PluginPrediction.h

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#ifndef __PLUGIN_PREDICTION_H__
#define __PLUGIN_PREDICTION_H__


#define PLUGIN_CLASS PluginPrediction


// System
#include <cstdlib>
#include <iostream>
#include <fstream>
#include <mutex>
#include <map>
#include <sstream>

// Designators
#include <designators/CDesignator.h>
#include <designator_integration_msgs/DesignatorCommunication.h>

// OWL Exporter for ontology
#include <plugins/owlexporter/CExporterOwl.h>

// Private
#include <Types.h>
#include <ForwardDeclarations.h>
#include <Plugin.h>
#include <Property.h>
#include <JSON.h>
#include <Node.h>
#include <plugins/prediction/DecisionTree.h>


namespace beliefstate {
  namespace plugins {
    class PLUGIN_CLASS : public Plugin {
    private:
      typedef struct {
        Property* prLevel;
        std::string strClass;
      } PredictionTrack;
      
      typedef struct {
        std::map<std::string, double> mapFailureProbabilities;
        std::map<std::string, Property*> mapRequestedFeatureValues;
        double dSuccessRate;
      } PredictionResult;
      
      JSON* m_jsnModel;
      DecisionTree* m_dtDecisionTree;
      std::list<PredictionTrack> m_lstPredictionStack;
      CExporterOwl* m_expOwl;
      bool m_bInsidePredictionModel;
      std::mutex m_mtxStackProtect;
      Node* m_ndActive;
      std::map< Property*, std::list<Property*> > m_mapNodeFailures;
      std::map< Property*, std::list<Property*> > m_mapNodeParameters;
      std::map< std::string, std::pair<int, int> > m_mapTimeStamps;
      bool m_bModelLoaded;
      int m_nClassFlexibility;
      
    public:
      PLUGIN_CLASS();
      ~PLUGIN_CLASS();
      
      virtual Result init(int argc, char** argv);
      virtual Result deinit();
      
      virtual Result cycle();
      
      virtual Event consumeServiceEvent(ServiceEvent seEvent);
      virtual void consumeEvent(Event evEvent);
      
      bool serviceCallbackLoad(designator_integration_msgs::DesignatorCommunication::Request &req, designator_integration_msgs::DesignatorCommunication::Response &res);
      
      bool load(std::string strFile);
      
      bool descend(std::string strClass, bool bForceClass = false);
      bool descend(Node* ndDescend);
      bool ascend(Node* ndAscend);
      
      bool predict(CDesignator* desigRequest, CDesignator* desigResponse);
      PredictionResult evaluatePredictionRequest(Property* prActive, CKeyValuePair* ckvpFeatures, CKeyValuePair* ckvpRequested);
      
      std::list< pair<Property*, int> > linearizeTree(Property* prTop, int nLevel);
      PredictionResult probability(std::list< pair<Property*, int> > lstSequence, CKeyValuePair* ckvpFeatures, CKeyValuePair* ckvpRequested);
      std::map<std::string, double> relativeFailureOccurrences(std::list<Property*> lstFailures, int nTracks);
      std::list<Property*> failuresForTreeNode(Property* prNode);
      std::map<std::string, double> relativeFailuresForNode(Property* prNode, int nLevel, CKeyValuePair* ckvpFeatures);
      std::list<Property*> parametersForTreeNode(Property* prNode);
      
      bool loadDecisionTree(std::string strPath);
      Property* evaluateDecisionTree(CKeyValuePair* ckvpFeatures);
    };
  }
  
  extern "C" plugins::PLUGIN_CLASS* createInstance();
  extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy);
}


#endif /* __PLUGIN_PREDICTION_H__ */