# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395370626 14400
# Node ID 7f3581dc58ff9b5d804d6efa19f0b6330ec1ea6e
# Parent  dd40244255d4e2d3aacd63d398e8f36e88bcb85d
completed phi-space tests; beginning main thesis pdf.

diff -r dd40244255d4 -r 7f3581dc58ff org/worm_learn.clj
--- a/org/worm_learn.clj	Thu Mar 20 20:54:37 2014 -0400
+++ b/org/worm_learn.clj	Thu Mar 20 22:57:06 2014 -0400
@@ -215,7 +215,7 @@
 (defn grand-circle?
   "Does the worm form a majestic circle (one end touching the other)?"
   [experiences]
-  (and true;; (curled? experiences)
+  (and (curled? experiences)
        (let [worm-touch (:touch (peek experiences))
              tail-touch (worm-touch 0)
              head-touch (worm-touch 4)]
@@ -380,7 +380,7 @@
   (loop [result '()
          [thread-bases & remaining :as phi-index-sets] phi-index-sets]
     (if (empty? phi-index-sets)
-      result
+      (vec result)
       (let [threads
             (for [thread-base thread-bases]
               (loop [thread (list thread-base)
@@ -407,15 +407,58 @@
   )
 
 
-(def ppp (atom ()))
 
-(defn debug-experience-phi [experiences]
-  (let [phi-indices (phi-scan (:proprioception (peek experiences)))]
-    (swap! ppp (partial cons phi-indices))
-    (println-repl phi-indices))
-  (cond
-   (grand-circle? experiences) (println "Grand Circle")
-   (curled? experiences)       (println "Curled")
-   (wiggling? experiences)     (println "Wiggling")
-   (resting? experiences)      (println "Resting"))
-  )
+
+
+(defn infer-nils
+  "Replace nils with the next available non-nil element in the
+   sequence, or barring that, 0."
+  [s]
+  (loop [i (dec (count s)) v (transient s)]
+    (if (= i 0) (persistent! v)
+        (let [cur (v i)]
+          (if cur
+            (if (get v (dec i) 0)
+              (recur (dec i) v)
+              (recur (dec i) (assoc! v (dec i) cur)))
+            (recur i (assoc! v i 0)))))))
+
+;; tests
+
+;;(infer-nils [1 nil 1 1]) [1 1 1 1]
+;;(infer-nils [1 1 1 nil]) [1 1 1 0]
+;;(infer-nils [nil 2 1 1]) [2 2 1 1]       
+  
+
+(defn debug-experience-phi []
+  (let [proprio (atom ())]
+    (fn
+      [experiences]
+      (let [phi-indices (phi-scan (:proprioception (peek experiences)))]
+        (swap! proprio (partial cons phi-indices))
+        (let [exp-thread (longest-thread (take 300 @proprio))
+              phi-loop (mapv phi-space (infer-nils exp-thread))]
+          (println-repl (vector:last-n exp-thread 22))
+          (cond
+           (grand-circle? phi-loop) (println "Grand Circle")
+           (curled? phi-loop)       (println "Curled")
+           (wiggling? phi-loop)     (println "Wiggling")
+           (resting? phi-loop)      (println "Resting")
+           :else                    (println "Unknown")))))))
+
+
+(defn init-interactive []
+  (def phi-space
+    (let [experiences (atom [])]
+      (run-world
+       (apply-map 
+        worm-world
+        (merge
+         (worm-world-defaults)
+         {:experiences experiences})))
+      @experiences))
+  (def phi-scan (gen-phi-scan phi-space)))
+    
+
+(defn run-experiment-1 []
+  (.start (worm-world :experience-watch (debug-experience-phi))))
\ No newline at end of file
diff -r dd40244255d4 -r 7f3581dc58ff thesis/org/roadmap.org
--- a/thesis/org/roadmap.org	Thu Mar 20 20:54:37 2014 -0400
+++ b/thesis/org/roadmap.org	Thu Mar 20 22:57:06 2014 -0400
@@ -213,11 +213,8 @@
     CLOCK: [2014-03-19 Wed 22:07]
 
 
-
-*** TODO create test videos, also record positions of worm segments
-    SCHEDULED: <2014-03-19 Wed>
-
-
+*** DONE create test videos, also record positions of worm segments
+    CLOSED: [2014-03-20 Thu 22:02] SCHEDULED: <2014-03-19 Wed>
 
 *** TODO Collect intro, worm-learn and cortex creation into draft thesis.