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source: cpp/frams/genetics/f4/f4_general.cpp @ 466

Last change on this file since 466 was 375, checked in by Maciej Komosinski, 10 years ago
Renamed logging functions to more intuitive and simple names
Property svn:eol-style set to `native`
File size: 29.1 KB

Rev	Line
[286]	1	// This file is a part of Framsticks SDK. http://www.framsticks.com/
	2	// Copyright (C) 1999-2015 Maciej Komosinski and Szymon Ulatowski.
	3	// See LICENSE.txt for details.
[193]	4
[196]	5	// Copyright (C) 1999,2000 Adam Rotaru-Varga (adam_rotaru@yahoo.com), GNU LGPL
	6
[193]	7	#include "f4_general.h"
[196]	8	#include <common/nonstd_stl.h>
[375]	9	#include <common/log.h>
[196]	10	#include <frams/model/model.h> // for min and max attributes
	11	#include "../oper_fx.h" //for GENOPER_ constants
[193]	12	#include <stdio.h>
[196]	13	#include <common/nonstd_math.h>
[193]	14
	15	#ifdef DMALLOC
	16	#include <dmalloc.h>
	17	#endif
	18
	19
	20	f4_Props::f4_Props()
	21	{
[196]	22	len = 1.0;
	23	curv = 0.0;
	24	mass = 1.0;
	25	friction = 0.4;
	26	ruch = 0.25; // bio
	27	assim = 0.25; // bio
	28	odpor = 0.25; // bio
	29	ingest = 0.25; // bio
	30	twist = 0.0;
	31	energ = 1.0;
	32	normalizeBiol4();
[193]	33	}
	34
	35	void f4_Props::normalizeBiol4()
	36	{
[196]	37	// must sum to 1
	38	double sum = ruch + assim + odpor + ingest;
	39	if (0 == sum)
	40	{
	41	ruch = assim = odpor = ingest = 0.25;
	42	}
	43	else {
	44	ruch /= sum;
	45	assim /= sum;
	46	odpor /= sum;
	47	ingest /= sum;
	48	}
[193]	49	}
	50
	51	void f4_Props::executeModifier(char modif)
	52	{
[196]	53	switch (modif)
	54	{
	55	case 'L': len += (2.5 - len) * 0.3;
	56	len = min(len, Model::getMaxJoint().d.x); break;
	57	case 'l': len += (0.3 - len) * 0.3;
	58	len = max(len, Model::getMinJoint().d.x); break;
	59	case 'C': curv += (2.0 - curv) * 0.25; break;
	60	case 'c': curv += (-2.0 - curv) * 0.25; break;
	61	case 'Q': twist += (1.58 - twist) * 0.3; break;
	62	case 'q': twist += (-1.58 - twist) * 0.3; break;
	63	case 'A': assim += (1 - assim) * 0.8; normalizeBiol4(); break;
	64	case 'a': assim -= assim * 0.4; normalizeBiol4(); break;
	65	case 'I': ingest += (1 - ingest) * 0.8; normalizeBiol4(); break;
	66	case 'i': ingest -= ingest * 0.4; normalizeBiol4(); break;
	67	case 'S': odpor += (1 - odpor) * 0.8; normalizeBiol4(); break;
	68	case 's': odpor -= odpor * 0.4; normalizeBiol4(); break;
	69	case 'M': ruch += (1 - ruch) * 0.8; normalizeBiol4(); break;
	70	case 'm': ruch -= ruch * 0.4; normalizeBiol4(); break;
	71	case 'F': friction += (4 - friction) * 0.2; break;
	72	case 'f': friction -= friction * 0.2; break;
	73	case 'W': mass += (2.0 - mass) * 0.3; break;
	74	case 'w': mass += (0.5 - mass) * 0.3; break;
	75	case 'E': energ += (10.0 - energ) * 0.1; break;
	76	case 'e': energ -= energ * 0.1; break;
	77	}
[193]	78	}
	79
	80	void f4_Props::adjust()
	81	{
[196]	82	len = 0.5len + 0.5stdProps.len;
	83	curv = 0.66 * curv;
	84	twist = 0.66 * twist;
[193]	85	}
	86
	87	f4_Props stdProps;
	88
	89
	90	void rolling_dec(double * v) {
[196]	91	*v -= 0.7853; // 0.7853981 45 degrees
[193]	92	}
	93	void rolling_inc(double * v) {
[196]	94	*v += 0.7853; // 0.7853981 45 degrees
[193]	95	}
	96
	97
	98	int scanrec(const char * s, unsigned int slen, char stopchar)
	99	{
[196]	100	unsigned int i = 0;
	101	//DB( printf(" scan('%s', '%c')\n", s, stopchar); )
	102	while (1)
	103	{
	104	if (i >= slen) // ran out the string, should never happen with correct string
	105	return 1;
	106	if (stopchar == s[i]) // bumped into stopchar
	107	return i;
	108	if (i < slen - 1)
	109	{ // s[i] is not the last char
	110	if (s[i] == '(')
	111	{
	112	i += 2 + scanrec(s + i + 1, slen - i - 1, ')');
	113	continue;
	114	}
	115	if (s[i] == '<')
	116	{
	117	i += 2 + scanrec(s + i + 1, slen - i - 1, '>');
	118	continue;
	119	}
	120	if (s[i] == '#')
	121	{
	122	i += 2 + scanrec(s + i + 1, slen - i - 1, '>');
	123	continue;
	124	}
	125	}
	126	// s[i] a non-special character
	127	i++;
	128	}
	129	return i;
[193]	130	}
	131
	132
	133	f4_Cell::f4_Cell(int nname,
[196]	134	f4_Cell * ndad, int nangle, f4_Props newP)
[193]	135	{
[196]	136	name = nname;
	137	type = T_UNDIFF4;
	138	dadlink = ndad;
	139	org = NULL;
	140	genot = NULL;
	141	gcur = NULL;
	142	active = 1;
	143	repeat.null();
	144	//genoRange.clear(); -- implicit
[193]	145
[196]	146	anglepos = nangle;
	147	commacount = 0;
	148	childcount = 0;
	149	P = newP;
	150	rolling = 0;
	151	xrot = 0;
	152	zrot = 0;
	153	//OM = Orient_1;
	154	ctrl = 0;
	155	state = 0;
	156	inertia = 0.8;
	157	force = 0.04;
	158	sigmo = 2;
	159	nolink = 0;
[193]	160
[196]	161	// adjust firstend and OM if there is a stick dad
	162	if (ndad != NULL)
	163	{
	164	// make sure it is a stick (and not a stick f4_Cell!)
	165	if (T_STICK4 == ndad->type)
	166	{
	167	//firstend = ndad->lastend;
	168	//OM = ndad->OM;
	169	ndad->childcount++;
	170	}
	171	if (T_NEURON4 == ndad->type)
	172	{
	173	state = ndad->state;
	174	inertia = ndad->inertia;
	175	force = ndad->force;
	176	sigmo = ndad->sigmo;
	177	}
	178	}
	179	// adjust lastend
	180	//lastend = firstend + ((Orient)OM * (Pt3D(1,0,0) * P.len));
	181	mz = 1;
[193]	182	}
	183
	184
	185	f4_Cell::f4_Cell(f4_Cells * nO, int nname, f4_node * ngeno, f4_node * ngcur,
[196]	186	f4_Cell * ndad, int nangle, f4_Props newP)
[193]	187	{
[196]	188	name = nname;
	189	type = T_UNDIFF4;
	190	dadlink = ndad;
	191	org = nO;
	192	genot = ngeno;
	193	gcur = ngcur;
	194	active = 1;
	195	repeat.null();
	196	//genoRange.clear(); -- implicit
	197	// preserve geno range of parent cell
	198	if (NULL != ndad)
	199	genoRange.add(ndad->genoRange);
[193]	200
[196]	201	anglepos = nangle;
	202	commacount = 0;
	203	childcount = 0;
	204	P = newP;
	205	rolling = 0;
	206	xrot = 0;
	207	zrot = 0;
	208	//OM = Orient_1;
	209	ctrl = 0;
	210	state = 0;
	211	inertia = 0.8;
	212	force = 0.04;
	213	sigmo = 2;
	214	nolink = 0;
[193]	215
[196]	216	// adjust firstend and OM if there is a stick dad
	217	if (ndad != NULL)
	218	{
	219	// make sure it is a stick (and not a stick f4_Cell!)
	220	if (T_STICK4 == ndad->type) {
	221	//firstend = ndad->lastend;
	222	//OM = ndad->OM;
	223	ndad->childcount++;
	224	}
	225	if (T_NEURON4 == ndad->type)
	226	{
	227	state = ndad->state;
	228	inertia = ndad->inertia;
	229	force = ndad->force;
	230	sigmo = ndad->sigmo;
	231	}
	232	}
	233	// adjust lastend
	234	//lastend = firstend + ((Orient)OM * (Pt3D(1,0,0) * P.len));
	235	mz = 1;
[193]	236	}
	237
	238
	239	f4_Cell::~f4_Cell()
	240	{
[196]	241	// remove links
	242	if (nolink)
	243	{
	244	int i;
	245	for (i = nolink - 1; i >= 0; i--)
	246	delete links[i];
	247	nolink = 0;
	248	}
[193]	249	}
	250
	251
	252	/* return codes:
[196]	253	>1 error at pos
	254	0 halt development for a cycle
	255	-1 development finished OK
	256	*/
[193]	257	int f4_Cell::onestep()
	258	{
[196]	259	int i, j, k, relfrom, t;
	260	double w;
	261	f4_Cell * tmp;
	262	f4_Cell * tneu;
	263	if (gcur == NULL)
	264	{
	265	active = 0;
	266	return 0; // stop
	267	}
	268	while (NULL != gcur)
	269	{
	270	//DB( printf(" %d (%d) executing '%c' %d\n", name, type, gcur->name, gcur->pos); )
	271	// currently this is the last one processed
	272	// the current genotype code is processed
	273	genoRange.add(gcur->pos);
	274	switch (gcur->name)
	275	{
	276	case '<':
	277	// cell division!
	278	//DB( printf(" div! %d\n", name); )
[193]	279
[196]	280	// error: sticks cannot divide
	281	if (T_STICK4 == type) {
	282	// cannot fix
	283	org->setError(gcur->pos);
	284	return 1; // stop
	285	}
[193]	286
[196]	287	// undiff divides
	288	if (T_UNDIFF4 == type) {
	289	// commacount is set only when daughter turns into X
	290	// daughter cell
	291	// adjust new len
	292	f4_Props newP = P;
	293	newP.adjust();
	294	tmp = new f4_Cell(org, org->nc, genot, gcur->child2,
	295	this, commacount, newP);
	296	tmp->repeat = repeat;
	297	repeat.null();
	298	org->addCell(tmp);
	299	}
	300	// a neuron divides: create a new, duplicate links
	301	if (T_NEURON4 == type) {
	302	// daughter cell
	303	tmp = new f4_Cell(org, org->nc, genot, gcur->child2,
	304	// has the same dadlink
	305	this->dadlink, commacount, P);
	306	tmp->repeat = repeat;
	307	repeat.null();
	308	// it is a neuron from start
	309	tmp->type = T_NEURON4;
	310	// duplicate links
	311	f4_CellLink * ll;
	312	for (i = 0; i < nolink; i++) {
	313	ll = links[i];
	314	tmp->addlink(ll->from, ll->w, ll->t);
	315	}
	316	org->addCell(tmp);
	317	}
	318	// adjustments for this cell
	319	gcur = gcur->child;
	320	// halt development
	321	return 0;
[193]	322
[196]	323	case '>':
	324	// finish
	325	// see if there is a repet count
	326	if (repeat.top > 0)
	327	{ // there is a repeat counter
	328	if (!repeat.first()->isNull())
	329	{ // repeat counter is not null
	330	repeat.first()->dec();
	331	if (repeat.first()->count > 0)
	332	{
	333	// return to repeat
	334	gcur = repeat.first()->node->child;
	335	}
	336	else {
	337	// continue
	338	gcur = repeat.first()->node->child2;
	339	repeat.pop();
	340	}
	341	break;
	342	}
	343	else {
	344	repeat.pop();
	345	}
	346	}
	347	else {
	348	// error: still undiff
	349	if (T_UNDIFF4 == type)
	350	{
	351	// fix it: insert an 'X'
	352	f4_node * insertnode = new f4_node('X', NULL, gcur->pos);
	353	if (org->setRepairInsert(gcur->pos, gcur, insertnode))
	354	// not in repair mode, release
	355	delete insertnode;
	356	return 1;
	357	}
	358	repeat.null();
	359	active = 0; // stop
	360	// eat up rest
	361	gcur = NULL;
	362	return 0;
	363	}
[193]	364
[196]	365	case '#':
	366	// repetition marker
	367	if (repeat.top >= repeat_stack::stackSize)
	368	{
	369	// repepeat pointer stack is full, cannot remember this one.
	370	// fix: delete it
	371	org->setRepairRemove(gcur->pos, gcur);
	372	return 1; // stop
	373	}
	374	repeat.push(repeat_ptr(gcur, gcur->i1));
	375	gcur = gcur->child;
	376	break;
[193]	377
[196]	378	case ',':
	379	commacount++;
	380	gcur = gcur->child;
	381	break;
[193]	382
[196]	383	case 'r': case 'R':
	384	// error: if neuron
	385	if (T_NEURON4 == type) {
	386	// fix: delete it
	387	org->setRepairRemove(gcur->pos, gcur);
	388	return 1; // stop
	389	}
	390	switch (gcur->name) {
	391	case 'r': rolling_dec(&rolling); break;
	392	case 'R': rolling_inc(&rolling); break;
	393	}
	394	gcur = gcur->child;
	395	break;
[193]	396
[196]	397	case 'l': case 'L':
	398	case 'c': case 'C':
	399	case 'q': case 'Q':
	400	case 'a': case 'A':
	401	case 'i': case 'I':
	402	case 's': case 'S':
	403	case 'm': case 'M':
	404	case 'f': case 'F':
	405	case 'w': case 'W':
	406	case 'e': case 'E':
	407	// error: if neuron
	408	if (T_NEURON4 == type) {
	409	// fix: delete it
	410	org->setRepairRemove(gcur->pos, gcur);
	411	return 1; // stop
	412	}
	413	P.executeModifier(gcur->name);
	414	gcur = gcur->child;
	415	break;
[193]	416
[196]	417	case 'X':
	418	// turn undiff. cell into a stick
	419	// error: already differentiated
	420	if (T_UNDIFF4 != type) {
	421	// fix: delete this node
	422	org->setRepairRemove(gcur->pos, gcur);
	423	return 1; // stop
	424	}
	425	type = T_STICK4;
	426	// fix dad commacount and own anglepos
	427	if (NULL != dadlink) {
	428	dadlink->commacount++;
	429	anglepos = dadlink->commacount;
	430	}
	431	// change of type halts developments, see comment at 'N'
	432	gcur = gcur->child;
	433	return 0;
[193]	434
[196]	435	case 'N':
	436	// turn undiff. cell into a neuron
	437	// error: already differentiated
	438	if (T_UNDIFF4 != type) {
	439	// fix: delete this node
	440	org->setRepairRemove(gcur->pos, gcur);
	441	return 1; // stop
	442	}
	443	// error: if no previous
	444	if (NULL == dadlink) {
	445	// fix: delete it
	446	org->setRepairRemove(gcur->pos, gcur);
	447	return 1; // stop
	448	}
	449	type = T_NEURON4;
	450	// change of type also halts development, to give other
	451	// cells a chance for adjustment. Namely, it is important
	452	// to wait for other cells to turn N before adding links
	453	gcur = gcur->child;
	454	return 0;
[193]	455
[196]	456	case '@':
	457	case '\|':
	458	// neuron rotating / bending
	459	j = 1;
	460	if ('@' == gcur->name) j = 1; // rot
	461	if ('\|' == gcur->name) j = 2; // bend
	462	// error: not a neuron (undiff)
	463	if (T_UNDIFF4 == type) {
	464	// fix: delete it
	465	org->setRepairRemove(gcur->pos, gcur);
	466	return 1; // stop
	467	}
	468	// error: not a neuron (stick)
	469	if (T_NEURON4 != type) {
	470	// fix: delete it
	471	org->setRepairRemove(gcur->pos, gcur);
	472	return 1; // stop
	473	}
	474	// error: already has control
	475	if (ctrl != 0) {
	476	// fix: delete it
	477	org->setRepairRemove(gcur->pos, gcur);
	478	return 1; // stop
	479	}
	480	// make neuron ctrl = 1 or 2
	481	ctrl = j;
	482	gcur = gcur->child;
	483	break;
[193]	484
[196]	485	case '[':
	486	// link to neuron
	487	// error: not a neuron
	488	if (T_NEURON4 != type) {
	489	// fix: delete it
	490	org->setRepairRemove(gcur->pos, gcur);
	491	return 1; // stop
	492	}
	493	// input ('*', 'G', 'T', 'S', or %d)
	494	t = gcur->i1;
	495	relfrom = gcur->l1;
	496	w = gcur->f1;
	497	if (t > 0) {
	498	// * or G
	499	tneu = NULL;
	500	}
	501	else {
	502	// input from other neuron
	503	// find neuron at relative i
	504	// find own index
	505	j = 0; k = 0;
	506	for (i = 0; i < org->nc; i++) {
	507	if (org->C[i]->type == T_NEURON4) k++;
	508	if (org->C[i] == this) { j = k - 1; break; }
	509	}
	510	// find index of incoming
	511	j = j + relfrom;
	512	if (j < 0) goto wait_link;
	513	if (j >= org->nc) goto wait_link;
	514	// find that neuron
	515	k = 0;
	516	for (i = 0; i < org->nc; i++) {
	517	if (org->C[i]->type == T_NEURON4) k++;
	518	if (j == (k - 1)) break;
	519	}
	520	if (i >= org->nc) goto wait_link;
	521	tneu = org->C[i];
	522	}
	523	// add link
	524	// error: could not add link (too many?)
	525	if (addlink(tneu, w, t)) {
	526	// cannot fix
	527	org->setError(gcur->pos);
	528	return 1; // stop
	529	}
	530	gcur = gcur->child;
	531	break;
	532	wait_link:
	533	// wait for other neurons to develop
	534	// if there are others still active
	535	active = 0;
	536	j = 0;
	537	for (i = 0; i<org->nc; i++) {
	538	if (org->C[i]->active) j++;
	539	}
	540	if (j>0)
	541	return 0; // there is other active, halt, try again
	542	// no more actives, cannot add link, ignore, but treat not as an error
	543	gcur = gcur->child;
	544	break;
[193]	545
[196]	546	case ':':
	547	// neuron parameter
	548	// error: not a neuron
	549	if (T_NEURON4 != type) {
	550	// fix: delete it
	551	org->setRepairRemove(gcur->pos, gcur);
	552	return 1; // stop
	553	}
	554	j = (int)gcur->l1;
	555	switch ((char)gcur->i1) {
	556	case '!':
	557	if (j) force += (1.0 - force) * 0.2;
	558	else force -= force * 0.2; break;
	559	case '=':
	560	if (j) inertia += (1.0 - inertia) * 0.2;
	561	else inertia -= inertia * 0.2; break;
	562	case '/':
	563	if (j) sigmo *= 1.4;
	564	else sigmo /= 1.4; break;
	565	default:
	566	org->setRepairRemove(gcur->pos, gcur);
	567	return 1; // stop
	568	}
	569	gcur = gcur->child;
	570	break;
[193]	571
[196]	572	case ' ':
	573	// space has no effect, should not occur
	574	// fix: delete it
	575	org->setRepairRemove(gcur->pos, gcur);
	576	gcur = gcur->child;
	577	break;
[193]	578
[196]	579	default:
	580	// error: unknown code
	581	char buf[40];
	582	sprintf(buf, "unknown code '%c'", gcur->name);
[375]	583	logMessage("f4_Cell", "onestep", 2, buf);
[196]	584	// fix: delete it
	585	org->setRepairRemove(gcur->pos, gcur);
	586	return 1; // stop
	587	}
	588	}
	589	active = 0; // done
	590	return 0;
[193]	591	}
	592
	593
[247]	594	int f4_Cell::addlink(f4_Cell * nfrom, double nw, int nt)
[193]	595	{
[196]	596	if (nolink >= MAXINPUTS - 1) return -1; // full!
	597	links[nolink] = new f4_CellLink(nfrom, nw, nt);
	598	nolink++;
	599	return 0;
[193]	600	}
	601
	602
	603	void f4_Cell::adjustRec()
	604	{
[196]	605	//f4_OrientMat rot;
	606	int i;
[193]	607
[196]	608	if (recProcessedFlag)
	609	// already processed
	610	return;
[193]	611
[196]	612	// mark it processed
	613	recProcessedFlag = 1;
[193]	614
[196]	615	// make sure its parent is processed first
	616	if (NULL != dadlink)
	617	dadlink->adjustRec();
[193]	618
[196]	619	// count children
	620	childcount = 0;
	621	for (i = 0; i < org->nc; i++)
	622	{
	623	if (org->C[i]->dadlink == this)
	624	if (org->C[i]->type == T_STICK4)
	625	childcount++;
	626	}
[193]	627
[196]	628	if (type == T_STICK4)
	629	{
	630	if (NULL == dadlink)
	631	{
	632	//firstend = Pt3D_0;
	633	// rotation due to rolling
	634	xrot = rolling;
	635	mz = 1;
	636	}
	637	else {
	638	//firstend = dadlink->lastend;
	639	f4_Props Pdad = dadlink->P;
	640	f4_Props Padj = Pdad;
	641	Padj.adjust();
[193]	642
[196]	643	//rot = Orient_1;
[193]	644
[196]	645	// rotation due to rolling
	646	xrot = rolling +
	647	// rotation due to twist
	648	Pdad.twist;
	649	if (dadlink->commacount <= 1)
	650	{
	651	// rotation due to curvedness
	652	zrot = Padj.curv;
	653	}
	654	else {
	655	zrot = Padj.curv +
[287]	656	// SDK uses 3.141 instead of PI!
[196]	657	(anglepos * 1.0 / (dadlink->commacount + 1) - 0.5) * 3.141 * 2.0;
	658	}
[193]	659
[196]	660	//rot = rot * f4_OrientMat(yOz, xrot);
	661	//rot = rot * f4_OrientMat(xOy, zrot);
	662	// rotation relative to parent stick
	663	//OM = rot * OM;
[193]	664
[196]	665	// rotation in world coordinates
	666	//OM = ((f4_OrientMat)dadlink->OM) * OM;
	667	mz = dadlink->mz / dadlink->childcount;
	668	}
	669	//Pt3D lastoffset = (Orient)OM * (Pt3D(1,0,0)*P.len);
	670	//lastend = firstend + lastoffset;
	671	}
[193]	672	}
	673
	674
	675
[247]	676	f4_CellLink::f4_CellLink(f4_Cell * nfrom, double nw, int nt)
[193]	677	{
[196]	678	from = nfrom;
	679	w = nw;
	680	t = nt;
[193]	681	}
	682
	683
	684
	685	f4_Cells::f4_Cells(f4_node * genome, int nrepair)
	686	{
[196]	687	// create ancestor cell
	688	repair = nrepair;
	689	error = 0;
	690	errorpos = -1;
	691	repair_remove = NULL;
	692	repair_parent = NULL;
	693	repair_insert = NULL;
	694	tmpcel = NULL;
	695	f4rootnode = NULL;
[193]	696
[196]	697	C[0] = new f4_Cell(this, 0, genome, genome, NULL, 0, stdProps);
	698	nc = 1;
[193]	699	}
	700
	701
	702	f4_Cells::f4_Cells(SString & genome, int nrepair)
	703	{
[196]	704	int res;
	705	repair = nrepair;
	706	error = 0;
	707	errorpos = -1;
	708	repair_remove = NULL;
	709	repair_parent = NULL;
	710	repair_insert = NULL;
	711	tmpcel = NULL;
	712	f4rootnode = NULL;
[193]	713
[196]	714	// transform geno from string to nodes
	715	f4rootnode = new f4_node();
[348]	716	res = f4_processrec(genome.c_str(), (unsigned)0, f4rootnode);
[196]	717	if ((res < 0) \|\| (1 != f4rootnode->childCount()))
	718	{
	719	error = GENOPER_OPFAIL;
	720	errorpos = -1;
	721	}
[193]	722
[196]	723	// create ancestor cell
	724	C[0] = new f4_Cell(this, 0, f4rootnode->child, f4rootnode->child,
	725	NULL, 0, stdProps);
	726	nc = 1;
[193]	727	}
	728
	729	f4_Cells::~f4_Cells()
	730	{
[196]	731	// release cells
	732	int i;
	733	if (nc)
	734	{
	735	for (i = nc - 1; i >= 0; i--)
	736	delete C[i];
	737	nc = 0;
	738	}
	739	if (f4rootnode)
	740	delete f4rootnode;
[193]	741	}
	742
	743
	744	int f4_Cells::onestep()
	745	{
[196]	746	int i, ret, oldnc, ret2;
	747	oldnc = nc;
	748	ret = 0;
	749	for (i = 0; i<oldnc; i++) {
	750	ret2 = C[i]->onestep();
	751	if (ret2>0) {
	752	// error
	753	C[i]->active = 0; // stop
	754	return 0;
	755	}
	756	// if still active
	757	if (C[i]->active)
	758	ret = 1;
	759	}
	760	return ret;
[193]	761	}
	762
	763
	764	int f4_Cells::simulate()
	765	{
[196]	766	int i;
	767	error = GENOPER_OK;
[193]	768
[196]	769	for (i = 0; i < nc; i++) C[i]->active = 1;
[193]	770
[196]	771	// execute onestep() in a cycle
	772	while (onestep());
[193]	773
[196]	774	if (GENOPER_OK != error) return error;
[193]	775
[196]	776	// fix neuron attachements
	777	for (i = 0; i < nc; i++)
	778	if (C[i]->type == T_NEURON4) {
	779	while (T_NEURON4 == C[i]->dadlink->type) {
	780	C[i]->dadlink = C[i]->dadlink->dadlink;
	781	}
	782	}
[193]	783
[196]	784	// there should be no undiff. cells
	785	// make undifferentiated cells sticks
	786	for (i = 0; i < nc; i++)
	787	if (C[i]->type == T_UNDIFF4) {
	788	C[i]->type = T_STICK4;
	789	//seterror();
	790	}
[193]	791
[196]	792	// recursive adjust
	793	// reset recursive traverse flags
	794	for (i = 0; i < nc; i++)
	795	C[i]->recProcessedFlag = 0;
	796	// process every cell
	797	for (i = 0; i < nc; i++)
	798	C[i]->adjustRec();
[193]	799
[196]	800	//DB( printf("Cell simulation done, %d cells. \n", nc); )
[193]	801
[196]	802	return error;
[193]	803	}
	804
	805
	806	void f4_Cells::addCell(f4_Cell * newcell)
	807	{
[196]	808	if (nc >= MAX4CELLS - 1) {
	809	delete newcell;
	810	return;
	811	}
	812	C[nc] = newcell;
	813	nc++;
[193]	814	}
	815
	816
	817	void f4_Cells::setError(int nerrpos)
	818	{
[196]	819	error = GENOPER_OPFAIL;
	820	errorpos = nerrpos;
[193]	821	}
	822
	823	void f4_Cells::setRepairRemove(int nerrpos, f4_node * rem)
	824	{
[196]	825	if (!repair) {
	826	// not in repair mode, treat as repairable error
	827	error = GENOPER_REPAIR;
	828	errorpos = nerrpos;
	829	}
	830	else {
	831	error = GENOPER_REPAIR;
	832	errorpos = nerrpos;
	833	repair_remove = rem;
	834	}
[193]	835	}
	836
	837	int f4_Cells::setRepairInsert(int nerrpos, f4_node * parent, f4_node * insert)
	838	{
[196]	839	if (!repair) {
	840	// not in repair mode, treat as repairable error
	841	error = GENOPER_REPAIR;
	842	errorpos = nerrpos;
	843	return -1;
	844	}
	845	else {
	846	error = GENOPER_REPAIR;
	847	errorpos = nerrpos;
	848	repair_parent = parent;
	849	repair_insert = insert;
	850	return 0;
	851	}
[193]	852	}
	853
	854	void f4_Cells::repairGeno(f4_node * geno, int whichchild)
	855	{
[196]	856	// assemble repaired geno, if the case
	857	if (!repair) return;
	858	if ((NULL == repair_remove) && (NULL == repair_insert)) return;
	859	// traverse genotype tree, remove / insert node
	860	f4_node * g2;
	861	if (1 == whichchild) g2 = geno->child;
	862	else g2 = geno->child2;
	863	if (NULL == g2)
	864	return;
	865	if (g2 == repair_remove) {
	866	f4_node * oldgeno;
	867	geno->removeChild(g2);
	868	if (g2->child) {
	869	// add g2->child as child to geno
	870	if (1 == whichchild) geno->child = g2->child;
	871	else geno->child2 = g2->child;
	872	g2->child->parent = geno;
	873	}
	874	oldgeno = g2;
	875	oldgeno->child = NULL;
	876	delete oldgeno;
	877	if (NULL == geno->child) return;
	878	// check this new
	879	repairGeno(geno, whichchild);
	880	return;
	881	}
	882	if (g2 == repair_parent) {
	883	geno->removeChild(g2);
	884	geno->addChild(repair_insert);
	885	repair_insert->parent = geno;
	886	repair_insert->child = g2;
	887	repair_insert->child2 = NULL;
	888	g2->parent = repair_insert;
	889	}
	890	// recurse
	891	if (g2->child) repairGeno(g2, 1);
	892	if (g2->child2) repairGeno(g2, 2);
[193]	893	}
	894
	895
	896	void f4_Cells::toF1Geno(SString &out)
	897	{
[196]	898	if (tmpcel) delete tmpcel;
	899	tmpcel = new f4_Cell(-1, NULL, 0, stdProps);
	900	out = "";
	901	toF1GenoRec(0, out);
	902	delete tmpcel;
[193]	903	}
	904
	905
	906	void f4_Cells::toF1GenoRec(int curc, SString &out)
	907	{
[196]	908	int i, j, ccount;
	909	f4_Cell * thisti;
	910	f4_Cell * thneu;
	911	char buf[200];
[193]	912
[196]	913	if (curc >= nc) return;
[193]	914
[196]	915	if (T_STICK4 != C[curc]->type) return;
[193]	916
[196]	917	thisti = C[curc];
	918	if (NULL != thisti->dadlink)
	919	tmpcel = (thisti->dadlink);
[193]	920
[196]	921	// adjust length, curvedness, etc.
	922	tmpcel->P.adjust();
	923	while (tmpcel->P.len > thisti->P.len)
	924	{
	925	tmpcel->P.executeModifier('l');
	926	out += "l";
	927	}
	928	while (tmpcel->P.len < thisti->P.len)
	929	{
	930	tmpcel->P.executeModifier('L');
	931	out += "L";
	932	}
	933	while (tmpcel->P.curv > thisti->P.curv)
	934	{
	935	tmpcel->P.executeModifier('c');
	936	out += "c";
	937	}
	938	while (tmpcel->P.curv < thisti->P.curv)
	939	{
	940	tmpcel->P.executeModifier('C');
	941	out += "C";
	942	}
	943	while (thisti->rolling > 0.0f) {
	944	rolling_dec(&(thisti->rolling));
	945	out += "R";
	946	}
	947	while (thisti->rolling < 0.0f) {
	948	rolling_inc(&(thisti->rolling));
	949	out += "r";
	950	}
[193]	951
[196]	952	// output X for this stick
	953	out += "X";
[193]	954
[196]	955	// neurons attached to it
	956	for (i = 0; i < nc; i++)
	957	if (C[i]->type == T_NEURON4) {
	958	if (C[i]->dadlink == thisti) {
	959	thneu = C[i];
	960	out += "[";
	961	// ctrl
	962	if (1 == thneu->ctrl) out += "@";
	963	if (2 == thneu->ctrl) out += "\|";
	964	// links
	965	for (j = 0; j < thneu->nolink; j++)
	966	{
	967	if (j) out += ",";
	968	if (NULL == thneu->links[j]->from)
	969	{
	970	// sensory
	971	if (1 == thneu->links[j]->t) out += "*";
	972	if (2 == thneu->links[j]->t) out += "G";
	973	if (3 == thneu->links[j]->t) out += "T";
	974	if (4 == thneu->links[j]->t) out += "S";
	975	}
	976	else {
	977	sprintf(buf, "%d", thneu->links[j]->from->name - thneu->name);
	978	out += buf;
	979	}
	980	out += ":";
	981	// weight
	982	sprintf(buf, "%g", thneu->links[j]->w);
	983	out += buf;
	984	}
	985	out += "]";
	986	}
	987	}
[193]	988
[196]	989	// sticks connected to it
	990	if (thisti->commacount >= 2)
	991	out += "(";
[193]	992
[196]	993	ccount = 1;
	994	for (i = 0; i < nc; i++)
	995	if (C[i]->type == T_STICK4)
	996	if (C[i]->dadlink == thisti) {
	997	while (ccount < (C[i])->anglepos) {
	998	ccount++;
	999	out += ",";
	1000	}
	1001	toF1GenoRec(i, out);
	1002	}
	1003	while (ccount < thisti->commacount) {
	1004	ccount++;
	1005	out += ",";
	1006	}
[193]	1007
[196]	1008	if (thisti->commacount >= 2)
	1009	out += ")";
[193]	1010	}
	1011
	1012
	1013
	1014	// to organize a f4 genotype in a tree structure
	1015
	1016	f4_node::f4_node()
	1017	{
[196]	1018	name = '?';
	1019	parent = NULL;
	1020	child = NULL;
	1021	child2 = NULL;
	1022	pos = -1;
[193]	1023	}
	1024
	1025	f4_node::f4_node(char nname, f4_node * nparent, int npos)
	1026	{
[196]	1027	name = nname;
	1028	parent = nparent;
	1029	child = NULL;
	1030	child2 = NULL;
	1031	pos = npos;
	1032	if (parent) parent->addChild(this);
[193]	1033	}
	1034
	1035	f4_node::~f4_node()
	1036	{
[196]	1037	// (destroy() copied here for efficiency)
	1038	// children are destroyed (recursively) through the destructor
	1039	if (NULL != child2) delete child2;
	1040	if (NULL != child) delete child;
[193]	1041	}
	1042
	1043	int f4_node::addChild(f4_node * nchi)
	1044	{
[196]	1045	if (NULL == child) {
	1046	child = nchi;
	1047	return 0;
	1048	}
	1049	if (NULL == child2) {
	1050	child2 = nchi;
	1051	return 0;
	1052	}
	1053	return -1;
[193]	1054	}
	1055
	1056	int f4_node::removeChild(f4_node * nchi)
	1057	{
[196]	1058	if (nchi == child2) {
	1059	child2 = NULL;
	1060	return 0;
	1061	}
	1062	if (nchi == child) {
	1063	child = NULL;
	1064	return 0;
	1065	}
	1066	return -1;
[193]	1067	}
	1068
	1069	int f4_node::childCount()
	1070	{
[196]	1071	if (NULL != child) {
	1072	if (NULL != child2) return 2;
	1073	else return 1;
	1074	}
	1075	else {
	1076	if (NULL != child2) return 1;
	1077	else return 0;
	1078	}
[193]	1079	}
	1080
	1081	int f4_node::count()
	1082	{
[196]	1083	int c = 1;
	1084	if (NULL != child) c += child->count();
	1085	if (NULL != child2) c += child2->count();
	1086	return c;
[193]	1087	}
	1088
	1089	f4_node * f4_node::ordNode(int n)
	1090	{
[196]	1091	int n1;
	1092	if (0 == n) return this;
	1093	n--;
	1094	if (NULL != child) {
	1095	n1 = child->count();
	1096	if (n < n1) return child->ordNode(n);
	1097	n -= n1;
	1098	}
	1099	if (NULL != child2) {
	1100	n1 = child2->count();
	1101	if (n < n1) return child2->ordNode(n);
	1102	n -= n1;
	1103	}
	1104	return NULL;
[193]	1105	}
	1106
	1107	f4_node * f4_node::randomNode()
	1108	{
[196]	1109	int n = count();
	1110	// pick a random node, between 0 and n-1
	1111	return ordNode(randomN(n));
[193]	1112	}
	1113
	1114	f4_node * f4_node::randomNodeWithSize(int min, int max)
	1115	{
[196]	1116	// try random nodes, and accept if size in range
	1117	// limit to maxlim tries
	1118	int i, n, maxlim;
	1119	f4_node * nod = NULL;
	1120	maxlim = count();
	1121	for (i = 0; i < maxlim; i++) {
	1122	nod = randomNode();
	1123	n = nod->count();
	1124	if ((n >= min) && (n <= max)) return nod;
	1125	}
	1126	// failed, doesn't matter
	1127	return nod;
[193]	1128	}
	1129
	1130	void f4_node::sprint(SString & out)
	1131	{
[196]	1132	char buf2[20];
	1133	// special case: repetition code
	1134	if ('#' == name)
	1135	{
	1136	out += "#";
	1137	if (i1 != 1) {
	1138	sprintf(buf2, "%d", i1);
	1139	out += buf2;
	1140	}
	1141	}
	1142	else {
	1143	// special case: neuron link
	1144	if ('[' == name) {
	1145	out += "[";
	1146	if (i1 > 0) {
	1147	// sensor input
	1148	if (1 == i1) out += "*";
	1149	if (2 == i1) out += "G";
	1150	if (3 == i1) out += "T";
	1151	if (4 == i1) out += "S";
	1152	}
	1153	else {
	1154	sprintf(buf2, "%ld", l1);
	1155	out += buf2;
	1156	}
	1157	sprintf(buf2, ":%g]", f1);
	1158	out += buf2;
	1159	}
	1160	else if (':' == name) {
	1161	sprintf(buf2, ":%c%c:", l1 ? '+' : '-', (char)i1);
	1162	out += buf2;
	1163	}
	1164	else {
	1165	buf2[0] = name;
	1166	buf2[1] = 0;
	1167	out += buf2;
	1168	}
	1169	}
	1170	if (NULL != child) child->sprint(out);
	1171	// if two children, make sure last char is a '>'
	1172	if (2 == childCount())
	1173	if (0 == out[0]) out += ">"; else
	1174	if ('>' != out[out.len() - 1]) out += ">";
	1175	if (NULL != child2) child2->sprint(out);
	1176	// make sure last char is a '>'
	1177	if (0 == out[0]) out += ">"; else
	1178	if ('>' != out[out.len() - 1]) out += ">";
[193]	1179	}
	1180
	1181	void f4_node::sprintAdj(char *& buf)
	1182	{
[196]	1183	unsigned int len;
	1184	// build in a SString, with initial size
	1185	SString out(strlen(buf) + 2000);
	1186	out = "";
[193]	1187
[196]	1188	sprint(out);
[193]	1189
[196]	1190	// very last '>' can be omitted
	1191	len = out.len();
	1192	if (len > 1)
	1193	if ('>' == out[len - 1]) { (out.directWrite())[len - 1] = 0; out.endWrite(); };
	1194	// copy back to string
	1195	// if new is longer, reallocate buf
	1196	if (len + 1 > strlen(buf)) {
	1197	buf = (char*)realloc(buf, len + 1);
	1198	}
[348]	1199	strcpy(buf, out.c_str());
[193]	1200	}
	1201
	1202	f4_node * f4_node::duplicate()
	1203	{
[196]	1204	f4_node * copy;
	1205	copy = new f4_node(*this);
	1206	copy->parent = NULL; // set later
	1207	copy->child = NULL;
	1208	copy->child2 = NULL;
	1209	if (NULL != child) {
	1210	copy->child = child->duplicate();
	1211	copy->child->parent = copy;
	1212	}
	1213	if (NULL != child2) {
	1214	copy->child2 = child2->duplicate();
	1215	copy->child2->parent = copy;
	1216	}
	1217	return copy;
[193]	1218	}
	1219
	1220
	1221	void f4_node::destroy()
	1222	{
[196]	1223	// children are destroyed (recursively) through the destructor
	1224	if (NULL != child2) delete child2;
	1225	if (NULL != child) delete child;
[193]	1226	}
	1227
	1228
	1229	// scan genotype string and build tree
	1230	// return >1 for error (errorpos)
	1231	int f4_processrec(const char * genot, unsigned pos0, f4_node * parent)
	1232	{
[196]	1233	int i, j, t, res;
	1234	char tc1, tc2;
[247]	1235	int relfrom;
[196]	1236	double w;
	1237	unsigned gpos, oldpos;
	1238	f4_node * node1, *par;
[193]	1239
[196]	1240	gpos = pos0;
	1241	par = parent;
	1242	if (gpos >= strlen(genot)) return 1;
	1243	while (gpos < strlen(genot)) {
	1244	//DB( printf(" processing '%c' %d %s\n", genot[gpos], gpos, genot); )
	1245	switch (genot[gpos]) {
	1246	case '<':
	1247	// cell division!
	1248	//DB( printf(" div! %d\n", name); )
[193]	1249
[196]	1250	// find out genotype start for child
	1251	j = scanrec(genot + gpos + 1, strlen(genot + gpos + 1), '>');
[193]	1252
[196]	1253	node1 = new f4_node('<', par, gpos);
	1254	par = node1;
	1255	res = f4_processrec(genot, gpos + 1, par);
	1256	if (res) return res;
	1257	if (gpos + j + 2 < strlen(genot)) {
	1258	res = f4_processrec(genot, gpos + j + 2, par);
	1259	if (res) return res;
	1260	}
	1261	else { // ran out
	1262	node1 = new f4_node('>', par, strlen(genot) - 1);
	1263	par = node1;
	1264	}
	1265	// adjustments
	1266	gpos++;
	1267	return 0; // OK
[193]	1268
[196]	1269	case '>':
	1270	node1 = new f4_node('>', par, gpos);
	1271	par = node1;
	1272	gpos = strlen(genot);
	1273	return 0; // OK
[193]	1274
[196]	1275	case '#':
	1276	// repetition marker, 1 by default
	1277	if (sscanf(genot + gpos, "#%d", &i) != 1) i = 1;
	1278	// find out genotype start for continuation
	1279	j = scanrec(genot + gpos + 1, strlen(genot + gpos + 1), '>');
	1280	// skip number
	1281	oldpos = gpos;
	1282	gpos++;
	1283	while ((genot[gpos] >= '0') && (genot[gpos] <= '9')) gpos++;
	1284	node1 = new f4_node('#', par, oldpos);
	1285	node1->i1 = i;
	1286	par = node1;
	1287	res = f4_processrec(genot, gpos, node1);
	1288	if (res) return res;
	1289	if (oldpos + j + 2 < strlen(genot)) {
	1290	res = f4_processrec(genot, oldpos + j + 2, node1);
	1291	if (res) return res;
	1292	}
	1293	else { // ran out
	1294	node1 = new f4_node('>', par, strlen(genot) - 1);
	1295	}
	1296	return 0; // OK
[193]	1297
[196]	1298	// 'simple' nodes:
	1299	case ',':
	1300	case 'l': case 'L':
	1301	case 'c': case 'C':
	1302	case 'q': case 'Q':
	1303	case 'r': case 'R':
	1304	case 'X': case 'N':
	1305	case '@': case '\|':
	1306	case 'a': case 'A':
	1307	case 's': case 'S':
	1308	case 'm': case 'M':
	1309	case 'i': case 'I':
	1310	case 'f': case 'F':
	1311	case 'w': case 'W':
	1312	case 'e': case 'E':
	1313	node1 = new f4_node(genot[gpos], par, gpos);
	1314	par = node1;
	1315	gpos++;
	1316	break;
[193]	1317
[196]	1318	case '[':
	1319	// link to neuron
	1320	// input (%d, '*', 'G', 'T', 'S')
	1321	t = -1;
	1322	if (sscanf(genot + gpos, "[%ld:%lf]", &relfrom, &w) == 2) t = 0;
	1323	else if (sscanf(genot + gpos, "[*:%lf]", &w) == 1) t = 1;
	1324	else if (sscanf(genot + gpos, "[G:%lf]", &w) == 1) t = 2;
	1325	else if (sscanf(genot + gpos, "[T:%lf]", &w) == 1) t = 3;
	1326	else if (sscanf(genot + gpos, "[S:%lf]", &w) == 1) t = 4;
	1327	// error: no correct format
	1328	if (t < 0) return gpos + 1 + 1;
	1329	node1 = new f4_node('[', par, gpos);
	1330	node1->i1 = t;
	1331	node1->l1 = relfrom;
	1332	node1->f1 = w;
	1333	par = node1;
	1334	j = scanrec(genot + gpos + 1, strlen(genot + gpos + 1), ']');
	1335	gpos += j + 2;
	1336	break;
[193]	1337
[196]	1338	case ':':
	1339	// neuron parameter +! -! += -= +/ or -/
	1340	if (sscanf(genot + gpos, ":%c%c:", &tc1, &tc2) != 2)
	1341	// error: incorrect format
	1342	return gpos + 1 + 1;
	1343	if ('+' == tc1) j = 1;
	1344	else if ('-' == tc1) j = 0;
	1345	else return gpos + 1 + 1;
	1346	switch (tc2) {
	1347	case '!': case '=': case '/': break;
	1348	default:
	1349	return gpos + 1 + 1;
	1350	}
	1351	node1 = new f4_node(':', par, gpos);
	1352	node1->l1 = j;
	1353	node1->i1 = (int)tc2;
	1354	par = node1;
	1355	j = scanrec(genot + gpos + 1, strlen(genot + gpos + 1), ':');
	1356	gpos += j + 2;
	1357	break;
[193]	1358
[196]	1359	case ' ':
	1360	case '\n':
	1361	case '\t':
	1362	// whitespace: ignore
	1363	//node1 = new f4_node(' ', par, gpos );
	1364	//par = node1;
	1365	gpos++;
	1366	break;
[193]	1367
[196]	1368	default:
	1369	//DB( printf("unknown character '%c' ! \n", genot[gpos]); )
	1370	//add it, build will give the error or repair
	1371	node1 = new f4_node(genot[gpos], par, gpos);
	1372	par = node1;
	1373	gpos++;
	1374	break;
	1375	}
	1376	}
	1377	// should end with a '>'
	1378	if (par)
	1379	if ('>' != par->name) {
	1380	node1 = new f4_node('>', par, strlen(genot) - 1);
	1381	par = node1;
	1382	}
	1383	return 0; // OK
[193]	1384	}
	1385
	1386
	1387	f4_node * f4_processtree(const char * geno)
	1388	{
[196]	1389	f4_node * root;
	1390	int res;
	1391	root = new f4_node();
	1392	res = f4_processrec(geno, 0, root);
	1393	if (res) return NULL;
	1394	//DB( printf("test f4 "); )
	1395	DB(
	1396	if (root->child) {
	1397	char * buf = (char*)malloc(300);
	1398	DB(printf("(%d) ", root->child->count());)
	1399	buf[0] = 0;
	1400	root->child->sprintAdj(buf);
	1401	DB(printf("%s\n", buf);)
	1402	free(buf);
	1403	}
	1404	)
	1405	return root->child;
[193]	1406	}

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