public void LinkToModality(YarpModalityString mod, int refreshPeriod = 100)
{
m = mod;
labelName.Text = mod.name;
tPeriod = refreshPeriod;
tRefresh = new System.Threading.Thread(refreshValues);
tRefresh.Start();
}
public static IConvergenceZone Create(ResourceFinder rf)
{
IConvergenceZone cvz = null;
string mapType = rf.check("mapType", new Value("MMCM")).asString().c_str();
string mapName = rf.check("mapName", new Value("defaultMap")).asString().c_str();
switch (mapType)
{
case "MMCM":
{
bool hSynch = rf.check("hsync");
int w = rf.check("width", new Value(10)).asInt();
int h = rf.check("height", new Value(10)).asInt();
int l = rf.check("layers", new Value(4)).asInt();
Console.WriteLine("Map " + mapName + " (" + mapType + ")");
Console.WriteLine("Shape " + l + "x(" + w + "x" + h + ")");
Console.WriteLine("HSynch= " + hSynch);
cvz = new CVZ_MMCM(mapName, h, w, l, hSynch);
float learningRate = (float)rf.check("learningRate", new Value(0.07f)).asDouble();
float sigma = (float)rf.check("sigma", new Value((float)((1 / 4.0) * (w + h) / 2.0))).asDouble();
Console.WriteLine("Learning Rate: " + learningRate);
Console.WriteLine("Sigma: " + sigma);
(cvz as CVZ_MMCM).Sigma = sigma;
(cvz as CVZ_MMCM).LearningRate = learningRate;
break;
}
case "CTPC":
{
bool hSynch = rf.check("hsync");
int w = rf.check("width", new Value(10)).asInt();
int h = rf.check("height", new Value(10)).asInt();
double neighborRadius = rf.check("radius", new Value(7.0)).asDouble();
Console.WriteLine("Radius= " + neighborRadius);
Console.WriteLine("Map " + mapName + " (" + mapType + ")");
Console.WriteLine("HSynch= " + hSynch);
cvz = new CVZ_TPC(mapName, w, h, neighborRadius, hSynch);
break;
}
//case "MMCM_GPU":
// {
// cvz = new CVZ_MMCM_GPU(mapName, h, w, l);
// float learningRate = (float)rf.check("learningRate", new Value(0.07f)).asDouble();
// float sigma = (float)rf.check("sigma", new Value((float)((1 / 4.0) * (w + h) / 2.0))).asDouble();
// Console.WriteLine("Learning Rate: " + learningRate);
// Console.WriteLine("Sigma: " + sigma);
// break;
// }
}
//Unknown map type
if (cvz == null)
{
Console.WriteLine("Unknown map type: " + mapType);
return(null);
}
else
{
Console.WriteLine("Map created. Adding modalities...");
}
int modalityCount = rf.check("modalityCount", new Value(0)).asInt();
for (int i = 0; i < modalityCount; i++)
{
IModality mod = null;
Bottle modalityGroup = rf.findGroup("modality_" + i);
string name = modalityGroup.check("name", new Value("defaultModality" + i)).asString().c_str();
string type = modalityGroup.check("type", new Value("random")).asString().c_str();
float influence = (float)modalityGroup.check("influence", new Value(1.0)).asDouble();
Console.WriteLine("Modality: " + name + " (" + type + ")");
Console.WriteLine("Influence: " + influence);
switch (type)
{
case "random":
{
int size = modalityGroup.check("size", new Value(1)).asInt();
mod = new RandomModality(mapName, name, size);
break;
}
case "yarpVector":
{
int size = modalityGroup.check("size", new Value(1)).asInt();
float[] minBounds = null;
float[] maxBounds = null;
bool isBlocking = modalityGroup.check("isBlocking");
string autoconnect = null;
if (modalityGroup.check("autoconnect"))
{
autoconnect = modalityGroup.find("autoconnect").asString().c_str();
}
Console.WriteLine("isBlocking: " + isBlocking);
if (modalityGroup.check("minBounds"))
{
minBounds = new float[size];
Bottle minBot = modalityGroup.find("minBounds").asList();
for (int c = 0; c < minBot.size(); c++)
{
minBounds[c] = (float)minBot.get(c).asDouble();
}
}
if (modalityGroup.check("maxBounds"))
{
maxBounds = new float[size];
Bottle maxBot = modalityGroup.find("maxBounds").asList();
for (int c = 0; c < maxBot.size(); c++)
{
maxBounds[c] = (float)maxBot.get(c).asDouble();
}
}
mod = new YarpModalityVector(mapName, name, size, minBounds, maxBounds, isBlocking, autoconnect);
//if (modalityGroup.check("autoconnect"))
//{
// string sourceConnection = modalityGroup.find("autoconnect").asString().c_str();
// while (!Network.connect(sourceConnection, YarpModalityVector.getRealPortName(mapName, name)))
// {
// Console.WriteLine("Waiting for..." + sourceConnection);
// Time.delay(1.0);
// }
//}
break;
}
case "yarpString":
{
bool isBlocking = modalityGroup.check("isBlocking");
string autoconnect = null;
if (modalityGroup.check("autoconnect"))
{
autoconnect = modalityGroup.find("autoconnect").asString().c_str();
}
mod = new YarpModalityString(mapName, name, isBlocking, autoconnect);
Console.WriteLine("isBlocking: " + isBlocking);
//if (modalityGroup.check("autoconnect"))
//{
// string sourceConnection = modalityGroup.find("autoconnect").asString().c_str();
// Network.connect(sourceConnection, YarpModalityVector.getRealPortName(mapName, name));
//}
break;
}
case "yarpImageRgb":
{
bool isBlocking = modalityGroup.check("isBlocking");
Console.WriteLine("isBlocking: " + isBlocking);
int wImg = modalityGroup.check("width", new Value(32)).asInt();
int hImg = modalityGroup.check("height", new Value(32)).asInt();
string autoconnect = null;
if (modalityGroup.check("autoconnect"))
{
autoconnect = modalityGroup.find("autoconnect").asString().c_str();
}
mod = new YarpModalityImageRgb(mapName, name, wImg, hImg, isBlocking, autoconnect);
Console.WriteLine("Resolution: " + wImg + "x" + hImg);
//if (modalityGroup.check("autoconnect"))
//{
// string sourceConnection = modalityGroup.find("autoconnect").asString().c_str();
// Network.connect(sourceConnection, YarpModalityVector.getRealPortName(mapName, name));
//}
break;
}
case "yarpImageFloat":
{
bool isBlocking = modalityGroup.check("isBlocking");
Console.WriteLine("isBlocking: " + isBlocking);
int wImg = modalityGroup.check("width", new Value(32)).asInt();
int hImg = modalityGroup.check("height", new Value(32)).asInt();
int padding = modalityGroup.check("padding", new Value(0)).asInt();
string autoconnect = null;
if (modalityGroup.check("autoconnect"))
{
autoconnect = modalityGroup.find("autoconnect").asString().c_str();
}
mod = new YarpModalityImageFloat(mapName, name, wImg, hImg, padding, isBlocking, autoconnect);
Console.WriteLine("Resolution: " + wImg + "x" + hImg);
//if (modalityGroup.check("autoconnect"))
//{
// string sourceConnection = modalityGroup.find("autoconnect").asString().c_str();
// Network.connect(sourceConnection, YarpModalityVector.getRealPortName(mapName, name));
//}
break;
}
case "yarpSound":
{
bool isBlocking = modalityGroup.check("isBlocking");
Console.WriteLine("isBlocking: " + isBlocking);
int size = modalityGroup.check("size", new Value(512)).asInt();
string autoconnect = null;
if (modalityGroup.check("autoconnect"))
{
autoconnect = modalityGroup.find("autoconnect").asString().c_str();
}
mod = new YarpModalitySound(mapName, name, size, isBlocking, autoconnect);
Console.WriteLine("Buffer: " + size);
//if (modalityGroup.check("autoconnect"))
//{
// string sourceConnection = modalityGroup.find("autoconnect").asString().c_str();
// Network.connect(sourceConnection, YarpModalityVector.getRealPortName(mapName, name));
//}
break;
}
}
Console.WriteLine();
//Unknown modality type
if (mod == null)
{
return(null);
}
cvz.AddModality(mod, influence);
}
return(cvz);
}
