src/controllers/fitnessFramework/evolutionComponent.cpp

//#ifdef PARTNER_ALMENDE

#include <controllers/fitnessFramework/evolutionComponent.h>
#include <controllers/externalControllers/tcpip/nonEmulationMessage.h>
#include <iostream>
#include "basic/robotActorBase.h"

namespace srAlmende {

EvolutionComponent::EvolutionComponent(const std::string &name, int tcpPort) :
        srExternal::TcpipComponent(name, tcpPort) {

}

EvolutionComponent::~EvolutionComponent() {

}

unsigned char EvolutionComponent::SendBack(srExternal::NonEmulationMessageType::msgType type) {
        switch(type) {
        case srExternal::NonEmulationMessageType::FITNESS:
        case srExternal::NonEmulationMessageType::SENSOR:
                return true;
        default:
                return false;
        }
        //return false;
}

srExternal::NonEmulationMessageType::msgType EvolutionComponent::TransformMessageType(
                unsigned char type) {
        //std::cout << "Message type: " << (int)type << std::endl;
        switch(type) {
        case TCPIP_POSITION:
                return srExternal::NonEmulationMessageType::POSITION;
        case TCPIP_ORIENTATION:
                return srExternal::NonEmulationMessageType::ORIENTATION;
        case TCPIP_FITNESS:
                return srExternal::NonEmulationMessageType::FITNESS;
        case TCPIP_ACTUATOR:
                return srExternal::NonEmulationMessageType::ACTUATOR;
        case TCPIP_SENSOR:
                return srExternal::NonEmulationMessageType::SENSOR;
        default:
                return srExternal::NonEmulationMessageType::NONE;
        }
}

unsigned char EvolutionComponent::TransformMessageType(
                srExternal::NonEmulationMessageType::msgType type) {
        switch(type) {
        case srExternal::NonEmulationMessageType::FITNESS:
                return TCPIP_FITNESS;
        case srExternal::NonEmulationMessageType::POSITION:
                return TCPIP_POSITION;
        case srExternal::NonEmulationMessageType::ORIENTATION:
                return TCPIP_ORIENTATION;
        case srExternal::NonEmulationMessageType::ACTUATOR:
                return TCPIP_ACTUATOR;
        case srExternal::NonEmulationMessageType::SENSOR:
                        return TCPIP_SENSOR;
        default:
                return 0;
        }
}

dtCore::UniqueId* EvolutionComponent::TransformId(unsigned char id) {
        std::ostringstream search_name;
        simulated_group_counter = (int)id / simulation_size;
//      printf("Simulated group counter set to %i\n", simulated_group_counter);
        search_name << "almEvolutionRobot " << ((int)id % simulation_size);
        std::vector< dtGame::GameActorProxy* > allGameActors;
        GetGameManager()->GetAllGameActors(allGameActors);
        for (unsigned int i = 0; i < allGameActors.size(); i++) {
                srCore::RobotActorBase &actor = static_cast<srCore::RobotActorBase&>(
                                allGameActors[i]->GetGameActor());

                std::string this_name = actor.GetName();
                if (strncmp(this_name.c_str(), search_name.str().c_str(),
                                strlen(search_name.str().c_str())) == 0) {
                        return actor.getBusID();
                }
        }
        return NULL;
}

unsigned char EvolutionComponent::TransformId(dtCore::UniqueId* id) {
        std::vector< dtGame::GameActorProxy* > allGameActors;
        GetGameManager()->GetAllGameActors(allGameActors);
        for (unsigned int i = 0; i < allGameActors.size(); i++) {
                srCore::RobotActorBase &actor = static_cast<srCore::RobotActorBase&>(allGameActors[i]->GetGameActor());
                if (actor.getBusID() == id) {
                        long int number;
                        std::string this_name = actor.GetName();
                        std::string numberstring = this_name.substr(this_name.rfind(' '), this_name.length());
                        if (!(std::istringstream( numberstring ) >> number)) number = 0;
                        //std::cout << "Result transform id: " << numberstring << " which becomes " << (int)number << std::endl;
                        unsigned char result = (unsigned char)number;
                        result = result + (simulated_group_counter) * simulation_size;
                        return result;
                }
        }
        return 0xFF;
}

void EvolutionComponent::ProcessMessage(const dtGame::Message& message) {
        srExternal::TcpipComponent::ProcessMessage(message);
}

} //end of namespace

//#endif

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