source: cpp/frams/genetics/f1/conv_f1.cpp @ 732

// This file is a part of Framsticks SDK.  http://www.framsticks.com/
// Copyright (C) 1999-2018  Maciej Komosinski and Szymon Ulatowski.
// See LICENSE.txt for details.

#include "conv_f1.h"
#include <common/nonstd_stl.h>
#include <common/log.h>
#include <frams/util/multirange.h>
#include <frams/util/multimap.h>
#include <ctype.h>
#include <assert.h>

//#define v1f1COMPATIBLE //as in ancient Framsticks 1.x

F1Props stdprops = { 1, 0, 1, 0.4, 0.25, 0.25, 0.25, 0.25, 0.0, 1.0, 1.0, 1,
0.2, 0.5, 0.5, 0.5 };

class Builder
{
public:
        Builder(const char*g, int mapping = 0) :invalid(0), genbegin(g), usemapping(mapping), first_part_mapping(NULL), own_first_part_mapping(true), model_energy(0), model_energy_count(0) {}
        ~Builder() { if (own_first_part_mapping) SAFEDELETE(first_part_mapping); }
        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;
        SyntParam *neuro_cls_param;

        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;
        MultiRange *first_part_mapping;
        bool own_first_part_mapping;
        double lastjoint_muscle_power;
        double model_energy;
        int model_energy_count;
        void grow(int part1, const char*g, Pt3D k, F1Props c, int branching_part);
        void setPartMapping(int p, const char* g);
        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);
        SyntParam* lastNeuroClassParam();
        void addClassParam(const char* name, double value);
        void addClassParam(const char* name, const char* 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, double w)
        {
                //if (!addInput(n1,n2,w,false))
                connections += Connection(n1, n2, w);
        }
        bool addInput(int n1, int n2, double w, bool final)
        {
                if ((n1 < 0) || (n2 < 0) || (n1 >= neuro_f1_to_f0.size()) || (n2 >= neuro_f1_to_f0.size()))
                {
                        if (final) logPrintf("GenoConvF1", "addInput", LOG_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::normalizeBiol4()
{
        double sum = muscle_power + assimilation + stamina + ingestion;
        muscle_power /= sum;
        assimilation /= sum;
        stamina /= sum;
        ingestion /= sum;
}

/** main conversion function - with conversion map support */
SString GenoConv_f1::convert(SString &i, MultiMap *map, bool using_checkpoints)
{
        const char* g = i.c_str();
        Builder builder(g, map ? 1 : 0);
        builder.model.open(using_checkpoints);
        builder.grow(-1, g, Pt3D_0, stdprops, -1); // uses Model::addFromString() to create model elements
        if (builder.invalid) return SString();
        builder.addPendingInputs();
        builder.model.startenergy = (builder.model_energy_count > 0) ? (builder.model_energy / builder.model_energy_count) : 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().getGenes();
}

void Builder::setPartMapping(int p, const char* g)
{
        if (!usemapping) return;
        const MultiRange *r = makeRange(g);
        if (p < 0)
        { //special case: mapping the part which is not yet created
                if (first_part_mapping) first_part_mapping->add(*r);
                else { first_part_mapping = new MultiRange(*r); own_first_part_mapping = true; }
        }
        else
                model.getPart(p)->addMapping(*r);
}

void Builder::grow(int part1, const char*g, Pt3D k, F1Props c, int branching_part)
{
        int hasmuscles = 0;
        k += Pt3D(c.twist, 0, c.curvedness);
        while (1)
        {
                switch (*g)
                {
                case 0: return;
                case ',': case ')': setPartMapping(branching_part, g); return;
                case 'R': k.x += 0.7853; setPartMapping(part1, g); break;
                case 'r': k.x -= 0.7853;        setPartMapping(part1, g); break;
                case 'Q': c.twist += (1.58 - c.twist)*0.3; setPartMapping(part1, g); break;
                case 'q': c.twist += (-1.58 - c.twist)*0.3; setPartMapping(part1, g); break;
#ifdef v1f1COMPATIBLE
                case 'L': c.length += (3.0 - c.length)*0.3; setPartMapping(part1, g); break;
#else
                case 'L': c.length += (2.0 - c.length)*0.3; setPartMapping(part1, g); break;
#endif                                       
                case 'l': c.length += (0.33 - c.length)*0.3; setPartMapping(part1, g); break;
                case 'A': c.assimilation += (1 - c.assimilation)*0.8;   c.normalizeBiol4(); setPartMapping(part1, g);  break;
                case 'a': c.assimilation -= c.assimilation*0.4; c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'I': c.ingestion += (1 - c.ingestion)*0.8; c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'i': c.ingestion -= c.ingestion*0.4;       c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'S': c.stamina += (1 - c.stamina)*0.8; c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 's': c.stamina -= c.stamina*0.4; c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'M': c.muscle_power += (1 - c.muscle_power)*0.8;   c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'm': c.muscle_power -= c.muscle_power*0.4; c.normalizeBiol4(); setPartMapping(part1, g); break;
                case 'C': c.curvedness += (2.0 - c.curvedness)*0.25;    setPartMapping(part1, g); break;
                case 'c': c.curvedness += (-2.0 - c.curvedness)*0.25; setPartMapping(part1, g); break;
                case 'F': c.friction += (4 - c.friction)*0.2; setPartMapping(part1, g); break;
                case 'f': c.friction -= c.friction*0.2; setPartMapping(part1, g); break;
                case 'W': c.weight += (2.0 - c.weight)*0.3; setPartMapping(part1, g); break;
                case 'w': c.weight += (0.5 - c.weight)*0.3; setPartMapping(part1, g); break;
                case 'E': c.energy += (10.0 - c.energy)*0.1; setPartMapping(part1, g); break;
                case 'e': c.energy -= c.energy*0.1;     setPartMapping(part1, g); break;

                case 'D': c.cred += (1.0 - c.cred)*0.25; setPartMapping(part1, g); break;
                case 'd': c.cred += (0.0 - c.cred)*0.25; setPartMapping(part1, g); break;
                case 'G': c.cgreen += (1.0 - c.cgreen)*0.25; setPartMapping(part1, g); break;
                case 'g': c.cgreen += (0.0 - c.cgreen)*0.25; setPartMapping(part1, g); break;
                case 'B': c.cblue += (1.0 - c.cblue)*0.25; setPartMapping(part1, g); break;
                case 'b': c.cblue += (0.0 - c.cblue)*0.25; setPartMapping(part1, g); break;
                case 'H': c.visual_size += (0.7 - c.visual_size)*0.25; setPartMapping(part1, g); break;
                case 'h': c.visual_size += (0.05 - c.visual_size)*0.25; setPartMapping(part1, g); break;

                case '[': //neuron
                        //              setdebug(g-(char*)geny,DEBUGNEURO | !l_neu);
                        if (model.getJointCount())
                                g = growNeuro(g + 1, c, hasmuscles);
                        else
                        {
                                logMessage("GenoConv_F1", "grow", 1, "Illegal neuron position (ignored)");
                                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 (first_part_mapping)
                                        {
                                                //mapping was defined before creating this initial Part -> put it into the Part
                                                assert(own_first_part_mapping);
                                                model.getPart(part1)->setMapping(*first_part_mapping);
                                                delete first_part_mapping;
                                                //first_part_mapping can be still used later but from now on it references the internal Part mapping
                                                first_part_mapping = model.getPart(part1)->getMapping();
                                                own_first_part_mapping = false;
                                        }
                                }
                        }
                        if (!freshpart)
                        {
                                Part *part = model.getPart(part1);
                                part->density = ((part->mass*part->density) + 1.0 / c.weight) / (part->mass + 1.0); // v=m*d
                                //                      part->volume+=1.0/c.weight;
                                part->mass += 1.0;
                        }
                        model_energy += 0.9*c.energy + 0.1;
                        model_energy_count++;

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

                        // attenuate properties as they are propagated along the structure
                        c.length = 0.5*c.length + 0.5*stdprops.length;
                        c.visual_size = 0.5*c.visual_size + 0.5*stdprops.visual_size;
                        c.curvedness = 0.66*c.curvedness;
                        c.twist = 0.66*c.twist;
                        c.friction = 0.8*c.friction + 0.2*stdprops.friction;

                        c.assimilation = 0.8*c.assimilation + 0.2*stdprops.assimilation;
                        c.stamina = 0.8*c.stamina + 0.2*stdprops.stamina;
                        c.muscle_power = 0.8*c.muscle_power + 0.2*stdprops.muscle_power;
                        c.ingestion = 0.8*c.ingestion + 0.2*stdprops.ingestion;
                        c.weight += (stdprops.weight - c.weight)*0.5;
                        c.normalizeBiol4();

                        if (c.muscle_reset_range) c.muscle_bend_range = 1.0; else c.muscle_reset_range = true;
                        model.checkpoint();
                        grow(part2, g + 1, Pt3D_0, c, branching_part);
                        return;
                }
                case '(':
                {
                        setPartMapping(part1, g);
                        SList ga;
                        int i, count;
                        count = countBranches(g + 1, ga);
                        c.muscle_reset_range = false;
                        c.muscle_bend_range = 1.0 / count;
                        for (i = 0; i < count; i++)
                                grow(part1, (char*)ga(i), k + Pt3D(0, 0, -M_PI + (i + 1)*(2 * M_PI / (count + 1))), c, part1);
                        return;
                }
                case ' ': case '\t': case '\n': case '\r': break;
                default: invalid = 1; return;
                }
                g++;
        }
}

SyntParam* Builder::lastNeuroClassParam()
{
        if (!neuro_cls_param)
        {
                NeuroClass *cls = last_f1_neuro->getClass();
                if (cls)
                {
                        neuro_cls_param = new SyntParam(last_f1_neuro->classProperties());
                        // this is equivalent to:
                        //              SyntParam tmp=last_f1_neuro->classProperties();
                        //              neuro_cls_param=new SyntParam(tmp);
                        // interestingly, some compilers eliminate the call to new SyntParam,
                        // realizing that a copy constructor is redundant when the original object is
                        // temporary. there are no side effect of such optimization, as long as the
                        // copy-constructed object is exact equivalent of the original.
                }
        }
        return neuro_cls_param;
}

void Builder::addClassParam(const char* name, double value)
{
        lastNeuroClassParam();
        if (neuro_cls_param)
                neuro_cls_param->setDoubleById(name, value);
}

void Builder::addClassParam(const char* name, const char* value)
{
        lastNeuroClassParam();
        if (neuro_cls_param)
        {
                ExtValue e(value);
                const ExtValue &re(e);
                neuro_cls_param->setById(name, re);
        }
}

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.size();
}

int Builder::growJoint(int part1, int part2, Pt3D &angle, F1Props &c, const char *g)
{
        double len = min(2.0, c.length);
        sprintf(tmp, "p1=%ld,p2=%ld,dx=%lg,rx=%lg,ry=%lg,rz=%lg,stam=%lg,vr=%g,vg=%g,vb=%g",
                part1, part2, len, angle.x, angle.y, angle.z, c.stamina, c.cred, c.cgreen, c.cblue);
        lastjoint_muscle_power = c.muscle_power;
        return model.addFromString(Model::JointType, tmp, makeRange(g));
}

int Builder::growPart(F1Props &c, const char *g)
{
        sprintf(tmp, "dn=%lg,fr=%lg,ing=%lg,as=%lg,vs=%g,vr=%g,vg=%g,vb=%g",
                1.0 / c.weight, c.friction, c.ingestion, c.assimilation, c.visual_size, c.cred, c.cgreen, c.cblue);
        return model.addFromString(Model::PartType, tmp, makeRange(g));
}

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

const char* Builder::growNeuro(const char* t, F1Props& props, int &hasmuscles)
{
        const char*neuroend = skipNeuro(t);
        last_f1_neuro = model.addNewNeuro();
        neuro_cls_param = NULL;
        last_f1_neuro->attachToPart(getLastPart());
        const MultiRange *mr = makeRange(t - 1, neuroend + 1);
        if (mr) last_f1_neuro->addMapping(*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->addMapping(*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.muscle_bend_range);
                                muscle->addInput(last_f1_neuro);
                                muscle->setDetails(tmp);
                                muscle->attachToJoint(getLastJoint());
                                if (usemapping) muscle->addMapping(*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);
                                clsname = 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());

                                        lastNeuroClassParam();
                                        //special handling: muscle properties (can be overwritten by subsequent property assignments)
                                        if (!strcmp(cls->getName().c_str(), "|"))
                                        {
                                                neuro_cls_param->setDoubleById("p", lastjoint_muscle_power);
                                                neuro_cls_param->setDoubleById("r", props.muscle_bend_range);
                                        }
                                        else if (!strcmp(cls->getName().c_str(), "@"))
                                        {
                                                neuro_cls_param->setDoubleById("p", lastjoint_muscle_power);
                                        }
                                }
                        }
                        else if (colon && (colon > begin) && (t > colon))
                                growConnection(begin, colon, t, props);
                        if (t[0] != ',') t--;
                        begin = t + 1; colon = 0;
                        break;
                }
                t++;
        }
        SAFEDELETE(neuro_cls_param);
        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] == '-'))
        {
                double conn_weight = ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str());
                paInt relative = ExtValue::getInt(trim(SString(begin, colon - begin)).c_str(), false);
                int this_refno = neuro_f1_to_f0.size() - 1;
                addOrRememberInput(this_refno, this_refno + relative, conn_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, ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str()));
                if (usemapping) receptor->addMapping(*makeRange(begin, end - 1));
        }
        else if ((begin[0] == '>') && (begin[1]))
        {
                Neuro *out = model.addNewNeuro();
                out->addInput(last_f1_neuro, ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str()));
                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.muscle_bend_range);
                        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->addMapping(*makeRange(begin, end - 1));
        }
        else if (*begin == '!') addClassParam("fo", ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str()));
        else if (*begin == '=') addClassParam("in", ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str()));
        else if (*begin == '/') addClassParam("si", ExtValue::getDouble(trim(SString(colon + 1, end - (colon + 1))).c_str()));
        else if (islower(begin[0]))
        {
                SString name(begin, colon - begin);
                SString value(colon + 1, end - (colon + 1));
                addClassParam(name.c_str(), value.c_str());
        }
}