fix bugs

6 files changed, 23 insertions, 8 deletions

diff --git a/src/mind/topology.js b/src/mind/topology.js
index 9f2569d..946dd86 100644
--- a/src/mind/topology.js
+++ b/src/mind/topology.js
@@ -131,6 +131,13 @@ function get_value(n, index, input, prev, cache) {
 	const sum = values // compute the weighted sum of the values
 		.reduce((acc, x, i) => acc + (weight[i] * x), 0);
 
+	if (sum !== sum) { // NaN test
+	  console.log(n);
+    console.log(sources);
+    console.log(input);
+	  throw new Error(`failed to get output for index ${index}`);
+  }
+
 	// compute result
 	const value = Math.tanh(sum);
 
@@ -139,7 +146,7 @@ function get_value(n, index, input, prev, cache) {
 	if (cache !== undefined) {
 		cache[index] = value;
 	}
-	
+
 	return value;
 }
 
diff --git a/src/simulation/actions.js b/src/simulation/actions.js
index 3b3e942..ad08572 100644
--- a/src/simulation/actions.js
+++ b/src/simulation/actions.js
@@ -9,6 +9,7 @@ const move_forward = {
     if (agent.flags.frozen === true) { return []; }
     if (head[0] > threshold) {
       console.log('move forward');
+      console.log(agent.id, agent.x, agent.y);
       const dx = { n: 0, e: 1, s: 0, w: -1 }[agent.flags.orientation];
       const dy = { n: -1, e: 0, s: 1, w: 0 }[agent.flags.orientation];
       return [{
@@ -30,6 +31,7 @@ const move_backward = {
   propose: (world, agent, head) => {
     if (agent.flags.frozen === true) { return []; }
     if (head[0] > threshold) {
+      console.log('move backward');
       const dx = { n: 0, e: 1, s: 0, w: -1 }[agent.flags.orientation];
       const dy = { n: -1, e: 0, s: 1, w: 0 }[agent.flags.orientation];
       return [{
@@ -51,6 +53,7 @@ const turn_left = {
   propose: (world, agent, head) => {
     if (agent.flags.frozen === true) { return []; }
     if (head[0] > threshold) {
+      console.log('turn left');
       const orientation = { n: 'w', e: 'n', s: 'e', w: 's' }[agent.flags.orientation];
       return [{
         agent_changes: [{
@@ -70,6 +73,7 @@ const turn_right = {
   propose: (world, agent, head) => {
     if (agent.flags.frozen === true) { return []; }
     if (head[0] > threshold) {
+      console.log('turn right');
       const orientation = { n: 'e', e: 's', s: 'w', w: 'n' }[agent.flags.orientation];
       return [{
         agent_changes: [{
@@ -250,7 +254,7 @@ const speak = {
 
 
 export const actions = [
-  move_forward, move_backward, turn_left, turn_right, 
+  move_forward, /*move_backward, */turn_left, turn_right, 
   place, trigger, pretend_frozen, unfreeze, take_flag, drop_flag,
   speak,
 ];
diff --git a/src/simulation/senses.js b/src/simulation/senses.js
index 9d50a83..970f86b 100644
--- a/src/simulation/senses.js
+++ b/src/simulation/senses.js
@@ -150,7 +150,7 @@ function see_agent(viewer, agent) {
 
 
 const see = {
-  size: VIS_WIDTH * VIS_HEIGHT,
+  size: 3*VIS_WIDTH * VIS_HEIGHT,
   read: (world, agent) => {
     const indices = [...Array(VIS_WIDTH*VIS_HEIGHT).keys()]
     const vision = indices
@@ -171,12 +171,12 @@ const see = {
       },
       vision
     );
-    return result;
+    return result.flat();
   },
 };
 
 
 
 export const senses = [
-  frozen, hear, see,
+  frozen, hear, see, { size: 1, read: () => [1] },
 ];
diff --git a/src/ui/index.js b/src/ui/index.js
index b710b48..01068cb 100644
--- a/src/ui/index.js
+++ b/src/ui/index.js
@@ -2,8 +2,11 @@ import { draw } from './canvas.js';
 import { create_team, create_epoch, update_epoch } from '../simulation/game.js';
 
 
-const start_teams = [...Array(5)].map(x => create_team(8, 50, 50));
+console.log("generating agents...");
+const start_teams = [...Array(4)].map(x => create_team(2, 400, 50));
+console.log("creating epoch...");
 let epoch = create_epoch(60, start_teams);
+console.log("ready!");
 
 
 function draw_cell(ctx, x, y, cell) {
diff --git a/src/world/agent.js b/src/world/agent.js
index dbfdf5d..2be7420 100644
--- a/src/world/agent.js
+++ b/src/world/agent.js
@@ -7,7 +7,7 @@ import { proposal_merge } from './proposal.js';
 export function agent_decide(world, agent, senses, actions) {
   const inputs = senses.map(s => sense_read(world, agent, s)).flat();
   const [result, state] = agent.net.compute(inputs, agent.state);
-  console.log(agent, result);
+  console.log(result, state);
 
   const new_agent = { ...agent, state };
   const [proposals, _] = actions.reduce(
diff --git a/src/world/proposal.js b/src/world/proposal.js
index 0969540..8baca06 100644
--- a/src/world/proposal.js
+++ b/src/world/proposal.js
@@ -57,6 +57,7 @@ import { pairs, deepEqual } from '../util.js';
 // check that two flags objects are compatible
 // flags are considered compatible if they do not have any common keys with different values
 function flags_compatible(a, b) {
+  if (a === undefined || b === undefined) { return true; }
   const keys = [...new Set(Object.keys(a).concat(Object.keys(b)))];
   return keys.reduce(
     (acc, key) => {
@@ -80,7 +81,7 @@ function lattice_change_conflict(a, b) {
   if (
     a.x === b.x && 
     a.y === b.y &&
-    (a.to != b.to || !flags_compatible(a.flags || {}, b.flags || {}))
+    (a.to != b.to || !flags_compatible((a.flags || {}), (b.flags || {})))
   ) {
     // conflict!
     return [true, false];