kheperasensors.cpp

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *  Onofrio Gigliotta <onofrio.gigliotta@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 "kheperasensors.h"
#include "configurationhelper.h"
#include "logger.h"
#include "graphicalwobject.h"
#include "arena.h"

namespace farsa {

KheperaSensor::KheperaSensor(ConfigurationParameters& params, QString prefix) :
    Sensor(params, prefix),
    m_kheperaResource("robot"),
    m_neuronsIteratorResource("neuronsIterator")
{
    // Reading parameters
    m_kheperaResource = actualResourceNameForMultirobot(ConfigurationHelper::getString(params, prefix + "khepera", m_kheperaResource));
    m_neuronsIteratorResource = actualResourceNameForMultirobot(ConfigurationHelper::getString(params, prefix + "neuronsIterator", m_neuronsIteratorResource));

    // Declaring the resources that are needed here
    usableResources(QStringList() << m_kheperaResource << m_neuronsIteratorResource);
}

KheperaSensor::~KheperaSensor()
{
    // Nothing to do here
}

void KheperaSensor::save(ConfigurationParameters& params, QString prefix)
{
    // Calling parent function
    Sensor::save(params, prefix);

    // Saving parameters
    params.startObjectParameters(prefix, "KheperaSensor", this);
    params.createParameter(prefix, "khepera", m_kheperaResource);
    params.createParameter(prefix, "neuronsIterator", m_neuronsIteratorResource);
}

void KheperaSensor::describe(QString type)
{
    // Calling parent function
    Sensor::describe(type);

    // Describing our parameters
    Descriptor d = addTypeDescription(type, "The base class for Khepera sensors");
    d.describeString("khepera").def("robot").help("the name of the resource associated with the khepera robot to use (default is \"robot\")");
    d.describeString("neuronsIterator").def("neuronsIterator").help("the name of the resource associated with the neural network iterator (default is \"neuronsIterator\")");
}

void KheperaSensor::resourceChanged(QString resourceName, ResourceChangeType changeType)
{
    // Calling parent function
    Sensor::resourceChanged(resourceName, changeType);

    // Here we only check whether the resource has been deleted and reset the check flag, the
    // actual work is done in subclasses
    if (changeType == Deleted) {
        resetNeededResourcesCheck();
        return;
    }
}

KheperaProximityIRSensor::KheperaProximityIRSensor(ConfigurationParameters& params, QString prefix) :
    KheperaSensor(params, prefix),
    m_robot(NULL),
    m_neuronsIterator(NULL)
{
}

KheperaProximityIRSensor::~KheperaProximityIRSensor()
{
    // Nothing to do here
}

void KheperaProximityIRSensor::save(ConfigurationParameters& params, QString prefix)
{
    // Calling parent function
    KheperaSensor::save(params, prefix);

    // Saving parameters
    params.startObjectParameters(prefix, "KheperaProximityIRSensor", this);
}

void KheperaProximityIRSensor::describe(QString type)
{
    // Calling parent function
    KheperaSensor::describe(type);

    // Describing our parameters
    Descriptor d = addTypeDescription(type, "The infrared proximity sensors of the Khepera robot", "The infrared proximity sensors of the Khepera II robot. These are the very short range IR sensors all around the base");
}

void KheperaProximityIRSensor::update()
{
    // Checking all resources we need exist
    checkAllNeededResourcesExist();

    // Acquiring the lock to get resources
    ResourcesLocker locker( this );

    m_neuronsIterator->setCurrentBlock(name());
    for (int i = 0; i < size(); i++, m_neuronsIterator->nextNeuron()) {
        m_neuronsIterator->setInput(m_robot->proximityIRSensorController()->activation(i));
    }
}

int KheperaProximityIRSensor::size()
{
    return 8;
}

void KheperaProximityIRSensor::resourceChanged(QString resourceName, ResourceChangeType changeType)
{
    // Calling parent function
    KheperaSensor::resourceChanged(resourceName, changeType);

    if (changeType == Deleted) {
        return;
    }

    if (resourceName == m_kheperaResource) {
        m_robot = getResource<PhyKhepera>();

        // Eanbling sensors
        m_robot->proximityIRSensorController()->setEnabled(true);
    } else if (resourceName == m_neuronsIteratorResource) {
        m_neuronsIterator = getResource<NeuronsIterator>();
        m_neuronsIterator->setCurrentBlock(name());
        for (int i = 0; i < size(); i++, m_neuronsIterator->nextNeuron()) {
            m_neuronsIterator->setGraphicProperties("ir" + QString::number(i), 0.0, 1.0, Qt::red);
        }
    } else {
        Logger::info("Unknown resource " + resourceName + " for " + name());
    }
}


KheperaSampledProximityIRSensor::KheperaSampledProximityIRSensor(ConfigurationParameters& params, QString prefix) :
    KheperaSensor(params, prefix),
    m_robot(NULL),
    m_arena(NULL),
    m_neuronsIterator(NULL),
    m_activeSensors(ConfigurationHelper::getBoolVector(params, prefix + "activeSensors", "111111111111111111111111")),
    m_numActiveSensors(m_activeSensors.count(true)),
    m_roundSamples(ConfigurationHelper::getString(params, prefix + "roundSamples", "round.sam")),
    m_smallSamples(ConfigurationHelper::getString(params, prefix + "smallSamples", "small.sam")),
    m_wallSamples(ConfigurationHelper::getString(params, prefix + "wallSamples", "wall.sam"))
{
    if (m_activeSensors.size() != 8) {
        ConfigurationHelper::throwUserConfigError(prefix + "activeSensors", params.getValue(prefix + "activeSensors"), "The parameter must be a list of exactly 8 elements either equal to 1 or to 0 (do not use any space to separate elements, just put them directly one after the other)");
    }

    // Checking that the sampled files have the right number of IR sensors
    if (m_roundSamples.numIR() != 8) {
        ConfigurationHelper::throwUserConfigError(prefix + "roundSamples", m_roundSamples.filename(), "The file has samples for the wrong number of sensors, expected 8, got " + QString::number(m_roundSamples.numIR()));
    }
    if (m_smallSamples.numIR() != 8) {
        ConfigurationHelper::throwUserConfigError(prefix + "smallSamples", m_smallSamples.filename(), "The file has samples for the wrong number of sensors, expected 8, got " + QString::number(m_smallSamples.numIR()));
    }
    if (m_wallSamples.numIR() != 8) {
        ConfigurationHelper::throwUserConfigError(prefix + "wallSamples", m_wallSamples.filename(), "The file has samples for the wrong number of sensors, expected 8, got " + QString::number(m_wallSamples.numIR()));
    }

    // Here we also need the arena to work
    addUsableResource("arena");
}

KheperaSampledProximityIRSensor::~KheperaSampledProximityIRSensor()
{
    // Nothing to do here
}

void KheperaSampledProximityIRSensor::save(ConfigurationParameters& params, QString prefix)
{
    // Calling parent function
    KheperaSensor::save(params, prefix);

    // Saving parameters
    params.startObjectParameters(prefix, "KheperaSampledProximityIRSensor", this);
    QString activeSensorsString;
    for (int i = 0; i < m_activeSensors.size(); i++) {
        activeSensorsString += (m_activeSensors[i] ? "1" : "0");
    }
    params.createParameter(prefix, "activeSensors", activeSensorsString);
    params.createParameter(prefix, "roundSamples", m_roundSamples.filename());
    params.createParameter(prefix, "smallSamples", m_smallSamples.filename());
    params.createParameter(prefix, "wallSamples", m_wallSamples.filename());
}

void KheperaSampledProximityIRSensor::describe(QString type)
{
    // Calling parent function
    KheperaSensor::describe(type);

    // Describing our parameters
    Descriptor d = addTypeDescription(type, "The sampled proximity infrared sensors of the Khepera", "This is the sampled version of the proximity infrared sensors of the Khepera. This sensor only works with objects created using the Arena");
    d.describeString("activeSensors").def("11111111").help("Which IR sensors of the robot are actually enabled", "This is a string of exactly 8 elements. Each element can be either \"0\" or \"1\" to respectively disable/enable the corresponding proximity IR sensor. The first sensor is the one on the left side of the robot and the others follow counterclockwise (i.e. left, back, right, front)");
    d.describeString("roundSamples").def("round.sam").help("The name of the file with samples for big round objects");
    d.describeString("smallSamples").def("small.sam").help("The name of the file with samples for small round objects");
    d.describeString("wallSamples").def("wall.sam").help("The name of the file with samples for walls");
}

void KheperaSampledProximityIRSensor::update()
{
    // Checking all resources we need exist
    checkAllNeededResourcesExist();

    // Acquiring the lock to get resources
    ResourcesLocker locker(this);

    // Getting the list of objects in the arena
    const QVector<PhyObject2DWrapper*>& objectsList = m_arena->getObjects();

    // Preparing the vector with activations and setting all values to 0
    QVector<real> activations(m_activeSensors.size(), 0.0);

    // Cycling through the list of objects. We first need to get the current position and orientation of the robot
    const wVector robotPos = m_robot->position();
    const real robotAng = m_robot->orientation(m_arena->getPlane());
    foreach(const PhyObject2DWrapper* obj, objectsList) {
        // Computing angle and distance. We don't need to remove the robot to which this sensor belongs because
        // the calculatations will give a negative distance
        double distance;
        double angle;

        // If computeDistanceAndOrientationFromRobot returns false, we have to discard this object
        if (!obj->computeDistanceAndOrientationFromRobot(*(m_arena->getRobotWrapper(m_kheperaResource)), distance, angle)) {
            continue;
        }

        // Getting the activation. The switch is to understand which samples to use
        QVector<unsigned int>::const_iterator actIt = QVector<unsigned int>::const_iterator();
        switch (obj->type()) {
            case PhyObject2DWrapper::Wall:
                actIt = m_wallSamples.getActivation(distance, angle);
                break;
            case PhyObject2DWrapper::SmallCylinder:
                actIt = m_smallSamples.getActivation(distance, angle);
                break;
            case PhyObject2DWrapper::BigCylinder:
            case PhyObject2DWrapper::WheeledRobot:
                actIt = m_roundSamples.getActivation(distance, angle);
                break;
            default:
                Logger::warning("The sampled infrared sensor only works with Small Cylinders, Big Cylinders, Walls and other Robots");
                continue;
        }

        // Adding activations in the activations vector
        for (int i = 0; i < activations.size(); ++i, ++actIt) {
            activations[i] = min(1.0, activations[i] + (real(*actIt) / 1024.0));
        }
    }

    // Finally activating neurons
    m_neuronsIterator->setCurrentBlock(name());
    for (int i = 0; i < m_activeSensors.size(); i++) {
        if (m_activeSensors[i]) {
            m_neuronsIterator->setInput(activations[i]);
            m_neuronsIterator->nextNeuron();
        }
    }
}

int KheperaSampledProximityIRSensor::size()
{
    return m_numActiveSensors;
}

void KheperaSampledProximityIRSensor::resourceChanged(QString resourceName, ResourceChangeType changeType)
{
    // Calling parent function
    KheperaSensor::resourceChanged(resourceName, changeType);

    if (changeType == Deleted) {
        return;
    }

    if (resourceName == m_kheperaResource) {
        m_robot = getResource<Khepera>();

        // Disabling proximity IR sensors, they are not used here
        m_robot->proximityIRSensorController()->setEnabled(false);
    } else if (resourceName == m_neuronsIteratorResource) {
        m_neuronsIterator = getResource<NeuronsIterator>();
        m_neuronsIterator->setCurrentBlock(name());

        // We use the actual sensor ID in the neuron name
        for (int i = 0; i < m_activeSensors.size(); i++) {
            if (m_activeSensors[i]) {
                m_neuronsIterator->setGraphicProperties("ir" + QString::number(i), 0.0, 1.0, Qt::red);
                m_neuronsIterator->nextNeuron();
            }
        }
    } else if (resourceName == "arena") {
        // Storing the pointer to the arena
        m_arena = getResource<Arena>();
    } else {
        Logger::info("Unknown resource " + resourceName + " for " + name());
    }
}

}