bool SimpleNetworkVisualizationHandler::setNeuralNetwork(ModularNeuralNetwork *network) {
TRACE("SimpleNetworkVisualizationHandler::setNeuralNetwork");
QMutexLocker locker(Neuro::getNeuralNetworkManager()->getNetworkExecutionMutex());
QMutex *selectionMutex = 0;
if(mOwner != 0) {
selectionMutex = mOwner->getSelectionMutex();
}
if(selectionMutex != 0) {
selectionMutex->lock();
}
conserveSelection();
NetworkVisualizationHandler::setNeuralNetwork(network);
clearVisualization();
mNetwork = network;
bool ok = updateNetworkView();
restoreSelection();
if(selectionMutex != 0) {
selectionMutex->unlock();
}
return ok;
}
void FootstepPlanningVisNode::stepPlanRequestVisCallback(const msgs::StepPlanRequestConstPtr& step_plan_request)
{
// clear old vis
clearVisualization(step_plan_request->header);
msgs::Feet start = step_plan_request->start;
msgs::Feet goal = step_plan_request->goal;
// transform start pose to planner frame and visualize
if (!start.header.frame_id.empty())
{
transformToPlannerFrame(start, transform_feet_poses_client);
vis::publishStart(start_feet_pose_pub, start, foot_size);
}
// transform goal pose to planner frame and visualize
if (!goal.header.frame_id.empty())
{
transformToPlannerFrame(goal, transform_feet_poses_client);
vis::publishGoal(goal_feet_pose_pub, goal, foot_size);
}
}
bool SimpleNetworkVisualizationHandler::updateNetworkView() {
TRACE("SimpleNetworkVisualizationHandler::updateNetworkView");
QMutexLocker locker(Neuro::getNeuralNetworkManager()->getNetworkExecutionMutex());
QList<NeuronItem*> currentNeuronItems = mNeurons;
QList<SynapseItem*> currentSynapseItems = mSynapses;
QList<ModuleItem*> currentModuleItems = mModules;
QList<GroupItem*> currentGroupItems = mGroups;
for(QListIterator<ModuleItem*> i(currentModuleItems); i.hasNext();) {
ModuleItem *moduleItem = i.next();
QList<PaintItem*> members = moduleItem->getMemberItems();
for(QListIterator<PaintItem*> j(members); j.hasNext();) {
moduleItem->removeMemberItem(j.next());
}
}
mNeurons.clear();
mSynapses.clear();
mModules.clear();
mGroups.clear();
if(mNetwork != 0) {
//setup neurons
QList<Neuron*> neurons = mNetwork->getNeurons();
for(int i = 0; i < neurons.size(); ++i) {
Neuron *neuron = neurons.at(i);
NeuronItem *item = getNeuronItem(neuron);
if(item == 0) {
if(!mNeuronItemPool.empty()) {
item = mNeuronItemPool.takeFirst();
}
if(item == 0) {
item = mNeuronItemPrototype->createCopy();
}
}
if(neuron->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
NetworkEditorUtil::setPaintItemLocation(item,
neuron->getProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION));
}
else {
setLocationByGrid(item);
}
item->setNeuron(neuron);
item->setActive(true);
item->setHidden(false);
if(!mNeurons.contains(item)) {
mNeuronLookup.insert(neuron, item);
mNeurons.append(item);
}
currentNeuronItems.removeAll(item);
}
//remove obsolete neuron items
for(QListIterator<NeuronItem*> i(currentNeuronItems); i.hasNext();) {
NeuronItem *item = i.next();
item->setHidden(true);
item->setActive(false);
item->setToHiddenLayer(false);
mNeuronLookup.remove(item->getNeuron());
item->setNeuron(0);
item->setParent(0);
mNeuronItemPool.append(item);
}
//setup synapses
QList<Synapse*> synapses = mNetwork->getSynapses();
for(int i = 0; i < synapses.size(); ++i) {
Synapse *synapse = synapses.at(i);
SynapseItem *item = getSynapseItem(synapse);
if(item == 0) {
if(!mSynapseItemPool.empty()) {
item = mSynapseItemPool.takeFirst();
}
if(item == 0) {
item = mSynapseItemPrototype->createCopy();
}
}
if(synapse->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
NetworkEditorUtil::setPaintItemLocation(item,
synapse->getProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION));
}
else {
setLocationByGrid(item);
}
item->setSynapse(synapse);
item->setActive(true);
item->setHidden(false);
if(!mSynapses.contains(item)) {
mSynapseLookup.insert(synapse, item);
mSynapses.append(item);
}
currentSynapseItems.removeAll(item);
}
//remove obsolete synapse items
for(QListIterator<SynapseItem*> i(currentSynapseItems); i.hasNext();) {
SynapseItem *item = i.next();
item->setHidden(true);
item->setActive(false);
item->setToHiddenLayer(false);
mSynapseLookup.remove(item->getSynapse());
item->setSynapse(0);
item->setParent(0);
mSynapseItemPool.append(item);
}
//setup modules
QList<NeuroModule*> modules = mNetwork->getNeuroModules();
for(int i = 0; i < modules.size(); ++i) {
NeuroModule *module = modules.at(i);
ModuleItem *item = getModuleItem(module);
if(item == 0) {
if(!mModuleItemPool.empty()) {
item = mModuleItemPool.takeFirst();
}
if(item == 0) {
item = mModuleItemPrototype->createCopy();
}
}
if(module->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
NetworkEditorUtil::setPaintItemLocation(item,
module->getProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION));
}
else {
setLocationByGrid(item);
}
if(module->hasProperty(NeuralNetworkConstants::TAG_MODULE_SIZE)) {
NetworkEditorUtil::setModuleItemSize(item,
module->getProperty(NeuralNetworkConstants::TAG_MODULE_SIZE));
}
item->setModule(module);
item->setActive(true);
item->setHidden(false);
QList<PaintItem*> memberItems = item->getMemberItems();
for(QListIterator<PaintItem*> k(memberItems); k.hasNext();) {
PaintItem *it = k.next();
QPointF pos = it->getGlobalPosition();
item->removeMemberItem(it);
it->setLocalPosition(pos);
}
if(!mModules.contains(item)) {
mModuleLookup.insert(module, item);
mModules.append(item);
}
currentModuleItems.removeAll(item);
//add member neurons to module
QRectF moduleBounds = item->getBoundingBox();
QList<Neuron*> members = module->getNeurons();
for(QListIterator<Neuron*> j(members); j.hasNext();) {
Neuron *n = j.next();
if(n == 0) {
continue;
}
NeuronItem *neuronItem = getNeuronItem(n);
if(neuronItem == 0) {
continue;
}
QRectF neuronBounds = neuronItem->getBoundingBox();
QPointF pos = neuronItem->getLocalPosition() - item->getGlobalPosition();
pos.setX(Math::min(Math::max(pos.x(), (neuronBounds.width() / 2.0)),
moduleBounds.width() - (neuronBounds.width() / 2.0)));
pos.setY(Math::min(Math::max(pos.y(), (neuronBounds.height() / 2.0)),
moduleBounds.height() - (neuronBounds.height() / 2.0)));
neuronItem->setLocalPosition(pos);
item->addMemberItem(neuronItem);
}
//add member synapses to module
for(QListIterator<Synapse*> j(synapses); j.hasNext();) {
Synapse *s = j.next();
if(s == 0) {
continue;
}
Neuron *n = s->getSource();
if(n == 0) {
continue;
}
if(!members.contains(n)) {
continue;
}
SynapseItem *synapseItem = getSynapseItem(s);
if(synapseItem == 0) {
continue;
}
synapseItem->setLocalPosition(
synapseItem->getLocalPosition() - item->getGlobalPosition());
item->addMemberItem(synapseItem);
}
}
//remove obsolete module items
for(QListIterator<ModuleItem*> i(currentModuleItems); i.hasNext();) {
ModuleItem *item = i.next();
item->setHidden(true);
item->setActive(false);
item->setToHiddenLayer(false);
mModuleLookup.remove(item->getNeuroModule());
item->setModule(0);
item->setParent(0);
mModuleItemPool.append(item);
}
//check if submodules have to be added.
for(int i = 0; i < modules.size(); ++i) {
NeuroModule *module = modules.at(i);
if(module == 0) {
continue;
}
ModuleItem *moduleItem = getModuleItem(module);
if(moduleItem == 0) {
continue;
}
QList<NeuroModule*> subModules = module->getSubModules();
for(QListIterator<NeuroModule*> j(subModules); j.hasNext();) {
NeuroModule *subModule = j.next();
if(subModule == 0) {
continue;
}
ModuleItem *subModuleItem = getModuleItem(subModule);
if(subModuleItem == 0) {
continue;
}
subModuleItem->setLocalPosition(
subModuleItem->getLocalPosition() - moduleItem->getGlobalPosition());
moduleItem->addMemberItem(subModuleItem);
}
}
//setup groups
QList<NeuronGroup*> groups = mNetwork->getNeuronGroups();
for(int i = 0; i < groups.size(); ++i) {
NeuronGroup *group = groups.at(i);
if(dynamic_cast<NeuroModule*>(group) != 0) {
//ignore neuro modules
continue;
}
GroupItem *item = getGroupItem(group);
if(item == 0) {
if(!mGroupItemPool.empty()) {
item = mGroupItemPool.takeFirst();
}
if(item == 0) {
item = mGroupItemPrototype->createCopy();
}
}
if(group->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
NetworkEditorUtil::setPaintItemLocation(item,
group->getProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION));
}
else {
setLocationByGrid(item);
}
item->setNeuronGroup(group);
item->setActive(true);
item->setHidden(false);
if(!mGroups.contains(item)) {
mGroupLookup.insert(group, item);
mGroups.append(item);
}
currentGroupItems.removeAll(item);
}
//remove obsolete group items
for(QListIterator<GroupItem*> i(currentGroupItems); i.hasNext();) {
GroupItem *item = i.next();
item->setHidden(true);
item->setActive(false);
item->setToHiddenLayer(false);
mGroupLookup.remove(item->getNeuronGroup());
item->setNeuronGroup(0);
item->setParent(0);
mGroupItemPool.append(item);
}
//update location property
for(QListIterator<NeuronItem*> i(mNeurons); i.hasNext();) {
NeuronItem *item = i.next();
if(item == 0) {
continue;
}
Neuron *neuron = item->getNeuron();
if(neuron == 0 || neuron->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
continue;
}
neuron->setProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION,
QString::number(item->getGlobalPosition().x()) + ","
+ QString::number(item->getGlobalPosition().y()) + ",0");
}
for(QListIterator<SynapseItem*> i(mSynapses); i.hasNext();) {
SynapseItem *item = i.next();
if(item == 0) {
continue;
}
Synapse *synapse = item->getSynapse();
if(synapse == 0 || synapse->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
continue;
}
synapse->setProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION,
QString::number(item->getGlobalPosition().x()) + ","
+ QString::number(item->getGlobalPosition().y()) + ",0");
}
for(QListIterator<ModuleItem*> i(mModules); i.hasNext();) {
ModuleItem *item = i.next();
if(item == 0) {
continue;
}
NeuroModule *module = item->getNeuroModule();
if(module == 0 || module->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
continue;
}
module->setProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION,
QString::number(item->getGlobalPosition().x()) + ","
+ QString::number(item->getGlobalPosition().y()) + ",0");
}
for(QListIterator<GroupItem*> i(mGroups); i.hasNext();) {
GroupItem *item = i.next();
if(item == 0) {
continue;
}
NeuronGroup *group = item->getNeuronGroup();
if(group == 0 || group->hasProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION)) {
continue;
}
group->setProperty(NeuralNetworkConstants::TAG_ELEMENT_LOCATION,
QString::number(item->getGlobalPosition().x()) + ","
+ QString::number(item->getGlobalPosition().y()) + ",0");
}
}
else {
clearVisualization();
}
updateVisualizationSet();
if(mOwner != 0) {
mOwner->updateHiddenLayerMode();
}
return true;
}
