AgentManager.C

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/*!@file SeaBee/AgentManager.C */
// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit 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.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit 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 more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// /////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Micheal Montalbo <montalbo@usc.edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/AgentManager.C $
// $Id: AgentManager.C 10794 2009-02-08 06:21:09Z itti $
//
#define NUM_STORED_FRAMES    20

#include "AgentManager.H"

// // ######################################################################
// // function for each of the separately threaded agents
// // which calls their schedulers
// void* runDownwardVisionAgent(void* a)
// {

//   AgentManager* am  = (AgentManager *)a;
//   rutz::shared_ptr<DownwardVisionAgent> dv = am->getDownwardVisionAgent();

//   dv->run();

//   return NULL;
// }

// // ######################################################################
// void* runSonarListenAgent(void* a)
// {
//   AgentManager* am  = (AgentManager *)a;
//   rutz::shared_ptr<SonarListenAgent> sl = am->getSonarListenAgent();

//   sl->run();
//   return NULL;
// }

// // ######################################################################
// // function for each of the separately threaded agents
// // which calls their schedulers
// void* runForwardVisionAgent(void* a)
// {
//   AgentManager* am  = (AgentManager *)a;
//   rutz::shared_ptr<ForwardVisionAgent> fv = am->getForwardVisionAgent();

//   fv->run();

//   return NULL;
// }

// // ######################################################################
// void* runCaptainAgent(void* a)
// {
//   AgentManager* am  = (AgentManager *)a;
//   rutz::shared_ptr<CaptainAgent> c = am->getCaptainAgent();

//   c->run();
//   return NULL;
// }

// // ######################################################################
// void* runMovementAgent(void* a)
// {
//   AgentManager* am  = (AgentManager *)a;
//   rutz::shared_ptr<MovementAgent> ma = am->getMovementAgent();

//   ma->run();

//   return NULL;
// }

// ######################################################################
AgentManager::AgentManager(nub::soft_ref<SubController> subController,
                             nub::soft_ref<EnvVisualCortex> evc,
                             ModelManager& mgr,
                             const std::string& descrName,
                             const std::string& tagName)
  :
  ModelComponent(mgr, descrName, tagName)
{

//   nub::soft_ref<SubController> (new SubController(mgr,
//                                                               "Motor",
//                                                              "Primitive"));
  itsSubController = subController;
  itsEVC = evc;
  //  mgr.addSubComponent(itsSubController);

  rutz::shared_ptr<AgentManager> ama(this);

  //init itsSensorResults
  //  initSensorResults();

  // create the agents
  //  itsDownwardVisionAgent.reset(new DownwardVisionAgent("DownwardVisionAgent",ama));
  //  itsSonarListenAgent.reset(new SonarListenAgent("SonarListenAgent",ama));
  itsForwardVisionAgent.reset(new ForwardVisionAgent(ama,evc, "ForwardVision"));
  //itsCaptainAgent.reset(new CaptainAgent("CaptainAgent",ama));
  //itsMovementAgent.reset(new MovementAgent(itsSubController,
//                                            ama,
//                                            "MovementAgent"));

  // store created agents in vector
//   itsSubmarineAgents.push_back(itsDownwardVisionAgent);
//   itsSubmarineAgents.push_back(itsSonarListenAgent);
//   itsSubmarineAgents.push_back(itsForwardVisionAgent);
//   itsSubmarineAgents.push_back(itsCaptainAgent);
//   itsSubmarineAgents.push_back(itsMovementAgent);

  // connect the agents properly
  //itsForwardVisionAgent->setCaptainAgent(itsCaptainAgent);
  itsForwardVisionAgent->setVisualCortex(itsEVC);
 //  itsCaptainAgent->setMovementAgent(itsMovementAgent);
//   itsCaptainAgent->setForwardVisionAgent(itsForwardVisionAgent);
//   itsMovementAgent->setCaptainAgent(itsCaptainAgent);


  pthread_mutex_init(&itsForwardDisplayLock, NULL);
  pthread_mutex_init(&itsDownwardDisplayLock, NULL);
  pthread_mutex_init(&itsCurrentForwardImageLock, NULL);
  pthread_mutex_init(&itsCurrentDownwardImageLock, NULL);
  pthread_mutex_init(&itsCommandsLock, NULL);
  pthread_mutex_init(&itsSensorResultsLock, NULL);


  itsTimer.reset(new Timer(1000000));
  itsFrameDuration.resize(NUM_STORED_FRAMES);

  // create threads for the agents
  //   pthread_create
  //     (&itsDownwardVisionAgentThread, NULL, runDownwardVisionAgent,
  //      (void *)this);

  //   pthread_create
  //     (&itsSonarListenAgentThread, NULL, runSonarListenAgent,
  //      (void *)this);

  //   pthread_create
  //     (&itsForwardVisionAgentThread, NULL, runForwardVisionAgent,
  //      (void *)this);

  //   pthread_create
  //     (&itsCaptainAgentThread, NULL, runCaptainAgent,
  //      (void *)this);

  //   pthread_create
  //     (&itsMovementAgentThread, NULL, runMovementAgent,
  //      (void *)this);
}


// ######################################################################
AgentManager::~AgentManager()
{ }

// ######################################################################
void AgentManager::startRun()
{
  // call prefrontal cortex to start
  //itsCaptainAgent->start();
}

// ######################################################################
void AgentManager::setCurrentForwardImage
(Image<PixRGB<byte> > image, uint fNum)
{
  // set the current image
  pthread_mutex_lock(&itsCurrentForwardImageLock);
  itsCurrentForwardImage = image;
  itsFrameNumber = fNum;
  pthread_mutex_unlock(&itsCurrentForwardImageLock);
}

// ######################################################################
void AgentManager::setCurrentDownwardImage
(Image<PixRGB<byte> > image, uint fNum)
{
  // set the current image
  pthread_mutex_lock(&itsCurrentDownwardImageLock);
  itsCurrentDownwardImage = image;
  //  SHOWIMG(itsCurrentDownwardImage);
  itsFrameNumber = fNum;
  pthread_mutex_unlock(&itsCurrentDownwardImageLock);
}

// ######################################################################
void AgentManager::pushCommand(CommandType cmdType,
                                rutz::shared_ptr<Mission> mission)
{
  rutz::shared_ptr<AgentManagerCommand> cmd(new AgentManagerCommand());
  cmd->itsCommandType = cmdType;
  cmd->itsMission = *mission;

  pthread_mutex_lock(&itsCommandsLock);
  itsCommands.push_back(cmd);
  pthread_mutex_unlock(&itsCommandsLock);
}

// ######################################################################
uint AgentManager::getNumCommands()
{
  return itsCommands.size();
}

// ######################################################################
rutz::shared_ptr<AgentManagerCommand> AgentManager::popCommand()
{
  rutz::shared_ptr<AgentManagerCommand> amc = itsCommands.front();
  itsCommands.pop_front();
  return amc;
}

// ######################################################################
void AgentManager::updateAgentsMission(Mission theMission)
{
 //  uint size = itsSubmarineAgents.size();

//   // iterate through all agent manager's agents
//   for(uint i = 0; i < size; i++)
//     {
//       if(itsSubmarineAgents.at(i) != itsCaptainAgent)
//         {
//           // for each non-Captain agent, update mission
//           (itsSubmarineAgents.at(i))->msgUpdateMission(theMission);
//         }
//     }
}

// // ######################################################################
// rutz::shared_ptr<DownwardVisionAgent> AgentManager::getDownwardVisionAgent()
// {
//   return itsDownwardVisionAgent;
// }

// // ######################################################################
// rutz::shared_ptr<SonarListenAgent> AgentManager::getSonarListenAgent()
// {
//   return itsSonarListenAgent;
// }

// ######################################################################
rutz::shared_ptr<ForwardVisionAgent>
AgentManager::getForwardVisionAgent()
{
  return itsForwardVisionAgent;
}

// // ######################################################################
// rutz::shared_ptr<CaptainAgent>
// AgentManager::getCaptainAgent()
// {
//   return itsCaptainAgent;
// }

// // ######################################################################
// rutz::shared_ptr<MovementAgent>
// AgentManager::getMovementAgent()
// {
//   return itsMovementAgent;
// }

// ######################################################################
// void AgentManager::drawImage(Image<PixRGB<byte> > ima, Point2D<int> point)
// {
//   pthread_mutex_lock(&itsDisplayLock);
//   inplacePaste(itsDisplayImage, ima, point);
//   //  itsWindow->drawImage(itsDisplayImage,0,0);
//   pthread_mutex_unlock(&itsDisplayLock);

// }

// ######################################################################
void AgentManager::initSensorResults()
{
  rutz::shared_ptr<SensorResult> buoy(new SensorResult(SensorResult::BUOY));
  rutz::shared_ptr<SensorResult> pipe(new SensorResult(SensorResult::PIPE));
  rutz::shared_ptr<SensorResult> bin(new SensorResult(SensorResult::BIN));
  rutz::shared_ptr<SensorResult> cross(new SensorResult(SensorResult::CROSS));
  rutz::shared_ptr<SensorResult> pinger(new SensorResult(SensorResult::PINGER));
  rutz::shared_ptr<SensorResult> saliency(new SensorResult(SensorResult::SALIENCY));
  rutz::shared_ptr<SensorResult> stereo(new SensorResult(SensorResult::STEREO));

  itsSensorResults.push_back(buoy);
  itsSensorResults.push_back(pipe);
  itsSensorResults.push_back(bin);
  itsSensorResults.push_back(cross);
  itsSensorResults.push_back(pinger);
  itsSensorResults.push_back(saliency);
  itsSensorResults.push_back(stereo);

  for(itsSensorResultsItr = itsSensorResults.begin();
      itsSensorResultsItr != itsSensorResults.end();
      itsSensorResultsItr++)
    {
      rutz::shared_ptr<SensorResult> r = *itsSensorResultsItr;
      r->startTimer();
    }

}

// ######################################################################
bool AgentManager::updateSensorResult
(rutz::shared_ptr<SensorResult> sensorResult)
{
  bool retVal = false;

  pthread_mutex_lock(&itsSensorResultsLock);
  SensorResult::SensorResultType type = sensorResult->getType();

  for(itsSensorResultsItr = itsSensorResults.begin();
      itsSensorResultsItr != itsSensorResults.end();
      itsSensorResultsItr++)
    {
      rutz::shared_ptr<SensorResult>
        currentResult = *(itsSensorResultsItr);

      if(currentResult->getType() == type)
        {
          currentResult->copySensorResult(*sensorResult);
          retVal = true;
        }
    }

  pthread_mutex_unlock(&itsSensorResultsLock);

  return retVal;
}

// ######################################################################
rutz::shared_ptr<SensorResult> AgentManager::getSensorResult
(SensorResult::SensorResultType type)
{
  pthread_mutex_lock(&itsSensorResultsLock);

  for(itsSensorResultsItr = itsSensorResults.begin();
      itsSensorResultsItr != itsSensorResults.end();
      itsSensorResultsItr++)
    {
      rutz::shared_ptr<SensorResult>
        currentResult = *(itsSensorResultsItr);

      if(currentResult->getType() == type)
        {
          pthread_mutex_unlock(&itsSensorResultsLock);
          return currentResult;
        }
    }

  LINFO("Requested SensorResult type not found");
  rutz::shared_ptr<SensorResult> notFound(new SensorResult());

  pthread_mutex_unlock(&itsSensorResultsLock);
  return notFound;
}

const Image<PixRGB<byte> >* AgentManager::getForwardDebugImagePtr()
{
  return itsForwardVisionAgent->getDebugImagePtr();
}

// ######################################################################
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