Update: removal of helpers in robot and bandrobot, further improvemen…

…ts, on the way to using the existing value handling also for bandrobot

examples/nal/learnwords.nal

@@ -65,9 +65,9 @@
 *concurrent
 <(right * CAR) --> ocr>. :|:
 <(below * ?1) --> shape>? :/:
-//expected: Answer: <(below * truck) --> shape>. :|: occurrenceTime=3320 Truth: frequency=0.849101, confidence=0.205383
+//--expected: Answer: <(below * truck) --> shape>. :|: occurrenceTime=3320 Truth: frequency=0.849101, confidence=0.205383
 <(below * ?1) --> speed>? :/:
-//expected: Answer: <(below * slow) --> speed>. :|: occurrenceTime=3320 Truth: frequency=0.636178, confidence=0.212796
+//--expected: Answer: <(below * slow) --> speed>. :|: occurrenceTime=3320 Truth: frequency=0.636178, confidence=0.212796
 
 1000
 

src/Config.h

@@ -99,7 +99,7 @@
 /* Temporal compounding parameters */
 /*---------------------------------*/
 //Maximum length of sequences
-#define MAX_SEQUENCE_LEN 2
+#define MAX_SEQUENCE_LEN 3
 //Maximum compound op length
 #define MAX_COMPOUND_OP_LEN 1
 //Max. occurrence time distance between precondition and consequence

src/Cycle.c

@@ -89,7 +89,7 @@ static Decision Cycle_ProcessSensorimotorEvent(Event *e, long currentTime)
     {
         return best_decision;
     }
-    if(Narsese_copulaEquals(e->term.atoms[0], SEQUENCE))
+    if(Narsese_copulaEquals(e->term.atoms[0], SEQUENCE) && !Variable_hasVariable(&e->term, true, true, false))
     {
         OccurrenceTimeIndex_Add(c, &occurrenceTimeIndex); //created sequences don't go to the index otherwise
     }
@@ -375,7 +375,7 @@ void Cycle_ProcessBeliefEvents(long currentTime)
     {
         Event *toProcess = &selectedBeliefs[h];
         assert(toProcess != NULL, "Cycle.c: toProcess is NULL!");
-        bool isContinuousPropertyStatement = Narsese_copulaEquals(toProcess->term.atoms[0], HAS_CONTINUOUS_PROPERTY);
+        bool isContinuousPropertyStatement = Narsese_copulaEquals(toProcess->term.atoms[0], HAS_CONTINUOUS_PROPERTY) && !Narsese_copulaEquals(toProcess->term.atoms[1], PRODUCT);
         if(!isContinuousPropertyStatement && !toProcess->processed && toProcess->type != EVENT_TYPE_DELETED && toProcess->occurrenceTime != OCCURRENCE_ETERNAL && (currentTime - toProcess->occurrenceTime) < CORRELATE_OUTCOME_RECENCY)
         {
             assert(toProcess->type == EVENT_TYPE_BELIEF, "A different event type made it into belief events!");
@@ -475,7 +475,8 @@ void Cycle_ProcessBeliefEvents(long currentTime)
                                     Term ATTR1 = Term_ExtractSubterm(&seq.term, 4);
                                     Term ATTR2 = Term_ExtractSubterm(&seq.term, 6);
                                     if(COMPOUND_TERM_SIZE_MAX >= 16 &&
-                                       seq.term.atoms[0] == Narsese_CopulaIndex(SEQUENCE) && seq.term.atoms[1] == Narsese_CopulaIndex(INHERITANCE) && seq.term.atoms[2] == Narsese_CopulaIndex(INHERITANCE) &&
+                                       seq.term.atoms[0] == Narsese_CopulaIndex(SEQUENCE) && (seq.term.atoms[1] == Narsese_CopulaIndex(INHERITANCE) || seq.term.atoms[1] == Narsese_CopulaIndex(HAS_CONTINUOUS_PROPERTY)) &&
+                                                                                             (seq.term.atoms[2] == Narsese_CopulaIndex(INHERITANCE) || seq.term.atoms[2] == Narsese_CopulaIndex(HAS_CONTINUOUS_PROPERTY)) &&
                                        seq.term.atoms[3] == Narsese_CopulaIndex(PRODUCT) && seq.term.atoms[5] == Narsese_CopulaIndex(PRODUCT) && Term_Equal(&ATTR1, &ATTR2))
                                     {
                                         Atom REL_EQU = Narsese_CopulaIndex(SIMILARITY);

src/Memory.c

@@ -337,7 +337,8 @@ void Memory_ProcessNewBeliefEvent(Event *event, long currentTime, double priorit
         Concept *c = Memory_Conceptualize(&event->term, currentTime);
         if(c != NULL)
         {
-            if(event->occurrenceTime != OCCURRENCE_ETERNAL && !Narsese_copulaEquals(event->term.atoms[0], HAS_CONTINUOUS_PROPERTY))
+            bool isContinuousPropertyStatement = Narsese_copulaEquals(event->term.atoms[0], HAS_CONTINUOUS_PROPERTY) && !Narsese_copulaEquals(event->term.atoms[1], PRODUCT);
+            if(event->occurrenceTime != OCCURRENCE_ETERNAL && !isContinuousPropertyStatement)
             {
                 OccurrenceTimeIndex_Add(c, &occurrenceTimeIndex);
             }

src/Shell.c

@@ -304,12 +304,12 @@ int Shell_ProcessInput(char *line)
         else
         if(!strncmp("*setvalue ", line, strlen("*setvalue ")))
         {
-            int granularity;
-            double value;
+            int granularity = -1;
+            double value = 0.0;
             char termname[ATOMIC_TERM_LEN_MAX+1] = {0};
             termname[ATOMIC_TERM_LEN_MAX-1] = 0;
             sscanf(&line[strlen("*setvalue ")], "%lf %d %" STR(ATOMIC_TERM_LEN_MAX) "s", &value, &granularity, (char*) &termname);
-            assert(granularity >= 1 && granularity <= 1000, "Granularity out of bounds!");
+            assert(granularity >= 1 && granularity <= 1000, "Granularity out of bounds or parameter order not respected!");
             char termname_ext[ATOMIC_TERM_LEN_MAX+1] = {0};
             termname_ext[ATOMIC_TERM_LEN_MAX-1] = 0;
             const char* sep = termname[0] ? "_" : "";

src/Variable.c

@@ -151,7 +151,7 @@ Term Variable_ApplySubstitute(Term general, Substitution substitution, bool *suc
 static void countStatementAtoms(Term *cur_inheritance, HashTable *appearing, bool extensionally, bool ignore_structure, bool spatial_composition)
 {
     bool similarity = Narsese_copulaEquals(cur_inheritance->atoms[0], SIMILARITY);
-    if(Narsese_copulaEquals(cur_inheritance->atoms[0], INHERITANCE) || similarity) //inheritance and similarity
+    if((Narsese_copulaEquals(cur_inheritance->atoms[0], HAS_CONTINUOUS_PROPERTY) && !Narsese_copulaEquals(cur_inheritance->atoms[1], PRODUCT) && extensionally) || Narsese_copulaEquals(cur_inheritance->atoms[0], INHERITANCE) || similarity) //inheritance and similarity
     {
         Term subject = Term_ExtractSubterm(cur_inheritance, 1);
         Term predicate = Term_ExtractSubterm(cur_inheritance, 2);
@@ -233,8 +233,8 @@ static void countHigherOrderStatementAtoms(Term *term, HashTable *appearing, boo
     {
         Term subject = Term_ExtractSubterm(term, 1);
         Term predicate = Term_ExtractSubterm(term, 2);
-        countHigherOrderStatementAtoms(&subject, appearing, extensionally || Narsese_copulaEquals(term->atoms[0], SEQUENCE));
-        countHigherOrderStatementAtoms(&predicate, appearing, extensionally || Narsese_copulaEquals(term->atoms[0], SEQUENCE));
+        countHigherOrderStatementAtoms(&subject, appearing, extensionally);
+        countHigherOrderStatementAtoms(&predicate, appearing, extensionally);
         return;
     }
     countStatementAtoms(term, appearing, extensionally, false, Narsese_copulaEquals(term->atoms[0], INT_SET));

src/system_tests/Bandrobot_Test.h

@@ -53,24 +53,26 @@ Feedback NAR_Bandrobot_Drop()
 
 void NAR_Bandrobot(long iterations)
 {
-    char initial[] = "+++++++++++++++++++++|\n"
-                     "---------------------|\n"
-                     "                     |\n"
-                     "                     |\n"
-                     "                     |\n"
-                     "'''''''''''''''''''''|\n";
+    char initial[] = "+++++|\n"
+                     "-----|\n"
+                     "     |\n"
+                     "     |\n"
+                     "     |\n"
+                     "'''''|\n";
     puts(">>NAR Bandrobot start");
     NAR_AddOperation("^left", NAR_Bandrobot_Left);
     NAR_AddOperation("^right", NAR_Bandrobot_Right);
     NAR_AddOperation("^pick", NAR_Bandrobot_Pick); 
     NAR_AddOperation("^drop", NAR_Bandrobot_Drop);
     Shell_ProcessInput("*questionpriming=0.0"); //questions are only used for debug here, not to influence attention
+    Shell_ProcessInput("*space 100 P");
+    Shell_ProcessInput("*similaritydistance=100000.0");
     long t = 0;
     int minpos = 0.0;
-    int maxpos = 20.0;
+    int maxpos = 4.0;
     int position = 0;
     int targetposition = 1; //maxpos; //maxpos/2;
-    int goalposition = 3;
+    int goalposition = 1;
     bool picked = false, lastpicked = false, hasObj = false;
     int successes = 0;
     while(1)
@@ -118,23 +120,43 @@ void NAR_Bandrobot(long iterations)
         DRAW_LINE(goalposition, 5, 0, 1, (char*) world, 'U');
         //NAR_AddInputNarsese("<(<({position} * {targetposition}) --> (+ left)> &/ ^right) =/> picked>?");
         //NAR_AddInputNarsese("<(<({targetposition} * {position}) --> (+ left)> &/ ^left) =/> picked>?");
-        const char *propname = hasObj ? "dropPosX" : "pickPosX";
         char questionStr[NARSESE_LEN_MAX] = {0};
-        sprintf(questionStr, "%s%s%s", "<({?1} * {?2}) --> (+ ", propname, ")>? :\\:\0");
+        sprintf(questionStr, "%s", "<(?1 * ?2) --> (+ location)>? :\\:\0");
         NAR_AddInputNarsese(questionStr);
         puts(world);
+        if(hasObj) //TODO PROVIDE INFORMATION
+        {
+            NAR_AddInputNarsese("hasObj. :|:");
+        }
+        else
+        {
+            NAR_AddInputNarsese("NotHasObj. :|:");
+        }
+        Shell_ProcessInput("*concurrent");
         char positionStr[NARSESE_LEN_MAX] = {0};
-        float v_position = MIN(1.0, MAX(0.0, (((float) (position-minpos))/((float) (maxpos-minpos)))));
-        sprintf(positionStr, "%s%s%s%f%s", "<{position} |-> [", propname, "]>. :|: %", v_position, "%\0");
+        float v_position = MIN(1.0, MAX(0.0, (((float) (position-minpos))/((float) (maxpos-minpos + 1.0)))));
+        sprintf(positionStr, "%s%.2f%s", "<(crane * P_", v_position, ") |-> location>. :|:\0");
         NAR_AddInputNarsese(positionStr);
-        char targetpositionStr[NARSESE_LEN_MAX] = {0};
-        double used_position = hasObj ? goalposition : targetposition;
-        float v_usedposition = MIN(1.0, MAX(0.0, (((float) (used_position-minpos))/((float) (maxpos-minpos)))));
-        sprintf(targetpositionStr, "%s%s%s%f%s", "<{targetposition} |-> [", propname, "]>. :|: %", v_usedposition, "%\0");
-        NAR_AddInputNarsese(targetpositionStr);
+        //if(!hasObj) //TODO JUST FEED IF AND ELSE
+        {
+            Shell_ProcessInput("*concurrent");
+            char targetpositionStr[NARSESE_LEN_MAX] = {0};
+            float v_targetposition = MIN(1.0, MAX(0.0, (((float) (targetposition-minpos))/((float) (maxpos-minpos + 1.0)))));
+            sprintf(targetpositionStr, "%s%.2f%s", "<(object * P_", v_targetposition, ") |-> location>. :|:\0");
+            NAR_AddInputNarsese(targetpositionStr);
+        }
+        //else
+        {
+            Shell_ProcessInput("*concurrent");
+            char goalpositionStr[NARSESE_LEN_MAX] = {0};
+            float v_goalposition = MIN(1.0, MAX(0.0, (((float) (goalposition-minpos))/((float) (maxpos-minpos + 1.0)))));
+            sprintf(goalpositionStr, "%s%.2f%s", "<(goal * P_", v_goalposition, ") |-> location>. :|:\0");
+            NAR_AddInputNarsese(goalpositionStr);
+        }
+        Shell_ProcessInput("3");
         if(picked && !lastpicked)
         {
-            NAR_AddInputNarsese("picked. :|:");
+            //NAR_AddInputNarsese("picked. :|:");
         }
         else
         if(!picked && lastpicked)

src/system_tests/Robot_Test.h

@@ -483,7 +483,7 @@ void Agent_Invoke()
     if(percept.moved && collided)
     {
         collided = false;
-        NAR_AddInputNarsese("(! collision). :|:");
+        //NAR_AddInputNarsese("(! collision). :|:");
     }
     if(percept.viewfield[1] == 'w') //distance or touch sensor
     {
@@ -495,11 +495,11 @@ void Agent_Invoke()
         NAR_AddInputNarsese("eaten. :|:");
     }
     allowAction = true;
-    if(collided)
+    //if(collided)
     {
-        NAR_AddInputNarsese("(! collision)! :|:");
+        //NAR_AddInputNarsese("(! collision)! :|:");
     }
-    else
+    //else
     {
         NAR_AddInputNarsese("eaten! :|:");
     }