evorobotexperiment.cpp

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2012                                                     *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           *
 *  Gianluca Massera <emmegian@yahoo.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  *
 ********************************************************************************/

#include "evorobotexperiment.h"
#include "sensors.h"
#include "motors.h"
#include "evoga.h"
#include "configurationhelper.h"
#include "factory.h"
#include "logger.h"

#include <QFile>
#include <QTextStream>
#include <QString>
#include <QTime>
#include <QThread>
#include <iostream>
#include <cstdlib>

// All the suff below is to avoid warnings on Windows about the use of unsafe
// functions. This should be only a temporary workaround, the solution is stop
// using C string and file functions...
#if defined(_MSC_VER)
    #pragma warning(push)
    #pragma warning(disable:4996)
#endif

namespace farsa {

/*
 * Experiment constructor
 */
EvoRobotExperiment::EvoRobotExperiment()
{
    ga = NULL;
    world = NULL;
    savedConfigurationParameters = NULL;
    savedPrefix = NULL;
    ntrial = 0;
    stopCurrentTrial = false;
    skipCurrentTrial = false;
    restartCurrentTrial = false;
    endCurrentIndividualLife = false;
    arena = NULL;
    agentIdSelected = 0;

    gaPhase = NONE;

    // fitness and additional fitness components are not displayed by default

    // By default we don't run in batch mode
    batchRunning = false;

    // Stating which resources we use here. This is here in the constructor so that we are sure to
    // be the first to declare resources (if we did this later we should have used addUsableResources
    // because child classes could declare they will use resources before us)
    usableResources( QStringList() << "world" << "arena" << "experiment" << "robot" << "evonet" << "neuronsIterator" );
}

EvoRobotExperiment::~EvoRobotExperiment()
{
    // Removing resources
    try {
        deleteResource("experiment");
        deleteResource("arena");
        deleteResource("world");
        deleteResource("robot");
        deleteResource("evonet");
        deleteResource("neuronsIterator");
    } catch (...) {
        // Doing nothing, this is here just to prevent throwing an exception from the destructor
    }

    foreach( EmbodiedAgent* agent, eagents ) {
        delete agent;
    }
    
    delete savedConfigurationParameters;
    delete savedPrefix;
    delete arena;
    delete world;
}

void EvoRobotExperiment::configure(ConfigurationParameters& params, QString prefix)
{
    // Saving configuration parameters and prefix for cloning
    delete savedConfigurationParameters;
    delete savedPrefix;
    savedConfigurationParameters = new ConfigurationParameters(params);
    savedConfigurationParameters->shareObserversWith(params);
    savedPrefix = new QString(prefix);
    // Setting ourself as resource manager in the configuration parameters object
    params.setResourcesUser(this);
    savedConfigurationParameters->setResourcesUser(this);

    ntrials = 1;
    nsteps = 1;

    batchRunning = ConfigurationHelper::getBool(params, "__INTERNAL__/BatchRunning", batchRunning); // If we are running in batch or not
    ntrials = ConfigurationHelper::getInt(params, prefix + "ntrials", ntrials); // number of trials to do
    nsteps = ConfigurationHelper::getInt(params, prefix + "nsteps", nsteps); // number of step for each trial

    // create a World by default in order to exit from here with all configured properly
    // if they are already created it will not destroy and recreate
    recreateWorld();
    // Creates the arena (if the group Arena is present)
    recreateArena();
    // Creates the Embodied Agents
    // number of agents to create
    int nagents = ConfigurationHelper::getInt(params, prefix + "nagents", 1);
    for( int i=0; i<nagents; i++ ) {
        eagents.append( new EmbodiedAgent(i,this) );
    }
    selectAgent(0);

    // declaring other resources
    declareResource( "experiment", static_cast<ParameterSettableWithConfigureFunction*>(this) );

    Logger::info( params.getValue(prefix+"type") + " Configured" );
}

void EvoRobotExperiment::save(ConfigurationParameters&, QString)
{
    Logger::error("NOT IMPLEMENTED (EvoRobotExperiment::save)");
    abort();
}

void EvoRobotExperiment::describe( QString type ) {
    Descriptor d = addTypeDescription( type, "The experimental setup that defines the conditions and the fitness function of the evolutionary experiment" );
    d.describeInt( "ntrials" ).def(1).limits(1,MaxInteger).runtime( &EvoRobotExperiment::setNTrials, &EvoRobotExperiment::getNTrials ).help("The number of trials the individual will be tested to calculate its fitness");
    d.describeInt( "nsteps" ).def(1).limits(1,MaxInteger).help("The number of step a trials will last");
    d.describeInt( "nagents" ).def(1).limits(1,MaxInteger).help("The number of embodied agents to create", "This parameter allow to setup experiments with more than one robot; all agents are clones");
    d.describeSubgroup( "NET" ).props( IsMandatory ).type( "Evonet" ).help( "The Neural Network controlling the robot");
    d.describeSubgroup( "ROBOT" ).props( IsMandatory ).type( "Robot" ).help( "The robot");
    d.describeSubgroup( "Sensor" ).props( AllowMultiple ).type( "Sensor" ).help( "One of the Sensors from which the neural network will receive information about the environment" );
    d.describeSubgroup( "Motor" ).props( AllowMultiple ).type( "Motor" ).help( "One of the Motors with which the neural network acts on the robot and on the environment" );
    d.describeSubgroup( "Arena" ).type( "Arena" ).help( "The arena where robots live");
    
    SubgroupDescriptor world = d.describeSubgroup( "World" ).help( "Parameters affecting the simulated World" );
    world.describeReal( "timestep" ).def(0.05).runtime( &EvoRobotExperiment::setWorldTimestep, &EvoRobotExperiment::getWorldTimeStep ).help( "The time in seconds corresponding to one simulated step of the World" );
}

void EvoRobotExperiment::postConfigureInitialization()
{
    if (!batchRunning) {
        // preventing gas from using multithread, which is not supported if the GUI is present
        ga->doNotUseMultipleThreads();
    }
    // Doing evolution by default
    gaPhase=EvoRobotExperiment::INEVOLUTION;
}

void EvoRobotExperiment::doTrial()
{
    restartCurrentTrial = false;
    stopCurrentTrial = false;
    trialFitnessValue = 0.0;
    for(nstep = 0; nstep < nsteps; nstep++) {
        initStep( nstep );
        if ( ga->commitStep() || restartCurrentTrial ) {
            break;
        }
        doStep();
        if ( ga->commitStep() ) break;
        endStep( nstep );
        if (ga->commitStep() || stopCurrentTrial || restartCurrentTrial) {
            break;
        }
    }
}

void EvoRobotExperiment::doAllTrialsForIndividual(int individual)
{
    endCurrentIndividualLife = false;
    totalFitnessValue = 0.0;

    initIndividual(individual);
    if ( ga->commitStep() ) return;

    for (ntrial = 0; ntrial < ntrials; ntrial++) {
        skipCurrentTrial = false;

        initTrial(ntrial);
        if ( ga->commitStep() ) break;
        if (skipCurrentTrial) { // && !ga->commitStep()) {
            continue;
        }
        if (!endCurrentIndividualLife) {
            doTrial();
        }
        if ( ga->isStopped() ) break;
        if (restartCurrentTrial) {
            ntrial--;
            continue;
        }
        endTrial(ntrial);

        if (gaPhase == INTEST) {
            Logger::info("Fitness for trial: " + QString::number(trialFitnessValue));
        }

        if ( ga->commitStep() || endCurrentIndividualLife ) {
            break;
        }

    }

    endIndividual(individual);
    ga->commitStep();
}

void EvoRobotExperiment::initGeneration(int)
{
}

void EvoRobotExperiment::initIndividual(int)
{
}

void EvoRobotExperiment::initTrial(int)
{
    // reset the neural controller
    ResourcesLocker locker(this);
    foreach( EmbodiedAgent* agent, eagents ) {
        agent->evonet->resetNet();
    }
}

void EvoRobotExperiment::initStep(int)
{
}

double EvoRobotExperiment::getFitness()
{
    return totalFitnessValue;
}

void EvoRobotExperiment::afterSensorsUpdate()
{
}

void EvoRobotExperiment::beforeMotorsUpdate()
{
}

void EvoRobotExperiment::beforeWorldAdvance()
{
}

void EvoRobotExperiment::endTrial(int)
{
    totalFitnessValue += trialFitnessValue;
}

void EvoRobotExperiment::endIndividual(int)
{
}

void EvoRobotExperiment::endGeneration(int)
{
}

void EvoRobotExperiment::doStep()
{
    // There is no getResource below, but we are actually using resources so we must take the lock.
    // We don't acquire the lock here, but lock and unlock when needed in the body of the function
    ResourcesLocker locker(this, false);

    // update sensors
    foreach( EmbodiedAgent* agent, eagents ) {
        for (int s = 0; s < agent->sensors.size(); s++) {
            agent->sensors[s]->update();
        }
    }
    afterSensorsUpdate();
    // update the neural controller
    locker.lock();
    foreach( EmbodiedAgent* agent, eagents ) {
        agent->evonet->updateNet();
    }
    locker.unlock();
    if (!batchRunning) {
        // To use platform-independent sleep functions we have to do this...
        class T : public QThread
        {
        public:
            using QThread::sleep;
            using QThread::msleep;
            using QThread::usleep;
        };
        // We sleep for few milliseconds when the GUI is active to avoid flooding it with
        // events and freeze it
        T::msleep(3);
    }
    beforeMotorsUpdate();
    // setting motors
    foreach( EmbodiedAgent* agent, eagents ) {
        for (int m = 0; m < agent->motors.size(); m++) {
            agent->motors[m]->update();
        }
    }
    beforeWorldAdvance();
    // advance the world simulation
    locker.lock();
    world->advance();
    locker.unlock();
}

void EvoRobotExperiment::stopTrial()
{
    stopCurrentTrial = true;
}

void EvoRobotExperiment::skipTrial()
{
    skipCurrentTrial = true;
}

void EvoRobotExperiment::restartTrial()
{
    restartCurrentTrial = true;
}

void EvoRobotExperiment::endIndividualLife()
{
    endCurrentIndividualLife = true;
    stopCurrentTrial = true;
}

int EvoRobotExperiment::getGenomeLength()
{
    ResourcesLocker locker(this);

    return eagents[0]->evonet->freeParameters();
}

Sensor* EvoRobotExperiment::getSensor( QString name, int id ) {
    if ( eagents[id]->sensorsMap.contains( name ) ) {
        return eagents[id]->sensorsMap[name];
    } else {
        Logger::error( "getSensor returned NULL pointer because there is no sensor named "+name+" in the agent "+QString::number(id) );
        return NULL;
    }
}

Motor* EvoRobotExperiment::getMotor( QString name, int id ) {
    if ( eagents[id]->motorsMap.contains( name ) ) {
        return eagents[id]->motorsMap[name];
    } else {
        Logger::error( "getMotor returned NULL pointer because there is no motor named "+name+" in the agent "+QString::number(id) );
        return NULL;
    }
}

bool EvoRobotExperiment::inBatchRunning()
{
    return batchRunning;
}

int EvoRobotExperiment::getNAgents() {
    return eagents.size();
}

void EvoRobotExperiment::selectAgent( int id ) {
    agentIdSelected = id;
    declareResource( "robot",
                     eagents[agentIdSelected]->robot,
                     eagents[agentIdSelected]->resourcePrefix+"robot" );
    declareResource( "evonet",
                     static_cast<farsa::ParameterSettable*>(eagents[agentIdSelected]->evonet),
                     eagents[agentIdSelected]->resourcePrefix+"evonet" );
    declareResource( "neuronsIterator", 
                     eagents[agentIdSelected]->neuronsIterator,
                     eagents[agentIdSelected]->resourcePrefix+"neuronsIterator" );
}

Evonet* EvoRobotExperiment::getNeuralNetwork( int id )
{
    return eagents[id]->evonet;
}

void EvoRobotExperiment::setEvoga( Evoga* ga )
{
    this->ga = ga;
}

Evoga* EvoRobotExperiment::getEvoga() {
    return ga;
}

void EvoRobotExperiment::setNetParameters(int *genes)
{
    ResourcesLocker locker(this);
    foreach( EmbodiedAgent* agent, eagents ) {
        agent->evonet->getParameters(genes);
    }
}

void EvoRobotExperiment::setTestingAgentAndSeed(int,int)
{
    Logger::error("EvoRobotExperiment::setTestingAgentAndSeed() not yet implemented");
}

void EvoRobotExperiment::recreateWorld() {
    // Saving the old robot, the old arena and world to delete them after the new world has been
    // created (as world is a resource, we need the old instance to exists during notifications.
    // It can be safely deleted afterward)
    World* const old_world = world;

    // TODO: parametrize the name and the dontUseYarp and all other parameters
    world = new World( "World", true );
    world->setTimeStep(0.05f);
    world->setSize( wVector( -2.0f, -2.0f, -0.50f ), wVector( +2.0f, +2.0f, +2.0f ) );
    world->setFrictionModel( "exact" );
    world->setSolverModel( "exact" );
    world->setMultiThread( 1 );

    // Removing deleted resources (if they existed) and then re-declaring world
    if ( arena != NULL ) {
        deleteResource( "arena" );
        delete arena;
        arena = NULL;
    }

    if ( eagents.size() > 0 ) {
        deleteResource( "robot" );
        for( int i=0; i<eagents.size(); i++ ) {
            deleteResource( eagents[i]->resourcePrefix+"robot" );
            delete eagents[i]->robot;
        }
    }
    
    declareResource( "world", world );

    // Now we can actually free memory
    delete old_world;
}

void EvoRobotExperiment::recreateRobot( int id ) {
    eagents[id]->recreateRobot();
    if ( id == agentIdSelected ) {
        // rebind the resource of the robot
        declareResource( "robot",
                        eagents[agentIdSelected]->robot,
                        eagents[agentIdSelected]->resourcePrefix+"robot" );
    }
}

void EvoRobotExperiment::recreateArena() {
    // First of all we need to check whether there is an Arena group or not
    if (!ConfigurationHelper::hasGroup( *savedConfigurationParameters, (*savedPrefix) + "Arena" ) ) {
        // This is just to be sure...
        arena = NULL;
        return;
    }

    // to be sure that a World exist
    if ( !world ) {
        recreateWorld();
    }

    // Taking lock because we need to use world
    ResourcesLocker locker(this);
    // Saving the old arena to delete it after the new arena has been created
    Arena* const old_arena = arena;

    // Now creating the arena. We first set ourself as the resouce manager
    savedConfigurationParameters->setResourcesUser(this);
    arena = savedConfigurationParameters->getObjectFromGroup<Arena>((*savedPrefix) + "Arena");
    arena->shareResourcesWith(this);
    arena->addRobots(QStringList() << "robot");

    // Unlocking before redeclaring the arena resource
    locker.unlock();

    declareResource("arena", static_cast<Resource*>(arena), "world");
    delete old_arena;
}

void EvoRobotExperiment::recreateNeuralNetwork( int id ) {
    eagents[id]->recreateNeuralNetwork();
    if ( id == agentIdSelected ) {
        // rebind the resource of the evonet
        declareResource( "evonet",
                        eagents[agentIdSelected]->robot,
                        eagents[agentIdSelected]->resourcePrefix+"evonet" );
    }
}

void EvoRobotExperiment::setWorldTimestep( float timestep ) {
    ResourcesLocker locker(this);
    if ( !world ) return;
    world->setTimeStep( timestep );
}

float EvoRobotExperiment::getWorldTimeStep() const {
    ResourcesLocker locker((ConcurrentResourcesUser*)(this));
    if ( !world ) {
        return 0.05;
    } else {
        return world->timeStep();
    }
}

EvoRobotExperiment::EmbodiedAgent::EmbodiedAgent( int id, EvoRobotExperiment* exp ) {
    this->id = id;
    this->exp = exp;
    evonet = NULL;
    neuronsIterator = new EvonetIterator();
    robot = NULL;
    resourcePrefix = QString("agent[%1]:").arg(id);

    exp->savedConfigurationParameters->setResourcesUser(exp);
    // add to the experiment the resources will create here
    exp->addUsableResource( resourcePrefix+"evonet" );
    recreateRobot();

    // Reading the sensors parameters. For each sensor there must be a subgroup Sensor:NN where NN is a progressive number
    // (needed to specify the sensors order). Here we also actually create sensors
    QStringList sensorsList = exp->savedConfigurationParameters->getGroupsWithPrefixList((*(exp->savedPrefix)), "Sensor:");
    sensorsList.sort();
    foreach( QString sensorGroup, sensorsList ) {
        // Trick for injecting the correct resource names for robot and neuronsIterator
        // !! WARNING !! this tricks works for some specific group of sensors
        //               if some others will be added, also this trick has to be adapted
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+sensorGroup, "neuronsIterator", resourcePrefix+"neuronsIterator" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+sensorGroup, "icub", resourcePrefix+"robot" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+sensorGroup, "marxbot", resourcePrefix+"robot" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+sensorGroup, "epuck", resourcePrefix+"robot" );
        // !! END OF TRICK !!
        Sensor* sensor = exp->savedConfigurationParameters->getObjectFromGroup<Sensor>((*(exp->savedPrefix)) + sensorGroup);
        if ( sensor == NULL ) {
            Logger::error("Cannot create the Sensor from group " + *(exp->savedPrefix) + sensorGroup + ". Aborting");
            abort();
        }
        // in order to avoid name clash when using more than one Sensor,
        // the Sensors are renamed using the same name of the Group when they don't have a name assigned
        if ( sensor->name() == QString("unnamed") ) {
            sensor->setName( sensorGroup );
        }
        sensors.append( sensor );
        sensors.last()->shareResourcesWith( exp );
        Logger::info( "Created a Sensor named "+sensor->name() );
        // if the user manually set the name and create a name clash, it is only reported as error in Logger
        if ( sensorsMap.contains( sensor->name() ) ) {
            Logger::error( "More than one sensor has name "+sensor->name()+" !! The name has to be unique !!" );
        } else {
            // add to the map
            sensorsMap[sensor->name()] = sensor;
        }
    }

    // Now we do for motors what we did for sensors. Motor groups are in the form Motor:NN
    QStringList motorsList = exp->savedConfigurationParameters->getGroupsWithPrefixList((*(exp->savedPrefix)), "Motor:");
    motorsList.sort();
    foreach( QString motorGroup, motorsList ) {
        // Trick for injecting the correct resource names for robot and neuronsIterator
        // !! WARNING !! this tricks works for some specific group of sensors
        //               if some others will be added, also this trick has to be adapted
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+motorGroup, "neuronsIterator", resourcePrefix+"neuronsIterator" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+motorGroup, "icub", resourcePrefix+"robot" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+motorGroup, "marxbot", resourcePrefix+"robot" );
        exp->savedConfigurationParameters->createParameter(
                (*(exp->savedPrefix))+motorGroup, "epuck", resourcePrefix+"robot" );
        // !! END OF TRICK !!
        Motor* motor = exp->savedConfigurationParameters->getObjectFromGroup<Motor>((*(exp->savedPrefix)) + motorGroup);
        if (motor == NULL) {
            Logger::error("Cannot create the Motor from group " + *(exp->savedPrefix) + motorGroup + ". Aborting");
            abort();
        }
        // in order to avoid name clash when using more than one Motor,
        // the Motors are renamed using the same name of the Group when they don't have a name assigned
        if ( motor->name() == QString("unnamed") ) {
            motor->setName( motorGroup );
        }
        motors.append( motor );
        motors.last()->shareResourcesWith( exp );
        Logger::info( "Created a Motor named "+motor->name() );
        // if the user manually set the name and create a name clash, it is only reported as error in Logger
        if ( motorsMap.contains( motor->name() ) ) {
            Logger::error( "More than one motor has name "+motor->name()+" !! The name has to be unique !!" );
        } else {
            // add to the map
            motorsMap[motor->name()] = motor;
        }
    }
    
    recreateNeuralNetwork();

    exp->declareResource( resourcePrefix+"neuronsIterator", neuronsIterator, resourcePrefix+"evonet" );
}

EvoRobotExperiment::EmbodiedAgent::~EmbodiedAgent() {
    delete robot;
    delete evonet;
    delete neuronsIterator;
    for (int i = 0; i < sensors.size(); i++) {
        delete sensors[i];
    }
    for (int i = 0; i < motors.size(); i++) {
        delete motors[i];
    }
}

void EvoRobotExperiment::EmbodiedAgent::recreateRobot() {
    // to be sure that a World exist
    if ( !(exp->world) ) {
        exp->recreateWorld();
    }

    // Taking lock because we need to use world
    ResourcesLocker locker(exp);
    // Saving the old robot to delete it after the new robot has been created
    Robot* const old_robot = robot;

    // Now creating the robot
    exp->savedConfigurationParameters->setResourcesUser(exp);
    robot = exp->savedConfigurationParameters->getObjectFromGroup<Robot>((*(exp->savedPrefix)) + "ROBOT");

    // Unlocking before redeclaring the robot resource
    locker.unlock();

    exp->declareResource( resourcePrefix+"robot", robot, "world" );
    delete old_robot;
}

void EvoRobotExperiment::EmbodiedAgent::recreateNeuralNetwork() {
    // Saving the old evonet to delete it after the new evonet has been created
    Evonet* const old_evonet = evonet;

    // Check the subgroup [NET]
    if ( exp->savedConfigurationParameters->getValue( (*(exp->savedPrefix))+"NET/netFile" ).isEmpty() ) {
        // calculate the number of sensors and motors neurons
        int nSensors = 0;
        foreach( Sensor* sensor, sensors ) {
            nSensors += sensor->size();
        }
        int nMotors = 0;
        foreach( Motor* motor, motors ) {
            nMotors += motor->size();
        }
        // it inject the calculated nSensor and nMotors
        exp->savedConfigurationParameters->createParameter( (*(exp->savedPrefix))+"NET", "nSensors", QString::number(nSensors) );
        exp->savedConfigurationParameters->createParameter( (*(exp->savedPrefix))+"NET", "nMotors", QString::number(nMotors) );
    }
    // Now creating the neural network. We first set ourself as the resouce manager, then we lock resources (because during configuration
    // evonet could use resources, but the resource user it will use is not thread safe (SimpleResourceUser))
    ResourcesLocker locker(exp);
    exp->savedConfigurationParameters->setResourcesUser(exp);
    evonet = exp->savedConfigurationParameters->getObjectFromGroup<Evonet>( (*(exp->savedPrefix))+"NET" );
    locker.unlock();

    exp->declareResource( resourcePrefix+"evonet", static_cast<farsa::ParameterSettable*>(evonet) );

    // Here we have to take the lock again because we are going to change neuronsIterator
    locker.lock();
    delete old_evonet;
    neuronsIterator->setEvonet( evonet );
    // create the blocks associated to the network
    int startIndex = 0;
    foreach( Sensor* sensor, sensors ) {
        neuronsIterator->defineBlock( sensor->name(), EvonetIterator::InputLayer, startIndex, sensor->size() );
        startIndex += sensor->size();
    }
    startIndex = 0;
    foreach( Motor* motor, motors ) {
        neuronsIterator->defineBlock( motor->name(), EvonetIterator::OutputLayer, startIndex, motor->size() );
        startIndex += motor->size();
    }
}

} // end namespace farsa

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