evorobotviewer.h

/********************************************************************************
 *  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  *
 ********************************************************************************/

#ifndef EVOROBOTVIEWER_H
#define EVOROBOTVIEWER_H

#include "evorobotcomponent.h"
#include "parametersettableui.h"
#include "evoga.h"
#include "renderworld.h"
#include "evodataviewer.h"

#include <QWidget>
#include <QMenu>
#include <QAction>
#include <QMenuBar>
#include <QFileDialog>
#include <QLabel>
#include <QList>
#include <QString>
#include <QWidget>
#include <QMenuBar>
#include <QVBoxLayout>
#include <QComboBox>
#include <QObject>

namespace farsa {

class PhyiCub;
// class VisionMapSensorGui;
class EvoRobotExperiment;
class TestIndividual;
class RenderWorldWrapperWidget;

class FARSA_EXPERIMENTS_API EvoRobotViewer : public QObject, public ParameterSettableUI, public ConcurrentResourcesUser {
    Q_OBJECT
public:
    EvoRobotViewer( EvoRobotComponent* component );
    ~EvoRobotViewer();
    void fillActionsMenu( QMenu* actionsMenu );
    QList<ParameterSettableUIViewer> getViewers( QWidget* parent, Qt::WindowFlags flags );
    void addAdditionalMenus( QMenuBar* menuBar );

private:

    ParameterSettableUIViewer evogaControls( QWidget* parent, Qt::WindowFlags flags );
//  ParameterSettableUIViewer icubview( QWidget* parent, Qt::WindowFlags flags );
    ParameterSettableUIViewer fitview( QWidget* parent, Qt::WindowFlags flags );
    ParameterSettableUIViewer statview( QWidget* parent, Qt::WindowFlags flags );
    ParameterSettableUIViewer renderWorld( QWidget* parent, Qt::WindowFlags flags );
    ParameterSettableUIViewer testIndividualUI( TestIndividual* test, QWidget* parent, Qt::WindowFlags flags );

    EvoRobotComponent* evorobot;
    Evoga* ga;
    QWidget* statViewer;
    FitViewer* ftv;         
//  VisionMapSensorGui *m_icubview; //! widget that visualize icub's camera content
    RenderWorldWrapperWidget* renderworldwrapper;   

    QLabel* infoEvoga;
    QSlider* simulationThrottle;
    QLabel* simulationSpeed;

private slots:
    void onWorldAdvance();
    void onEvogaStartingReplication( int replication );
    void onEvogaRecoveredInterruptedEvolution( QString statfile );
    void onEvogaEndGeneration( int generation, double fmax, double faverage, double fmin );
    
    void onActionFinished();
    
    void evogaNextTrial();
    
    void onSimulationThrottleChanges( int newvalue );

    void loadStat();
    void loadAllStat();
};

class FARSA_EXPERIMENTS_API RenderWorldWrapperWidget : public QWidget, public ConcurrentResourcesUser
{
public:
    RenderWorldWrapperWidget(QWidget* parent = NULL, Qt::WindowFlags flags = 0);

    virtual ~RenderWorldWrapperWidget();

    void updateRenderWorld();

    virtual void shareResourcesWith(ResourcesUser* buddy);

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

    virtual void customEvent(QEvent* event);

    void lookAtRobot();

    RenderWorld* const m_renderWorld;

    QVBoxLayout* const m_layout;

    bool m_renderWorldStateRestored;

    bool m_setCameraToLookAtRobot;

    wMatrix m_robotTm;
};

// namespace VisionMapSensorGuiInternal {
//  class ImageDisplayer;
// }
// 
// /**
//  * \brief A gui visualizing the camera and the projection of objects on the
//  *        retina
//  *
//  * This keeps the current image and adds marks on it. If you set a new image
//  * all previous marks are lost
//  */
// class FARSA_EXPERIMENTS_API VisionMapSensorGui : public QWidget
// {
//  Q_OBJECT
// 
// public:
//  /**
//   * \brief Constructor
//   *
//   * \param mapWidth the width of the neural map
//   * \param mapHeight the height of the neural map
//   * \param parent the parent of this widget
//   */
//  VisionMapSensorGui(QWidget* parent=0, Qt::WindowFlags flags=0);
// 
//  /**
//   * \brief Destructor
//   */
//  virtual ~VisionMapSensorGui();
// 
//  /**
//   * \brief Sets the new image to display
//   *
//   * This resets the old image and also changes the dimension of the
//   * widget to match that of the image
//   * \param image the new image
//   */
//  void setImage(PhyiCub *icub, bool useRightCamera=true);
// 
//  /**
//   * \brief Adds a mark on the image at the given position
//   *
//   * x and y are normalized (i.e. within 0 and 1) coordinates. They are
//   * converted to the actual image coordinates by this function
//   * \param x the x coordinate of the mark (must be between 0 and 1)
//   * \param y the y coordinate of the mark (must be between 0 and 1)
//   * \param markCenter the color of the central part of the mark
//   * \param markSurrounding the color of the surrounding part of the mark
//   */
//  void addMark(double x, double y, QColor markCenter = Qt::black, QColor markSurrounding = Qt::white);
// 
// private:
//  /**
//   * \brief The image with marks
//   */
//  QImage m_image;
// 
//  /**
//   * \brief The helper widget displaying the image
//   */
//  VisionMapSensorGuiInternal::ImageDisplayer* m_imageDisplayer;
// };

class FARSA_EXPERIMENTS_API TestIndividualGUI : public QWidget
{
    Q_OBJECT
private:
    TestIndividual* test;
    QStringList fileList;
    QComboBox* combo;
    QListWidget* list;
public:
    TestIndividualGUI(TestIndividual* tb, QWidget *parent = NULL, Qt::WindowFlags flags=0);
private slots:
    void agentClicked();
    void populateCombo();
    void seedWasChosen();
};

} //end namespace farsa

#endif