# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1328374837 25200
# Node ID 22548d48cc85c81f2668ebbe135e815463bd538c
# Parent  6142e85f58252f777cac90a86d3abb59c552bf82
added debug for vision

diff -r 6142e85f5825 -r 22548d48cc85 org/sense.org
--- a/org/sense.org	Sat Feb 04 09:42:19 2012 -0700
+++ b/org/sense.org	Sat Feb 04 10:00:37 2012 -0700
@@ -229,13 +229,20 @@
                              (range (count data)))))
       (dorun
        (map
-        (fn [display gen data]
-          (display (gen data)))
-        @windows sense-display-kernel data)))))
+        (fn [display datum]
+          (display (sense-display-kernel datum)))
+        @windows data)))))
 
-  
+(defn gray
+  "Create a gray RGB pixel with R, G, and B set to 'num"
+  [num]
+  (+ num
+     (bit-shift-left num 8)
+     (bit-shift-left num 16)))
+#+end_src
 
-#+end_src
+#+results: sense
+: #'cortex.sense/gray
 
 
 * COMMENT generate source
diff -r 6142e85f5825 -r 22548d48cc85 org/test-creature.org
--- a/org/test-creature.org	Sat Feb 04 09:42:19 2012 -0700
+++ b/org/test-creature.org	Sat Feb 04 10:00:37 2012 -0700
@@ -109,20 +109,6 @@
 ;; higher level --- sense/effector
 ;; these are the functions that provide world i/o, chinese-room style
 
-
-(defn debug-vision-window
-  "creates function that offers a debug view of sensor data"
-  []
-  (let [vi (view-image)]
-    (fn 
-      [[coords sensor-data]]
-      (let [image (points->image coords)]
-        (dorun
-         (for [i (range (count coords))]
-           (.setRGB image ((coords i) 0) ((coords i) 1)
-                   (sensor-data i))))
-        (vi image)))))
-
 (defn debug-hearing-window
   "view audio data"
   [height]
@@ -135,7 +121,7 @@
            (dorun
             (for [y (range height)]
               (let [raw-sensor (sensor-data x)]
-                (.setRGB image x y (gray-scale raw-sensor)))))))
+                (.setRGB image x y (gray raw-sensor)))))))
 
         (vi image)))))
         
@@ -150,9 +136,9 @@
                      (load-blender-model thing)
                    (body!))
         touch (touch! creature)
-        touch-view (view-touch)
-        vision-data (vision! creature)
-        vision-debug (map (fn [_] (debug-vision-window)) vision-data)
+        touch-display (view-touch)
+        vision (vision! creature)
+        vision-display (view-vision)
         me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
         hearing-senses (hearing! creature)
         hearing-windows (map (fn [_] (debug-hearing-window 50))
@@ -222,12 +208,11 @@
           
           (prop-debug (prop))
           
-          (touch-view (map #(% (.getRootNode world)) touch))
+          (touch-display (map #(% (.getRootNode world)) touch))
+
+          (vision-display (map #(% world) vision))
           
           (dorun
-           (map #(%1 (%2 world))
-                vision-debug vision-data))
-          (dorun
            (map #(%1 (%2 world)) hearing-windows hearing-senses))
           
           
diff -r 6142e85f5825 -r 22548d48cc85 org/touch.org
--- a/org/touch.org	Sat Feb 04 09:42:19 2012 -0700
+++ b/org/touch.org	Sat Feb 04 10:00:37 2012 -0700
@@ -300,15 +300,10 @@
         (filter #(isa? (class %) Geometry)
                 (node-seq creature)))))
 
-(defn gray
-  "Create a gray RGB pixel with R, G, and B set to 'num"
-  [num]
-  (+ num
-     (bit-shift-left num 8)
-     (bit-shift-left num 16)))
-
-(defvar
-  view-touch 
+(defn view-touch 
+  "Creates a function which accepts touch sensor-data and displays it
+   to the screen."
+  []
   (view-sense
    (fn 
      [[coords sensor-data]]
@@ -317,9 +312,7 @@
         (for [i (range (count coords))]
           (.setRGB image ((coords i) 0) ((coords i) 1)
                    (gray (sensor-data i)))))
-       image)))
-  "Creates a function which accepts touch sensor-data and displays it
-   as BufferedImages in JFrames.")
+       image))))
  
 
 #+end_src
diff -r 6142e85f5825 -r 22548d48cc85 org/vision.org
--- a/org/vision.org	Sat Feb 04 09:42:19 2012 -0700
+++ b/org/vision.org	Sat Feb 04 10:00:37 2012 -0700
@@ -237,6 +237,20 @@
    (for [eye (eyes creature)]
      (vision-fn creature eye))))
 
+(defvar 
+  view-vision
+  (view-sense
+   (fn 
+     [[coords sensor-data]]
+     (let [image (points->image coords)]
+       (dorun
+        (for [i (range (count coords))]
+          (.setRGB image ((coords i) 0) ((coords i) 1)
+                   (sensor-data i))))
+       image)))
+  "Creates a function which accepts visual sensor-data and displays it
+   to the screen.")
+
 #+end_src