# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395280926 14400
# Node ID 9e52b6730fd07b3db1608f16dc9b657608395608
# Parent  af7945c274740367dc79b7ebf18ca4c9f2fa66a8
phi-space lookup works!

diff -r af7945c27474 -r 9e52b6730fd0 org/worm_learn.clj
--- a/org/worm_learn.clj	Wed Mar 19 21:46:58 2014 -0400
+++ b/org/worm_learn.clj	Wed Mar 19 22:02:06 2014 -0400
@@ -253,48 +253,8 @@
   (swap! experiences #(conj % data)))
 
 
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-;;;;;;;;   Phi-Space   ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 
-(defn generate-phi-space []
-  (let [experiences (atom [])]
-    (run-world
-     (apply-map 
-      worm-world
-      (merge
-       (worm-world-defaults)
-       {:end-frame 700
-        :motor-control
-        (motor-control-program worm-muscle-labels do-all-the-things)
-        :experiences experiences})))
-    @experiences))
-  
-
-(defn bin [digits]
-  (fn [angles]
-    (->> angles
-         (flatten)
-         (map (juxt #(Math/sin %) #(Math/cos %)))
-         (flatten)
-         (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
-
-;; k-nearest neighbors with spatial binning.
-(defn gen-phi-scan [phi-space]
-  (let [bin-keys (reverse (map bin (range 4)))
-        bin-maps
-        (map (fn [bin-key phi-space]
-               (group-by (comp bin-key :proprioception) phi-space))
-             bin-keys (repeat phi-space))
-        lookups (map (fn [bin-key bin-map]
-                      (fn [proprio] (bin-map (bin-key proprio))))
-                    bin-keys bin-maps)]
-    (fn lookup [proprio-data]
-      (some #(% proprio-data) lookups))))
-
-
-
-
+(declare phi-space phi-scan)
 
 (defn worm-world
   [& {:keys [record motor-control keybindings view experiences
@@ -339,6 +299,9 @@
               experiences {:touch touch-data
                            :proprioception proprioception-data
                            :muscle muscle-data})
+             (if-let [res (phi-scan proprioception-data)]
+               (println-repl "lookup successful --" (count res))
+               (println-repl "lookup failed"))
              (cond
               (grand-circle? @experiences) (println "Grand Circle")
               (curled? @experiences)       (println "Curled")
@@ -357,3 +320,46 @@
 
 
 
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;;;;;;;   Phi-Space   ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(defn generate-phi-space []
+  (let [experiences (atom [])]
+    (run-world
+     (apply-map 
+      worm-world
+      (merge
+       (worm-world-defaults)
+       {:end-frame 700
+        :motor-control
+        (motor-control-program worm-muscle-labels do-all-the-things)
+        :experiences experiences})))
+    @experiences))
+  
+
+(defn bin [digits]
+  (fn [angles]
+    (->> angles
+         (flatten)
+         (map (juxt #(Math/sin %) #(Math/cos %)))
+         (flatten)
+         (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
+
+;; k-nearest neighbors with spatial binning.
+(defn gen-phi-scan [phi-space]
+  (let [bin-keys (map bin [3 2 1])
+        bin-maps
+        (map (fn [bin-key phi-space]
+               (group-by (comp bin-key :proprioception) phi-space))
+             bin-keys (repeat phi-space))
+        lookups (map (fn [bin-key bin-map]
+                      (fn [proprio] (bin-map (bin-key proprio))))
+                    bin-keys bin-maps)]
+    (fn lookup [proprio-data]
+      (some #(% proprio-data) lookups))))
+
+(defn init []
+  (def phi-space (generate-phi-space))
+  (def phi-scan (gen-phi-scan phi-space))
+  )