;
};

class FARSA_CONF_TEMPLATE EvonetIteratorInvalidStatusException : public BaseException
{
public:
    EvonetIteratorInvalidStatusException(const char* function, const char* reason) throw() :
        BaseException()
    {
        strncpy(m_function, function, 256);
        m_function[255] = '\0';
        strncpy(m_reason, reason, 256);
        m_reason[255] = '\0';
        sprintf(m_errorMessage, "Invalid status for EvonetItarator in function \"%s\", reason: %s", m_function, m_reason);
        m_errorMessage[1023] = '\0';
    }

    EvonetIteratorInvalidStatusException(const EvonetIteratorInvalidStatusException& other) throw() :
        BaseException(other)
    {
        strncpy(m_function, other.m_function, 256);
        m_function[255] = '\0';
        strncpy(m_reason, other.m_reason, 256);
        m_reason[255] = '\0';
        strncpy(m_errorMessage, other.m_errorMessage, 1024);
        m_errorMessage[1023] = '\0';
    }

    EvonetIteratorInvalidStatusException& operator=(const EvonetIteratorInvalidStatusException& other) throw()
    {
        if (&other == this) {
            return *this;
        }

        BaseException::operator=(other);
        strncpy(m_function, other.m_function, 256);
        m_function[255] = '\0';
        strncpy(m_reason, other.m_reason, 256);
        m_reason[255] = '\0';
        strncpy(m_errorMessage, other.m_errorMessage, 1024);
        m_errorMessage[1023] = '\0';

        return *this;
    }

    virtual ~EvonetIteratorInvalidStatusException() throw()
    {
    }

    virtual const char *what() const throw()
    {
        return m_errorMessage;
    }

    const char *function() const throw()
    {
        return m_function;
    }

    const char *reason() const throw()
    {
        return m_reason;
    }

    EXCEPTION_HELPER_FUNCTIONS(EvonetIteratorInvalidStatusException)

private:
    char m_function[256];

    char m_reason[256];

    char m_errorMessage[1024];
};

} // end namespace farsa

// All the suff below is to restore the warning state on Windows
#if defined(_MSC_VER)
    #pragma warning(pop)
#endif

#endif