// Copyright (C) 2003
// Gerhard Neumann (gerhard@igi.tu-graz.ac.at)

//                
// This file is part of RL Toolbox.
// http://www.igi.tugraz.at/ril_toolbox
//
// All rights reserved.
// 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
// 3. The name of the author may not be used to endorse or promote products
//    derived from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
// OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
// NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


#include "ctestscripts.h"
#include "clearneddynamicmodel.h"
#include "cpegasus.h"
#include "cprioritizedsweeping.h" 
#include "ccartpolemodel.h"
#include "cacrobotmodel.h"
#include "cexploration.h"
#include "ril_debug.h"

#include <sstream>


CMyTestSuiteCollection::CMyTestSuiteCollection(char *testSuiteDirectory)
{
	modelEnvironment = NULL;
	dynModel = NULL;
	agent = NULL;
	staticContActions = NULL;
	rewardFunction = NULL;
	rbfCalculator = NULL;

	this->testSuiteDirectory = testSuiteDirectory;
	//initModelVariables();
}

CMyTestSuiteCollection::~CMyTestSuiteCollection()
{
	delete agent;
	delete staticContActions;
	delete rewardFunction;
//	delete rbfCalculator;
	delete modelEnvironment;
	delete dynModel;
}

void CMyTestSuiteCollection::addVRBFTestSuites()
{
	agent->addStateModifier(rbfCalculator);

	// VFunctionLearner
	CVFunctionNumericInputDerivationCalculator  *vFunctionInputDerivation = new CVFunctionNumericInputDerivationCalculator(dynModel->getStateProperties(), rbfVFunction, 0.025, agent->getStateModifiers());

	CAbstractQFunction *qFunctionFromTransitionFunction = new CQFunctionFromTransitionFunction(staticContActions, rbfVFunction, dynModel, rewardFunction, agent->getStateModifiers());

	CAbstractQFunction *contqFunctionFromTransitionFunction = new CContinuousTimeQFunctionFromTransitionFunction(staticContActions, vFunctionInputDerivation, dynModel, rewardFunction, agent->getStateModifiers());

    CVFunctionLearner *vLearnerDiscDirect = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CDiscreteResidual(0.95), new CDirectGradient());

	CVFunctionLearner *vLearnerEulerDirect = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CContinuousEulerResidual(dynModel->getTimeIntervall(), 1.0), new CDirectGradient());

	CVFunctionLearner *vLearnerCoulomDirect = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CContinuousCoulomResidual(dynModel->getTimeIntervall(), 1.0), new CDirectGradient());

	CVFunctionLearner *vLearnerDiscConstBeta = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CDiscreteResidual(0.95), new CResidualBetaFunction(new CConstantBetaCalculator(0.4), new CDiscreteResidual(0.95)));

	CVFunctionLearner *vLearnerEulerConstBeta = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CContinuousEulerResidual(dynModel->getTimeIntervall(), 1.0),new CResidualBetaFunction(new CConstantBetaCalculator(0.4), new CContinuousEulerResidual(dynModel->getTimeIntervall(), 1.0)));

	CVFunctionLearner *vLearnerCoulomConstBeta = new CVFunctionGradientLearner(rewardFunction, rbfVFunction, new CContinuousCoulomResidual(dynModel->getTimeIntervall(), 1.0), new CResidualBetaFunction(new CConstantBetaCalculator(0.4), new CContinuousCoulomResidual(dynModel->getTimeIntervall(), 1.0)));

	CVFunctionLearner *vLearnerDiscVarBeta = new CVFunctionResidualLearner(rewardFunction, rbfVFunction, new CDiscreteResidual(0.95), new CDiscreteResidual(0.95),  new CVariableBetaCalculator(0.01, 0.9));

	CVFunctionLearner *vLearnerEulerVarBeta = new CVFunctionResidualLearner(rewardFunction, rbfVFunction, new CContinuousEulerResidual(dynModel->getTimeIntervall(), 1.0), new CContinuousEulerResidual(dynModel->getTimeIntervall(), 1.0), new CVariableBetaCalculator(0.01, 0.9));

	CVFunctionLearner *vLearnerCoulomVarBeta = new CVFunctionResidualLearner(rewardFunction, rbfVFunction, new CContinuousCoulomResidual(dynModel->getTimeIntervall(), 1.0), new CContinuousCoulomResidual(dynModel->getTimeIntervall(), 1.0), new CVariableBetaCalculator(0.01, 0.9));

	/*CContinuousActionPolicy *discVMPolicy = new CContinuousActionPolicy(dynModel->getContinuousAction(), new CGreedyDistribution(), qFunctionFromTransitionFunction, staticContActions, -1.0);

	CContinuousActionPolicy *contAddPolicy = new CContinuousActionPolicy(dynModel->getContinuousAction(), new CSoftMaxDistribution(), contqFunctionFromTransitionFunction, staticContActions, -1.0);*/

	CAgentController *discVMPolicy = new CVMStochasticPolicy(staticContActions, new CSoftMaxDistribution(10), rbfVFunction, dynModel, rewardFunction, agent->getStateModifiers());

	CAgentController *contVMPolicy = new CContinuousTimeVMPolicy(staticContActions, new CSoftMaxDistribution(10), vFunctionInputDerivation, dynModel, rewardFunction);

	CContinuousTimeAndActionSigmoidVMPolicy *contSigPolicy = new CContinuousTimeAndActionSigmoidVMPolicy(dynModel->getContinuousAction(), vFunctionInputDerivation, dynModel);

	contSigPolicy->setParameter("SigmoidPolicyCFactor", 100);
	
	CContinuousTimeAndActionBangBangVMPolicy *contBangBangPolicy = new CContinuousTimeAndActionBangBangVMPolicy(dynModel->getContinuousAction(), vFunctionInputDerivation, dynModel);

	contSigPolicy->setRandomController(contExploration);
	contBangBangPolicy->setRandomController(contExploration);

	CContinuousActionPolicy *discAddPolicy = new CContinuousActionPolicy(dynModel->getContinuousAction(), new CSoftMaxDistribution(1000.0), qFunctionFromTransitionFunction, staticContActions, 5.5);

	CContinuousActionPolicy *contAddPolicy = new CContinuousActionPolicy(dynModel->getContinuousAction(), new CSoftMaxDistribution(1000.0), contqFunctionFromTransitionFunction, staticContActions, 5.5);

	contSigPolicy->setRandomController(contExploration);
	contBangBangPolicy->setRandomController(contExploration);


	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscDirect, discVMPolicy, rbfVFunction, "VRBFDiscDirectDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerDirect, discVMPolicy, rbfVFunction, "VRBFEulerDirectDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomDirect, discVMPolicy, rbfVFunction, "VRBFCoulomDirectDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscConstBeta, discVMPolicy, rbfVFunction, "VRBFDiscConstBetaDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomConstBeta, discVMPolicy, rbfVFunction, "VRBFCoulomConstBetaDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerConstBeta, discVMPolicy, rbfVFunction, "VRBFEulerConstBetaDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscVarBeta, discVMPolicy, rbfVFunction, "VRBFDiscVarBetaDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerVarBeta, discVMPolicy, rbfVFunction, "VRBFEulerVarBetaDiscVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomVarBeta, discVMPolicy, rbfVFunction, "VRBFCoulomVarBetaDiscVMPolicy"));

	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscDirect, contVMPolicy, rbfVFunction, "VRBFDiscDirectContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerDirect, contVMPolicy, rbfVFunction, "VRBFEulerDirectContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomDirect, contVMPolicy, rbfVFunction, "VRBFCoulomDirectContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscConstBeta, contVMPolicy, rbfVFunction, "VRBFDiscConstBetaContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomConstBeta, contVMPolicy, rbfVFunction, "VRBFCoulomConstBetaContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerConstBeta, contVMPolicy, rbfVFunction, "VRBFEulerConstBetaContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerDiscVarBeta, contVMPolicy, rbfVFunction, "VRBFDiscVarBetaContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerEulerVarBeta, contVMPolicy, rbfVFunction, "VRBFEulerVarBetaContVMPolicy"));
	addTestSuite(new CListenerTestSuite(agent, vLearnerCoulomVarBeta, contVMPolicy, rbfVFunction, "VRBFCoulomVarBetaContVMPolicy"));