ast_controller.h

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//_/_/
//_/_/ AERA
//_/_/ Autocatalytic Endogenous Reflective Architecture
//_/_/ 
//_/_/ Copyright (c) 2018-2025 Jeff Thompson
//_/_/ Copyright (c) 2018-2025 Kristinn R. Thorisson
//_/_/ Copyright (c) 2018-2025 Icelandic Institute for Intelligent Machines
//_/_/ http://www.iiim.is
//_/_/ 
//_/_/ Copyright (c) 2010-2012 Eric Nivel
//_/_/ Center for Analysis and Design of Intelligent Agents
//_/_/ Reykjavik University, Menntavegur 1, 102 Reykjavik, Iceland
//_/_/ http://cadia.ru.is
//_/_/ 
//_/_/ Part of this software was developed by Eric Nivel
//_/_/ in the HUMANOBS EU research project, which included
//_/_/ the following parties:
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//_/_/ Autonomous Systems Laboratory
//_/_/ Technical University of Madrid, Spain
//_/_/ http://www.aslab.org/
//_/_/
//_/_/ Communicative Machines
//_/_/ Edinburgh, United Kingdom
//_/_/ http://www.cmlabs.com/
//_/_/
//_/_/ Istituto Dalle Molle di Studi sull'Intelligenza Artificiale
//_/_/ University of Lugano and SUPSI, Switzerland
//_/_/ http://www.idsia.ch/
//_/_/
//_/_/ Institute of Cognitive Sciences and Technologies
//_/_/ Consiglio Nazionale delle Ricerche, Italy
//_/_/ http://www.istc.cnr.it/
//_/_/
//_/_/ Dipartimento di Ingegneria Informatica
//_/_/ University of Palermo, Italy
//_/_/ http://diid.unipa.it/roboticslab/
//_/_/
//_/_/
//_/_/ --- HUMANOBS Open-Source BSD License, with CADIA Clause v 1.0 ---
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#ifndef ast_controller_h
#define ast_controller_h
 
#include "overlay.h"
#include "factory.h"
#include "pattern_extractor.h"
 
 
namespace r_exec {
 
// Atomic state controller. Attached to a null-pgm and monitoring to a (repeated) input fact (SYNC_PERIODIC or SYNC_HOLD).
// Has a resilience of 2 times the upr of the group its target comes from.
// Upon catching a counter-evidence, signal the TPX and kill the object (i.e. invalidate and kill views); this will kill the controller and TPX.
// Catching a predicted evidence means that there is a model that predicts the next value of the object: kill the CTPX.
// AST live in primary groups and take their inputs therefrom: these are filtered by the A/F WRT goals/predictions.
// There is no control over AST: instead, computation is minimal (just pattern-matching) and CTPX are killed asap whenever a model predicts a value change.
// There cannot be any control based on the semantics of the inputs as these are atomic and henceforth no icst is available at injection time.
template<class U> class ASTController :
  public OController {
protected:
  P<CTPX> tpx_;
  P<_Fact> target_; // the repeated fact to be monitored.
  Timestamp thz_timestamp_; // time horizon: if an input is caught with ijt<thz (meaning it's too old), discard it.
 
  void kill();
 
  ASTController(AutoFocusController *auto_focus, View *target);
public:
  virtual ~ASTController();
 
  r_code::Code *get_core_object() const override { return get_object(); }
 
  void take_input(r_exec::View *input) override;
  void reduce(View *input);
};
 
// For SYNC_PERIODIC targets.
class PASTController :
  public ASTController<PASTController> {
public:
  PASTController(AutoFocusController *auto_focus, View *target);
  ~PASTController();
 
  void reduce(View *input) { this->ASTController<PASTController>::reduce(input); }
  void reduce(View *v, _Fact *input);
};
 
// For SYNC_HOLD targets.
class HASTController :
  public ASTController<HASTController> {
private:
  P<_Fact> source_; // to be invalidated if a counter-evidence is found.
public:
  HASTController(AutoFocusController *auto_focus, View *target, _Fact *source);
  ~HASTController();
 
  void reduce(View *input) { this->ASTController<HASTController>::reduce(input); }
  void reduce(View *v, _Fact *input);
};
}
 
 
#include "ast_controller.tpl.cpp"
 
 
#endif