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source: cpp/frams/genetics/fL/fL_general.cpp @ 785

Last change on this file since 785 was 780, checked in by Maciej Komosinski, 7 years ago
Added sources for genetic encodings fB, fH, fL
File size: 25.4 KB

Line
1	#include <algorithm>
2	#include <stack>
3	#include "fL_general.h"
4
5	const char *fL_part_names[PART_PROPS_COUNT] = { "dn", "fr", "ing", "as" };
6	const char *fL_part_fullnames[PART_PROPS_COUNT] = { "details", "friction", "ingestion", "assimilation" };
7
8	const char *fL_joint_names[JOINT_PROPS_COUNT] = { "stif", "rotstif", "stam" };
9	const char *fL_joint_fullnames[JOINT_PROPS_COUNT] = { "stiffness", "rotation stiffness", "stamina" };
10
11	#define FIELDSTRUCT fL_Word
12	ParamEntry fL_word_paramtab[] =
13	{
14	{ "Word", 1, 2, "w" },
15	{ "name", 0, PARAM_CANOMITNAME, "word name", "s", FIELD(name), },
16	{ "npar", 0, PARAM_CANOMITNAME, "number of parameters", "d 0 3 0", FIELD(npar), },
17	{ 0, 0, 0, }
18	};
19	#undef FIELDSTRUCT
20
21	#define FIELDSTRUCT fL_Rule
22	ParamEntry fL_rule_paramtab[] =
23	{
24	{ "Rule", 1, 3, "r" },
25	{ "pred", 0, PARAM_CANOMITNAME, "predecessor", "s", FIELD(predecessor), },
26	{ "cond", 0, PARAM_CANOMITNAME, "parameter condition", "s", FIELD(condition), },
27	{ "succ", 0, PARAM_CANOMITNAME, "successor", "s", FIELD(successor), },
28	{ 0, 0, 0, }
29	};
30	#undef FIELDSTRUCT
31
32	#define FIELDSTRUCT fL_Builder
33	ParamEntry fL_builder_paramtab[] =
34	{
35	{ "LSystemInfo", 1, 3, "i" },
36	{ "axiom", 0, PARAM_CANOMITNAME, "starting sequence of L-System", "s", FIELD(axiom), },
37	{ "time", 0, PARAM_CANOMITNAME, "development time", "f 1.0 100.0 1.0", FIELD(time), },
38	{ "numckp", 0, PARAM_CANOMITNAME, "number of checkpoints", "d 1 50 1", FIELD(numckp), },
39	{ 0, 0, 0, }
40	};
41	#undef FIELDSTRUCT
42
43	fL_Builder::~fL_Builder()
44	{
45	// first remove words from builder
46	for (fL_Word *word : genotype)
47	{
48	delete word;
49	}
50	genotype.clear();
51	// remove rules from builder
52	for (fL_Rule *rule : rules)
53	{
54	delete rule;
55	}
56	rules.clear();
57
58	// remove words definitions with their ParamTabs
59	std::unordered_map<std::string, fL_Word *>::iterator it;
60	for (it = words.begin(); it != words.end(); it++)
61	{
62	ParamObject::freeParamTab(it->second->tab);
63	delete it->second;
64	}
65	words.clear();
66	}
67
68	bool fL_Builder::getNextObject(int &pos, SString src, SString &token)
69	{
70	// if position exceeds length then return false
71	if (pos >= src.len()) return false;
72	int opencount = -1;
73	int i = pos;
74	for (; i < src.len(); i++)
75	{
76	// token cannot contain branching parenthesis
77	if (src[i] == '[' \|\| src[i] == ']')
78	{
79	// if token started - return parenthesis mismatch
80	if (opencount != -1)
81	{
82	pos = -1;
83	return false;
84	}
85	// otherwise [ and ] are interpreted as tokens and they do not have parenthesis
86	token = src.substr(pos, i + 1 - pos);
87	pos = i + 1;
88	return true;
89	}
90	// every word, except [ and ], has () parenthesis
91	// every open parenthesis increment opencount counter;
92	if (src[i] == '(')
93	{
94	if (opencount == -1) opencount = 1;
95	else opencount++;
96	}
97	// every close parenthesis decrement opencount counter
98	else if (src[i] == ')')
99	{
100	// if there were no open parenthesis, return parenthesis mismatch
101	if (opencount == -1)
102	{
103	pos = -1;
104	return false;
105	}
106	else opencount--;
107	}
108	// if counter reaches 0, the token extraction is finished
109	if (opencount == 0)
110	{
111	break;
112	}
113	}
114	if (opencount == 0)
115	{
116	token = src.substr(pos, i + 1 - pos);
117	pos = i + 1;
118	return true;
119	}
120	// if there was no closing parenthesis, then return parenthesis mismatch
121	pos = -1;
122	return false;
123	}
124
125	std::string fL_Builder::trimSpaces(std::string data)
126	{
127	size_t first = data.find_first_not_of(' ');
128	if (std::string::npos == first)
129	{
130	return data;
131	}
132	size_t last = data.find_last_not_of(' ');
133	return data.substr(first, (last - first + 1));
134	}
135
136	int fL_Builder::tokenize(SString sequence, std::list<fL_Word *> &result, int numparams)
137	{
138	int pos = 0;
139	SString token;
140	int branchcount = 0;
141	if (result.size() > 0)
142	{
143	for (fL_Word *word : result)
144	{
145	delete word;
146	}
147	result.clear();
148	}
149	// iterate through available tokens
150	while (getNextObject(pos, sequence, token))
151	{
152	// if token is of open branch type, then add start of branch
153	if (token.indexOf("[", 0) != -1)
154	{
155	fL_Branch *word = new fL_Branch(fL_Branch::BranchType::OPEN);
156	result.push_back(word);
157	branchcount++;
158	continue;
159	}
160	// if token is of closed branch type, then add end of branch
161	if (token.indexOf("]", 0) != -1)
162	{
163	if (branchcount == 0)
164	{
165	SString message = "Branch parenthesis mismatch at: ";
166	message += sequence;
167	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
168	return 1;
169	}
170	fL_Branch *word = new fL_Branch(fL_Branch::BranchType::CLOSE);
171	result.push_back(word);
172	branchcount--;
173	continue;
174	}
175	SString wordn;
176	int tokpos = 0;
177	// if word name cannot be extracted, then return error
178	if (!token.getNextToken(tokpos, wordn, '('))
179	{
180	SString message = "Error during parsing words sequence: ";
181	message += sequence;
182	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
183	return 1;
184	}
185	std::string wordname = fL_Builder::trimSpaces(wordn.c_str());
186	// if word cannot be found in available words, then return error
187	if (words.find(wordname) == words.end())
188	{
189	SString message = "Word '";
190	message += wordname.c_str();
191	message += "' in sequence does not exist";
192	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
193	return 1;
194	}
195
196	// create new word and assign parameters
197	fL_Word *word = new fL_Word();
198
199	word = words[wordname];
200
201	// if word has parameters
202	if (word->npar > 0)
203	{
204	// create ParamObject that will hold parameter data
205	word->data = ParamObject::makeObject(word->tab);
206	Param par(word->tab);
207	par.select(word->data);
208	par.setDefault();
209	ParamInterface::LoadOptions opts;
210
211	SString temp;
212	temp = token.substr(tokpos);
213	temp = temp.substr(0, temp.len() - 1);
214	// load parameters from string
215	par.load(ParamInterface::FormatSingleLine, temp, &opts);
216	for (int i = 0; i < par.getPropCount(); i++)
217	{
218	// create MathEvaluation object to check if string contained by
219	// parameter is valid
220	double tmp;
221	MathEvaluation *eval = new MathEvaluation(numparams);
222	SString seq = par.getString(i);
223	// if string is empty, then evaluate this with 0
224	if (seq.len() == 0)
225	{
226	eval->evaluate("0", tmp);
227	}
228	// if sequence could not be evaluated, then return error
229	else if (eval->evaluate(seq.c_str(), tmp) != 0)
230	{
231	SString message = "Word in sequence has invalid parameter: ";
232	message += temp;
233	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
234	delete eval;
235	delete word;
236	return 1;
237	}
238	word->parevals.push_back(eval);
239	}
240	}
241	result.push_back(word);
242	}
243
244	// check if there were no parenthesis errors in genotype
245	if (pos == -1)
246	{
247	SString message = "Parenthesis mismatch at: ";
248	message += sequence;
249	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
250	return 1;
251	}
252	if (branchcount != 0)
253	{
254	SString message = "Branching mismatch at: ";
255	message += sequence;
256	logMessage("fL_Builder", "tokenize", LOG_ERROR, message.c_str());
257	return 1;
258	}
259	return 0;
260	}
261
262	void fL_Word::operator=(const fL_Word& src)
263	{
264	if (&src != this)
265	{
266	name = src.name;
267	npar = src.npar;
268
269	//mut = src.mut;
270	tab = src.tab;
271
272	parevals = src.parevals;
273
274	data = NULL; // properties cannot be copied
275	}
276	}
277
278	int fL_Word::processDefinition(fL_Builder *builder)
279	{
280	// if word already exist, then return error
281	if (this->name.len() == 0)
282	{
283	logMessage("fL_Word", "processDefinition", LOG_ERROR, "Axiom name is empty");
284	return 1;
285	}
286	if (builder->words.find(this->name.c_str()) != builder->words.end())
287	{
288	std::string message = "Word redefinition: ";
289	message += this->name.c_str();
290	logMessage("fL_Word", "processDefinition", LOG_ERROR, message.c_str());
291	return 1;
292	}
293
294	// create ParamTab for word
295	for (int i = 0; i < npar; i++)
296	{
297	std::string n = "n";
298	n += std::to_string(i);
299	mut.addProperty(NULL, n.c_str(), LSYSTEM_PARAM_TYPE, n.c_str(), "", PARAM_CANOMITNAME, 0, -1);
300	}
301
302	tab = ParamObject::makeParamTab((ParamInterface *)&mut, 0, 0, mut.firstMutableIndex());
303
304	builder->words[this->name.c_str()] = this;
305	return 0;
306	}
307
308	int fL_Rule::processDefinition(fL_Builder *builder)
309	{
310	// if there is no word among words that matches predecessor, then return error
311	if (builder->words.find(predecessor.c_str()) == builder->words.end())
312	{
313	logMessage("fL_Rule", "processDefinition", LOG_ERROR, "Word in Rule condition does not exist");
314	return 1;
315	}
316
317	objpred = new fL_Word();
318	objpred = builder->words[predecessor.c_str()];
319
320	// parse condition
321	if (condition != "")
322	{
323	std::string cond = condition.c_str();
324	condeval = new MathEvaluation(objpred->npar);
325	double tmp;
326	if (condeval->evaluate(condition.c_str(), tmp) != 0)
327	{
328	SString message = "Parametric condition of rule invalid: ";
329	message += condition;
330	logMessage("fL_Rule", "processDefinition", LOG_ERROR, message.c_str());
331	return 1;
332	}
333	}
334
335	// parse successor
336	if (successor == "")
337	{
338	logMessage("fL_Rule", "processDefinition", LOG_ERROR, "Successor cannot be empty");
339	return 1;
340	}
341
342	if (builder->tokenize(successor, objsucc, objpred->npar) != 0)
343	{
344	logMessage("fL_Rule", "processDefinition", LOG_ERROR, "Unable to process successor sequence");
345	return 1;
346	}
347
348	builder->rules.push_back(this);
349	return 0;
350	}
351
352	int fL_Builder::processDefinition(fL_Builder *builder)
353	{
354	// tokenize axiom
355	if (tokenize(axiom, genotype, 0) != 0)
356	{
357	logMessage("fL_Builder", "processDefinition", LOG_ERROR, "Unable to process axiom sequence");
358	return 1;
359	}
360	else if (genotype.size() == 0)
361	{
362	logMessage("fL_Builder", "processDefinition", LOG_ERROR, "Axiom sequence is empty");
363	return 1;
364	}
365	return 0;
366	}
367
368	int fL_Builder::processLine(fLElementType type, SString line, fL_Element *&obj, int linenumber, int begin, int end)
369	{
370	ParamEntry *tab;
371	// choose proper ParamTab and construct proper object
372	switch (type)
373	{
374	case fLElementType::TERM:
375	{
376	tab = fL_word_paramtab;
377	obj = new fL_Word();
378	break;
379	}
380	case fLElementType::INFO:
381	{
382	tab = fL_builder_paramtab;
383	obj = this;
384	break;
385	}
386	case fLElementType::RULE:
387	{
388	tab = fL_rule_paramtab;
389	obj = new fL_Rule(begin, end);
390	break;
391	}
392	default:
393	break;
394	}
395	Param par(tab);
396	par.select(obj);
397	par.setDefault();
398	ParamInterface::LoadOptions opts;
399
400	par.load(ParamInterface::FormatSingleLine, line, &opts);
401
402	if (opts.parse_failed)
403	{
404	std::string message = "Error in parsing parameters at line: " + std::to_string(linenumber);
405	logMessage("fL_Builder", "processLine", LOG_ERROR, message.c_str());
406	delete obj;
407	return begin + 1;
408	}
409
410	return 0;
411	}
412
413	void fL_Builder::addModelWords()
414	{
415	// stick S
416	fL_Word *stick = new fL_Word(true);
417	stick->name = "S";
418	stick->npar = 8;
419	for (int i = 0; i < PART_PROPS_COUNT; i++)
420	{
421	stick->mut.addProperty(NULL, fL_part_names[i], "s", fL_part_fullnames[i], fL_part_fullnames[i], PARAM_CANOMITNAME, 0, -1);
422	}
423
424	for (int i = 0; i < JOINT_PROPS_COUNT; i++)
425	{
426	stick->mut.addProperty(NULL, fL_joint_names[i], "s", fL_joint_fullnames[i], fL_joint_fullnames[i], PARAM_CANOMITNAME, 0, -1);
427	}
428
429	stick->mut.addProperty(NULL, "l", "s", "length", "length", PARAM_CANOMITNAME, 0, -1);
430	stick->tab = ParamObject::makeParamTab((ParamInterface *)&stick->mut, 0, 0, stick->mut.firstMutableIndex());
431	words["S"] = stick;
432
433	// neuron N
434	fL_Word *neuron = new fL_Word(true);
435	neuron->name = "N";
436	neuron->npar = 1;
437	neuron->mut.addProperty(NULL, "d", "s", "details", "details", PARAM_CANOMITNAME, 0, -1);
438	neuron->tab = ParamObject::makeParamTab((ParamInterface *)&neuron->mut, 0, 0, neuron->mut.firstMutableIndex());
439	words["N"] = neuron;
440
441	// connection C
442	fL_Word *connection = new fL_Word(true);
443	connection->name = "C";
444	connection->npar = 2;
445	connection->mut.addProperty(NULL, "w", "s", "weight", "weight", PARAM_CANOMITNAME, 0, -1);
446	connection->mut.addProperty(NULL, "attr", "s", "attractor", "connection attractor", PARAM_CANOMITNAME, 0, -1);
447	connection->tab = ParamObject::makeParamTab((ParamInterface *)&connection->mut, 0, 0, connection->mut.firstMutableIndex());
448	words["C"] = connection;
449
450	// rotation objects
451	fL_Word *rotx = new fL_Word(true);
452	rotx->name = "rotX";
453	rotx->npar = 1;
454	rotx->processDefinition(this);
455
456	fL_Word *roty = new fL_Word(true);
457	roty->name = "rotY";
458	roty->npar = 1;
459	roty->processDefinition(this);
460
461	fL_Word *rotz = new fL_Word(true);
462	rotz->name = "rotZ";
463	rotz->npar = 1;
464	rotz->processDefinition(this);
465	}
466
467	int fL_Builder::parseGenotype(SString genotype)
468	{
469	int pos = 0;
470	int lastpos = 0;
471	SString line;
472	int linenumber = 0;
473
474	fLElementType type = fLElementType::TERM;
475
476	// add default words first to prevent redefinitions
477	addModelWords();
478
479	while (genotype.getNextToken(pos, line, '\n'))
480	{
481	if (line.len() > 0)
482	{
483	// words can be defined in the beginning of genotype
484	if (line.startsWith("w:") && type != fLElementType::TERM)
485	{
486	logMessage("fL_Builder", "parseGenotype", LOG_ERROR, "All words should be defined in the beginning of genotype");
487	return lastpos + 1;
488	}
489	else if (line.startsWith("i:"))
490	{
491	// after all words are defined, next definition should be information
492	if (type == fLElementType::TERM)
493	{
494	type = fLElementType::INFO;
495	}
496	else
497	{
498	logMessage("fL_Builder", "parseGenotype", LOG_ERROR, "Axioms and iteration number should be defined after word definitions");
499	return lastpos + 1;
500	}
501	}
502	else if (line.startsWith("r:"))
503	{
504	// after information definition, the last thing is rule definitions
505	if (type == fLElementType::TERM)
506	{
507	logMessage("fL_Builder", "parseGenotype", LOG_ERROR, "Axiom is not defined - define it after words definition");
508	return lastpos + 1;
509	}
510	else if (type == fLElementType::INFO)
511	{
512	type = fLElementType::RULE;
513	}
514	}
515	// create object
516	fL_Element *obj = NULL;
517	int res = processLine(type, line.substr(2), obj, linenumber, lastpos, pos - 1);
518	if (res != 0)
519	{
520	if (obj && obj != this) delete obj;
521	return res;
522	}
523	res = obj->processDefinition(this);
524	if (res != 0)
525	{
526	if (obj && obj != this) delete obj;
527	return res;
528	}
529	}
530	lastpos = pos;
531	}
532	if (type == fLElementType::TERM)
533	{
534	logMessage("fL_Builder", "parseGenotype", LOG_ERROR, "Info line was not declared");
535	return 1;
536	}
537	return 0;
538	}
539
540	int fL_Word::saveEvals(bool keepformulas)
541	{
542	if (npar > 0)
543	{
544	Param par(tab);
545	par.select(data);
546	for (int i = 0; i < npar; i++)
547	{
548	if (parevals[i] != NULL)
549	{
550	double val;
551	if (parevals[i]->evaluateRPN(val) != 0)
552	{
553	logMessage("fL_Word", "saveEvals", LOG_ERROR, "Could not stringify mathematical expression in Word");
554	return 1;
555	}
556	if (val == 0)
557	{
558	par.setString(i, "");
559	}
560	else
561	{
562	if (keepformulas)
563	{
564	std::string res;
565	if (parevals[i]->RPNToInfix(res) != 0)
566	{
567	logMessage("fL_Word", "saveEvals", LOG_ERROR, "Could not stringify mathematical expression in Word");
568	return 1;
569	}
570	par.setString(i, res.c_str());
571	}
572	else
573	{
574	SString r = SString::valueOf(val);
575	par.setString(i, r);
576	}
577	}
578	}
579	}
580	}
581	return 0;
582	}
583
584	// Methods for converting L-System objects to string
585
586	SString fL_Word::toString()
587	{
588	Param par(fL_word_paramtab);
589	fL_Word *obj = new fL_Word();
590	par.select(this);
591	SString res;
592	par.saveSingleLine(res, obj, true, false);
593	res = SString("w:") + res;
594	delete obj;
595	return res;
596	}
597
598	SString fL_Word::stringify(bool keepformulas)
599	{
600	SString res = name;
601	SString params = "";
602	if (npar > 0)
603	{
604	saveEvals(keepformulas);
605	Param par(tab);
606	void *obj = ParamObject::makeObject(tab);
607	par.select(obj);
608	par.setDefault();
609	par.select(data);
610	par.saveSingleLine(params, obj, false, false);
611	ParamObject::freeObject(obj);
612	}
613	res += "(";
614	res += params + ")";
615	return res;
616	}
617
618	SString fL_Rule::toString()
619	{
620	predecessor = objpred->name;
621	std::string tmp;
622	if (condeval)
623	{
624	condeval->RPNToInfix(tmp);
625	condition = tmp.c_str();
626	}
627	else
628	{
629	condition = "";
630	}
631	successor = "";
632	std::list<fL_Word *>::iterator i;
633	for (i = objsucc.begin(); i != objsucc.end(); i++)
634	{
635	successor += (*i)->stringify();
636	}
637	Param par(fL_rule_paramtab);
638	fL_Rule *obj = new fL_Rule(0, 0);
639	par.select(this);
640	SString res;
641	par.saveSingleLine(res, obj, true, false);
642	res = SString("r:") + res;
643	delete obj;
644	return res;
645	}
646
647	SString fL_Builder::getStringifiedProducts()
648	{
649	axiom = "";
650	std::list<fL_Word *>::iterator i;
651	for (i = genotype.begin(); i != genotype.end(); i++)
652	{
653	axiom += (*i)->stringify(false);
654	}
655	return axiom;
656	}
657
658	SString fL_Builder::toString()
659	{
660	SString res;
661	for (std::unordered_map<std::string, fL_Word *>::iterator it = words.begin(); it != words.end(); it++)
662	{
663	if (!it->second->builtin)
664	{
665	res += it->second->toString();
666	}
667	}
668	getStringifiedProducts();
669	Param par(fL_builder_paramtab);
670	fL_Builder *obj = new fL_Builder();
671	par.select(this);
672	SString tmp;
673	par.saveSingleLine(tmp, obj, true, false);
674	res += SString("i:") + tmp;
675	delete obj;
676	for (fL_Rule * rule : rules)
677	{
678	res += rule->toString();
679	}
680	return res;
681	}
682
683	int fL_Rule::deploy(fL_Word in, std::list<fL_Word >::iterator &it, std::list<fL_Word *> &genotype, double currtime)
684	{
685	// if predecessor and given word differ, then rule is not applicable
686	if (in->name != objpred->name \|\| in->npar != objpred->npar)
687	{
688	return 1;
689	}
690	// store predecessor values in separate array
691	double *inwordvalues = new double[in->npar];
692	for (int i = 0; i < in->npar; i++)
693	{
694	if (in->parevals[i] != NULL)
695	{
696	in->parevals[i]->modifyVariable(-1, currtime == in->creationiter + 1.0 ? 1.0 : currtime - floor(currtime));
697	in->parevals[i]->evaluateRPN(inwordvalues[i]);
698	}
699	else
700	{
701	inwordvalues[i] = 0;
702	}
703	}
704	// if condition exists
705	if (condeval)
706	{
707	// check if condition is satisfied. If not, rule is not applicable
708	for (int i = 0; i < in->npar; i++)
709	{
710	condeval->modifyVariable(i, inwordvalues[i]);
711	}
712	double condvalue;
713	condeval->evaluateRPN(condvalue);
714	if (condvalue == 0)
715	{
716	delete[] inwordvalues;
717	return 1;
718	}
719	}
720
721	// remove predecessor word from genotype and replace it with successor
722	it = genotype.erase(it);
723	for (std::list<fL_Word *>::iterator word = objsucc.begin(); word != objsucc.end(); word++)
724	{
725	// create new word and copy properties from word definition
726	fL_Word *nword = new fL_Word();
727	nword = *word;
728	// store information about when word has been created
729	nword->creationiter = currtime;
730	nword->parevals.clear();
731	if (nword->npar > 0)
732	{
733	nword->data = ParamObject::makeObject(nword->tab);
734	}
735	// calculate word parameters and store MathEvaluation objects for further
736	// time manipulations.
737	for (int q = 0; q < nword->npar; q++)
738	{
739	if ((*word)->parevals[q] == NULL)
740	{
741	MathEvaluation *ev = new MathEvaluation(0);
742	ev->convertString("0");
743	nword->parevals.push_back(ev);
744	}
745	else
746	{
747	std::string tmp;
748	(*word)->parevals[q]->RPNToInfix(tmp);
749	MathEvaluation *ev = new MathEvaluation(in->npar);
750	for (int i = 0; i < in->npar; i++)
751	{
752	ev->modifyVariable(i, inwordvalues[i]);
753	}
754	ev->modifyVariable(-1, currtime == (*word)->creationiter + 1.0 ? 1.0 : currtime - floor(currtime));
755	ev->convertString(tmp);
756	nword->parevals.push_back(ev);
757	}
758	}
759	genotype.insert(it, nword);
760	}
761	delete[] inwordvalues;
762	delete in;
763	return 0;
764	}
765
766	int fL_Builder::iterate(double currtime)
767	{
768	// deploy proper rules for all words in current genotype
769	std::list<fL_Word *>::iterator word = genotype.begin();
770	while (word != genotype.end())
771	{
772	bool deployed = false;
773	for (fL_Rule * rule : rules)
774	{
775	if (rule->deploy((*word), word, genotype, currtime) == 0)
776	{
777	deployed = true;
778	break;
779	}
780	}
781	if (!deployed) word++;
782	}
783	return 0;
784	}
785
786	int fL_Builder::alterTimedProperties(double currtime)
787	{
788	// alter parameters of all words, if they are time-dependent
789	std::list<fL_Word *>::iterator word = genotype.begin();
790	while (word != genotype.end())
791	{
792	if (currtime - (*word)->creationiter <= 1.0)
793	{
794	for (MathEvaluation ev : (word)->parevals)
795	{
796	if (ev) ev->modifyVariable(-1, currtime == (*word)->creationiter + 1.0 ? 1.0 : currtime - floor(currtime));
797	}
798	}
799	word++;
800	}
801	return 0;
802	}
803
804	int fL_Builder::alterPartProperties(Part part, fL_Word stickword, double &alterationcount)
805	{
806	Param par(stickword->tab, stickword->data);
807	Param ppar = part->properties();
808	for (int i = 0; i < PART_PROPS_COUNT; i++)
809	{
810	double partprop;
811	double currval;
812	if (!ExtValue::parseDouble(par.getStringById(fL_part_names[i]).c_str(), currval, false))
813	{
814	logMessage("fL_Builder", "alterPartProperties", LOG_ERROR,
815	"Error parsing word parameter");
816	return 1;
817	}
818	partprop = (ppar.getDoubleById(fL_part_names[i]) * alterationcount +
819	currval) / (alterationcount + 1.0);
820	ppar.setDoubleById(fL_part_names[i], partprop);
821	}
822	return 0;
823	}
824
825	bool fL_Word::operator==(const fL_Word& other) const
826	{
827	if (name == other.name) return false;
828	if (npar == other.npar) return false;
829	for (int i = 0; i < npar; i++)
830	{
831	if (parevals[i] && other.parevals[i])
832	{
833	double first;
834	double second;
835	parevals[i]->evaluateRPN(first);
836	other.parevals[i]->evaluateRPN(second);
837	if (first != second)
838	{
839	return false;
840	}
841	}
842	else
843	{
844	return false;
845	}
846	}
847	return true;
848	}
849
850	void fL_Builder::findNext(fL_Word word, std::list<fL_Word > genotype, std::list<fL_Word *>::iterator &it)
851	{
852	int rightdist = 0;
853	std::list<fL_Word *>::iterator iter(it);
854	for (; iter != genotype.end(); iter++)
855	{
856	if (word == *iter)
857	{
858	break;
859	}
860	rightdist++;
861	}
862	int leftdist = 0;
863	std::list<fL_Word *>::reverse_iterator riter(it);
864	for (; riter != genotype.rend(); riter++)
865	{
866	if (word == *riter)
867	{
868	break;
869	}
870	leftdist++;
871	}
872	if (iter == genotype.end())
873	{
874	it = riter.base();
875	}
876	else if (riter == genotype.rend())
877	{
878	it = iter;
879	}
880	else if (leftdist < rightdist)
881	{
882	it = riter.base();
883	}
884	else
885	{
886	it = iter;
887	}
888	}
889
890	Neuro fL_Builder::findInputNeuron(std::list<fL_Word > genotype, std::list<fL_Word >::iterator it, fL_Word attractor)
891	{
892	if (!attractor)
893	{
894	attractor = new fL_Word();
895	attractor = (*it);
896	attractor->data = NULL;
897	// TODO implement
898	}
899	return NULL;
900	}
901
902	int fL_Builder::developModel(Model &model)
903	{
904	// TODO implement
905	fL_State currstate;
906	std::unordered_map<Part *, double> counters;
907	std::stack<fL_State> statestack;
908	std::vector<std::pair<std::list<fL_Word >::iterator, Neuro >> connsbuffer;
909	Part *firstpart = NULL;
910
911	for (std::list<fL_Word *>::iterator w = genotype.begin(); w != genotype.end(); w++)
912	{
913	fL_Word word = (w);
914	if (word->builtin)
915	{
916	if (word->name == "S")
917	{
918	if (!currstate.currpart)
919	{
920	if (!firstpart)
921	{
922	firstpart = new Part();
923	firstpart->p = Pt3D_0;
924	counters[firstpart] = 0;
925	model.addPart(firstpart);
926	}
927	currstate.currpart = firstpart;
928	}
929	if (alterPartProperties(currstate.currpart, word, counters[currstate.currpart]) != 0)
930	{
931	return 1;
932	}
933	counters[currstate.currpart] += 1;
934	Part *newpart = new Part();
935	counters[newpart] = 0;
936	if (alterPartProperties(newpart, word, counters[newpart]) != 0)
937	{
938	delete newpart;
939	return 1;
940	}
941	Param par(word->tab, word->data);
942	double length;
943	if (!ExtValue::parseDouble(par.getStringById("l").c_str(), length, false))
944	{
945	delete newpart;
946	logMessage("fL_Builder", "alterPartProperties", LOG_ERROR,
947	"Error parsing word parameter");
948	return 1;
949	}
950	newpart->p = currstate.currpart->p + currstate.direction * length;
951	counters[newpart] += 1;
952	model.addPart(newpart);
953
954	Joint *newjoint = new Joint();
955	newjoint->attachToParts(currstate.currpart, newpart);
956
957	Param jpar = newjoint->properties();
958	for (int i = 0; i < JOINT_PROPS_COUNT; i++)
959	{
960	double jointprop;
961	if (!ExtValue::parseDouble(par.getStringById(fL_joint_names[i]).c_str(), jointprop, false))
962	{
963	logMessage("fL_Builder", "developModel", LOG_ERROR,
964	"Error parsing word parameter");
965	delete newjoint;
966	return 1;
967	}
968	jpar.setDoubleById(fL_joint_names[i], jointprop);
969	}
970	model.addJoint(newjoint);
971	currstate.currpart = newpart;
972	}
973	else if (word->name == "N")
974	{
975	Param npar(word->tab, word->data);
976	Neuro *neu = new Neuro();
977	neu->setDetails(npar.getStringById("d"));
978	if (!neu->getClass())
979	{
980	logMessage("fL_Builder", "developModel", LOG_ERROR, "Error parsing neuron class");
981	delete neu;
982	return 1;
983	}
984	model.addNeuro(neu);
985	currstate.currneuron = neu;
986	}
987	else if (word->name == "C")
988	{
989	connsbuffer.push_back({ w, currstate.currneuron });
990	}
991	else if (word->name.startsWith("rot"))
992	{
993	Orient rotmatrix;
994	double rot;
995	if (word->parevals[0]->evaluateRPN(rot) != 0)
996	{
997	logMessage("fL_Builder", "developModel", LOG_ERROR, "Error parsing neuron class");
998	return 1;
999	}
1000	if (word->name == "rotX")
1001	{
1002	rotmatrix.rotate(Pt3D(rot, 0.0, 0.0));
1003	}
1004	else if (word->name == "rotY")
1005	{
1006	rotmatrix.rotate(Pt3D(0.0, rot, 0.0));
1007	}
1008	else if (word->name == "rotZ")
1009	{
1010	rotmatrix.rotate(Pt3D(0.0, 0.0, rot));
1011	}
1012	currstate.direction = rotmatrix.transform(currstate.direction);
1013	}
1014	else if (word->name == "[")
1015	{
1016	statestack.push(currstate);
1017	}
1018	else if (word->name == "]")
1019	{
1020	currstate = statestack.top();
1021	statestack.pop();
1022	}
1023	}
1024	}
1025
1026	// connections need
1027	// for (std::pair<std::list<fL_Word >::iterator, Neuro > conndata : connsbuffer)
1028	// {
1029	//
1030	// }
1031	return 0;
1032	}
1033
1034	int fL_Builder::develop()
1035	{
1036	Model m;
1037	double curriter = 0;
1038	double timestamp = 1.0 / numckp;
1039	double t = 0;
1040	for (; t <= time; t += timestamp)
1041	{
1042	alterTimedProperties(t); // always alter timed properties in the beginning
1043	// if iteration exceeds integer value, then deploy rules
1044	if (floor(t) > curriter)
1045	{
1046	iterate(t);
1047	curriter += 1.0;
1048	}
1049	}
1050	// if exact time of development was not reached due to floating point errors,
1051	// then alter timed properties
1052	if (time < t)
1053	{
1054	alterTimedProperties(time);
1055	}
1056	return 0;
1057	}

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