Changes from cpp branch

build.sh

@@ -5,10 +5,10 @@ set -e
 Str=`ls src/*.c src/NetworkNAR/*.c | xargs`
 echo $Str
 echo "Compilation started:"
-BaseFlags="-flto -g -pthread -lpthread -D_POSIX_C_SOURCE=199506L -pedantic -std=c99 -g3 -O3 $Str -lm -oNAR"
-NoWarn="-Wno-unknown-pragmas -Wno-tautological-compare -Wno-dollar-in-identifier-extension -Wno-unused-parameter -Wno-unused-variable -Wno-strict-prototypes"
-gcc $@ -DSTAGE=1 -Wall -Wextra -Wformat-security $NoWarn $BaseFlags
+BaseFlags="-flto -g -pthread -lpthread -D_POSIX_C_SOURCE=199506L -std=c++17 -g3 -O3 $Str -lm -oNAR"
+NoWarn="-Wno-unknown-pragmas -Wno-tautological-compare -Wno-dollar-in-identifier-extension -Wno-unused-parameter -Wno-unused-variable -Wno-write-strings -Wno-missing-field-initializers -Wno-narrowing -Wno-strict-prototypes -Wno-c++20-compat -Wno-missing-braces"
+g++ $@ -DSTAGE=1 -Wall -Wextra -Wformat-security $NoWarn $BaseFlags
 echo "First stage done, generating RuleTable.c now, and finishing compilation."
 ./NAR NAL_GenerateRuleTable > ./src/RuleTable.c
-gcc $@ -mfpmath=sse -msse2 -DSTAGE=2 $NoWarn $BaseFlags src/RuleTable.c || (echo "Error with SSE, hence compiling without SSE:" && gcc $@ -DSTAGE=2 $NoWarn $BaseFlags src/RuleTable.c)
+g++ $@ -mfpmath=sse -msse2 -DSTAGE=2 $NoWarn $BaseFlags src/RuleTable.c || (echo "Error with SSE, hence compiling without SSE:" && g++ $@ -DSTAGE=2 $NoWarn $BaseFlags src/RuleTable.c)
 echo "Done."

src/Cycle.c

@@ -36,7 +36,7 @@ static long conceptProcessID3 = 0; //avoids duplicate concept processing
         while(chain != NULL) \
         { \
             Concept *CONCEPT = chain->c; \
-            chain = chain->next; \
+            chain = (ConceptChainElement*) chain->next; \
             if(CONCEPT != NULL && CONCEPT->processID != conceptProcessID) \
             { \
                 CONCEPT->processID = conceptProcessID; \
@@ -790,7 +790,7 @@ void Cycle_RelativeForgetting(long currentTime)
     //Apply concept forgetting:
     for(int i=0; i<concepts.itemsAmount; i++)
     {
-        Concept *c = concepts.items[i].address;
+        Concept *c = (Concept*) concepts.items[i].address;
         c->priority *= CONCEPT_DURABILITY;
         concepts.items[i].priority = Usage_usefulness(c->usage, currentTime); //how concept memory is sorted by, by concept usefulness
     }

src/Decision.c

@@ -312,13 +312,13 @@ static Decision Decision_ConsiderNegativeOutcomes(Decision decision)
     //1. discount decision based on negative outcomes via revision
     for(int i=0; i<concepts.itemsAmount; i++)
     {
-        Concept *c = concepts.items[i].address;
+        Concept *c = (Concept*) concepts.items[i].address;
         if(c->goal_spike.type != EVENT_TYPE_DELETED && (currentTime - c->goal_spike.occurrenceTime) < NEG_GOAL_AGE_MAX)
         {
             for(int j=0; j<c->precondition_beliefs[decision.operationID[0]].itemsAmount; j++)
             {
                 Implication imp = c->precondition_beliefs[decision.operationID[0]].array[j];
-                Concept *prec = imp.sourceConcept;
+                Concept *prec = (Concept*) imp.sourceConcept;
                 if(prec->belief_spike.type != EVENT_TYPE_DELETED && currentTime - prec->belief_spike.occurrenceTime < EVENT_BELIEF_DISTANCE)
                 {
                     Term imp_subject = Term_ExtractSubterm(&imp.term, 1);
@@ -353,7 +353,7 @@ static Decision Decision_ConsiderImplication(long currentTime, Event *goal, Impl
         puts("");
     )
     //now look at how much the precondition is fulfilled
-    Concept *prec = imp->sourceConcept;
+    Concept *prec = (Concept*) imp->sourceConcept;
     Event *precondition = &prec->belief_spike; //a. :|:
     if(precondition != NULL)
     {
@@ -440,7 +440,7 @@ Decision Decision_BestCandidate(Concept *goalconcept, Event *goal, long currentT
                     Term left_side = Narsese_GetPreconditionWithoutOp(&left_side_with_op); //might be something like <#1 --> a>
                     for(int cmatch_k=0; cmatch_k<concepts.itemsAmount; cmatch_k++)
                     {
-                        Concept *cmatch = concepts.items[cmatch_k].address;
+                        Concept *cmatch = (Concept*) concepts.items[cmatch_k].address;
                         if(!Variable_hasVariable(&cmatch->term, true, true, true) && cmatch->belief_spike.type != EVENT_TYPE_DELETED)
                         {
                             Substitution subs2 = Variable_UnifyWithAnalogy(cmatch->belief_spike.truth, &left_side, &cmatch->term);
@@ -558,7 +558,7 @@ void Decision_Anticipate(int operationID, Term opTerm, bool declarative, long cu
     assert(operationID >= 0 && operationID <= OPERATIONS_MAX, "Wrong operation id, did you inject an event manually?");
     for(int j=0; j<concepts.itemsAmount; j++)
     {
-        Concept *postc = concepts.items[j].address;
+        Concept *postc = (Concept*) concepts.items[j].address;
         Implication valid_implications[TABLE_SIZE*2] = {0};
         int k=0;
         if(!declarative)
@@ -593,7 +593,7 @@ void Decision_Anticipate(int operationID, Term opTerm, bool declarative, long cu
         for(int h=0; h<k; h++)
         {
             Implication imp = valid_implications[h]; //(&/,a,op) =/> b.
-            Concept *current_prec = imp.sourceConcept;
+            Concept *current_prec = (Concept*) imp.sourceConcept;
             Event *precondition = &current_prec->belief_spike;
             if(precondition != NULL && precondition->type != EVENT_TYPE_DELETED)
             {

src/HashTable.c

@@ -28,7 +28,7 @@ void *HashTable_Get(HashTable *hashtable, void *key)
 {
     HASH_TYPE keyhash = hashtable->hash(key) % hashtable->buckets;
     VMItem *item = hashtable->HT[keyhash];
-    for(; item!=NULL; item=item->next)
+    for(; item!=NULL; item=(VMItem*) item->next)
     {
         if(hashtable->equal(item->key, key))
         {
@@ -56,11 +56,11 @@ void HashTable_Set(HashTable *hashtable, void *key, void *value)
             if(item->next == NULL)
                 break;
             else
-                item=item->next;
+                item=(VMItem*) item->next;
         }
     }
     //Retrieve recycled VMItem from the stack and set its value to c
-    VMItem *popped = Stack_Pop(&hashtable->VMStack);
+    VMItem *popped = (VMItem*) Stack_Pop(&hashtable->VMStack);
     popped->value = value;
     popped->key = key;
     popped->next = NULL;
@@ -90,15 +90,15 @@ void HashTable_Delete(HashTable *hashtable, void *key)
         return;
     }
     //If there is more than 1 item, we have to remove the item from chain, relinking previous to next
-    for(; item!=NULL; previous=item, item=item->next)
+    for(; item!=NULL; previous=item, item=(VMItem*) item->next)
     {
         //item found?
         if(hashtable->equal(item->key, key))
         {
             //remove item and return
             if(previous == NULL)
             {
-                hashtable->HT[keyhash] = item->next;
+                hashtable->HT[keyhash] = (VMItem*) item->next;
             }
             else
             {
@@ -140,7 +140,7 @@ int HashTable_MaximumChainLength(HashTable *hashtable)
     {
         VMItem *item = hashtable->HT[i];
         int cnt = 0;
-        for(;item != NULL; item=item->next, cnt++);
+        for(;item != NULL; item=(VMItem*) item->next, cnt++);
         maxlen = MAX(maxlen, cnt);
     }
     return maxlen;

src/InvertedAtomIndex.c

@@ -54,7 +54,7 @@ void InvertedAtomIndex_AddConcept(Term term, Concept *c)
             ConceptChainElement *elem = invertedAtomIndex[atom];
             if(elem == NULL)
             {
-                ConceptChainElement *newElem = Stack_Pop(&conceptChainElementStack); //new item
+                ConceptChainElement *newElem = (ConceptChainElement*) Stack_Pop(&conceptChainElementStack); //new item
                 newElem->c = c;
                 invertedAtomIndex[atom] = newElem;
             }
@@ -69,10 +69,10 @@ void InvertedAtomIndex_AddConcept(Term term, Concept *c)
                         goto NEXT_ATOM;
                     }
                     previous = elem;
-                    elem = elem->next;
+                    elem = (ConceptChainElement*) elem->next;
                 }
                 //ok, we can add it as previous->next
-                ConceptChainElement *newElem = Stack_Pop(&conceptChainElementStack); //new item
+                ConceptChainElement *newElem = (ConceptChainElement*) Stack_Pop(&conceptChainElementStack); //new item
                 newElem->c = c;
                 previous->next = newElem;
             }
@@ -96,7 +96,7 @@ void InvertedAtomIndex_RemoveConcept(Term term, Concept *c)
                 {
                     if(previous == NULL) //item was the initial chain element, let the next element be the initial now
                     {
-                        invertedAtomIndex[atom] = elem->next;
+                        invertedAtomIndex[atom] = (ConceptChainElement*) elem->next;
                     }
                     else //item was within the chain, relink the previous to the next of elem
                     {
@@ -110,7 +110,7 @@ void InvertedAtomIndex_RemoveConcept(Term term, Concept *c)
                     goto NEXT_ATOM;
                 }
                 previous = elem;
-                elem = elem->next;
+                elem = (ConceptChainElement*) elem->next;
             }
         }
         NEXT_ATOM:;
@@ -134,7 +134,7 @@ void InvertedAtomIndex_Print()
                 fputs(" -> ", stdout);
                 Narsese_PrintTerm(&c->term);
                 puts("");
-                elem = elem->next;
+                elem = (ConceptChainElement*) elem->next;
             }
         }
     }

src/Memory.c

@@ -103,7 +103,7 @@ void Memory_INIT()
 
 Concept *Memory_FindConceptByTerm(Term *term)
 {
-    return HashTable_Get(&HTconcepts, term);
+    return (Concept*) HashTable_Get(&HTconcepts, term);
 }
 
 Concept* Memory_Conceptualize(Term *term, long currentTime)
@@ -116,7 +116,7 @@ Concept* Memory_Conceptualize(Term *term, long currentTime)
         PriorityQueue_Push_Feedback feedback = PriorityQueue_Push(&concepts, 1);
         if(feedback.added)
         {
-            recycleConcept = feedback.addedItem.address;
+            recycleConcept = (Concept*) feedback.addedItem.address;
             //if something was evicted in the adding process delete from hashmap first
             if(feedback.evicted)
             {
@@ -159,7 +159,7 @@ static bool Memory_containsEvent(PriorityQueue *queue, Event *event)
 {
     for(int i=0; i<queue->itemsAmount; i++)
     {
-        if(Event_Equal(event, queue->items[i].address))
+        if(Event_Equal(event, (Event*) queue->items[i].address))
         {
             return true;
         }
@@ -227,8 +227,8 @@ bool Memory_addCyclingEvent(Event *e, double priority, long currentTime, int lay
     PriorityQueue_Push_Feedback feedback = PriorityQueue_Push(priority_queue, priority);
     if(feedback.added)
     {
-        Event *toRecycle = feedback.addedItem.address;
-        *toRecycle = *e;
+        Event *toRecyle = (Event*) feedback.addedItem.address;
+        *toRecyle = *e;
         return true;
     }
     return false;

src/NAR.c

@@ -150,7 +150,7 @@ void NAR_AddInputNarsese2(char *narsese_sentence, bool queryCommand, double answ
         fflush(stdout);
         for(int i=0; i<concepts.itemsAmount; i++)
         {
-            Concept *c = concepts.items[i].address;
+            Concept *c = (Concept*) concepts.items[i].address;
             //compare the predicate of implication, or if it's not an implication, the term
             Term toCompare = isImplication ? Term_ExtractSubterm(&term, 2) : term;
             Truth unused = (Truth) {0};

src/NetworkNAR/UDPNAR.c

@@ -43,7 +43,8 @@ void* Reasoner_Thread_Run(void* timestep_address)
         pthread_mutex_unlock(&nar_mutex);
         if(timestep >= 0)
         {
-            nanosleep((struct timespec[]){{0, timestep}}, NULL); //POSIX sleep for timestep nanoseconds
+            struct timespec ts = {0, timestep};
+            nanosleep(&ts, NULL); //wait another timestep
         }
     }
     return NULL;

src/Shell.c

@@ -162,7 +162,7 @@ int Shell_ProcessInput(char *line)
             puts("//*concepts");
             for(int i=0; i<concepts.itemsAmount; i++)
             {
-                Concept *c = concepts.items[i].address;
+                Concept *c = (Concept*) concepts.items[i].address;
                 assert(c != NULL, "Concept is null");
                 fputs("//", stdout);
                 Narsese_PrintTerm(&c->term);
@@ -213,7 +213,7 @@ int Shell_ProcessInput(char *line)
             puts("//*cycling_belief_events");
             for(int i=0; i<cycling_belief_events.itemsAmount; i++)
             {
-                Event *e = cycling_belief_events.items[i].address;
+                Event *e = (Event*) cycling_belief_events.items[i].address;
                 assert(e != NULL, "Event is null");
                 Narsese_PrintTerm(&e->term);
                 printf(": { \"priority\": %f, \"time\": %ld } ", cycling_belief_events.items[i].priority, e->occurrenceTime);
@@ -229,7 +229,7 @@ int Shell_ProcessInput(char *line)
             {
                 for(int i=0; i<cycling_goal_events[layer].itemsAmount; i++)
                 {
-                    Event *e = cycling_goal_events[layer].items[i].address;
+                    Event *e = (Event*) cycling_goal_events[layer].items[i].address;
                     assert(e != NULL, "Event is null");
                     Narsese_PrintTerm(&e->term);
                     printf(": {\"priority\": %f, \"time\": %ld } ", cycling_goal_events[layer].items[i].priority, e->occurrenceTime);

src/Stats.c

@@ -47,7 +47,7 @@ void Stats_Print(long currentTime)
     double Stats_averageConceptPriority = 0.0;
     for(int i=0; i<concepts.itemsAmount; i++)
     {
-        Concept *c = concepts.items[i].address;
+        Concept *c = (Concept*) concepts.items[i].address;
         Stats_averageConceptPriority += c->priority;
     }
     Stats_averageConceptPriority /= (double) CONCEPTS_MAX;

src/system_tests/Alien_Test.h

@@ -23,21 +23,21 @@
  */
 
 bool NAR_Alien_Left_executed = false;
-Feedback NAR_Alien_Left()
+Feedback NAR_Alien_Left(Term args)
 {
     puts("NAR invoked left");
     NAR_Alien_Left_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Alien_Right_executed = false;
-Feedback NAR_Alien_Right()
+Feedback NAR_Alien_Right(Term args)
 {
     puts("NAR invoked right");
     NAR_Alien_Right_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Alien_Shoot_executed = false;
-Feedback NAR_Alien_Shoot()
+Feedback NAR_Alien_Shoot(Term args)
 {
     puts("NAR invoked shoot");
     NAR_Alien_Shoot_executed = true;

src/system_tests/Bandrobot_Test.h

@@ -39,13 +39,13 @@ Feedback NAR_Bandrobot_Right(Term args)
     return (Feedback) {0};
 }
 bool NAR_Bandrobot_Pick_executed = false;
-Feedback NAR_Bandrobot_Pick()
+Feedback NAR_Bandrobot_Pick(Term args)
 {
     NAR_Bandrobot_Pick_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Bandrobot_Drop_executed = false;
-Feedback NAR_Bandrobot_Drop()
+Feedback NAR_Bandrobot_Drop(Term args)
 {
     NAR_Bandrobot_Drop_executed = true;
     return (Feedback) {0};

src/system_tests/Cartpole_Test.h

@@ -3,7 +3,7 @@ static double angle = -3.1415/2.0;
 static double angle_velocity = 0.0;
 static double position = 0.0;
 static double max_angle_velocity = 0.3;
-static Feedback NAR_CP_Left()
+static Feedback NAR_CP_Left(Term args)
 {
     double reverse = angle > 0 ? 1 : -1;
     //if(position > 0.0 && position < 1.0)
@@ -13,7 +13,7 @@ static Feedback NAR_CP_Left()
     velocity -= 0.1;
     return (Feedback) {0};
 }
-static Feedback NAR_CP_Right()
+static Feedback NAR_CP_Right(Term args)
 {
     double reverse = angle > 0 ? 1 : -1;
     //if(position > 0.0 && position < 1.0)

src/system_tests/Follow_Test.h

@@ -23,14 +23,14 @@
  */
 
 bool NAR_Follow_Test_Left_executed = false;
-Feedback NAR_Follow_Test_Left()
+Feedback NAR_Follow_Test_Left(Term args)
 {
     puts("left executed by NAR");
     NAR_Follow_Test_Left_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Follow_Test_Right_executed = false;
-Feedback NAR_Follow_Test_Right()
+Feedback NAR_Follow_Test_Right(Term args)
 {
     puts("right executed by NAR");
     NAR_Follow_Test_Right_executed = true;

src/system_tests/Multistep_Test.h

@@ -23,14 +23,14 @@
  */
 
 bool NAR_Lightswitch_GotoSwitch_executed = false;
-Feedback NAR_Lightswitch_GotoSwitch()
+Feedback NAR_Lightswitch_GotoSwitch(Term args)
 {
     NAR_Lightswitch_GotoSwitch_executed = true;
     puts("NAR invoked goto switch");
     return (Feedback) {0};
 }
 bool NAR_Lightswitch_ActivateSwitch_executed = false;
-Feedback NAR_Lightswitch_ActivateSwitch()
+Feedback NAR_Lightswitch_ActivateSwitch(Term args)
 {
     NAR_Lightswitch_ActivateSwitch_executed = true;
     puts("NAR invoked activate switch");

src/system_tests/Pong2_Test.h

@@ -23,19 +23,19 @@
  */
 
 bool NAR_Pong_Left_executed = false;
-Feedback NAR_Pong_Left()
+Feedback NAR_Pong_Left(Term args)
 {
     NAR_Pong_Left_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Pong_Right_executed = false;
-Feedback NAR_Pong_Right()
+Feedback NAR_Pong_Right(Term args)
 {
     NAR_Pong_Right_executed = true;
     return (Feedback) {0};
 }
 bool NAR_Pong_Stop_executed = false;
-Feedback NAR_Pong_Stop()
+Feedback NAR_Pong_Stop(Term args)
 {
     NAR_Pong_Stop_executed = true;
     return (Feedback) {0};