void IPFP::computeMarginal( Message &out, unsigned int spec_depth ){
const FragmentGraph *fg = moldata->getFragmentGraph();
out.reset(fg->getNumFragments());
Message *msg, tmp_msg(1);
if( spec_depth > 0 ) msg = &(down_msgs[spec_depth-1]);
else{ //Spectrum at depth 1 means there is no down message,
//so only iterate over the 0 index
tmp_msg.addToIdx(0, 0.0);
msg = &tmp_msg;
}
Message::const_iterator it = msg->begin();
for( ; it != msg->end(); ++it ){
unsigned int idx = it.index();
//Persistence term
out.addToIdx(idx, beliefs.ps[idx][spec_depth]);
//Transition terms
std::vector<int>::const_iterator itt = (*fg->getFromIdTMap())[idx].begin();
for( ; itt != (*fg->getFromIdTMap())[idx].end(); ++itt ){
const Transition *t = fg->getTransitionAtIdx( *itt );
out.addToIdx( t->getToId(), beliefs.tn[*itt][spec_depth] );
}
}
}
bool XBee_Message::append_msg(const GBeeRxPacket *msg) {
XBee_Message tmp_msg(msg);
return append_msg(tmp_msg);
}
// collect status packets for 0.5 seconds. Keep the last packet sent
// from each seperate power device.
int collect_messages(void) {
PowerMessage *tmp_msg(NULL);
timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = 1000*100; //Collect packets for 1/10th of a second
while (1) {
if (tmp_msg == NULL)
tmp_msg = new PowerMessage;
assert(tmp_msg);
// Wait for packets to arrive on socket.
fd_set read_set;
int max_sock = -1;
FD_ZERO(&read_set);
for (unsigned i = 0; i<Interfaces.size(); ++i)
Interfaces[i]->AddToReadSet(read_set,max_sock);
int result = select(max_sock+1, &read_set, NULL, NULL, &timeout);
//fprintf(stderr,"*");
if (result == -1) {
perror("Select");
return -1;
}
else if (result == 0) {
// timeout
return 0;
}
else if (result >= 1) {
Interface *recvInterface = NULL;
for (unsigned i = 0; i<Interfaces.size(); ++i) {
//figure out which interface we recieved on
if (Interfaces[i]->IsReadSet(read_set)) {
recvInterface = Interfaces[i];
break;
}
}
int len = recv(recvInterface->recv_sock, tmp_msg, sizeof(*tmp_msg), 0);
if (len == -1) {
perror("Error recieving on socket");
return -1;
}
else if (len != sizeof(*tmp_msg)) {
fprintf(stderr, "recieved message of incorrect size %d\n", len);
}
else {
if (process_message(tmp_msg, recvInterface)) {
return -1;
}
}
}
else {
fprintf(stderr,"Unexpected select result %d\n", result);
return -1;
}
}
if (tmp_msg)
delete tmp_msg;
return 0;
}
void IPFP::applyEvidenceAndPropagate( unsigned int spec_depth, Message &desired_marginals, Message &actual_marginals){
const FragmentGraph *fg = moldata->getFragmentGraph();
//Set the iterator for updating the factor
Message *msg, tmp_msg(1);
if( spec_depth > 0 ) msg = &(down_msgs[spec_depth-1]);
else{ //Spectrum at depth 1 means there is no down message,
//so only iterate over the 0 index
tmp_msg.addToIdx(0, 0.0);
msg = &tmp_msg;
}
//Update the affected factor
Message::const_iterator it = msg->begin();
for( ; it != msg->end(); ++it ){
unsigned int idx = it.index();
//Persistence
double tmp = beliefs.ps[idx][spec_depth];
tmp += desired_marginals.getIdx(idx);
tmp -= actual_marginals.getIdx(idx);
tmp -= *it; //down msg
if( spec_depth < cfg->model_depth-1 )
tmp -= up_msgs[spec_depth].getIdx(idx);
fprobs.ps[idx][spec_depth] = tmp;
//Transitions
std::vector<int>::const_iterator itt = (*fg->getFromIdTMap())[idx].begin();
for( ; itt != (*fg->getFromIdTMap())[idx].end(); ++itt ){
const Transition *t = fg->getTransitionAtIdx(*itt);
double tmp = beliefs.tn[*itt][spec_depth];
tmp += desired_marginals.getIdx(t->getToId());
tmp -= actual_marginals.getIdx(t->getToId());
if( spec_depth > 0 )
tmp -= down_msgs[spec_depth-1].getIdx(t->getFromId());
if( spec_depth < cfg->model_depth-1 )
tmp -= up_msgs[spec_depth].getIdx(t->getToId());
fprobs.tn[*itt][spec_depth] = tmp;
}
}
//Propagate up to the top (update outgoing messages)
for( int d = spec_depth-1; d >= 0; d-- ){
it = down_msgs[d].begin();
up_msgs[d].reset( fg->getNumFragments() );
for( ; it != down_msgs[d].end(); ++it ){
unsigned int idx = it.index();
//Persistence
if( (unsigned int)d < cfg->model_depth-2 ){
double up_val = up_msgs[d+1].getIdx(idx);
up_msgs[d].addToIdx(idx, fprobs.ps[idx][d+1] + up_val);
}else up_msgs[d].addToIdx(idx, fprobs.ps[idx][d+1]);
//Transitions
std::vector<int>::const_iterator itt = (*fg->getFromIdTMap())[idx].begin();
for( ; itt != (*fg->getFromIdTMap())[idx].end(); ++itt ){
const Transition *t = fg->getTransitionAtIdx( *itt );
double tmp;
if( (unsigned int)d < cfg->model_depth-2 ){
double up_val = up_msgs[d+1].getIdx(t->getToId());
tmp = fprobs.tn[*itt][d+1] + up_val;
}else tmp = fprobs.tn[*itt][d+1];
up_msgs[d].addToIdx(idx, tmp);
}
}
}
//Propagate down to the bottom (update outgoing messages)
for( unsigned int d = spec_depth; d < cfg->model_depth-1; d++ ){
//Use a copy of the old down msg to get the used_idxs before resetting it
Message old_down_msg = down_msgs[d];
down_msgs[d].reset( fg->getNumFragments() );
for( it = old_down_msg.begin(); it != old_down_msg.end(); ++it ){
unsigned int idx = it.index();
//Persistence
if( d > 0 ){
double down_val = down_msgs[d-1].getIdx(idx);
down_msgs[d].addToIdx(idx, fprobs.ps[idx][d] + down_val);
}else if( idx == 0 )
down_msgs[d].addToIdx(idx, fprobs.ps[idx][d]);
//Transitions
std::vector<int>::const_iterator itt = (*fg->getToIdTMap())[idx].begin();
for( ; itt != (*fg->getToIdTMap())[idx].end(); ++itt ){
const Transition *t = fg->getTransitionAtIdx( *itt );
if( d > 0 ){
double down_val = down_msgs[d-1].getIdx(t->getFromId());
down_msgs[d].addToIdx(idx, fprobs.tn[*itt][d] + down_val);
}else if( t->getFromId() == 0 )
down_msgs[d].addToIdx(idx, fprobs.tn[*itt][d]);
}
}
}
}