sensors.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 SENSORS_H
#define SENSORS_H

#include "experimentsconfig.h"
#include "neuroninterfaces.h"
#include "world.h"
#include "robots.h"
#include "wheeledexperimenthelper.h"
#include "baseexception.h"
#include "helperresources.h"
#include "intervals.h"
#include <QVector>

namespace farsa {

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

    ~FakeSensor();

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

    static void describe(QString type);

    virtual void update();

    virtual int size();

    virtual void shareResourcesWith(ResourcesUser* other);

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

    ResourceVector<real> m_additionalInputs;

    const QString m_neuronsIteratorResource;

    const QString m_additionalInputsResource;

    NeuronsIterator* m_neuronsIterator;
};

class FARSA_EXPERIMENTS_API ObjectPositionSensor : public Sensor {
public:
    ObjectPositionSensor( ConfigurationParameters& params, QString prefix );
    ~ObjectPositionSensor();
    void save( ConfigurationParameters& params, QString prefix );
    static void describe( QString type );
    void update();
    int size();
protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);
    QString neuronsIteratorResource;
    QString objectName;
    bool linearize;
    wVector bbMin;
    wVector bbMax;
};

namespace LinearCameraOld {
    namespace __LinearCamera_internal {
        class LinearCameraGraphic;
    }

    class FARSA_EXPERIMENTS_API LinearCamera : public ConcurrentResourcesUser
    {
    public:
        LinearCamera(WObject* obj, wMatrix mtr, double aperture, unsigned int numReceptors, double maxDistance, QColor backgroundColor);

        virtual ~LinearCamera();

        void update();

        const QColor& colorForReceptor(int i) const
        {
            return m_receptors[i];
        }

        double getAperture() const
        {
            return m_aperture;
        }

        unsigned int getNumReceptors() const
        {
            return m_numReceptors;
        }

        QColor getBackgroundColor() const
        {
            return m_backgroundColor;
        }

        void setBackgroundColor(QColor color)
        {
            m_backgroundColor = color;
        }

        void drawCamera(bool d);

        void ignoreWalls(bool ignore)
        {
            m_ignoreWalls = ignore;
        }

        bool wallsIgnored() const
        {
            return m_ignoreWalls;
        }

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

        QVector<QColor> m_receptors;

        WObject* const m_object;

        const wMatrix m_transformation;

        const double m_aperture;

        const unsigned int m_numReceptors;

        const double m_maxDistance;

        QColor m_backgroundColor;

        const double m_apertureMin;

        const double m_apertureMax;

        const double m_receptorRange;

        Arena* m_arena;

        bool m_drawCamera;

        bool m_ignoreWalls;

        __LinearCamera_internal::LinearCameraGraphic* m_graphicalCamera;
    };

}

namespace LinearCameraNew {
    namespace __LinearCamera_internal {
        class LinearCameraGraphic;
    }

    class FARSA_EXPERIMENTS_API LinearCamera : public ConcurrentResourcesUser
    {
    public:
        LinearCamera(WObject* obj, wMatrix mtr, double aperture, unsigned int numReceptors, double maxDistance, QColor backgroundColor);

        LinearCamera(WObject* obj, wMatrix mtr, QVector<SimpleInterval> receptorsRanges, double maxDistance, QColor backgroundColor);

        virtual ~LinearCamera();

        void update();

        const QColor& colorForReceptor(int i) const
        {
            return m_receptors[i];
        }

        unsigned int getNumReceptors() const
        {
            return m_receptors.size();
        }

        QColor getBackgroundColor() const
        {
            return m_backgroundColor;
        }

        void setBackgroundColor(QColor color)
        {
            m_backgroundColor = color;
        }

        void drawCamera(bool d);

        void ignoreWalls(bool ignore)
        {
            m_ignoreWalls = ignore;
        }

        bool wallsIgnored() const
        {
            return m_ignoreWalls;
        }

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

        QVector<QColor> m_receptors;

        WObject* const m_object;

        const wMatrix m_transformation;

        const QVector<SimpleInterval> m_receptorsRanges;

        const double m_maxDistance;

        QColor m_backgroundColor;

        Arena* m_arena;

        bool m_drawCamera;

        bool m_ignoreWalls;

        __LinearCamera_internal::LinearCameraGraphic* m_graphicalCamera;
    };
}

typedef LinearCameraOld::LinearCamera LinearCamera;
// typedef LinearCameraNew::LinearCamera LinearCamera;

class FARSA_EXPERIMENTS_TEMPLATE SampleFileLoadingException : public BaseException
{
public:
    SampleFileLoadingException(const char* filename, const char* description) throw() :
        BaseException()
    {
        strncpy(m_filename, filename, 256);
        m_filename[255] = '\0';
        strncpy(m_description, description, 256);
        m_description[255] = '\0';
        sprintf(m_errorMessage, "Error when loading the file with IR samples \"%s\". Description: %s", m_filename, m_description);
        m_errorMessage[1023] = '\0';
    }

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

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

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

        return *this;
    }

    virtual ~SampleFileLoadingException() throw()
    {
    }

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

    const char *filename() const throw()
    {
        return m_filename;
    }

    const char *description() const throw()
    {
        return m_description;
    }

    EXCEPTION_HELPER_FUNCTIONS(SampleFileLoadingException)

private:
    char m_filename[256];

    char m_description[256];

    char m_errorMessage[1024];
};

class FARSA_EXPERIMENTS_API SampledIRDataLoader
{
public:
    SampledIRDataLoader(QString filename);

    ~SampledIRDataLoader();

    const QString& filename() const
    {
        return m_filename;
    }

    unsigned int numIR() const
    {
        return m_numIR;
    }

    unsigned int numSamplingAngles() const
    {
        return m_numSamplingAngles;
    }

    unsigned int numDistances() const
    {
        return m_numDistances;
    }

    real initialDistance() const
    {
        return m_initialDistance;
    }

    real distanceInterval() const
    {
        return m_distanceInterval;
    }

    real finalDistance() const
    {
        return m_finalDistance;
    }

    unsigned int getActivation(unsigned int i, real dist, real ang) const;

    QVector<unsigned int>::const_iterator getActivation(real dist, real ang) const;

private:
    unsigned int getLinearIndex(unsigned int id, unsigned int ang, unsigned int dist) const;

    const QString m_filename;

    unsigned int m_numIR;

    unsigned int m_numSamplingAngles;

    unsigned int m_numDistances;

    real m_initialDistance;

    real m_distanceInterval;

    real m_finalDistance;

    QVector<unsigned int> m_activations;

    QVector<unsigned int> m_nullActivations;
};

QColor getColorAtArenaGroundPosition(Arena* arena, wVector pos);

} // end namespace farsa

#endif