Changeset 1227 for cpp/frams/genetics/f4/f4_conv.cpp

Timestamp:

04/27/23 04:04:06 (12 months ago)

Author:

Maciej Komosinski

Message:

Improvements in f4:

• fixed a bug where newly created cells in a given development step were not counted as in-active-development (overlooked), and if they were the only in-active-development cells, the development of an organism would stop
• added one extra development step (#ifdef EXTRA_STEP_CELL_DEVELOPMENT) so that cells that became not in-active-development ("halted" or yielding, usually due to waiting for neurons to develop in other cells) would get a chance to continue development (important when we don't want to ignore invalid neuron connections, #ifdef TREAT_BAD_CONNECTIONS_AS_INVALID_GENO)
• ensured that all connections in a cell are processed (earlier they could be skipped if the development of the cell was "halted" and all cells became not in-active-development)
• got rid of neuron connection syntax [sensor:weight], now all neuron classes are handled in a uniform way and their [connections] too; the only allowed syntax is [input_index:weight]
• unified handling of all neuroclasses during parsing, conversion and mutation
• more correct syntax coloring
• got rid of general-purpose fields (i1, i2, f1, s1) in class f4_node - now separate fields serve their individual purpose
• rewritten creating and modifying neuron connections - it is more deliberate to satisfy neuron input/output preferences
• some invalid neuron connections make a genotype invalid (previously invalid neuron connections were ignored and the genotype was considered valid)
• added (surprisingly missing) simple debug printout functions to see the f4_Node tree structure and the developing f4_Cells
• more informative variable and constant names
• improved performance

File:

• cpp/frams/genetics/f4/f4_conv.cpp (modified) (13 diffs)

cpp/frams/genetics/f4/f4_conv.cpp

@@ -90 +90 @@
         if (cells) delete cells;
         cells = new f4_Cells(geno, 0);
-        if (GENOPER_OK != cells->geterror())
-        {
-                error = cells->geterror();
-                errorpos = cells->geterrorpos();
+        if (GENOPER_OK != cells->getErrorCode())
+        {
+                error = cells->getErrorCode();
+                errorpos = cells->getErrorPos();
                 //delete cells;
                 return error;
@@ -99 +99 @@
 
         cells->simulate();
-        if (GENOPER_OK != cells->geterror())
-        {
-                error = cells->geterror();
-                errorpos = cells->geterrorpos();
+        if (GENOPER_OK != cells->getErrorCode())
+        {
+                error = cells->getErrorCode();
+                errorpos = cells->getErrorPos();
                 return error;
         }
 
         // reset recursive traverse flags
-        for (i = 0; i < cells->nc; i++)
+        for (i = 0; i < cells->cell_count; i++)
                 cells->C[i]->recProcessedFlag = 0;
 
@@ -114 +114 @@
         // process every cell
         int res;
-        for (i = 0; i < cells->nc; i++)
+        for (i = 0; i < cells->cell_count; i++)
         {
                 res = buildModelRec(cells->C[i]);
                 if (res)
                 {
-                        logMessage("f4_Model", "buildModelRec", 2, "Error in building Model");
+                        logMessage("f4_Model", "buildFromF4", LOG_ERROR, "Error in building a Model");
                         error = res;
                         break;
@@ -135 +135 @@
 f4_Cell* f4_Model::getStick(f4_Cell *C)
 {
-        if (T_STICK4 == C->type) return C;
+        if (C->type == CELL_STICK) return C;
         if (NULL != C->dadlink)
                 return getStick(C->dadlink);
         // we have no more dadlinks, find any stick
-        for (int i = 0; i < cells->nc; i++)
-                if (cells->C[i]->type == T_STICK4)
+        for (int i = 0; i < cells->cell_count; i++)
+                if (cells->C[i]->type == CELL_STICK)
                         return cells->C[i];
         // none!
-        logMessage("f4_Model", "getStick", 2, "Not a single stick");
+        logMessage("f4_Model", "getStick", LOG_ERROR, "Not a single stick");
         return NULL;
 }
 
 
-/// updated by MacKo to follow new SDK standards (no more neuroitems)
 int f4_Model::buildModelRec(f4_Cell *C)
 {
@@ -164 +163 @@
         // make sure parent is a stick
         if (NULL != C->dadlink)
-                if (C->dadlink->type != T_STICK4)
-                {
-                C->dadlink = getStick(C->dadlink);
+                if (C->dadlink->type != CELL_STICK)
+                {
+                        C->dadlink = getStick(C->dadlink);
                 }
 
@@ -179 +178 @@
 
         range = C->genoRange;
-        if (C->type == T_STICK4)
+        if (C->type == CELL_STICK)
         {
                 int jj_p1_refno;  // save for later
@@ -190 +189 @@
                                 /*1.0/C->P.mass,*/ C->P.friction, C->P.ingestion, C->P.assimilation
                                 //C->firstend.x, C->firstend.y, C->firstend.z
-                                );
+                        );
                         partidx = addFromString(PartType, tmpLine, &range);
                         if (partidx < 0) return -1;
@@ -207 +206 @@
                         //C->lastend.x, C->lastend.y, C->lastend.z
                         /*"vol=" 1.0/C->P.mass,*/ C->P.friction, C->P.ingestion, C->P.assimilation
-                        );
+                );
                 partidx = addFromString(PartType, tmpLine, &range);
                 if (partidx < 0) return -2;
@@ -227 +226 @@
                         //C->P.ruch,   // rotstif
                         C->P.stamina
-                        );
+                );
                 partidx = addFromString(JointType, tmpLine, &range);
                 if (partidx < 0) return -13;
@@ -234 +233 @@
         }
 
-        if (C->type == T_NEURON4) ///<this case was updated by MacKo
+        if (C->type == CELL_NEURON)
         {
                 const char* nclass = C->neuclass->name.c_str();
@@ -259 +258 @@
                         partno = C->dadlink->p2_refno;
                         if ((partno < 0) || (partno >= getPartCount())) return -21;
+
                         if (strcmp(nclass, "N") == 0)
-                        {
                                 sprintf(tmpLine, "p=%d,d=\"N:in=%g,fo=%g,si=%g\"", partno, C->inertia, C->force, C->sigmo);
-                        }
                         else
-                        {
                                 sprintf(tmpLine, "p=%d,d=\"%s\"", partno, nclass);
-                        }
+
                         partidx = addFromString(NeuronType, tmpLine, &range);
                         if (partidx < 0) return -22;
@@ -275 +272 @@
                 {
                         jointno = C->dadlink->joint_refno;
-                        sprintf(tmpLine, "j=%d,d=\"%s\"", jointno, nclass);
+
+                        if (strcmp(nclass, "@") == 0)
+                                sprintf(tmpLine, "j=%d,d=\"@:p=%g\"", jointno, C->P.muscle_power);
+                        else if (strcmp(nclass, "|") == 0)
+                                sprintf(tmpLine, "j=%d,d=\"|:p=%g,r=%g\"", jointno, C->P.muscle_power, C->mz);
+                        else
+                                sprintf(tmpLine, "j=%d,d=\"%s\"", jointno, nclass);
+
                         partidx = addFromString(NeuronType, tmpLine, &range);
                         if (partidx < 0) return -32;
@@ -283 +287 @@
                 int n_refno = C->neuro_refno;
 
-                if ((strcmp(nclass,"N") == 0) && C->ctrl)
-                {
-                        if (1 == C->ctrl)
-                                sprintf(tmpLine, "j=%d,d=\"@:p=%g\"", C->dadlink->joint_refno, C->P.muscle_power);
-                        else
-                                sprintf(tmpLine, "j=%d,d=\"|:p=%g,r=%g\"", C->dadlink->joint_refno, C->P.muscle_power, C->mz);
-                        partidx = addFromString(NeuronType, tmpLine, &range);
-                        if (partidx < 0) return -32;
-                        sprintf(tmpLine, "%d,%d", partidx, n_refno);
-                        if (addFromString(NeuronConnectionType, tmpLine, &range) < 0) return -33;
-                        this->checkpoint();
-                }
-
-                for (j = 0; j < C->nolink; j++)
-                {
-                        if (NULL != C->links[j]->from)
-                                buildModelRec(C->links[j]->from);
+                for (j = 0; j < C->conns_count; j++)
+                {
+                        if (C->conns[j]->from != NULL)
+                                buildModelRec(C->conns[j]->from);
 
                         tmpLine[0] = 0;
-                        if (C->links[j]->from == NULL)
+                        if (C->conns[j]->from == NULL)
                         {
-                                const char* nclass = C->links[j]->t.c_str();
-                                char* temp = (char*)C->links[j]->t.c_str();
-                                NeuroClass *sensortest = GenoOperators::parseNeuroClass(temp);
-                                //backward compatibility for G*TS
-                                if (C->links[j]->t == "*" || C->links[j]->t == "S" || C->links[j]->t == "T")
-                                {
-                                        partno = C->dadlink->p2_refno;
-                                        sprintf(tmpLine, "p=%d,d=\"%s\"", partno, nclass);
-                                }
-                                else if (C->links[j]->t == "G")
-                                {
-                                        jointno = C->dadlink->joint_refno;
-                                        sprintf(tmpLine, "j=%d,d=\"%s\"", jointno, nclass);
-                                }                               
-                                else if (sensortest->getPreferredLocation() == 0)
-                                {
-                                        sprintf(tmpLine, "d=\"%s\"",nclass);
-                                }
-                                else if (sensortest->getPreferredLocation() == 1)
-                                {
-                                        partno = C->dadlink->p2_refno;
-                                        sprintf(tmpLine, "p=%d,d=\"%s\"", partno, nclass);
-                                }
-                                else
-                                {
-                                        jointno = C->dadlink->joint_refno;
-                                        sprintf(tmpLine, "j=%d,d=\"%s\"", jointno, nclass);
-                                }
-
+                                logMessage("f4_Model", "buildModelRec", LOG_ERROR, "Old code for sensors as inputs embedded in [connection]: C->conns[j]->from == NULL");
                         }
                         int from = -1;
-                        if (tmpLine[0]) //input from receptor
-                        {
-                                from = addFromString(NeuronType, tmpLine, &range);
-                                if (from < 0) return -34;
-                                this->checkpoint();
-                        } /*could be 'else'...*/
-
-                        if (NULL != C->links[j]->from) // input from another neuron
-                                from = C->links[j]->from->neuro_refno;
+                        if (C->conns[j]->from != NULL) // input from another neuron
+                                from = C->conns[j]->from->neuro_refno;
                         if (from >= 0)
                         {
-                                sprintf(tmpLine, "%d,%d,%g", n_refno, from, C->links[j]->w);
+                                sprintf(tmpLine, "%d,%d,%g", n_refno, from, C->conns[j]->weight);
                                 if (addFromString(NeuronConnectionType, tmpLine, &range) < 0) return -35;
                                 this->checkpoint();