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Reliability-functionality.cpp
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//===- examples/agent-functionalities/Reliability-functionality.cpp *C++-*-===//
//
// The RoSA Framework
//
//===----------------------------------------------------------------------===//
///
/// \file examples/agent-functionalities/Reliability-functionality.cpp
///
/// \author Daniel Schnoell (daniel.schnoell@tuwien.ac.at )
///
/// \date 2019
///
/// \brief A simple example on defining Relianility Functionalities.
///
//===----------------------------------------------------------------------===//
#define Reliability_trace_level 5
#include "rosa/config/version.h"
#include "rosa/core/Agent.hpp"
#include "rosa/core/MessagingSystem.hpp"
#include "rosa/support/log.h"
#include "rosa/support/terminal_colors.h"
#include "rosa/agent/CrossReliability.h"
#include "rosa/agent/RangeConfidence.hpp"
#include "rosa/agent/Reliability.h"
#include <map>
#include <vector>
using namespace rosa::agent;
int main(void) {
typedef double SensorValueType;
typedef long StateType;
typedef double ReliabilityType;
// defining Range confidence
std::unique_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
Confidence(new RangeConfidence<ReliabilityType, StateType,
SensorValueType>(
{{0, PartialFunction<double, double>(
{
{{0, 3},
std::make_shared<LinearFunction<double, double>>(
0, 1.0 / 3)},
{{3, 6},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
3.0, -1.0 / 3)},
},
0)},
{1, PartialFunction<double, double>(
{
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
-2, 1.0 / 3)},
{{9, 12},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
5, -1.0 / 3)},
},
0)},
{2, PartialFunction<double, double>(
{
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
-4, 1.0 / 3)},
{{15, 18},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{18, 21},
std::make_shared<LinearFunction<double, double>>(
7, -1.0 / 3)},
},
0)}}));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
ReliabilitySlope(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 3));
std::unique_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence(
new LinearFunction<std::size_t, ReliabilityType>(1, -1.0 / 3));
auto lowlevel = new LowLevel<SensorValueType, StateType, ReliabilityType>();
std::vector<long> states;
states.push_back(0);
states.push_back(1);
states.push_back(2);
lowlevel->setConfidenceFunction(Confidence);
lowlevel->setReliabilityFunction(Reliability);
lowlevel->setReliabilitySlopeFunction(ReliabilitySlope);
lowlevel->setTimeConfidenceFunction(TimeConfidence);
lowlevel->setStates(states);
lowlevel->setHistoryLength(2);
lowlevel->setValueSetCounter(1);
/* ----------------------------- Do Something
* ---------------------------------------------------------------- */
std::cout << "Testing the lowlevel component with static feedback telling it "
"that the most lickely state is 2.\n";
for (int a = 0; a < 30; a++)
std::cout << "a: " << a << "\n"
<< (lowlevel->feedback({{0, 0}, {1, 0.3}, {2, 0.8}}),
lowlevel->operator()(a))
<< "\n";
/* ----------------------------- Cleanup
* --------------------------------------------------------------------- */
std::cout << "---------------------------------------------------------------"
"---------------------------------\n";
std::cout << "------------------------------------High level "
"Test---------------------------------------------\n";
std::cout
<< "Configured in a way that the Master thinks that both Sensors "
"should have the same State.\n While feeding both the \"opposite\" "
"values one acending the other decending from the maximum.\n";
std::unique_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
Confidence2(new RangeConfidence<ReliabilityType, StateType,
SensorValueType>(
{{0, PartialFunction<double, double>(
{
{{0, 3},
std::make_shared<LinearFunction<double, double>>(
0, 1.0 / 3)},
{{3, 6},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
3.0, -1.0 / 3)},
},
0)},
{1, PartialFunction<double, double>(
{
{{6, 9},
std::make_shared<LinearFunction<double, double>>(
-2, 1.0 / 3)},
{{9, 12},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
5, -1.0 / 3)},
},
0)},
{2, PartialFunction<double, double>(
{
{{12, 15},
std::make_shared<LinearFunction<double, double>>(
-4, 1.0 / 3)},
{{15, 18},
std::make_shared<LinearFunction<double, double>>(1, 0)},
{{18, 21},
std::make_shared<LinearFunction<double, double>>(
7, -1.0 / 3)},
},
0)}}));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability2(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 9));
std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
ReliabilitySlope2(
new LinearFunction<SensorValueType, ReliabilityType>(1, -1.0 / 9));
std::unique_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence2(
new LinearFunction<std::size_t, ReliabilityType>(1, -1.0 / 9));
auto lowlevel2 = new LowLevel<SensorValueType, StateType, ReliabilityType>();
std::vector<long> states2;
states2.push_back(0);
states2.push_back(1);
states2.push_back(2);
lowlevel2->setConfidenceFunction(Confidence2);
lowlevel2->setReliabilityFunction(Reliability2);
lowlevel2->setReliabilitySlopeFunction(ReliabilitySlope2);
lowlevel2->setTimeConfidenceFunction(TimeConfidence2);
lowlevel2->setStates(states2);
lowlevel2->setHistoryLength(2);
lowlevel2->setValueSetCounter(1);
HighLevel<StateType, ReliabilityType> *highlevel =
new HighLevel<StateType, ReliabilityType>();
std::unique_ptr<CrossReliability<StateType, ReliabilityType>>
CrossReliability1(new CrossReliability<StateType, ReliabilityType>());
Abstraction<long, double> *func1 = new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0);
CrossReliability1->addCrossReliabilityProfile(0, 1, func1);
CrossReliability1->setCrossReliabilityMethod(
CrossReliability<StateType, ReliabilityType>::AVERAGE);
CrossReliability1->setCrossReliabilityParameter(1);
std::unique_ptr<CrossConfidence<StateType, ReliabilityType>> CrossConfidence1(
new CrossConfidence<StateType, ReliabilityType>());
Abstraction<long, double> *func2 = new PartialFunction<long, double>(
{
{{0, 1}, std::make_shared<LinearFunction<long, double>>(1, 0)},
{{1, 2}, std::make_shared<LinearFunction<long, double>>(2, -1.0)},
},
0);
CrossConfidence1->addCrossReliabilityProfile(0, 1, func2);
CrossConfidence1->setCrossReliabilityMethod(
CrossConfidence<StateType, ReliabilityType>::AVERAGE);
CrossConfidence1->setCrossReliabilityParameter(1);
highlevel->setFunction(CrossConfidence1);
highlevel->setFunction(CrossReliability1);
highlevel->addStates(0, states);
highlevel->addStates(1, states);
for (int a = 0; a < 21; a++) {
auto out1 = lowlevel->operator()(a), out2 = lowlevel2->operator()(21 - a);
std::cout << "s1: " << out1 << "\ns2:" << out2 << "\n";
std::vector<std::tuple<rosa::id_t, StateType, ReliabilityType>> tmp2;
tmp2.push_back({0, out1.score, out1.Reliability});
tmp2.push_back({1, out2.score, out2.Reliability});
auto out_o = highlevel->operator()(tmp2);
std::cout << "it: " << a << "\t rel: " << out_o.CrossReliability << "\n";
std::cout << "\t subs:\n";
for (auto q : out_o.CrossConfidence) {
std::cout << "\t\t id:" << q.first << "\n";
/*
for(auto z: q.second)
{
std::cout << "\t\t\t score: " << z.score << "\tRel: " << z.Reliability
<< "\n"; tmp.push_back({z.score,z.Reliability});
}
*/
for (auto z : q.second) {
std::cout << "\t\t\t score: " << z.score << "\tRel: " << z.Reliability
<< "\n";
}
if (q.first == 0)
lowlevel->feedback(q.second);
else
lowlevel2->feedback(q.second);
}
}
delete lowlevel;
delete lowlevel2;
}

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