# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395363277 14400
# Node ID dd40244255d4e2d3aacd63d398e8f36e88bcb85d
# Parent  027707c75f396cdca38c4a9286caef68617463f6
implemented phi-space threading... almost done!

diff -r 027707c75f39 -r dd40244255d4 org/worm_learn.clj
--- a/org/worm_learn.clj	Thu Mar 20 00:24:46 2014 -0400
+++ b/org/worm_learn.clj	Thu Mar 20 20:54:37 2014 -0400
@@ -243,22 +243,6 @@
    (resting? experiences)      (println "Resting")))
 
 
-(defn debug-experience
-  [experiences]
-  ;; (println-repl
-  ;;  (count (next-phi-states (:proprioception (peek experiences))
-  ;;                          phi-space phi-scan)))
-  (cond
-   (grand-circle? experiences) (println "Grand Circle")
-   (curled? experiences)       (println "Curled")
-   (wiggling? experiences)     (println "Wiggling")
-   (resting? experiences)      (println "Resting"))
-  )
-
-
-
-
-
 (def standard-world-view
   [(Vector3f. 4.207176, -3.7366982, 3.0816958)
    (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
@@ -386,10 +370,52 @@
                       (fn [proprio] (bin-map (bin-key proprio))))
                     bin-keys bin-maps)]
     (fn lookup [proprio-data]
-      (some #(% proprio-data) lookups))))
+      (set (some #(% proprio-data) lookups)))))
+
+
+(defn longest-thread
+  "Find the longest thread from phi-index-sets. The index sets should
+   be ordered from most recent to least recent."
+  [phi-index-sets]
+  (loop [result '()
+         [thread-bases & remaining :as phi-index-sets] phi-index-sets]
+    (if (empty? phi-index-sets)
+      result
+      (let [threads
+            (for [thread-base thread-bases]
+              (loop [thread (list thread-base)
+                     remaining remaining]
+                (let [next-index (dec (first thread))]
+                  (cond (empty? remaining) thread
+                        (contains? (first remaining) next-index)
+                        (recur
+                         (cons next-index thread) (rest remaining))
+                        :else thread))))
+            longest-thread
+            (reduce (fn [thread-a thread-b]
+                      (if (> (count thread-a) (count thread-b))
+                        thread-a thread-b))
+                    '(nil)
+                    threads)]
+        (recur (concat longest-thread result)
+               (drop (count longest-thread) phi-index-sets))))))
+
 
 (defn init []
   (def phi-space (generate-phi-space))
   (def phi-scan (gen-phi-scan phi-space))
   )
 
+
+(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"))
+  )