source: cpp/gdk/conv_f1.cpp @ 56

// This file is a part of Framsticks GDK library.
// Copyright (C) 2002-2006  Szymon Ulatowski.  See LICENSE.txt for details.
// Refer to http://www.frams.alife.pl/ for further information.

#include "conv_f1.h"
#include "nonstd.h"
#include "framsg.h"
#include "multirange.h"
#include "multimap.h"
#include <ctype.h>

//#define v1f1COMPATIBLE

F1Props stdprops={1, 0, 1, 0.4, 0.25, 0.25, 0.25, 0.25, 0.0, 1.0, 1.0, 1 };

class Builder
{
public:
Builder(const char*g,int mapping=0):genbegin(g),usemapping(mapping),energ(0),energ_div(0),invalid(0) {}
char tmp[222];
bool invalid;
Model model;
const char *genbegin;
SList neuro_f1_to_f0; // neuro_f1_to_f0(f1_refno) = actual neuro pointer
Neuro *last_f1_neuro;
        struct Connection { int n1,n2; double w;
                Connection(int _n1,int _n2, double _w):n1(_n1),n2(_n2),w(_w) {} };
SListTempl<Connection> connections;
int usemapping;
MultiRange range;
double lastjoint_muscle_power;
double energ,energ_div;
void grow(int part1,const char*g,Pt3D k,F1Props c);
int growJoint(int part1,int part2,Pt3D &angle,F1Props &c,const char *g);
int growPart(F1Props &c,const char *g);
const char *skipNeuro(const char *z);
const char* growNeuro(const char* t,F1Props &c,int&);
void growConnection(const char* begin,const char* colon,const char* end,F1Props& props);
int countBranches(const char*g,SList &out);
void addClassParam(const SString& newparam);
void addClassParam(const char* name,double value);

const MultiRange* makeRange(const char*g) {return makeRange(g,g);}
const MultiRange* makeRange(const char*g,const char*g2);
Part *getLastPart() {return getLastJoint()->part2;}
Neuro *getLastNeuro() {return model.getNeuro(model.getNeuroCount()-1);}
Joint *getLastJoint() {return model.getJoint(model.getJointCount()-1);}
void addOrRememberInput(int n1,int n2,float w)
                {
                if (!addInput(n1,n2,w,false))
                        connections+=Connection(n1,n2,w);
                }
bool addInput(int n1,int n2,float w,bool final)
                {
                if ((n1<0) || (n2<0) || (n1>=neuro_f1_to_f0.size()) || (n2>=neuro_f1_to_f0.size()))
                        {
                        if (final) FMprintf("GenoConvF1","addInput",FMLV_WARN,
                                            "illegal neuron connection %d <- %d (ignored)",n1,n2);
                        return 0;
                        }
                Neuro *neuro=(Neuro*)neuro_f1_to_f0(n1);
                Neuro *input=(Neuro*)neuro_f1_to_f0(n2);
                neuro->addInput(input,w);
                return 1;
                }
void addPendingInputs()
                {
                for(int i=0;i<connections.size();i++)
                        {
                        Connection *c=&connections(i);
                        addInput(c->n1,c->n2,c->w,true);
                        }
                }
};

const MultiRange* Builder::makeRange(const char*g,const char*g2)
{
if (!usemapping) return 0;
range.clear();
range.add(g-genbegin,g2-genbegin);
return &range;
}

void F1Props::wykluczanie()
{
double s=ruch+asym+odpor+wchl;
ruch=ruch/s;
asym=asym/s;
odpor=odpor/s;
wchl=wchl/s;
}

/** main conversion function - with conversion map support */
SString GenoConv_F1::convert(SString &i,MultiMap *map)
{
const char* g=(const char*)i;
Builder builder(g,map?1:0);
builder.model.open();
builder.grow(-1,g,Pt3D_0,stdprops); // uses Model::singleStepBuild to create model elements
if (builder.invalid) return SString();
builder.addPendingInputs();
builder.model.startenergy=(builder.energ_div>0)?(builder.energ/builder.energ_div):1.0;
builder.model.close(); // model is ready to use now
if (map) builder.model.getCurrentToF0Map(*map); // generate f1-to-f0 conversion map
return builder.model.getF0Geno().getGene();
}

void Builder::grow(int part1,const char*g,Pt3D k,F1Props c)
{
int hasmuscles=0;
k+=Pt3D(c.rot,0,c.skr);
while(1)
{
switch(*g)
        {
        case 0: case ',': case ')': return;
        case 'R': k.x+=0.7853;  break;
        case 'r': k.x-=0.7853;  break;
        case 'Q': c.rot+=(1.58-c.rot)*0.3;      break;
        case 'q': c.rot+=(-1.58-c.rot)*0.3;     break;
#ifdef v1f1COMPATIBLE
        case 'L': c.dlug+=(3.0-c.dlug)*0.3; break;
#else
        case 'L': c.dlug+=(2.0-c.dlug)*0.3; break;
#endif                                       
        case 'l': c.dlug+=(0.33-c.dlug)*0.3; break;
        case 'A': c.asym+=(1-c.asym)*0.8;       c.wykluczanie(); break;
        case 'a': c.asym-=c.asym*0.4;   c.wykluczanie(); break;
        case 'I': c.wchl+=(1-c.wchl)*0.8;       c.wykluczanie(); break;
        case 'i': c.wchl-=c.wchl*0.4;   c.wykluczanie(); break;
        case 'S': c.odpor+=(1-c.odpor)*0.8; c.wykluczanie(); break;
        case 's': c.odpor-=c.odpor*0.4; c.wykluczanie(); break;
        case 'M': c.ruch+=(1-c.ruch)*0.8;       c.wykluczanie(); break;
        case 'm': c.ruch-=c.ruch*0.4;   c.wykluczanie(); break;
        case 'C': c.skr+=(2.0-c.skr)*0.25;      break;
        case 'c': c.skr+=(-2.0-c.skr)*0.25;break;
        case 'F': c.tarcie+=(4-c.tarcie)*0.2;   break;
        case 'f': c.tarcie-=c.tarcie*0.2;               break;
        case 'W': c.masa+=(2.0-c.masa)*0.3;     break;
        case 'w': c.masa+=(0.5-c.masa)*0.3;     break;
        case 'E': c.energ+=(10.0-c.energ)*0.1;  break;
        case 'e': c.energ-=c.energ*0.1;         break;
        case '[': //neuron
//              setdebug(g-(char*)geny,DEBUGNEURO | !l_neu);
                if (model.getJointCount())
                        g=growNeuro(g+1,c,hasmuscles);
                else
                        {
                        FramMessage("GenoConv_F1","grow","Illegal neuron position (ignored)",1);
                        g=skipNeuro(g+1);
                        }
                break;
        case 'X':
                {
                int freshpart=0;
//setdebug(g-(char*)geny,DEBUGEST | !l_est);
                if (part1<0) //initial grow
                        {
                  if (model.getPartCount()>0)
                            part1=0;
                    else
                            {
                            part1=growPart(c,g);
                            freshpart=1;
                            }
                  }
                if (!freshpart)
                        {
                        Part *part=model.getPart(part1);
                        part->density=((part->mass*part->density)+1.0/c.masa)/(part->mass+1.0); // v=m*d
//                      part->volume+=1.0/c.masa;
                        part->mass+=1.0;
                        }
                energ+=0.9*c.energ+0.1;
                energ_div+=1.0;

                int part2 = growPart(c,g);
                growJoint(part1,part2,k,c,g);
//              est* e = new est(*s,*s2,k,c,zz,this);

                // oslabianie cech wzdluz struktury
                c.dlug=0.5*c.dlug+0.5*stdprops.dlug;
                c.skr=0.66*c.skr;
                c.rot=0.66*c.rot;
                c.tarcie=0.8*c.tarcie+0.2*stdprops.tarcie;

                c.asym=0.8*c.asym+0.2*stdprops.asym;
                c.odpor=0.8*c.odpor+0.2*stdprops.odpor;
                c.ruch=0.8*c.ruch+0.2*stdprops.ruch;
                c.wchl=0.8*c.wchl+0.2*stdprops.wchl;
                c.masa+=(stdprops.masa-c.masa)*0.5;
                c.wykluczanie();
        
                if (c.resetrange) c.bendrange=1.0; else c.resetrange=1;
                grow(part2,g+1,Pt3D_0,c);
                return;
                }
        case '(':
                {
                SList ga;
                int i,ile;
                ile=countBranches(g+1,ga);
                c.resetrange=0;
                c.bendrange=1.0/ile;
                for (i=0;i<ile;i++)
                        grow(part1,(char*)ga(i),k+Pt3D(0,0,-3.141+(i+1)*(6.282/(ile+1))),c);
                return;
                }
        case ' ': case '\t': case '\n': case '\r': break;
        default: invalid=1; return;
        }
        g++;
        }
}

void Builder::addClassParam(const SString& newparam)
{
SString allparams=last_f1_neuro->getClassParams();
if (allparams.len()) allparams+=',';
allparams+=newparam;
last_f1_neuro->setClassParams(allparams);
}
void Builder::addClassParam(const char* name,double value)
{
SString t;
sprintf(t.directWrite(30),"%s=%g",name,value);
t.endWrite();
addClassParam(t);
}


int Builder::countBranches(const char*g,SList &out)
{
int gl=0;
out+=(void*)g;
while (gl>=0)
        {
        switch(*g)
                {
                case 0: gl=-1; break;
                case '(': case '[': ++gl; break;
                case ')': case ']': --gl; break;
                case ',': if (!gl) out+=(void*)(g+1);
                }
        g++;
        }
return !out;
}

int Builder::growJoint(int part1,int part2,Pt3D &angle,F1Props &c,const char *g)
{
double len=min(2.0,c.dlug);
sprintf(tmp,"j:p1=%ld,p2=%ld,dx=%lg,rx=%lg,ry=%lg,rz=%lg,stam=%lg",
        part1,part2,len,angle.x,angle.y,angle.z,c.odpor);
lastjoint_muscle_power=c.ruch;
return model.singleStepBuild(tmp,makeRange(g));
}

int Builder::growPart(F1Props &c,const char *g)
{
sprintf(tmp,"p:m=1,dn=%lg,fr=%lg,ing=%lg,as=%lg",
        1.0/c.masa,c.tarcie,c.wchl,c.asym);
return model.singleStepBuild(tmp,makeRange(g));
}

const char *Builder::skipNeuro(const char *z)
{
for (;*z;z++) if ((*z==']')||(*z==')')) break;
return z-1;
}

// remove leading & trailing whitespaces
static void trim(SString& s)
{
const char*b=(const char*)s;
const char*e=b+s.len();
while((b<e)&&(*b<=' ')) b++;
while((b<e)&&(e[-1]<=' ')) e--;
if ((e-b)==s.len()) return;
char* t=s.directWrite();
if (t!=b) memmove(t,b,e-b);
s.endWrite(e-b);
}

const char* Builder::growNeuro(const char* t, F1Props& props,int &hasmuscles)
{
const char*neuroend=skipNeuro(t);
last_f1_neuro=model.addNewNeuro();
last_f1_neuro->attachToPart(getLastPart());
const MultiRange *mr=makeRange(t-1,neuroend+1);
if (mr) last_f1_neuro->setMapping(*mr);
neuro_f1_to_f0+=last_f1_neuro;

SString clsname;
bool haveclass=0;
while(*t && *t<=' ') t++;
const char* next=(*t)?(t+1):t;
while(*next && *next<=' ') next++;
if (*t && *next!=',' && *next!=']') // old style muscles [|rest] or [@rest]
switch(*t)
        {
        case '@': if (t[1]==':') break;
                haveclass=1;
//              if (!(hasmuscles&1))
                {
                  hasmuscles|=1;
                  Neuro *muscle=model.addNewNeuro();
                  sprintf(tmp,"@:p=%lg",lastjoint_muscle_power);
                  muscle->addInput(last_f1_neuro);
                  muscle->setDetails(tmp);
                  muscle->attachToJoint(getLastJoint());
                  if (usemapping) muscle->setMapping(*makeRange(t));
                }
                t++;
                break;
        case '|': if (t[1]==':') break;
                haveclass=1;
//              if (!(hasmuscles&2))
                {
                  hasmuscles|=2;
                  Neuro *muscle=model.addNewNeuro();
                  sprintf(tmp,"|:p=%lg,r=%lg",lastjoint_muscle_power,props.bendrange);
                  muscle->addInput(last_f1_neuro);
                  muscle->setDetails(tmp);
                  muscle->attachToJoint(getLastJoint());
                  if (usemapping) muscle->setMapping(*makeRange(t));
                }
                t++;
                break;
        }
while(*t && *t<=' ') t++;
bool finished=0;
const char *begin=t;
const char* colon=0;
SString classparams;
while(!finished)
        {
        switch (*t)
                {
                case ':': colon=t; break;
                case 0: case ']': case ')': finished=1;
                        // NO break!
                case ',':
                        if ( !haveclass && !colon && t>begin )
                                {
                                haveclass=1;
                                SString clsname(begin,t-begin);
                                trim(clsname);
                                last_f1_neuro->setClassName(clsname);
                                NeuroClass *cls=last_f1_neuro->getClass();
                                if (cls)
                                        {
                                        if (cls->getPreferredLocation()==2)
                                                last_f1_neuro->attachToJoint(getLastJoint());
                                        else if (cls->getPreferredLocation()==1)
                                                last_f1_neuro->attachToPart(getLastPart());
                                        }
                                }
                        else if (colon && (colon>begin) && (t>colon))
                                growConnection(begin,colon,t,props);
                        if (t[0]!=',') t--;
                        begin=t+1; colon=0;
                        break;
                }
        t++;
        }
return t;
}
void Builder::growConnection(const char* begin, const char* colon,const char* end,F1Props& props)
{
while(*begin && *begin<=' ') begin++;
int i;
if (isdigit(begin[0]) || (begin[0]=='-'))
        {
        float weight=atof(colon+1);
        int relative=atoi(begin);
        int this_refno=neuro_f1_to_f0.size()-1;
        addOrRememberInput(this_refno,this_refno+relative,weight);
        }
else if ((i=last_f1_neuro->extraProperties().findIdn(begin,colon-begin))>=0)
        {
        last_f1_neuro->extraProperties().set(i,colon+1);
        }
else if (isupper(begin[0]) || strchr("*|@",begin[0]))
        {
        SString clsname(begin,colon-begin);
        trim(clsname);
        Neuro *receptor=model.addNewNeuro();
        receptor->setClassName(clsname);
        NeuroClass *cls=receptor->getClass();
        if (cls)
                {
                if (cls->getPreferredLocation()==2) receptor->attachToJoint(getLastJoint());
                else if (cls->getPreferredLocation()==1) receptor->attachToPart(getLastPart());
                }
        last_f1_neuro->addInput(receptor,atof(colon+1));
        if (usemapping) receptor->setMapping(*makeRange(begin,end-1));
        }
else if ((begin[0]=='>')&&(begin[1]))
        {
        Neuro *out=model.addNewNeuro();
        out->addInput(last_f1_neuro,atof(colon+1));
        out->setClassName(SString(begin+1,end-colon-1));
        if (begin[1]=='@')
                {
                sprintf(tmp,"p=%lg",lastjoint_muscle_power);
                out->setClassParams(tmp);
                }
        else if (begin[1]=='|')
                {
                sprintf(tmp,"p=%lg,r=%lg",lastjoint_muscle_power,props.bendrange);
                out->setClassParams(tmp);
                }
        NeuroClass *cls=out->getClass();
        if (cls)
                {
                if (cls->getPreferredLocation()==2) out->attachToJoint(getLastJoint());
                else if (cls->getPreferredLocation()==1) out->attachToPart(getLastPart());
                }
        if (usemapping) out->setMapping(*makeRange(begin,end-1));
        }
else if (*begin=='!') addClassParam("fo",max(0.0,min(1.0,atof(colon+1))));
else if (*begin=='=') addClassParam("in",max(0.0,min(1.0,atof(colon+1))));
else if (*begin=='/') addClassParam("si",atof(colon+1));
/*else if (*begin=='!') last_f1_neuro->force=max(0.0,min(1.0,atof(colon+1)));
else if (*begin=='=') last_f1_neuro->inertia=max(0.0,min(1.0,atof(colon+1)));
else if (*begin=='/') last_f1_neuro->sigmo=atof(colon+1);
*/
else if (islower(begin[0]))
        {
        SString newparam(begin,end-begin);
        trim(newparam);
        newparam.directWrite()[colon-begin]='='; // ':' -> '='
        addClassParam(newparam);
        }
}