# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395103936 14400
# Node ID 9b4a4da08b784d0f3c0afa3b7b8143ee84efb80a
# Parent  939bcc5950b2d7d0bab857e2a692199a0aee209c
worming on stream predicates.

diff -r 939bcc5950b2 -r 9b4a4da08b78 org/worm_learn.clj
--- a/org/worm_learn.clj	Mon Mar 17 17:29:59 2014 -0400
+++ b/org/worm_learn.clj	Mon Mar 17 20:52:16 2014 -0400
@@ -111,29 +111,45 @@
 ;; body-centered action recognition and what I hope to show with this
 ;; thesis.
 
-(defn last-nth
-  "Create function that will, when called each frame with the senses
-   of a creature, will record those results and return the last n
-   results."
-  [n]
-  (let [last-n  '()]
-    (fn [frame-num {:keys [touch proprioception muscles hearing]}]
-      (take n (cons [frame-num :stuff] last-n)))))
-      
+
+(defn straight?
+  "Is the worm straight?"
+  [experiences]
+  (every?
+   (fn [[_ _ bend]]
+     (< (Math/sin bend) 0.05))
+   (:proprioception (peek experiences))))
+
+(defn curled?
+  "Is the worm curled up?"
+  [experiences]
+  (every?
+   (fn [[_ _ bend]]
+     (> (Math/sin bend) 0.64))
+   (:proprioception (peek experiences))))
+
+(defn grand-circle?
+  "Does the worm form a majestic circle (one end touching the other)?"
+  [experiences]
+  (and (curled? experiences)
+       true))
+
+(defn vector:last-n [v n]
+  (let [c (count v)]
+    (if (< c n) v
+        (subvec v (- c n) c))))
 
 (defn wiggling?
-  "Generate a function which, when called each frame with the sensory
-   inputs of a worm, will determine whether the worm is wiggling."
-  [{:keys [touch proprioception muscles hearing]}]
-  (map (fn [f] (f)) proprioception
-   
+  "Is the worm wiggling?"
+  [experiences]
+  (vector:last-n
+  
 
 ))
 
-(defn curling?
-  "Is the worm curled up?"
-  []
-  )
+
+
+
 
 (defn resting?
   "Is the worm on the ground in a neutral position?"
@@ -156,15 +172,19 @@
     {:view worm-side-view
      :motor-control (:motor-control direct-control)
      :keybindings (:keybindings direct-control)
-     :record nil}))
+     :record nil
+     :experiences nil}))
 
 (defn dir! [file]
   (if (not (.exists file))
     (.mkdir file))
   file)
-  
+
+(defn record-experience! [experiences data]
+  (swap! experiences #(conj % data)))
+
 (defn worm-world
-  [& {:keys [record motor-control keybindings view] :as settings}]
+  [& {:keys [record motor-control keybindings view experiences] :as settings}]
   (let [{:keys [record motor-control keybindings view]}
         (merge (worm-world-defaults) settings)
         worm (doto (worm-model) (body!))
@@ -194,17 +214,23 @@
          (speed-up world)
          (light-up-everything world))
        (fn [world tpf]
-         (let [strong! (motor-control muscles)]
-           (println strong!)
+         (let [muscle-data (motor-control muscles)
+               proprioception-data (prop)
+               touch-data (map #(% (.getRootNode world)) touch)]
+           (when experiences
+             (record-experience!
+              experiences {:touch touch-data
+                           :proprioception proprioception-data
+                           :muscle muscle-data})
+             (if (curled? @experiences) (println "Curled"))
+             (if (straight? @experiences)    (println "Straight"))
+             )
            (muscle-display
-            strong!
-            (if record (dir! (File. record "muscle")))))
-         (prop-display
-          (prop)
-          (if record (dir! (File. record "proprio"))))
-         (touch-display 
-          (map #(% (.getRootNode world)) touch)
-          (if record
-            (File. record "touch")))))))
-
-   
\ No newline at end of file
+            muscle-data
+            (if record (dir! (File. record "muscle"))))
+           (prop-display
+            proprioception-data
+            (if record (dir! (File. record "proprio"))))
+           (touch-display 
+            touch-data
+            (if record (dir! (File. record "touch")))))))))
diff -r 939bcc5950b2 -r 9b4a4da08b78 thesis/org/roadmap.org
--- a/thesis/org/roadmap.org	Mon Mar 17 17:29:59 2014 -0400
+++ b/thesis/org/roadmap.org	Mon Mar 17 20:52:16 2014 -0400
@@ -188,9 +188,10 @@
 *** DONE complete debug control of worm
     CLOSED: [2014-03-17 Mon 17:29] SCHEDULED: <2014-03-17 Mon>
     CLOCK: [2014-03-17 Mon 14:01]--[2014-03-17 Mon 17:29] =>  3:28
-*** TODO add phi-space output to debug control
-    SCHEDULED: <2014-03-17 Mon>
-*** TODO complete phi-stream action predicatates; test them with debug control
+*** DONE add phi-space output to debug control
+    CLOSED: [2014-03-17 Mon 17:42] SCHEDULED: <2014-03-17 Mon>
+    CLOCK: [2014-03-17 Mon 17:31]--[2014-03-17 Mon 17:42] =>  0:11
+*** TODO complete three phi-stream action predicatates; test them with debug control
     SCHEDULED: <2014-03-17 Mon>
 *** TODO create test videos, also record positions of worm segments
     SCHEDULED: <2014-03-17 Mon>
@@ -199,4 +200,4 @@
 
 
 *** TODO Collect intro, worm-learn and cortex creation into draft thesis. 
-
+