Reliability.h
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Reliability.h
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	//===-- rosa/agent/Reliability.h --------------------------------- C++ --===//
	//
	// The RoSA Framework
	//
	//===----------------------------------------------------------------------===//
	///
	/// \file rosa/agent/Reliability.h
	///
	/// \author Daniel Schnoell (danielschnoell@tuwien.ac.at)
	///
	/// \date 2019
	///
	/// \brief Definition of reliability functionality.
	///
	/// \note By defining and seeting Reliability_trace_level it is possible to
	/// change the level to which it should be traced. \note All classes throw
	/// runtime errors if not all things are set
	///
	//===----------------------------------------------------------------------===//

	#ifndef ROSA_AGENT_RELIABILITY_H
	#define ROSA_AGENT_RELIABILITY_H

	#include "rosa/agent/CrossReliability.h"
	#include "rosa/agent/FunctionAbstractions.hpp"
	#include "rosa/agent/Functionality.h"
	#include "rosa/agent/RangeConfidence.hpp"

	#include <algorithm>
	#include <type_traits>
	#include <vector>

	/// 0 everything
	/// 1 vectors
	/// 2 outputs
	#define trace_everything 0
	#define trace_vectors 1
	#define trace_outputs 2

	#ifndef Reliability_trace_level
	#define Reliability_trace_level 0
	#endif
	#define trace_end "\n\n\n"

	namespace rosa {
	namespace agent {
	/// This is a struct with a few methods that make lowlevel/highlevel Reliability
	/// more readable \tparam StateType The datatype of the States \tparam
	/// ReliabilityType The datatype of the Reliability
	template <typename StateType, typename ReliabilityType> struct ConfOrRel {
	/// making both Template Arguments readable to make a few things easier
	typedef StateType _StateType;
	/// making both Template Arguments readable to make a few things easier
	typedef ReliabilityType _ReliabilityType;

	/// The actual place where the data is stored
	StateType score;
	/// The actual place where the data is stored
	ReliabilityType Reliability;

	ConfOrRel(StateType _score, ReliabilityType _Reliability)
	: score(_score), Reliability(_Reliability){};
	ConfOrRel(){};

	/// Pushes the Data in a Human readable form
	/// \param out The stream where it is written to
	/// \param c The struct itself
	friend std::ostream &operator<<(std::ostream &out, const ConfOrRel &c) {
	out << "Score: " << c.score << "\t Reliability: " << c.Reliability << " ";
	return out;
	}

	/// needed or it throws an clang diagnosic error
	typedef std::map<StateType, ReliabilityType>
	map; // needed or it throws an clang diagnosic error
	/// Filles the vector with the data inside the map
	/// \param me The vector to be filled
	/// \param data The data wich is to be pushed into the vector
	friend std::vector<ConfOrRel> &operator<<(std::vector<ConfOrRel> &me,
	map &&data) {
	for (auto tmp : data) {
	me.push_back(ConfOrRel(tmp.first, tmp.second));
	#if Reliability_trace_level <= trace_everything
	LOG_TRACE_STREAM << "\n" << ConfOrRel(tmp.first, tmp.second) << trace_end;
	#endif
	}
	return me;
	}

	/// This adds the Reliabilities of the same Scores
	/// \param me The vector to wich is written to
	/// \param other The other data vector
	friend std::vector<ConfOrRel> operator+=(std::vector<ConfOrRel> &me,
	std::vector<ConfOrRel> other) {
	static_assert(std::is_arithmetic<ReliabilityType>::value);
	for (auto& tmp_me : me)
	for (auto& tmp_other : other) {
	if (tmp_me.score == tmp_other.score) {
	tmp_me.Reliability = tmp_me.Reliability + tmp_other.Reliability;
	}
	}
	return me;
	}

	/// This is to push the data inside a vector in a humanreadable way into the
	/// ostream \param out The ostream \param c The vector which is read
	friend std::ostream &operator<<(std::ostream &out,
	const std::vector<ConfOrRel> &c) {
	std::size_t index = 0;
	for (ConfOrRel data : c) {
	out << index << " : " << data << "\n";
	index++;
	}
	return out;
	}
	};

	/// This calculates the minimum of the Reliabilities & the given value
	/// \param me The vector with the Reliabilites
	/// \param value The comparing value
	template <typename Conf>
	std::vector<Conf> min(std::vector<Conf> me,
	typename Conf::_ReliabilityType value) {
	static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
	for (auto tmp : me)
	tmp.Reliability = std::min(tmp.Reliability, value);
	return me;
	}

	/// This is the Reliability Functionality for a low level Agent
	/// \tparam SensorValueType Datatype of the Sensor value ( Typically
	/// double or float)
	/// \tparam StateType Datatype of the State (
	/// Typically long or int)
	/// \tparam ReliabilityType Datatype of the Reliability (
	/// Typically double or float)
	///
	/// use the \c operator() to get the reliability and \c feedback() the
	/// information from the master back to this
	template <typename SensorValueType, typename StateType,
	typename ReliabilityType>
	class LowLevel {
	public:
	/// Typedef to shorten the writing.
	/// \c ConfOrRel
	typedef ConfOrRel<StateType, ReliabilityType> ConfOrRel;

	/// Calculates the Conf/ Reliability
	/// \param SensorValue The current Values of the Sensor
	///
	/// \return Reliability of the current Value
	ConfOrRel operator()(SensorValueType SensorValue) {
	static_assert(std::is_arithmetic<SensorValueType>::value);
	static_assert(std::is_arithmetic<StateType>::value);
	static_assert(std::is_arithmetic<ReliabilityType>::value);
	#if Reliability_trace_level <= trace_outputs
	LOG_TRACE_STREAM << "\nTrace level is set to: " << Reliability_trace_level
	<< "\n"
	<< "Will trace: "
	<< ((Reliability_trace_level == trace_outputs)
	? "outputs"
	: (Reliability_trace_level == trace_vectors)
	? "vectors"
	: (Reliability_trace_level ==
	trace_everything)
	? "everything"
	: "undefined")
	<< trace_end;
	#endif

	std::vector<ConfOrRel> ActuallPossibleScores;
	std::vector<ConfOrRel> possibleScores;
	ReliabilityType inputReliability =
	getRelibility(SensorValue, previousSensorValue, valueSetCounter);

	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
	#endif

	possibleScores << Confidence->operator()(SensorValue);

	possibleScores = min(possibleScores, inputReliability);

	possibleScores += ValuesFromMaster;


	saveInHistory(possibleScores);
	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\nActuallPossibleScores:\n"
	<< possibleScores << trace_end;
	LOG_TRACE_STREAM << "\npossibleScores:\n" << possibleScores << trace_end;
	#endif
	possibleScores.clear();

	possibleScores = getAllPossibleScoresBasedOnHistory();

	std::sort(possibleScores.begin(), possibleScores.end(),
	[](ConfOrRel A, ConfOrRel B) -> bool {
	static_assert(std::is_arithmetic<ReliabilityType>::value);
	return A.Reliability > B.Reliability;
	});

	previousSensorValue = SensorValue;
	PreviousSensorValueExists = true;

	#if Reliability_trace_level <= trace_outputs
	LOG_TRACE_STREAM << "\noutput lowlevel: " << possibleScores.at(0)
	<< trace_end;
	#endif
	return possibleScores.at(0);
	}

	/// Needed feedback from the Master
	/// \param ValuesFromMaster The Scores + Reliability from the Master for this
	/// Agent
	void feedback(std::vector<ConfOrRel> ValuesFromMaster) {
	this->ValuesFromMaster = ValuesFromMaster;
	}

	/// This is the setter for Confidence Function
	/// \param Confidence A pointer to the Functional for the Confidence
	void setConfidenceFunction(
	std::unique_ptr<RangeConfidence<ReliabilityType, StateType,
	SensorValueType>> &Confidence) {
	this->Confidence = std::move(Confidence);
	}

	/// This is the setter for Reliability Function
	/// \param Reliability A pointer to the Functional for the Reliability
	void setReliabilityFunction(
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	&Reliability) {
	this->Reliability = std::move(Reliability);
	}

	/// This is the setter for ReliabilitySlope Function
	/// \param ReliabilitySlope A pointer to the Functional for the
	/// ReliabilitySlope
	void setReliabilitySlopeFunction(
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	&ReliabilitySlope) {
	this->ReliabilitySlope = std::move(ReliabilitySlope);
	}

	/// This is the setter for TimeConfidence Function
	/// \param TimeConfidence A pointer to the Functional for the TimeConfidence
	void setTimeConfidenceFunction(
	std::unique_ptr<Abstraction<std::size_t, ReliabilityType>>
	&TimeConfidence) {
	this->TimeConfidence = std::move(TimeConfidence);
	}

	/// This is the setter for all possible States
	/// \param states A vertor containing all states
	void setStates(std::vector<StateType> states) { this->States = states; }

	/// This sets the Maximum length of the Histpory
	/// \param length The length
	void setHistoryLength(std::size_t length) { this->HistoryMaxSize = length; }

	/// This sets the Value set Counter
	/// \param ValueSetCounter the new Value
	void setValueSetCounter(unsigned int ValueSetCounter) {
	this->valueSetCounter = ValueSetCounter;
	}

	private:
	std::vector<std::vector<ConfOrRel>> History;
	std::size_t HistoryMaxSize;
	std::vector<ConfOrRel> ValuesFromMaster;

	SensorValueType previousSensorValue;
	unsigned int valueSetCounter;
	std::vector<StateType> States;
	bool PreviousSensorValueExists = false;

	std::unique_ptr<RangeConfidence<ReliabilityType, StateType, SensorValueType>>
	Confidence;
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability;
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	ReliabilitySlope;
	std::unique_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence;

	/*--------------------------------- needed Funktions
	* -----------------------------------------------------*/

	/// returns the Reliability
	/// \param actualValue The Value of the Sensor
	/// \param lastValue of the Sensor this is stored in the class
	/// \param valueSetCounter It has an effect on the difference of the current
	/// and last value This might not be needed anymore
	ReliabilityType getRelibility(SensorValueType actualValue,
	SensorValueType lastValue,
	unsigned int valueSetCounter) {
	static_assert(std::is_arithmetic<ReliabilityType>::value);
	ReliabilityType relAbs = Reliability->operator()(actualValue);
	if (PreviousSensorValueExists) {
	ReliabilityType relSlo = ReliabilitySlope->operator()(
	(lastValue - actualValue) / (SensorValueType)valueSetCounter);

	// calculate signal input reliability
	// NOTE: options would be multiply, average, AND (best to worst:
	// average = AND > multiply) rel = relAbs * relSlo; rel = (relAbs +
	// relSlo)/2;

	return std::min(relAbs, relSlo);
	} else
	return relAbs;
	}

	/// adabts the possible Scores by checking the History and combines those
	/// values currently with max
	std::vector<ConfOrRel> getAllPossibleScoresBasedOnHistory() {
	// iterate through all history entries
	std::size_t posInHistory = 0;
	std::vector<ConfOrRel> possibleScores;
	for (auto pShE = History.begin(); pShE < History.end();
	pShE++, posInHistory++) {

	// iterate through all possible scores of each history entry
	for (ConfOrRel &pSh : *pShE) {

	StateType historyScore = pSh.score;
	ReliabilityType historyConf = pSh.Reliability;

	// combine each history score with the confidence of time
	// NOTE: multiplication, AND, or average would be alternatives (best to
	// worst: multiplication = AND = average)
	historyConf = historyConf * TimeConfidence->operator()(posInHistory);
	// historyConf = (historyConf + TimeConfidence(posInHistory)) / 2;
	// historyConf = std::min(historyConf, TimeConfidence(posInHistory));

	bool foundScore = false;
	for (ConfOrRel &pS : possibleScores) {

	if (pS.score == historyScore) {

	// calculate confidence for score
	// NOTE: multiplication, AND, or average would be alternatives (best
	// to worst: AND >> average = multiplication ) pS->confOrRel =
	// pS->confOrRel * historyConf; pS->confOrRel = (pS->confOrRel +
	// historyConf) / 2;
	pS.Reliability = std::max(pS.Reliability, historyConf);

	foundScore = true;
	}
	}

	if (foundScore == false) {

	ConfOrRel possibleScore;
	possibleScore.score = historyScore;
	possibleScore.Reliability = historyConf;

	possibleScores.push_back(possibleScore);
	}
	}
	}

	return possibleScores;
	}

	/// saves the Scores in the History
	/// \param actualPossibleScores The Scores which should be saved
	///
	/// \note Does the History realy make sence if the values are to smal it only
	/// stores something if its empty and not if it isn't completly filled
	void saveInHistory(std::vector<ConfOrRel> actualPossibleScores) {

	// check if the reliability of at least one possible score is high enough
	bool atLeastOneRelIsHigh = false;
	for (ConfOrRel pS : actualPossibleScores) {
	if (pS.Reliability > 0.5) {
	atLeastOneRelIsHigh = true;
	}
	}
	// save possible scores if at least one possible score is high enough (or if
	// the history is empty)
	if (History.size() < 1 \|\| atLeastOneRelIsHigh == true) {
	History.insert(History.begin(), actualPossibleScores);

	// if history size is higher than allowed, savo oldest element
	while (History.size() > HistoryMaxSize) {
	// delete possibleScoreHistory.back();
	History.pop_back();
	}
	}
	}
	};

	/// This is the Reliability Functionality for the Highlevel Agent
	/// \tparam StateType Datatype of the State (
	/// Typically double or float) \tparam ReliabilityType Datatype of the
	/// Reliability ( Typically long or int)
	///
	/// use the () operator to calculate the Reliability and all cross confidences
	/// for all slaves.
	template <typename StateType, typename ReliabilityType> class HighLevel {
	public:
	/// typedef To shorten the writing.
	/// \c ConfOrRel
	typedef ConfOrRel<StateType, ReliabilityType> ConfOrRel;

	/// The return type for the \c HighLevel::operator() Method
	struct returnType {
	ReliabilityType CrossReliability;
	std::map<id_t, std::vector<ConfOrRel>> CrossConfidence;
	};

	/// Calculates the Reliability and the Cross Confidenceses for each slave for
	/// all of there states. \param Values It gets the States and Reliabilities of
	/// all connected Slaves inside a vector. \return it returns a struct \c
	/// returnType containing the CrossReliability and all CrossConfidence's
	returnType operator()(
	std::vector<std::tuple<id_t, StateType, ReliabilityType>> &Values) {
	static_assert(std::is_arithmetic<StateType>::value);
	static_assert(std::is_arithmetic<ReliabilityType>::value);


	StateType EWS = 0;
	ReliabilityType combinedInputRel = 1;
	ReliabilityType combinedCrossRel = 1;
	ReliabilityType outputReliability;

	std::vector<std::pair<id_t, StateType>> Agents;
	std::map<id_t, std::vector<ConfOrRel>> output;
	std::vector<ConfOrRel> output_temporary;

	for (auto tmp : Values) {
	std::pair<id_t, StateType> tmp2;
	tmp2.first = std::get<0>(tmp);
	tmp2.second = std::get<1>(tmp);
	Agents.push_back(tmp2);
	}

	for (auto Value : Values) {
	id_t id = std::get<0>(Value);
	StateType sc = std::get<1>(Value);
	ReliabilityType rel = std::get<2>(Value);

	EWS = EWS + sc;

	combinedInputRel = std::min(combinedInputRel, rel);

	// calculate the cross reliability for this slave agent
	ReliabilityType realCrossReliabilityOfSlaveAgent =
	CrossReliability->operator()(
	{id, sc},
	Agents); // AVERAGE, MULTIPLICATION, CONJUNCTION (best to worst:
	// AVERAGE = CONJUNCTION > MULTIPLICATION >> )

	output_temporary.clear();
	for (StateType thoScore : States[id]) {
	// calculate the cross reliability for this slave agent
	ConfOrRel data;
	data.score = thoScore;
	data.Reliability = CrossConfidence->operator()(id, thoScore, Agents);
	output_temporary.push_back(data);
	}

	output.insert({std::get<0>(Value), output_temporary});
	combinedCrossRel =
	std::min(combinedCrossRel, realCrossReliabilityOfSlaveAgent);
	}

	// combine cross reliabilites and input reliabilites of all slave agents
	// NOTE: options would be multiply, average, AND (best to worst: )
	// outputReliability = combinedInputRel * combinedCrossRel;
	// outputReliability = (combinedInputRel + combinedCrossRel) / 2;
	outputReliability = std::min(combinedInputRel, combinedCrossRel);
	return {outputReliability, output};
	}

	/// This is the setter for CrossReliability Function
	/// \param CrossReliability A pointer to the Functional for the
	/// CrossReliability
	void setFunction(std::unique_ptr<CrossReliability<StateType, ReliabilityType>>
	&CrossReliability) {
	this->CrossReliability = std::move(CrossReliability);
	}

	/// This is the setter for CrossConfidence Function
	/// \param CrossConfidence A pointer to the Functional for the CrossConfidence
	void setFunction(std::unique_ptr<CrossConfidence<StateType, ReliabilityType>>
	&CrossConfidence) {
	this->CrossConfidence = std::move(CrossConfidence);
	}

	/// This is the adder for the states
	/// \param id The id of the Agent of the states
	/// \param States id spezific states. this will be copied So that if Slaves
	/// have different States they can be used correctly.
	void addStates(id_t id, std::vector<StateType> States) {
	this->States.insert({id, States});
	}

	private:
	std::unique_ptr<CrossReliability<StateType, ReliabilityType>>
	CrossReliability;
	std::unique_ptr<CrossConfidence<StateType, ReliabilityType>> CrossConfidence;

	std::map<id_t, std::vector<StateType>> States;
	};
	} // namespace agent
	} // namespace rosa
	#endif // !ROSA_AGENT_RELIABILITY_H

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