/* This file is part of Machina. * Copyright (C) 2007-2009 David Robillard * * Machina is free software; you can redistribute it and/or modify it under the * terms of the GNU General Public License as published by the Free Software * Foundation; either version 2 of the License, or (at your option) any later * version. * * Machina is distributed in the hope that it will be useful, but WITHOUT ANY * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS * FOR A PARTICULAR PURPOSE. See the GNU General Public License for details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA */ #include #include #include "raul/Atom.hpp" #include "raul/AtomRDF.hpp" #include "redlandmm/World.hpp" #include "redlandmm/Model.hpp" #include "machina/Node.hpp" #include "machina/Edge.hpp" #include "machina/ActionFactory.hpp" using namespace Raul; using namespace std; namespace Machina { Node::Node(TimeDuration duration, bool initial) : _is_initial(initial) , _is_selector(false) , _is_active(false) , _enter_time(duration.unit()) , _duration(duration) { } Node::Node(const Node& copy) : Stateful() // don't copy RDF ID , _is_initial(copy._is_initial) , _is_selector(copy._is_selector) , _is_active(false) , _enter_time(copy._enter_time) , _duration(copy._duration) , _enter_action(ActionFactory::copy(copy._enter_action)) , _exit_action(ActionFactory::copy(copy._exit_action)) { for (Edges::const_iterator i = copy._edges.begin(); i != copy._edges.end(); ++i) { SharedPtr edge(new Edge(*i->get())); _edges.push_back(edge); } } /** Always returns an edge, unless there are none */ SharedPtr Node::random_edge() { SharedPtr ret; if (_edges.empty()) return ret; size_t i = rand() % _edges.size(); // FIXME: O(n) worst case :( for (Edges::const_iterator e = _edges.begin(); e != _edges.end(); ++e, --i) { if (i == 0) { ret = *e; break; } } return ret; } void Node::edges_changed() { if ( ! _is_selector) return; // Normalize edge probabilities if we're a selector double prob_sum = 0; for (Edges::iterator i = _edges.begin(); i != _edges.end(); ++i) prob_sum += (*i)->probability(); for (Edges::iterator i = _edges.begin(); i != _edges.end(); ++i) (*i)->set_probability((*i)->probability() / prob_sum); _changed = true; } void Node::set_selector(bool yn) { _is_selector = yn; if (yn) edges_changed(); _changed = true; } void Node::set_enter_action(SharedPtr action) { _enter_action = action; _changed = true; } void Node::set_exit_action(SharedPtr action) { _exit_action = action; _changed = true; } void Node::enter(SharedPtr sink, TimeStamp time) { assert(!_is_active); _changed = true; _is_active = true; _enter_time = time; cerr << "ENTERING " << this << endl; if (sink && _enter_action) _enter_action->execute(sink, time); } void Node::exit(SharedPtr sink, TimeStamp time) { assert(_is_active); cerr << "EXITING " << this << endl; if (sink && _exit_action) _exit_action->execute(sink, time); _changed = true; _is_active = false; _enter_time = 0; } void Node::add_edge(SharedPtr edge) { assert(edge->tail().lock().get() == this); for (Edges::const_iterator i = _edges.begin(); i != _edges.end(); ++i) if ((*i)->head() == edge->head()) return; _edges.push_back(edge); edges_changed(); } void Node::remove_edge(SharedPtr edge) { _edges.erase(_edges.find(edge)); edges_changed(); } bool Node::connected_to(SharedPtr node) { for (Edges::const_iterator i = _edges.begin(); i != _edges.end(); ++i) if ((*i)->head() == node) return true; return false; } void Node::remove_edges_to(SharedPtr node) { for (Edges::iterator i = _edges.begin(); i != _edges.end() ; ) { Edges::iterator next = i; ++next; if ((*i)->head() == node) _edges.erase(i); i = next; } edges_changed(); } void Node::write_state(Redland::Model& model) { using namespace Raul; if (!_id) set_id(model.world().blank_id()); if (_is_selector) model.add_statement(_id, "rdf:type", Redland::Node(model.world(), Redland::Node::RESOURCE, "machina:SelectorNode")); else model.add_statement(_id, "rdf:type", Redland::Node(model.world(), Redland::Node::RESOURCE, "machina:Node")); model.add_statement(_id, "machina:duration", AtomRDF::atom_to_node(model, Atom((float)_duration.to_double()))); if (_enter_action) { _enter_action->write_state(model); model.add_statement(_id, "machina:enterAction", _enter_action->id()); } if (_exit_action) { _exit_action->write_state(model); model.add_statement(_id, "machina:exitAction", _exit_action->id()); } } } // namespace Machina