module.m

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classdef module < unit
    
    properties (Abstract)
        nInputs; 
        nOutputs;
    end
            
    properties (GetAccess=public,SetAccess=private,Hidden=false) % Set Hidden=true afterwards
        internalUnits = {};
        traversingOrder = [];
        biograph_struct = struct;
    end
    
    properties (GetAccess=protected,SetAccess=private,Hidden=false) % Set Hidden=true afterwards
        destInternalUnits = {};
        destInternalInputs = [];
    end
    
    properties (GetAccess=protected,SetAccess=protected)
        outputBuffer; % initialized to be a sink with obj.nOutputs inputs
    end
    
    methods (Access=private)
        
        function createGraphOrdering(obj)
            N = numel(obj.internalUnits);
            % Traverse all internal units sequentially to discover graph structure
            UIDs = cell(N,1);
            for i=1:numel(obj.internalUnits)
                UIDs{i} = obj.internalUnits{i}.ID;
            end
            
            dg = logical(sparse(N,N));
            labels = cell(N,1);
            for i=1:N
%                 tmp = obj.internalUnits{i};
%                 for j=1:tmp.nOutputs
%                     nextNodeID = obj.internalUnits{i}.nextNodes{j}.ID;
                for nextNode = obj.internalUnits{i}.nextNodes
                    nextNodeID = nextNode{:}.ID;
                    k = find(cellfun(@(UID)isequal(nextNodeID,UID),UIDs));
                    if numel(k)>1
                        robolog('Something is wrong. Should return just one or zero match. Is it a DAG?', 'ERR');
                    end
                    dg(i,k) = true;
                end
                labels{i} = obj.internalUnits{i}.label;
            end            
            obj.biograph_struct.dg      = dg;
            obj.biograph_struct.labels  = labels;
            
            obj.traversingOrder = graphtopoorder(sparse(dg)); % Doesn't work for one vertex
        end    

    end
    
    
    
    methods (Access=protected)
       
        function exportModule(obj,varargin)
            if isempty(varargin) % Automatic export
                vars = evalin('caller','who'); % Get variables from the caller
                vars(strcmp(inputname(1),vars)) = []; % Remove from the export list the module itself
%                 isunit = cellfun(@(v)evalin('caller',['inherits_from(' v ',''unit'')']),vars)
                % For some reason, the line above doesn't work and we need
                % following 4 lines
                isunit = false(size(vars)); % Check which variables inherit after unit
                for i=1:numel(vars)
                    isunit(i) = evalin('caller',['inherits_from(' vars{i} ',''unit'')']);
                end
                if ~any(isunit) % If no units found, show a warning
                    robolog('Module does not enclose any unit. To manually export module use exportModule(obj,unit1,unit2,...).', 'WRN');
                else % If there are units to export, call exportModule with appropriate arguments
                    evalin('caller',['exportModule(obj,' strjoin(vars(isunit)',',') ');']);
                end
            else % Manual export / second call of automatic export
                if all(cellfun(@(o)inherits_from(o,'unit'),varargin))
                    obj.internalUnits = varargin;
                end
                createGraphOrdering(obj);
            end
        end
        
        function connectInputs(obj,destInternalUnits,destInternalInputs)
            %make sure destination array is cell array
            if ~iscell(destInternalUnits)
                destInternalUnits = mat2cell(destInternalUnits(:), ones(1, numel(destInternalUnits)), 1);
            end
            %make sure destination inputs make sense
            if ~isnumeric(destInternalInputs)||~isvector(destInternalInputs)
                robolog('Destination inputs must be specified as a vector of integers.', 'ERR');
            end
            %check that numbers add up
            if numel(destInternalUnits)~=obj.nInputs
                robolog('Number of external connections must be equal to the number of inputs. %s has %d inputs; %d destination units were specified', 'ERR', obj.label, obj.nInputs, numel(destInternalUnits));
            end
            obj.destInternalUnits = destInternalUnits;
            obj.destInternalInputs = destInternalInputs;
        end
        
%         function connectInternalOutputs(obj,srcInternalUnits,destExternalOutputs)
%             %TODO error checking, etc.
%             for i=1:obj.nOutputs
%                 srcInternalUnits{i}.connectOutput(obj.outputBuffer,i,destExternalOutputs(i));
%             end
%         end
    end
    
    
    
    methods (Access=public)
        
        function obj = module
            % Create sink for internal output buffers
            obj.outputBuffer = sink(obj.nOutputs);
        end
        
        function view(obj)
            module_view(obj.biograph_struct,obj.internalUnits,obj.label);
        end        
                
        function output = getOutput(obj)
            output = obj.outputBuffer.inputBuffer{1};
        end
        
        function keepOutput(obj)
            obj.outputBuffer.setKeep(1);
        end

        function varargout = traverse(obj,varargin)
            % Rewrite internal buffers to appropriate objects
            for i=1:obj.nInputs
                %FIXME when there's only one obj.destInternalUnits it must
                %be also packaged into cell array. Otherwise this line will
                %fail with "Cell contents reference from a non-cell array
                %object."
                % Ensure that in a call obj.connectInputs(units,no) units
                % is always a cell array of units.
                try
                    writeInputBuffer(obj.destInternalUnits{i},varargin{i},obj.destInternalInputs(i));
                catch 
                    robolog('Failed to write input buffer while traversing %s.  Check connections and that traverse has been called enough input signals.', 'ERR', obj.label);
                end
            end

            for i=obj.traversingOrder
                traverseNode(obj.internalUnits{i});
            end            
            [varargout{1:obj.nOutputs}] = readBuffer(obj.outputBuffer);
        end        
    end
    
end