public override void Initialize()
{
pCount = 0;
sCount = 0;
cCount = 0;
GetSegmentsFromUKS();
ModuleUKSN UKSn = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKSn == null)
{
return;
}
while (UKSSegments.Count > 0)
{
UKSn.DeleteThing(UKSSegments[0]);
}
while (UKSPoints.Count > 0)
{
UKSn.DeleteThing(UKSPoints[0]);
}
na.GetNeuronAt(0, 0).Label = "New";
na.GetNeuronAt(1, 0).Label = "Change";
AddLabel("Obstacle");
UpdateDialog();
}
public Thing CreateLandmark(List <Thing> near)
{
//a landmark is a collection of nearby segments
//these must be cloned so they can be fixed in position rather than being adjusted relative to Sallie's position
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(null);
}
Thing newLandmark = UKS.AddThing("Lm" + landmarkCount++.ToString(), "Landmark");
foreach (Thing t in near)
{
Segment s = Module2DModel.SegmentFromUKSThing(t);
Thing P1 = UKS.AddThing("lmp" + pointCount++.ToString(), "Point"); //These points are not included in the model and do don't move with poin of view
P1.V = s.P1.Clone();
Thing P2 = UKS.AddThing("lmp" + pointCount++.ToString(), "Point");
P2.V = s.P2.Clone();
Thing S = UKS.AddThing("l" + t.Label.ToString(), "SSegment");
S.AddReference(P1);
S.AddReference(P2);
S.AddReference(t.References[2].T);//the color
newLandmark.AddReference(S);
}
return(newLandmark);
}
Thing MostLikelyEvent(Thing currentEvent)
{
Thing retVal = null;
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return(retVal);
}
Segment s1 = Module2DModel.SegmentFromUKSThing(currentEvent.References[0].T);
IList <Thing> events = UKS.Labeled("Event").Children;
foreach (Thing t in events)
{
if (t.References.Count > 0)
{
Thing lm = t.References[0].T;
if (lm.References.Count > 0)
{
Thing lms = lm.References[0].T;
Segment s2 = Module2DModel.SegmentFromUKSThing(lms);
if (s1.MidPoint.Near(s2.MidPoint, 0.2f))
{
retVal = t;
}
}
}
}
return(retVal);
}
//this is asking can the entity directly see a target object or are there obstacles
public PointPlus CanISGoStraightTo(PointPlus midPoint, out Segment obstacle)
{
obstacle = null;
float closestDistance = 100;
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS == null)
{
return(null);
}
bool ok = true;
foreach (Thing t in UKSSegments)
{
Segment s = SegmentFromUKSThing(t);
Utils.FindIntersection(new Point(0, 0), midPoint.P, s.P1.P, s.P2.P,
out bool lines_intersect, out bool segments_intersect,
out Point intersection, out Point close_p1, out Point closep2, out double collisionAngle);
if (segments_intersect)
{
ok = false;
Utils.FindDistanceToSegment(new Point(0, 0), s.P1.P, s.P1.P, out Point closest);
if (((Vector)closest).Length < closestDistance)
{
closestDistance = (float)((Vector)closest).Length;
obstacle = s;
}
}
}
if (ok)
{
return(midPoint);
}
return(null);
}
public override void Initialize()
{
//scanning = false;
orienting = false;
auto = false;
lastLandmark = null;
currentLandmark = null;
currentEvent = null;
ClearNeurons();
//randomize
rand = new Random((int)DateTime.Now.Ticks);
AddLabel("Auto");
AddLabel("Found");
//this is the first test of building a sequence of behaviors
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS != null)
{
Thing t = UKS.AddThing("LTurnS", "Action");
t = UKS.AddThing("RTurnS", "Action");
t = UKS.AddThing("UTurnS", "Action");
t = UKS.AddThing("GoS", "Action");
}
}
//maintain a list of objects in the current visual field
public void FireVisibleObjects()
{
ModuleView naUKS = theNeuronArray.FindAreaByLabel("Module2DUKS");
if (naUKS == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)naUKS.TheModule;
if (UKSSegments == null)
{
return;
}
//Thing tVisible = UKS.Labeled("Visible");
//clear all visiblility references
//for (int i = 0; i < UKSSegments.Count; i++)
// UKSSegments[i].RemoveReference(tVisible);
ModuleView naVision = theNeuronArray.FindAreaByLabel("Module2DVision");
if (naVision == null)
{
return;
}
int possibleViewAngles = naVision.Width;
float deltaTheta = Module2DVision.fieldOfView / possibleViewAngles;
for (int i = 0; i < possibleViewAngles; i++)
{
float theta = (float)-Module2DVision.fieldOfView / 2 + (i * deltaTheta);
PointPlus P = new PointPlus {
R = 10, Theta = theta
};
foreach (Thing t in UKSSegments)
{
Segment s = SegmentFromUKSThing(t);
if (s == null)
{
continue;
}
Utils.FindIntersection(new Point(0, 0), P.P, s.P1.P, s.P2.P,
out bool lines_intersect, out bool segments_intersect,
out Point intersection, out Point close_p1, out Point closep2, out double collisionAngle);
if (segments_intersect)
{
//TODO...only fire the closest at each point
UKS.Fire(t);
// t.AddReference(tVisible);
}
}
}
}
//this returns a list of things directly connected to the given target
private List <Thing> FindGoal(Thing target)
{
if (target == null)
{
return(null);
}
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
return(UKS.Labeled("Event").Children.FindAll(
t => t.Children.Find(u => u.References[1].T == target) != null));
}
public override void Initialize()
{
ModuleView naKB = theNeuronArray.FindAreaByLabel("ModuleUKS");
if (naKB != null)
{
if (naKB.TheModule != null)
{
KB = (ModuleUKSN)naKB.TheModule;
}
}
}
private void AddChildren(Thing t, TreeViewItem tvi, int depth)
{
foreach (Thing child in t.Children)
{
string header = child.Label + ":" + child.useCount;
if (child.References.Count > 0)
{
header += " (";
ModuleUKSN parent = (ModuleUKSN)base.ParentModule;
Thing best = parent.FindBestReference(child);
foreach (Link L in child.References)
{
if (L.T == best)
{
header += "*";
}
if (L.weight < 0)
{
header += "-";
}
header += L.T.Label + ", ";
}
header = header.Substring(0, header.Length - 2);
header += ")";
}
if (child.V != null)
{
if (child.V is int i)
{
header += " : " + i.ToString("X");
}
else
{
header += " : " + child.V.ToString();
}
}
TreeViewItem tviChild = new TreeViewItem {
Header = header
};
if (expandedItems.Contains(LeftOfColon(header)))
{
tviChild.IsExpanded = true;
}
tvi.Items.Add(tviChild);
tviChild.MouseRightButtonDown += Tvi_MouseRightButtonDown;
if (depth < maxDepth)
{
AddChildren(child, tviChild, depth + 1);
AddReferences(child, tviChild);
AddReferencedBy(child, tviChild);
}
}
}
private static void FindBestLandmarkMatch(ModuleUKSN UKS, ref Thing best, ref float bestDist, List <Thing> near)
{
//searching each spatial Event
best = null;
bestDist = 1000;
if (UKS == null)
{
return;
}
if (UKS.Labeled("Landmark") == null)
{
return;
}
//landmark segments are sorted, closest segment first
//closer segments are more important
List <Thing> landmarks = UKS.Labeled("Landmark").Children;
foreach (Thing landmark in landmarks)
{
float totalDist = 0;
//each reference in that landmark
int foundCount = 0; //must match several items to count as a hit
int linkNumber = 0;
foreach (Link L1 in landmark.References)
{
Segment s1 = Module2DModel.SegmentFromUKSThing(L1.T);
float d1 = (float)Utils.FindDistanceToSegment(s1);
int nearNumber = 0;
foreach (Thing t1 in near)
{
//does it match one of the segments presently near me?
Segment s2 = Module2DModel.SegmentFromUKSThing(t1);
float d2 = (float)Utils.FindDistanceToSegment(s2);
if (s1.theColor == s2.theColor)
{
foundCount++;
float dist = (float)Abs(d1 - d2);
dist *= Abs(nearNumber - linkNumber) + 1;
totalDist += dist;
}
nearNumber++;
}
linkNumber++;
}
if (totalDist < bestDist && foundCount == near.Count)
{
best = landmark;
bestDist = totalDist;
}
}
}
public void AddOutcomePair(Thing Event, Thing theAction, Thing theOutcome)
{
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return;
}
Thing newOutcomePair = UKS.AddThing("x" + pairCount++, Event); //creates new thing as it as a child
newOutcomePair.AddReference(theAction);
newOutcomePair.AddReference(theOutcome);
}
public Thing CreateEvent(Thing newLandmark)
{
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(null);
}
Thing retVal = UKS.AddThing("E" + eventCount++.ToString(), "Event");
retVal.AddReference(newLandmark);
return(retVal);
}
public void GetSegmentsFromUKS()
{
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS is ModuleUKS UKS)
{
UKSSegments = UKS.Labeled("Segment").Children;
UKSPoints = new List <Thing>();
if (UKS.Labeled("ModelThing") != null)
{
UKSPoints = UKS.Labeled("ModelThing").Children;
}
}
}
private void CheckForTrainingResult()
{
if (actionTrainingState == -1)
{
return;
}
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS == null)
{
return;
}
actionTrainingState--;
if (actionTrainingState <= 4 || !na.GetNeuronAt("Train").Fired())
{
return;
}
List <Thing> actions = nmUKS.GetChildren(nmUKS.Labeled("Action"));
bool bResponded = false;
foreach (Thing action in actions)
{
if (nmUKS.Fired(action, 2, false))
{
if (action.Label == trainingCase[1])
{
SimulatePhrase("good");
bResponded = true;
break;
}
else
{
SimulatePhrase("no");
bResponded = true;
break;
}
}
}
if (bResponded)
{
actionTrainingState = 5;
return;
}
////we "timed out" with no response to the stimulus
//if (actionTrainingDelay == 4)
//{
// SimulatePhrase("no");
//}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (words.Count > 0)
{
string word = words[0];
na.BeginEnum();
for (Neuron n = na.GetNextNeuron(); n != null; n = na.GetNextNeuron())
{
if (n.Label == word)
{
n.SetValue(1);
// n.CurrentCharge = 1;
break;
}
else if (n.Label == "")
{
//the word has not been heard before, add it
n.Label = word;
n.CurrentCharge = 1;
//connection to UKS
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS != null)
{
List <Thing> words = nmUKS.Labeled("Word").Children;
Thing w = nmUKS.Valued(word, words);
if (w == null)
{
string label = "w" + char.ToUpper(word[0]) + word.Substring(1);
w = nmUKS.AddThing(label, new Thing[] { nmUKS.Labeled("Word") }, word);
}
Neuron n1 = nmUKS.GetNeuron(w);
if (n1 != null)
{
n.AddSynapse(n1.Id, 1);
}
//TODO: add a synapse to the speakwords module as well
}
break;
}
}
words.RemoveAt(0);
}
}
void SetCenterColor()
{
int c1 = GetNeuronValueInt(null, na.Width / 2, 0);
int c2 = GetNeuronValueInt(null, na.Width / 2, 1);
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS != null && nmUKS.Labeled("Color") != null)
{
List <Thing> colors = nmUKS.Labeled("Color").Children;
//if (c1 != 0)
{
nmUKS.Fire(nmUKS.Valued(c1, colors));
}
//if (c2 != 0)
{
nmUKS.Fire(nmUKS.Valued(c2, colors));
}
}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (synth == null)
{
return;
}
if (!na.GetNeuronAt(0).Fired())
{
return;
}
ModuleUKSN nmKB = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmKB == null)
{
return;
}
List <Thing> words = nmKB.GetChildren(nmKB.Labeled("Word"));
bool paused = true;
//TODO: replace this direct access into the KB with synapses...then we can eliminate the storage of the words in the things values.
foreach (Thing word in words)
{
if (nmKB.Fired(word, 2, false))
{
paused = false;
phraseToSpeak += " " + word.V.ToString();
}
}
if (paused && phraseToSpeak != "")
{
ModuleSpeechIn msi = (ModuleSpeechIn)FindModuleByType(typeof(ModuleSpeechIn));
if (msi != null)
{
msi.PauseRecognition(); //if there is a recognizer active
}
synth.SpeakAsync(phraseToSpeak + ".");
phraseToSpeak = "";
}
}
private void Button_Click(object sender, RoutedEventArgs e)
{
string root = textBox1.Text;
ModuleUKSN parent = (ModuleUKSN)base.ParentModule;
expandedItems.Clear();
FindExpandedItems(theTreeView.Items, root);
theTreeView.Items.Clear();
List <Thing> KB = parent.GetTheKB();
Thing t = parent.Labeled(root);
if (t != null)
{
TreeViewItem tvi = new TreeViewItem {
Header = t.Label
};
tvi.IsExpanded = true; //always expand the top-level item
theTreeView.Items.Add(tvi);
tvi.MouseRightButtonDown += Tvi_MouseRightButtonDown;
AddChildren(t, tvi, 0);
}
}
//This returns the action needed at the currentEvent in order to move toward the goal
public Thing GoToGoal(Thing goal)
{
if (goal == null)
{
return(null);
}
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
//trivial case, you can go straight to goal
Thing pair = currentEvent.Children.Find(t => t.References[1].T == goal);
if (pair != null)
{
return(pair.References[0].T);
}
List <Thing> placesToTry = FindGoal(goal);
//extend the list of connections to existing nodes until we reach our current position
for (int i = 0; i < placesToTry.Count; i++)
{
List <Thing> newPlacesToTry = FindGoal(placesToTry[i]);
if (newPlacesToTry.Contains(currentEvent))
{
Thing target = placesToTry[i]; //target is the intermediate target
pair = currentEvent.Children.Find(t => t.References[1].T == target);
return(pair.References[0].T); //return the action of the outcome pair
}
foreach (Thing t in newPlacesToTry)
{
if (!placesToTry.Contains(t))
{
placesToTry.Add(t);
}
}
}
return(null);
}
private void CheckNeurons(ModuleUKSN UKS)
{
//check for operating mode
auto = (GetNeuronValue(null, "Auto") == 1) ? true : false;
//check for a goal selection
foreach (Neuron n in mv.Neurons)
{
if (n.Fired() && n.Label.IndexOf("c") == 0 && n.Model == Neuron.modelType.IF)
{
Thing newTarget = UKS.Labeled(n.Label);
if (newTarget == currentTarget)
{
} // currentTarget = null;
else
{
currentTarget = newTarget;
}
currentTargetReached = null;
break;
}
}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (synth == null)
{
return;
}
bool paused = true;
for (int i = 1; i < na.NeuronCount; i++)
{
Neuron n = na.GetNeuronAt(i);
if (n.Fired())
{
if (n.Label.Length == 1)
{
phraseToSpeak += n.Label;
paused = false;
}
if (n.Synapses.Count == 0)
{
//if a neuron fired and it has no connection, connect it to the knowledge store
//connection to KB
ModuleUKSN nmKB = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmKB != null)
{
string label = "pn" + n.Label;
List <Thing> phonemes = nmKB.Labeled("Phoneme").Children;
Thing pn = nmKB.Labeled(label, phonemes);
if (pn == null) //this should always be null
{
pn = nmKB.AddThing(label, new Thing[] { nmKB.Labeled("Phoneme") }, pn);
}
Neuron n1 = nmKB.GetNeuron(pn);
if (n1 != null)
{
n.AddSynapse(n1.Id, 1);
n1.SetValue(1);
}
}
}
}
}
if (phonemesToFire != "")
{
char c = phonemesToFire[0];
bool fired = false;
for (int i = 0; i < na.NeuronCount; i++)
{
Neuron n = na.GetNeuronAt(i);
if (n.Label == c.ToString())
{
n.SetValue(1);
fired = true;
break;
}
}
if (!fired)
{
Utils.Noop();
}
phonemesToFire = phonemesToFire.Substring(1);
}
if (paused && phraseToSpeak != "")
{
if (dlg != null)
{
((ModuleSpeakPhonemesDlg)dlg).SetLabel(phraseToSpeak);
}
if (na.GetNeuronAt("Enable").Fired())
{
ModuleSpeechIn msi = (ModuleSpeechIn)FindModuleByType(typeof(ModuleSpeechIn));
if (msi != null)
{
msi.PauseRecognition(); //if there is a recognizer active
}
//synth.SpeakAsync(phraseToSpeak + ".");
//phraseToSpeak = "";
PromptBuilder pb1 = new PromptBuilder();
if (typedIn)
{
pb1.StartVoice("Microsoft David Desktop");
pb1.StartStyle(new PromptStyle(PromptRate.Medium));
}
else
{
pb1.StartVoice("Microsoft Zira Desktop");
pb1.StartStyle(new PromptStyle(PromptRate.ExtraSlow));
}
pb1.AppendTextWithPronunciation("not used", phraseToSpeak);
pb1.EndStyle();
pb1.EndVoice();
string x = pb1.ToXml();
Debug.WriteLine(debugString(phraseToSpeak));
//synth.Speak(pb1);
synth.SpeakAsync(pb1);
}
//string heard = GetPronunciationFromText("", phraseToSpeak); //it would be nice to hear what was said but it doesn't work with this engine
phraseToSpeak = "";
typedIn = false;
}
}
public override void Fire()
{
Init(); //be sure to leave this here
//get the external references
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
Module2DModel nmModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (nmModel == null)
{
return;
}
ModuleBehavior nmBehavior = (ModuleBehavior)FindModuleByType(typeof(ModuleBehavior));
if (nmBehavior == null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModuleByType(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
//check on the various input neurons...
//check for a goal selection
foreach (Neuron n in na.Neurons())
{
if (n.Fired() && n.Label.IndexOf("c") == 0 && n.Model == Neuron.modelType.Std)
{
Thing newTarget = UKS.Labeled(n.Label);
if (newTarget == currentTarget)
{
currentTarget = null;
}
else
{
currentTarget = newTarget;
}
currentTargetReached = null;
break;
}
}
//check for operating mode
auto = (GetNeuronValue(null, "Auto") == 1) ? true : false;
//don't do anything while a behavior is in progress
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
//is there an existing landmark? Do I recognize I'm near a spot I was before?
//this only calculates "R" so it is rotation-independent
Thing best = null;
float bestDist = 1000;
List <Thing> near = nmModel.NearbySegments(3);
FindBestLandmarkMatch(UKS, ref best, ref bestDist, near);
nmModel.FireVisibleObjects(); //not really needed
if (bestDist < .2f) //are we near a landmark we've been at before?
{
SetNeuronValue(null, "Found", 1);
//yse, we have returned to a landmark we've been at before
currentLandmark = best;
currentEvent = currentLandmark.ReferencedBy[0].T;
//we need to reorient ourselves to face the same way as we did before (set a flag)
if (lastLandmark != currentLandmark)
{
lastLandmark = currentLandmark;
orienting = true;
}
}
else
{
//we're not near an existing landmark
currentLandmark = null;
currentEvent = null;
lastLandmark = null;
}
//this is on arrival back at a landmark
if (orienting)
{
Angle totalAngleError = GetTotalAngleError(near);
if (Abs(totalAngleError) > PI / 2 - .1f)
{
//turn in large increments until the angular error gets small
Angle angle = (float)PI / 2;
nmBehavior.TurnTo(angle);
return;
}
//this corrects for roundoff errors
CorrectModelPosition(nmModel, nmBehavior, best, near);
orienting = false;
return;
}
//we are in going-to-goal mode
if (currentTarget != null) //goingToGoal)
{
if (currentEvent != null) //currentEvent means we're at a decision point...check for the decision and execute it
{
Thing action = GoToGoal(currentTarget);
if (action != null)
{
float angle = GetAngleFromAction(action);
if (angle != 0)
{
nmBehavior.TurnTo(angle);
}
nmBehavior.MoveTo(1);
currentEvent = null;
return;
}
}
}
//we are in exploration mode
//We're not at a known landmark
//decide which way to turn at an obstacle
//If I am up to an obstacle...is there a decision or can I only go one way
float distAhead = nmModel.GetDistanceAtDirection(0);
float distLeft = nmModel.GetDistanceAtDirection((float)PI / 2);
float distRight = nmModel.GetDistanceAtDirection((float)-PI / 2);
bool canGoAhead = distAhead > 1;
bool canGoLeft = distLeft > 1;
bool canGoRight = distRight > 1;
int options = (canGoAhead ? 1 : 0) + (canGoRight ? 1 : 0) + (canGoLeft ? 1 : 0);
//First determine if there is a decision to be made or if there is only one option
if (options == 1 && auto)
{
//we have no choice but to follow the path
if (canGoAhead)
{
nmBehavior.MoveTo(1);
return;
}
if (canGoLeft)
{
nmBehavior.TurnTo((float)-PI / 2);
nmBehavior.MoveTo(1);
return;
}
if (canGoRight)
{
nmBehavior.TurnTo((float)PI / 2);
nmBehavior.MoveTo(1);
return;
}
}
else if (options == 0 && auto)
{
//we're trapped...note the color ahead and turn around
Thing thingAhead = nmModel.GetNearestThing();
currentTargetReached = thingAhead.References[2].T;
if (mostRecentDecisionPoint != null)
{
mEvent.AddOutcomePair(mostRecentDecisionPoint, mostRecentAction, currentTargetReached);
mostRecentAction = null;
mostRecentDecisionPoint = null;
}
Neuron n1 = null;
if (currentTargetReached != null)
{
n1 = na.GetNeuronAt(currentTargetReached.Label);
}
//color a new goal neuron
if (n1 == null && currentTargetReached != null)
{
n1 = AddLabel(currentTargetReached.Label + " ");
n1.Model = Neuron.modelType.Color;
n1.SetValueInt((int)currentTargetReached.V);
na.GetNeuronLocation(n1, out int X, out int Y);
Neuron n2 = na.GetNeuronAt(X + 1, Y);
if (n2 != null)
{
n2.Label = currentTargetReached.Label;
}
}
if (currentTargetReached == currentTarget)
{
//if we're looking for a goal, we've reached it, so stop
//currentTarget = null;
currentEvent = null;
}
else
{
//make a U-Turn and start backtracking
nmBehavior.TurnTo((float)-PI);
}
}
else if (auto)
{
//we have a choice...
//if the current landmark is null, create a new landmark & Event
if (currentLandmark == null)
{
//Create new Landmark...it clones the points so they are not modified by the model module
Thing newLandmark = mEvent.CreateLandmark(near);
currentEvent = mEvent.CreateEvent(newLandmark);
currentLandmark = newLandmark;
if (mostRecentDecisionPoint != null)
{
mEvent.AddOutcomePair(mostRecentDecisionPoint, mostRecentAction, currentEvent);
}
}
else
{
if (mostRecentDecisionPoint != null && mostRecentDecisionPoint.Children.Find(t1 => t1.References[0].T == mostRecentAction) == null)
{
mEvent.AddOutcomePair(mostRecentDecisionPoint, mostRecentAction, currentEvent);
}
}
//TODO improve the method of finding something not tried before
//Decide which untried path to take
//priorities...1)continue ahead 2)left 3)right or randomized (depending on comment below)
Thing newAction = UKS.Labeled("NoAction");
List <Thing> possibleActions = new List <Thing>();
if (currentEvent.Children.Find(t => t.References[0].T.Label == "GoS") == null && canGoAhead)
{
possibleActions.Add(UKS.Labeled("GoS"));
}
if (currentEvent.Children.Find(t => t.References[0].T.Label == "LTurnS") == null && canGoLeft)
{
possibleActions.Add(UKS.Labeled("LTurnS"));
}
if (currentEvent.Children.Find(t => t.References[0].T.Label == "RTurnS") == null && canGoRight)
{
possibleActions.Add(UKS.Labeled("RTurnS"));
}
if (possibleActions.Count == 0 && currentEvent.Children.Find(t => t.References[0].T.Label == "UTurnS") == null)
{
newAction = UKS.Labeled("UTurnS");
}
else if (possibleActions.Count == 1)
{
newAction = possibleActions[0];
}
else if (possibleActions.Count > 0)
{
//for debugging, eliminate the ransomization by alternately commenting the 2 stmts below
// newAction = possibleActions[0];
newAction = possibleActions[rand.Next(possibleActions.Count)];
}
if (newAction.Label != "NoAction")
{
mostRecentAction = newAction;
mostRecentDecisionPoint = currentEvent;
Angle angle = GetAngleFromAction(newAction);
nmBehavior.TurnTo(angle);
nmBehavior.MoveTo(1);
}
else
{
//TODO: all actions at the current Event have been tried, is there another Event which hasn't been exhausted?
}
lastLandmark = currentLandmark;
return;
}
}
public override void Fire()
{
Init(); //be sure to leave this here
if (GetNeuronValue("Auto") == 0)
{
return;
}
goToGoal = GetNeuronValue("Goal") == 1;
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
if (mBehavior == null)
{
return;
}
Module2DModel mModel = (Module2DModel)FindModleu(typeof(Module2DModel));
if (mModel is null)
{
return;
}
ModuleEvent mEvent = (ModuleEvent)FindModleu(typeof(ModuleEvent));
if (mEvent == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
if (UKS == null)
{
return;
}
if (GetNeuronValue("ModuleBehavior", "Done") == 0)
{
return;
}
mModel.GetSegmentsFromUKS();
IList <Thing> segments = mModel.GetUKSSegments();
if (segments.Count == 0)
{
return;
}
Thing t = segments[0]; //TODO: this only works with just a single item in the UKS
//figure out if any motion occured
Segment s = Module2DModel.SegmentFromUKSThing(t);
Module2DModel.OrderSegment(s);
if (GetNeuronValue("E0") == 1)
{
GoToLandmark(UKS.Labeled("E0").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E1") == 1)
{
GoToLandmark(UKS.Labeled("E1").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (GetNeuronValue("E2") == 1)
{
GoToLandmark(UKS.Labeled("E2").References[0].T, s);
doPush = 2;
doBackOff = true;
return;
}
if (doPush != 0)
{
if (doPush == 2)
{
Push(s);
}
doPush--;
return;
}
if (doFaceSegment)
{
DoFaceSegment(s);
doFaceSegment = false;
return;
}
Segment s1;
if (lastPosition == null) //create objects to keep track of the target and last position
{
s1 = s.Clone();
lastPosition = mModel.AddSegmentToUKS(s1);
lastPosition.Label = "LastPosition";
lastPosition.RemoveParent(UKS.Labeled("Segment"));
lastPosition.AddParent(UKS.Labeled("SSegment"));
Module2DSim mSim = (Module2DSim)FindModleu(typeof(Module2DSim));
if (mSim is null)
{
return;
}
Segment motionTarget = mSim.GetMotionTarget();
if (motionTarget == null)
{
motionTarget = new Segment();
motionTarget.P1 = new PointPlus(4, 1.5f);
motionTarget.P2 = new PointPlus(4, -2.5f);
motionTarget.theColor = (ColorInt)0xff;
}
endTarget = mModel.AddSegmentToUKS(motionTarget);
endTarget.Label = "EndTarget";
//endTarget.RemoveParent(UKS.Labeled("Segment"));
//endTarget.AddParent(UKS.Labeled("SSegment"));
}
else
{
s1 = Module2DModel.SegmentFromUKSThing(lastPosition);
}
//get motion from subtracting and then updating last position
Angle rotation = s.Angle - s1.Angle;
if (rotation > PI / 2)
{
rotation = PI - rotation;
}
if (rotation < -PI / 2)
{
rotation = PI + rotation;
}
Motion motion = new Motion()
{
P = (Point)s.MidPoint.V - s1.MidPoint.V,
rotation = rotation,
};
lastPosition.References[0].T.V = s.P1.Clone();
lastPosition.References[1].T.V = s.P2.Clone();
if (Abs(motion.R) > .01 || Abs(motion.rotation) > .05 && !goToGoal && !doBackOff)
{
//check for existing Event
Thing currentEvent = MostLikelyEvent(t);
if (currentEvent == null)
{ //add new Event
Thing lm1 = mEvent.CreateLandmark(new List <Thing>()
{
t
});
Thing t1 = mEvent.CreateEvent(lm1);
Thing t3 = UKS.AddThing("m" + motionCount++, UKS.Labeled("Motion"), motion);
mEvent.AddOutcomePair(t1, UKS.GetOrAddThing("Push", "Action"), t3);
}
return;
}
if (doBackOff)
{
DoBackOff(s);
doBackOff = false;
doFaceSegment = true;
return;
}
if (goToGoal)
{
if (endTarget != null)
{
Segment s2 = Module2DModel.SegmentFromUKSThing(endTarget);
GoToGoal(s, s2);
return;
}
}
Explore(s);
}
void GoToGoal(Segment sCurrent, Segment sTarget)
{
//instead of working with endpoints, we'll just work with midpoint and rotation because the length can't change
Seg pCurrent = new Seg {
P = sCurrent.MidPoint.P, rotation = sCurrent.Angle
};
Seg pTarget = new Seg {
P = sTarget.MidPoint.P, rotation = sTarget.Angle
};
Motion neededMotion = DistanceFromTarget(pTarget, pCurrent);
//there are two exit cases...here we test for absolute closeness, below we test for the best action makes thing further
if (Abs(neededMotion.rotation) < .05 && Abs(neededMotion.X) < .1 && Abs(neededMotion.Y) < .1)
{
endTarget = null;
}
else
{
ModuleUKSN UKS = (ModuleUKSN)FindModleu(typeof(ModuleUKSN));
Thing bestEvent = null;
if (neededMotion.R > .2f)
{
//create a temp distination which is slightly offset
ModuleBehavior mBehavior = (ModuleBehavior)FindModleu(typeof(ModuleBehavior));
Seg tempTarget = new Seg()
{
P = sTarget.MidPoint.P + new PointPlus {
R = .15f, Theta = sTarget.Angle - PI / 2
}.V, rotation = 0
};
neededMotion = DistanceFromTarget(tempTarget, pCurrent);
bestEvent = UKS.Labeled("E0");
if (neededMotion.Theta < -.05)
{
bestEvent = UKS.Labeled("E2");
}
if (neededMotion.Theta > .05)
{
bestEvent = UKS.Labeled("E1");
}
}
else if (neededMotion.R > .01)
{
if (neededMotion.rotation < -.02)
{
bestEvent = UKS.Labeled("E2");
}
else
{
bestEvent = UKS.Labeled("E1");
}
}
if (bestEvent != null)
{
Motion m = (Motion)bestEvent.Children[0].References[1].T.V;
Seg nextPosition = NextPosition(pCurrent, (Motion)bestEvent.Children[0].References[1].T.V);
Motion next = DistanceFromTarget(pTarget, nextPosition);
//if (next.R < neededMotion.R || Abs(next.rotation) > Utils.Rad(5))
{
GoToLandmark(bestEvent.References[0].T, sCurrent);
doPush = 2;
doBackOff = true;
}
//// else
// {
// endTarget = null;
// }
}
//find the event with the most desireable outcome and then go the the landmark.
//Thing bestEvent = null;
//List<Thing> events = UKS.Labeled("Event").Children;
//Seg[] distances = new Seg[events.Count];
////first time through loop initialize array and take first action
//for (int i = 0; i < events.Count; i++)
//{
// distances[i] = new Seg() { P = neededMotion.P, rotation = neededMotion.rotation };
// Thing tEvent = events[i];
// Motion motion = (Motion)tEvent.Children[0].References[1].T.V;
// distances[i] = NextPosition(distances[i], motion);
//}
////second time through loop, add to array
//for (int j = 0; j < 3; j++) //three steps
//{
// for (int i = 0; i < events.Count; i++)
// {
// for (int k = 0; k < events.Count; k++)
// {
// Thing tEvent = events[k];
// Motion motion = (Motion)tEvent.Children[0].References[1].T.V;
// Seg newS = NextPosition(distances[i], motion);
// if (newS.Val < distances[i].Val)
// { distances[i] = newS; }
// }
// }
//}
//float bestDist = float.MaxValue;
//for (int i = 0; i < events.Count; i++) //last time through loop, find best
//{
// if (distances[i].Val < bestDist)
// {
// bestDist = distances[i].Val;
// bestEvent = events[i];
// }
//}
//Motion motion1 = (Motion)bestEvent.Children[0].References[1].T.V;
//Seg newS1 = NextPosition(pCurrent, motion1);
//if (newS1.Val < pTarget.Val)
//{
// GoToLandmark(bestEvent.References[0].T, sCurrent);
// doPush = 2;
// doBackOff = true;
//}
//else //our best move makes things worse
//{
// endTarget = null;
//}
}
}
//TODO: rewrite again
public Thing AddSegmentFromVision(PointPlus P1, PointPlus P2, ColorInt theColor, bool moved)
{
Thing retVal = null;
Debug.WriteLine("AddSegment: " + P1 + P2 + theColor);
//determine if the segment is already in the UKS.
//Correct it if it is there, add it if it is not.
//FUTURE: detect motion
if (theColor == 0)
{
return(null);
}
Segment newSegment = new Segment()
{
P1 = P1, P2 = P2, theColor = theColor
};
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
GetSegmentsFromUKS();
if (UKS != null)
{
//it's easier if we sort by theta
OrderSegment(newSegment);
retVal = MostLikelySegment(newSegment);
if (retVal != null)
{
//UKS.Fire(match);
//OrderSegment(match);
//Segment s = SegmentFromUKSThing(match);
//float newVisualWidth = newSegment.VisualWidth();
//float matchVisualWidth = s.VisualWidth();
////if the newVisualWidth is bigger, an adjustment is needed
////this happens if the initial view was occluded but now it is less
//Thing match1 = MostLikelyPoint(newSegment.P1, newSegment.theColor);
//Thing match2 = MostLikelyPoint(newSegment.P2, newSegment.theColor);
//if (match1 != null && match2 != null)
//{
// if (newSegment.P1.Conf < s.P1.Conf)
// {
// s.P1.Conf = newSegment.P1.Conf;
// s.P1.R = newSegment.P1.R;
// s.P1.Theta = newSegment.P1.Theta;
// }
// if (newSegment.P2.Conf < s
// .P2.Conf)
// {
// s.P2.Conf = newSegment.P2.Conf;
// s.P2.R = newSegment.P2.R;
// s.P2.Theta = newSegment.P2.Theta;
// }
//}
////there is a significant point mismatch...
//else
//{
// if (match1 == null && newSegment.P1.R > s.P1.R)
// {
// s.P1.Conf = newSegment.P1.Conf;
// s.P1.R = newSegment.P1.R;
// s.P1.Theta = newSegment.P1.Theta;
// }
// if (match2 == null && newSegment.P2.R > s.P2.R)
// {
// s.P2.Conf = newSegment.P2.Conf;
// s.P2.R = newSegment.P2.R;
// s.P2.Theta = newSegment.P2.Theta;
// }
//}
}
else
{
retVal = AddSegmentToUKS(P1, P2, theColor);
UKS.Fire(retVal);
}
UpdateDialog();
}
return(retVal);
}
//get input from touch... accurate locations, no color
public bool AddSegmentFromTouch(PointPlus P1, PointPlus P2, PointPlus motion, int arm)
{
//if conf=0, it's a known endpoint. conf=1, not an endpoint
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (UKS is null)
{
return(false);
}
if (UKSSegments is null)
{
return(false);
}
if (imagining)
{
return(false);
}
ColorInt theColor = Utils.ColorToInt(Colors.Wheat);
Segment newSegment = new Segment()
{
P1 = P1, P2 = P2, theColor = theColor
};
//OrderSegment(newSegment);
Thing t1 = GetNearestThing(newSegment.MidPoint.Theta, out float dist1);
//TODO: for motion testing
t1 = UKS.Labeled("s0");
if (t1 == null)
{
//TODO: merge mutliple segments
// AddSegmentToUKS(P1, P2, theColor, motion); //don't store motion with the segment (yet)
AddSegmentToUKS(P1, P2, theColor);
}
else if (dist1 < 1)
{
Segment prevSegment = SegmentFromUKSThing(t1);
PointPlus prevMidpoint = prevSegment.MidPoint;
Angle oldM = prevSegment.Angle;
Angle newM = newSegment.Angle;
PointPlus offset = new PointPlus()
{
R = prevSegment.Length, Theta = newM
};
if (P1.Conf == 0 && P2.Conf == 0) //we're given both endpoints
{
prevSegment.P1.P = P1.P; prevSegment.P1.Conf = 0;
prevSegment.P2.P = P2.P; prevSegment.P2.Conf = 0;
}
else if (P1.Conf == 0)
{
prevSegment.P1.P = P1.P; prevSegment.P1.Conf = 0;
prevSegment.P2.P = P1.P - offset.V;
}
else if (P2.Conf == 0)
{
prevSegment.P1.P = P2.P; prevSegment.P2.Conf = 0;
prevSegment.P2.P = P2.P + offset.V;
}
else
{
//we're not near an endpoint--match the modpoint as close as possible & preserve length
//make the segment match the two points
PointPlus newMidpoint1 = new PointPlus()
{
P = (Point)GetClosestPointOnLine(P1.V, P2.V, prevMidpoint.V),
};
//offset is the dietance from the midpoint to each end
offset.R = offset.R / 2;
PointPlus newP1 = new PointPlus()
{
P = newMidpoint1.P + offset.V
};
PointPlus newP2 = new PointPlus()
{
P = newMidpoint1.P - offset.V
};
prevSegment.P1.R = newP1.R; prevSegment.P1.Theta = newP1.Theta;
prevSegment.P2.R = newP2.R; prevSegment.P2.Theta = newP2.Theta;
}
PointPlus newMidpoint = prevSegment.MidPoint;
newMidpoint.P = newMidpoint.P - prevMidpoint.V;
if (newMidpoint.R > 0.01 && motion.R != 0)
{
if (prevSegment.Motion == null)
{
prevSegment.Motion = new PointPlus();
Thing tMotion = UKS.AddThing("m" + mCount++, UKS.Labeled("Point"));
tMotion.V = prevSegment.Motion;
t1.AddReference(tMotion);
}
prevSegment.Motion.R = motion.R;
prevSegment.Motion.Theta = motion.Theta;
prevSegment.Motion.Conf = newM - oldM;
}
}
UpdateDialog();
return(false);
}
