!7

//set flag Reparse.

set flag OurSyncCollections. // allow to run on newer JDKs without illegal-access command line flags

import javax.swing.filechooser.*;

!include #1031138 // Smarty AI Include

sbool debugValues = false; // debug sensor output

static int defaultSpacing = 10, spacing;

static JFrame mainFrame;

static LL<JCell> gridComponents;

static JComponent mainGrid;

static JCheckBoxMenuItem miShowLocations;

static SingleComponentPanel scpMainGrid, scpVisionConfig, scpWheelsConfig, scpCurrentSmarty,

  scpStimuliAndResponse;

static JFrame historyFrame, memoryFrame;

static JSpinner worldSizeSpinner;

static JTextArea historyTextArea1, historyTextArea2;

static JTextArea taSensorValues, taDeviceValues;

// originally: BinonDisplay.ObjList.Text 

static JTextArea memoryTextArea1;

// originally: BinonDisplay.ChngResults.Text

static JTextArea memoryTextArea2;

static Smarty smarty; // AI instance

static Q smartyQ = startQ("Smarty Q"); // queue for Smarty operations

sS wallSymbol = unicode_blackSquare(), noWallSymbol = unicode_dottedSquare();

static Color lightBlue = colorFromHex("4169e1");

sS locationLetters = charRange('A', 'Z') + "[\\]^_`" + charRange('a', 'z') + charRange(123, 128);

sS smartyUnicode = unicode_slightlySmilingFace();

static int smartyFontSize = 40;

sS windowsFontID = #1400468;

sS emojiFontID = #1400470;

sS frameIconID = #1102983;

sS monospacedFontID = /*#1400479*/#1400483;

static double monospacedFontSize = 12;

sbool smartyBrainPersistence = false;

sS smartyImageID = #1102987;

sS helpTextID = #1031105;

sS worldFileExtension = "WLD";

sS bodyFileExtension = "BDY";

sS historyHelp = unindent_mls([[

  A percept is the stimulus or simultaneous combination of stimuli observed.

  An action is the response or simultaneous combination of responses produced.

  Binon # numbers refer to the binons in memory that represent the percepts, actions, expectations, and perceptual or action sequences.

  P = Percept, E = Expectation, PP = Perceptual sequence A = Action, AA = Action sequence

  Read the paper: "The Perception-Action Hierarchy and its Implementation Using Binons (Binary Neurons)"  on the www.adaptroninc.com website for more information.

]]);

// translate Smarty's windows characters to unicode

static SS winToUnicode = litmap(

  Smarty.Smarty, unicode_slightlySmilingFace(),

  Smarty.UpArrow, unicode("2191"),

  Smarty.LeftArrow, unicode("2190"),

  Smarty.RightArrow, unicode("2192"),

  Smarty.DownArrow, unicode("2193"),

  Smarty.Wall, unicode_blackVerticalRectangle(),

  Smarty.EmptySquare, unicode_whiteVerticalRectangle(),

  Smarty.chr(Smarty.TurnRght), unicode("21B1"),

  Smarty.chr(Smarty.TurnLft), unicode("21B0"),

  Smarty.chr(Smarty.TurnArnd), unicode("21B7"),

  Smarty.chr(254), unicode_blackSmallSquare(), // "Novel"

);

sbool showTabs = true;

static int defaultWorldSize = 7, maxWorldSize = 8;

static ReliableSingleThread rstUpdateChngResults = rstWithPreDelay(250, r {

  setText(memoryTextArea2, winToUnicode(state.binonDisplayChngResults));

});

svoid rearrangeLetters {

  int iLetter = 0;

  for (int y = 0; y < state.gridRows; y++)

    for (int x = 0; x < state.gridCols; x++) {

      JCell cell = getCell(x, y);

      if (cell.obstacle())

        cell.letter = ' ';

      else

        cell.letter = locationLetters.charAt(iLetter++);

    }

}

sclass VisionMode {

  sS nextSquare = "next square";

  sS distanceToWall = "distance to wall";

  sS wallOrNot = "wall or not";

}

sclass CameraDirection {

  sS down = "down";

  sS left = "left";

  sS right = "right";

  sS inFront = "in front";

  sS behind = "behind";

  static LS all = ll(down, left, right, inFront, behind);

}

concept SmartyBody {

  S name = "Smarty0";

  Set<S> cameraDirections = litset(CameraDirection.down);

  S visionMode = VisionMode.nextSquare; // see VisionMode

  Set<S> wheels = litset("MoveForward", "MoveLeft", "MoveRight", "MoveBackward");

  bool changed; // changed w.r.t. file

  bool used; // used in Smarty execution

  // for saving

  S wheelsFlag(S flag) { ret wheels.contains(flag) ? "1" : "0"; }

  void userCausedChange {

    print("Body: User caused change");

    changed = true;

    change();

  }

}

concept State {

  float fontScale = 1.5f;

  S worldName = "Empty";

  int gridRows = defaultWorldSize, gridCols = defaultWorldSize; // actually these are always identical, could merge into one

  bool showLocations;

  bool worldChanged;

  int startX, startY; // Smarty's start position

  int smartyX, smartyY;

  S smartyDirection = Smarty.Smarty; // which way Smarty is looking - this or smarty.LeftArrow etc.

  Rect selection = rect(1, 1, 1, 1);

  Pt cursorDirection = pt(1, 0);

  new BitSet obstacles;

  S history1 = "", history2 = "", memory1 = "", sensorValuesText = "", deviceValuesText = "";

  S binonDisplayChngResults = ""; // memory2  

  new Ref<SmartyBody> body;

  // value is just true

  Map<File, Bool> recentWorldFiles = synchronizedMRUCache(5);

  Map<File, Bool> recentBodyFiles = synchronizedMRUCache(5);

  void setSelection(Rect r) {

    if (!cset_trueIfChanged(this, selection := r)) ret;

    if (selection.h == 1 && selection.w > 1) _setField(cursorDirection := pt(1, 0));

    else if (selection.w == 1 && selection.h > 1) _setField(cursorDirection := pt(0, 1));

    repaintGrid();

  }

  void clearSelectedArea {

    fillSelection(false);

  }

  void invertSelection {

    JCell cell1 = getCell(selection.x, selection.y);

    fillSelection(!cell1.obstacle());

  }

  void fillSelection(bool b) {

    for (Pt p : pointsInRect(selection))

      if (!(b && state.smartyX == p.x && state.smartyY == p.y)) // don't put an obstacle over Smarty

        getCell(p.x, p.y).setObstacle(b);

    rearrangeLetters();

    moveCursor();

  }

  void moveCursor {

    setCursor(selection.x+cursorDirection.x, selection.y+cursorDirection.y);

  }

  void setCursor(int x, int y) {

    setSelection(rect(mod(x, gridCols), mod(y, gridRows), 1, 1));

  }

  void moveCursor(int dx, int dy) {

    _setField(cursorDirection := pt(dx, dy));

    setCursor(selection.x+cursorDirection.x, selection.y+cursorDirection.y);

  }

  void placeSmarty {

    getCell(selection.x, selection.y).setObstacle(false);

    cset(state, startX := selection.x, startY := selection.y);

    moveSmarty(selection.x, selection.y);

    moveCursor();

  }

  void moveSmarty(int x, int y) {

    if (!inRange(x, 0, gridCols) || !inRange(y, 0, gridRows))

      fail("Smarty position not in range: " + x + "/" + y);

    if (cset_trueIfChanged(this, smartyX := x, smartyY := y)) {

      cset(this, worldChanged := true);

      repaintGrid();

    }

  }

  void moveSmartyRelative(int x, int y) {

    moveSmarty(smartyX+x, smartyY+y);

  }

} // end of State

static State state;

sclass JCell > JComponent {

  int x, y;

  char letter;

  *(int *x, int *y) {}

  public void paint(Graphics _g) {

    Graphics2D g = cast _g;

    int w = getWidth(), h = getHeight();

    Color color = Color.white;

    if (state.selection.contains(x, y)) color = lightBlue;

    else if (obstacle()) color = Color.black;

    fillRect(g, 0, 0, w, h, color);

    if (state.showLocations && !obstacle()) {

      temp tempSetFont(g, loadFont_cached(windowsFontID));

      drawTextWithTopLeftCornerAt(g, str(letter), Pt(2, 0), Color.black);

    }

    if (state.smartyX == x && state.smartyY == y) {

      temp tempSetFontSize(g, smartyFontSize);

      /*temp tempSetFont(g, loadFont_cached(emojiFontID));

      drawCenteredText(g, smartyUnicode, 0, 0, w, h, Color.black);*/

      double size = 0.6;

      int dx = iround((1-size)/2*w);

      int dy = iround((1-size)/2*h);

      if (eq(state.smartyDirection, smarty.Smarty))

        drawScaledImage(g, loadImage2_cached(smartyImageID), rectFromPoints(dx, dy, w-dx, h-dy));

      else {

        //temp tempSetFont(g, loadFont_cached(windowsFontID));

        S icon = lookupOrKeep(winToUnicode, state.smartyDirection);

        drawCenteredText(g, icon, 0, 0, w, h, Color.black);

      }

    }

  }

  int index() { ret y*state.gridCols+x; }

  bool obstacle() { ret main contains(state.obstacles, index()); }

  void setObstacle(bool b) {

    if (setBit_trueIfChanged(state.obstacles, index(), b)) {

      cset(state, worldChanged := true);

      state.change();

    }

  }

  {

    addMouseListener(new MouseAdapter {

      public void mousePressed(MouseEvent e) {

        main requestFocus(mainGrid);

        if (!isLeftButton(e)) ret;

        state.setSelection(new Rect(x, y, 1, 1));

      }

    });

    addMouseMotionListener(new MouseMotionAdapter {

      public void mouseDragged(MouseEvent e) {

        //_print("Drag in " + x + "/" + y + ": " + e.getPoint());

        Component dest = componentAtScreenLocationInWindow(mainFrame, e);

        if (dest cast JCell) {

          //_print("Target: " + dest);

          state.setSelection(rectFromPointsInclusiveSorted(x, y, dest.x, dest.y));

        }

      }

    });

  }

  toString { ret x + "/" + y; }

}

static JCell getCell(int x, int y) {

  ret gridComponents.get(y).get(x);

}

static JCell smartyCell() {

  ret getCell(state.smartyX, state.smartyY);

}

sbool inGrid(int x, int y) {

  ret inRange(y, state.gridRows) && inRange(x, state.gridCols);

}

svoid makeMainGrid {

  gridComponents = map(iotaZeroList(state.gridRows), y

    -> map(iotaZeroList(state.gridCols), x

    -> new JCell(x, y)));

  mainGrid = setFocusable(setBackground(Color.black, hvgrid(gridComponents, 1)));

  scpMainGrid.setComponent(mainGrid);

  rearrangeLetters();

}

// always clears the world

svoid setWorldSize(int size) {

  state.obstacles.clear();

  state.gridCols = state.gridRows = size;

  setSpinnerValue(worldSizeSpinner, size);

  state.selection = rect(1, 1);

  cset(state, startX := 0, startY := 0);

  state.moveSmarty(0, 0);

  cset(state, worldChanged := false);

  state.change();

  makeMainGrid();

  resetSmarty();

}

svoid repaintGrid() {

  repaint(mainGrid);

}

// add more functions here

ifndef NoMainMethod

p { smartyMain(); }

endifndef

svoid smartyMain {

  System.out.println("Main class: " + strWithIdentityHashCode(mc()) + ", class loader: " + getClassLoader(mc()));

  autoRestart(2.0);

  // print all vm bus msgs from concepts

  //vmBus_snoopToPrint((msg, arg) -> firstOfArrayOrSame(arg) instanceof Concepts);

  setProgramDir(print("Using directory: ", mainDir()));

  logProgramOutput();

  _handleException_showThreadCancellations = true;

  if (!isDevVersion()) hideConsole();

  else veryBigConsole();

  db();

  uniq(SmartyBody); // make at least one instance

  state = uniq(State);

  smarty = uniq(Smarty);

  initSmarty();

  if (!state.body.has()) cset(state, body := conceptWhere(SmartyBody)); // default body

  //cset(state.body, used := false); // XXX

  // prep GUI

  jtattoo_mcWin(); // styling

  //set swingFontScale_debug;

  updateFontScale(state.fontScale); // scaling

  disableSpaceBarForAllButtons(); // no space bar for buttons

  loadLibrary(windowsFontID);

  defaultFrameIcon(frameIconID);

  mainFrame = showFrame("Smarty");

  //exitOnClose(mainFrame);

  onWindowClosing(mainFrame, rThread {

    cleanUp(mc()); // proper clean-up for standalone mode

    cleanKillVM();

  });

  historyTextArea1 = monospaced(uneditableBlackTextArea_noUndo());

  historyTextArea2 = monospaced(uneditableBlackTextArea_noUndo());

  memoryTextArea1 = /*withTypeWriterFont*/monospaced(uneditableBlack(swing(() -> new JLineHeightTextArea(0.8))));

  memoryTextArea2 = monospaced(uneditableBlackTextArea_noUndo(winToUnicode(state.binonDisplayChngResults)));

  makeMenus();

  registerCtrlKey(mainFrame, KeyEvent.VK_N, "New world", r { print("new") });

  registerCtrlKey(mainFrame, KeyEvent.VK_R, "Retrieve world", r {});

  registerCtrlKey(mainFrame, KeyEvent.VK_S, "Save world", r {});

  addMenu(mainFrame, "View",

    miShowLocations = jCheckBoxMenuItem("Locations (Ctrl+L)", state.showLocations, b -> {

       cset(state, showLocations := b);

       repaintGrid();

    }),

    jMenu("UI Zoom",

      "100%", r { uiZoom(100) },

      "112%", r { uiZoom(112) },

      "125%", r { uiZoom(125) },

      "140%", r { uiZoom(140) }),

    "---",

    "Self-Test", rThread selfTest,

    "Console", r activateConsole,

  );

  registerCtrlKey(mainFrame, KeyEvent.VK_L, "Locations", r {

      cset(state, showLocations := !state.showLocations);

      setChecked(miShowLocations, state.showLocations);

      repaintGrid();

    });

  JMenuBar menuBar = getMenuBar(mainFrame);

  JMenuItem helpItem = jMenuItem("Help F1", rThread showHelp);

  /*print(minSize := getMinimumSize(helpItem));

  print(preferredSize := getPreferredSize(helpItem));*/

  addMenuItem(menuBar, jPreferredWidthToMaxWidth(helpItem));

  addAndRevalidate(menuBar, jHorizontalGlue()); // spacer

  registerFunctionKey(mainFrame, 1, rThread showHelp);

  registerKeyCode(mainFrame, KeyEvent.VK_SPACE, r { state.invertSelection() });

  registerKeyCode(mainFrame, KeyEvent.VK_UP, r { state.moveCursor(0, -1) });

  registerKeyCode(mainFrame, KeyEvent.VK_LEFT, r { state.moveCursor(-1, 0) });

  registerKeyCode(mainFrame, KeyEvent.VK_DOWN, r { state.moveCursor(0, 1) });

  registerKeyCode(mainFrame, KeyEvent.VK_RIGHT, r { state.moveCursor(1, 0) });

  // react to any letter from A to Z

  for (int key = KeyEvent.VK_A; key <= KeyEvent.VK_Z; key++)

    registerKeyCode(mainFrame, key, r { state.placeSmarty() });

  worldSizeSpinner = jSpinner(state.gridCols, 1, maxWorldSize);

  onChange(worldSizeSpinner, r {

    int size = intFromSpinner(worldSizeSpinner);

    if (state.gridCols != size) {

      if (state.worldChanged) {

        int result = swingShowConfirmDialog(mainFrame,

          "World has changed! - Save it before resizing?", "Smarty",

          JOptionPane.YES_NO_CANCEL_OPTION);

        if (result == JOptionPane.YES_OPTION) {

          saveWorldDialog(r { newWorldWithoutConfirmation(size) });

          ret;

        } else if (result == JOptionPane.CANCEL_OPTION) {

          setSpinnerValue(worldSizeSpinner, state.gridCols);

          ret;

        }

      }

      newWorldWithoutConfirmation(size);

    }

  });

  scpCurrentSmarty = singleComponentPanel();

  JComponent middleArea = westAndCenterWithMargin(spacing,

     jvstackWithSpacing(spacing,

        withTitle("World size (max=\*maxWorldSize*/)", worldSizeSpinner),

        jbutton("Clear Selected Area", rThread { state.clearSelectedArea() }),

        withTitle("Current world", disableTextField(jLiveValueTextField(conceptFieldLiveValue worldName(state)))),

        showTabs ? null : fontSizePlus(2, setForeground(Color.ORANGE, jCenteredLabel("Design or Select a body for Smarty"))),

        showTabs ? null : jbutton("Design or Select Smarty's Body", r showSmartyConfig),

        withTitle("Current Smarty", scpCurrentSmarty),

     ),

     jvgridWithSpacing(spacing,

       withTitle(monospaced(jLabel("Sensors: Values:  are:")), taSensorValues = monospaced(uneditableBlackTextArea_noUndo())),

       withTitle(monospaced(jLabel("Devices: Values:  are:")), taDeviceValues = monospaced(uneditableBlackTextArea_noUndo())),

     )

   );

  JComponent controlArea = northAndCenterWithMargin(spacing,

    vstackWithSpacing(

      fontSizePlus(2, setForeground(Color.blue, jlabel("Design the World - Read the Help F1"))),

      jMinHeight(swingScale(200), middleArea)),

    jCenteredSection("Run Smarty",

      jflow(

        jbutton("Go / Continue", rThread goCmd),

        jButton("See History", r showHistory),

        jbutton("See Memory", r showMemory),

        jbutton("Reset", r resetSmarty),

        jbutton("EXIT", rThread killVM),

        ))

  );

  scpMainGrid = singleComponentPanel();

  makeMainGrid();

  var mainPanel = westAndCenterWithMargins(spacing,

    jvstackWithSpacing(spacing,

      jFixedSize(500, scpMainGrid),

      scpStimuliAndResponse = singleComponentPanel()

    ),

    controlArea);

  if (showTabs) {

    scpVisionConfig = singleComponentPanel();

    scpWheelsConfig = singleComponentPanel();

    updateTabs();

    setFrameContents(mainFrame, jtabs(

      "Smarty", mainPanel,

      "Vision", scpVisionConfig,

      "Wheels", scpWheelsConfig,

      ));

  } else

    setFrameContents(mainFrame, mainPanel);

  centerPackFrame(mainFrame);

  // set minimum width

  jMinWidth_pure(mainFrame, max(1000, swingScale(800)));

  centerFrameWithMinWidth(mainFrame);

  // set min frame height

  jMinHeight_pure(mainFrame, getHeight(mainFrame));

  // disable height changes entirely (not good, may cut off at the bottom)

  //frameMaxHeight(mainFrame, getHeight(mainFrame));

  //smarty.World.Update_View();

  setText(historyTextArea1, winToUnicode(state.history1));

  setText(historyTextArea2, winToUnicode(state.history2));

  setText(memoryTextArea1, winToUnicode(state.memory1));

  setText(taSensorValues, winToUnicode(state.sensorValuesText));

  setText(taDeviceValues, winToUnicode(state.deviceValuesText));

  enableBodyControls(!state.body->used);

  if (!smartyBrainPersistence)

    resetSmarty();

  if (!isDevVersion()) showHelp();

  else {

    //goCmd();

    //selfTest();

  }

} // end of main function

sbool isDevVersion() {

  ret isProgramID(#1031104);

}

svoid updateTabs {

  scpVisionConfig.setComponent(visionConfigPanel(state.body!));

  scpWheelsConfig.setComponent(wheelsConfigPanel(state.body!));

  scpCurrentSmarty.setComponent(disableTextField(jLiveValueTextField(conceptFieldLiveValue name(state.body!))));

  updateFrameTitles();

}

svoid enableBodyControls(bool b) {

  var panels = ll(scpVisionConfig, scpWheelsConfig);

  for (var c : concatMap(panel -> allChildrenOfType JComponent(panel), panels))

    if (isInstanceOfAny(c, JCheckBox.class, JRadioButton.class, JTextField.class)

      && !c instanceof BodyNameField)

      setEnabled(c, b);

  // Modify body button is enabled iff controls are not enabled

  for (var c : concatMap(panel -> allChildrenOfType ModifyBodyButton(panel), panels))

    setEnabled(c, !b);

}

svoid showHelp() {

  S text = loadSnippet(helpTextID);

  S heading = firstLine(text);

  trim(dropFirstLine(text));

  showCenterFrame(swingScale(650), swingScale(500), heading, makeUneditableWithTextColor(Color.black, wordWrapTextArea(text)));

}

// run in Swing thread

svoid showHistory {

  Font ttFont = loadFont_cached(monospacedFontID, 12), helpFont = sansSerifFont(13);

  if (historyFrame == null)

    historyFrame = getFrame(showCenterFrame(maxPt(pt(800, 600), scalePt(600, 350, swingFontScale())),

      "History",

      withMargin(centerAndSouthWithMargin(spacing,

        centerAndSouthWithMargin(

          historyTextArea1,

          westAndCenterWithMargin(spacing, setFont(ttFont, topAlignLabel(jMultiLineLabel(

            linesLL("Step #", "Percept", "Binon #", "", "Expect", "Binon #",

              "", "Action", "Binon #", "", "Action", "Binon #", "")))),

            setFont(ttFont, historyTextArea2))

        ),

        centerAndEastWithMargin(

          setFont(helpFont, jMultiLineLabel(historyHelp)),

          jvstackWithSpacing(

            jButton("See World", r showWorld),

            jButton("See Memory", r showMemory))

        )))));

  else

    frameToFront(historyFrame);

  updateFrameTitles();

}

// run in Swing thread

svoid showMemory {

  Font ttFont = typeWriterFont(12), helpFont = sansSerifFont(13);

  S Interestng;

  if (smarty.InterestLevels == 3)

    Interestng = smarty.IntSymb(smarty.INTERESTING) +  "=Interesting, ";

  else  // Only 2 interest levels

    Interestng = "";

  S IntSymbol = "    " + smarty.IntSymb(smarty.NOVEL) + " = Novel, " + Interestng + smarty.IntSymb(smarty.FAMILIAR) + " = Familiar";

  // originally: BinonDisplay.ObjListTitle.Caption

  S title = "Bn# OL Ty TL BL TR BR   V L R In LQ RQ Pattern "

    + "  l = Left target, r = Right target," + IntSymbol;

  if (memoryFrame == null)

    memoryFrame = getFrame(showCenterFrame(scalePt(600, 350, swingFontScale()),

      "Smarty's Memory",

        jvsplit(0.5, 100,

          centerAndEastWithMargins(

            northAndCenterWithMargin(

              setFont(ttFont, jLabel(title)),

              setFont(ttFont, memoryTextArea1)),

            jvstackWithSpacing(

              jButton("See World", r showWorld),

              jButton("See History", r showHistory))

          ),

          memoryTextArea2,

        )

        ));

  else

    frameToFront(memoryFrame);

  updateFrameTitles();

}

svoid showWorld {

  frameToFront(mainFrame);

}

static JRadioButton visionModeRadioButton(SmartyBody body, ButtonGroup buttonGroup, S visionMode, S text) {

  var rb = jradiobutton(buttonGroup, text, eq(body.visionMode, visionMode));

  onChange(rb, r { if (isChecked(rb)) { cset(body, +visionMode); body.userCausedChange(); } });

  ret rb;

}

sclass ModifyBodyButton extends JButton {

  *() {

    super("Modify Smarty's Body");

    main addActionListener(this, r modifyBody);

  }

}

// enable the controls to edit the body, after confirmation

svoid modifyBody {

  if (state.body->used) {

    if (!confirmOKCancel("Modifying Smarty's body will reset its state. Do you wish to continue?"))

      ret;

    resetSmarty();

    cset(state.body, used := false);

  }

  enableBodyControls(true);

}

sclass BodyNameField extends JTextField {

  *() {

    setEnabled(false);

  }

}

static JComponent bodyNamePanel(SmartyBody body) {

  SimpleLiveValue<S> lv = conceptFieldLiveValue name(body);

  lv.onChange(r { body.userCausedChange() });

  ret hstackWithSpacing(

    jMinWidth(swingScale(250), withLabel("Body name:",

      bindTextComponentToLiveValue(lv, swing(() -> new BodyNameField)))),

    swing(() -> new ModifyBodyButton));

}

static JComponent visionConfigPanel(SmartyBody body) {

  var buttonGroup = buttonGroup();

  ret northAndCenterWithMargins(spacing,

    bodyNamePanel(body),

    westAndCenterWithMargin(spacing,

      jCenteredSection("Camera",

        withLeftMargin(spacing, jvstackWithSpacing(spacing,

          itemPlus(jlabel("Select the camera directions"),

            map(CameraDirection.all, direction -> {

              var cb = jCheckBox(direction, body.cameraDirections.contains(direction));

              onChange(cb, r { addOrRemove(body.cameraDirections, direction, isChecked(cb)); body.userCausedChange(); });

              ret cb;

            }))))),

      jCenteredSection("Vision mode",

        jvstack(

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS(replaceSymbols([[

            Square locations are identified with a letter.

            Looking down provides the letter of the current square.

            Looking in other directions provides the letter in the next square

            depending on the direction Smarty is facing.

            If it is a wall then the symbolic stimulus is a $wallSymbol

          ]])))),

          visionModeRadioButton(body, buttonGroup, VisionMode.nextSquare,

            "Looking at the next square (symbolic values = letter in square)"),

          verticalStrut(20),

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS([[

            Looking at the distance to the nearest wall will provide the

            number of squares from the current position to the wall in

            the direction the camera is facing. A wall next to the robot

            is one square away. Looking down will always return 1.

          ]]))),

          visionModeRadioButton(body, buttonGroup, VisionMode.distanceToWall,

          "Distance to wall (magnitude values = number of squares)"),

          verticalStrut(20),

          withLeftMargin(spacing*2, jMultiLineLabel(unindentMLS([[

            Looking at the next square will either see a wall or an empty square

          ]]))),

          visionModeRadioButton(body, buttonGroup, VisionMode.wallOrNot,

            replaceSymbols("Wall or not (symbolic values = $wallSymbol for a wall and $noWallSymbol for no wall)")),

        ))));

}

svoid showVisionConfig(SmartyBody body) {

  showPackedFrame("Configure Smarty's Vision",

    visionConfigPanel(body));

}

static JCheckBox wheelsConfigCheckBox(SmartyBody body, S symbol, S text) {

  var cb = jCheckBox(text, body.wheels.contains(symbol));

  onChange(cb, r { addOrRemove(body.wheels, symbol, isChecked(cb)); body.userCausedChange(); });

  ret cb;

}

static JComponent wheelsConfigPanel(SmartyBody body) {

  ret northAndCenterWithMargins(spacing,

    bodyNamePanel(body),

    vstackWithSpacing(spacing,

      westAndCenterWithMargin(spacing,

        jCenteredSection("Movement",

          withLeftMargin(spacing, jvstackWithSpacing(

            jlabel("Select the wheel motions"),

            wheelsConfigCheckBox(body, "MoveForward", "Forward = f"),

            wheelsConfigCheckBox(body, "MoveLeft", "Left = l"),

            wheelsConfigCheckBox(body, "MoveRight", "Right = r"),

            wheelsConfigCheckBox(body, "MoveBackward", "Backward = b"),

          ))),

        jCenteredSection("Help", withLeftMargin(

          jTopLabel(hhtml(nlToBr(mls_replaceDollarVars(winToUnicode([[

            Motion in any direction will move one square.

            If there is a wall in the way it will not move. A "-" indicates no motion.

            The direction moved depends on the direction Smarty is facing.

            Smarty will appear as a $smiley if it cannot turn.  It will then always be

            facing North (up) so moving right will move to the East (right).

          ]]), smiley := himgForJLabel(#1102987, width := swingScale(15), height := swingScale(15), align := "middle")))))))),

      westAndCenterWithMargin(spacing,

        jCenteredSection("Turning",

          withLeftMargin(spacing, vstackWithSpacing(

            wheelsConfigCheckBox(body, "TurnRight", "Turn to the right = Rotate clockwise 90 degrees = " + winToUnicode(Smarty.TurnRght)),

            wheelsConfigCheckBox(body, "TurnLeft", "Turn to the left = Rotate anti-clockwise 90 degrees = " + winToUnicode(Smarty.TurnLft)),

            wheelsConfigCheckBox(body, "TurnAround", "Turn around = Rotate 180 degrees = " + winToUnicode(Smarty.TurnArnd)),

          ))),

        jCenteredSection("Help", withLeftMargin(jMultiLineLabel(winToUnicode(mls_replaceDollarVars([[

          Turning will stay on the same square. If Smarty is able to turn then it will appear as $left, $right, $up or $down to indicate the direction it is facing.

        ]],

          left := Smarty.LeftArrow,

          right := Smarty.RightArrow,

          up := Smarty.UpArrow,

          down := Smarty.DownArrow)))))),

      jCenteredSection("Sensing", 

        withLeftMargin(spacing, wheelsConfigCheckBox(body, "AddAWheelSensor", "Add a wheel sensor to detect if it moved or failed because it was up against a wall"))

      )

    ));

}

svoid showWheelsConfig(SmartyBody body) {

  var buttonGroup = buttonGroup();

  showPackedFrame("Configure Smarty's Wheels",

    wheelsConfigPanel(body));

}

svoid showSmartyConfig {

  showPackedFrameMinWidth(400, "Design or Select a body for Smarty",

    withMargin(centeredButtons(

      "Vision", r { showVisionConfig(state.body!) },

      "Wheels", r { showWheelsConfig(state.body!) },

    ))

  );

}

// e.g. $wallSymbol and $noWallSymbol

sS replaceSymbols(S s) {

  ret replaceDollarVars(s, +wallSymbol, +noWallSymbol);

}

sS exportWorldForSaving() {

  new LS lines;

  lines.add(" " + state.gridRows);

  for (int y = 0; y < state.gridRows; y++)

    for (int x = 0; x < state.gridCols; x++) {

      JCell cell = getCell(x, y);

      lines.add(state.smartyX == x && state.smartyY == y ? "A" : cell.obstacle() ? "#" : " ");

    }

  ret lines(lines);

}

svoid saveWorld(File f) {

  S text = exportWorldForSaving();

  saveTextFile(f, text);

  infoBox("World saved: " + fileName(f));

  cset(state, worldName := fileNameWithoutExtension(f), worldChanged := false);

  addRecentWorldFile(f);

}

svoid addRecentWorldFile(File f) swing {

  removeAndPut(state.recentWorldFiles, f, true);

  state.change();

  makeMenus();  

}

svoid addRecentBodyFile(File f) swing {

  removeAndPut(state.recentBodyFiles, f, true);

  state.change();

  makeMenus();  

}

svoid loadWorld(File f) {

  pcall-messagebox {

    LS lines = linesFromFile_list(f);

    if (eqAfterRtrim(lines(lines), exportWorldForSaving()))

      ret with infoBox("World is the same as current one");

    int i = 0;

    int gridRows = parseInt(trim(lines.get(i++)));

    if (gridRows < 1 || gridRows > maxWorldSize) fail("Bad world size: " + gridRows);

    setWorldSize(gridRows);

    for y to gridRows:

      for x to gridRows: {

        S line = lines.get(i++);

        JCell cell = getCell(x, y);

        if (eq(line, "#"))

          cell.setObstacle(true);

        else if (eq(line, "A"))

          state.moveSmarty(x, y);

      }

    rearrangeLetters();

    repaintGrid();

    cset(state, worldName := fileNameWithoutExtension(f));

    cset(state, worldChanged := false);

    infoBox("World loaded: " + fileName(f));

    addRecentWorldFile(f);

  }

}

svoid saveWorldDialog(Runnable whenDone default null) {

  swing {

    JFileChooser fileChooser = new(mainDir());

    fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty World files (*.\*worldFileExtension*/)", worldFileExtension));

    if (fileChooser.showSaveDialog(mainFrame) == JFileChooser.APPROVE_OPTION) {

      File f = defaultExtension(worldFileExtension, fileChooser.getSelectedFile());

      saveWorld(f);

      infoBox("World saved as " + f.getName());

    } else

      messageBox("World NOT saved");

    callF(whenDone);

  }

}

svoid withWorldSave(Runnable r) {

  if (state.worldChanged) {

    int result = swingShowConfirmDialog(mainFrame,

      "World has changed! - Save it?", "Smarty",

      JOptionPane.YES_NO_CANCEL_OPTION);

    if (result == JOptionPane.YES_OPTION) {

      saveWorldDialog(r);

      ret;

    } else if (result == JOptionPane.CANCEL_OPTION)

      ret;

    else

      cset(state, worldChanged := false);

  }

  r.run();

}

svoid loadWorldDialog {

  withWorldSave(r loadWorldDialogWithoutConfirmation);

}

svoid loadWorldDialogWithoutConfirmation swing {

  JFileChooser fileChooser = new(mainDir());

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty World files (*.\*worldFileExtension*/)", worldFileExtension));

  if (fileChooser.showOpenDialog(mainFrame) == JFileChooser.APPROVE_OPTION)

    loadWorld(fileChooser.getSelectedFile());

}

svoid newWorld {

  withWorldSave(r newWorldWithoutConfirmation);

}

svoid newWorldWithoutConfirmation(int size default defaultWorldSize) {

  setWorldSize(size);

  cset(state, worldName := "Empty", worldChanged := false);

  updateFrameTitles();

}

static File mainDir() {

  ret mkdirs(userDir("Adaptron/Smarty"));

}

sS exportBodyForSaving() {

  S[] Body = new[22];

  bodyToArray(state.body!, Body);

  ret lines(dropFirst(Body));

}

svoid saveBody(File f) {

  S text = exportBodyForSaving();

  saveTextFile(f, text);

  cset(state.body!, changed := false);

  addRecentBodyFile(f);

}

svoid bodyToArray(SmartyBody b, S[] Body) {

  Body[1] = escapeNewLines(b.name);

  // TODO: remaining values from AI?

  Body[2] = "1"; //Vision.Value = 1 - checked

  Body[3] = "0"; //Touch.Value

  Body[4] = b.wheelsFlag("AddAWheelSensor");

  Body[5] = "1"; //Wheels.Value

  Body[6] = "0"; //Arms.Value

  Body[7] = b.cameraDirections.contains(CameraDirection.down) ? "1" : "0"; //VisionConfig.VisionDown

  Body[8] = b.cameraDirections.contains(CameraDirection.left) ? "1" : "0"; //VisionConfig.VisionLeft

  Body[9] = b.cameraDirections.contains(CameraDirection.right) ? "1" : "0"; //VisionConfig.VisionRight

  Body[10] = b.cameraDirections.contains(CameraDirection.inFront) ? "1" : "0"; //VisionConfig.VisionInFront

  Body[11] = b.cameraDirections.contains(CameraDirection.behind) ? "1" : "0"; //VisionConfig.VisionBehind

  Body[12] = eq(b.visionMode, VisionMode.nextSquare) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(0)

  Body[13] = eq(b.visionMode, VisionMode.distanceToWall) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(1)

  Body[14] = b.wheelsFlag("MoveForward");

  Body[15] = b.wheelsFlag("MoveLeft");

  Body[16] = b.wheelsFlag("MoveRight");

  Body[17] = b.wheelsFlag("MoveBackward");

  Body[18] = b.wheelsFlag("TurnRight");

  Body[19] = b.wheelsFlag("TurnLeft");

  Body[20] = b.wheelsFlag("TurnAround");

  Body[21] = eq(b.visionMode, VisionMode.wallOrNot) ? "True" : "False"; //VisionConfig.VisionSymbolicOrMagnitude(2)

}

svoid withBodySave(Runnable r) {

  if (state.body->changed) {

    int result = swingShowConfirmDialog(mainFrame,

      "Body has changed! - Save it?", "Smarty",

      JOptionPane.YES_NO_CANCEL_OPTION);

    if (result == JOptionPane.YES_OPTION) {

      saveBodyDialog(r);

      ret;

    } else if (result == JOptionPane.CANCEL_OPTION)

      ret;

    else

      cset(state.body, changed := false);

  }

  r.run();

}

svoid newBody {

  withBodySave(r newBodyWithoutConfirmation);

}

svoid newBodyWithoutConfirmation {

  cdelete(state.body!);

  cset(state, body := cnew(SmartyBody));

  finishBodySetup();

}

svoid loadBody(File f) {

  pcall-messagebox {

    LS lines = linesFromFile_list(f);

    if (eqAfterRtrim(lines(lines), exportBodyForSaving()))

      ret with infoBox("Body is the same as current one");

    S[] Body = asStringArray(itemPlusList("", lines));

    newBody();

    var b = state.body!;

    // TODO: remaining values

    cset(b, name := Body[1]);

    if (eq(Body[4], "1")) b.wheels.add("AddAWheelSensor");

    if (eq(Body[7], "1")) b.cameraDirections.add(CameraDirection.down);

    if (eq(Body[8], "1")) b.cameraDirections.add(CameraDirection.left);

    if (eq(Body[9], "1")) b.cameraDirections.add(CameraDirection.right);

    if (eq(Body[10], "1")) b.cameraDirections.add(CameraDirection.inFront);

    if (eq(Body[11], "1")) b.cameraDirections.add(CameraDirection.behind);

    if (eq(Body[12], "True")) b.visionMode = VisionMode.nextSquare;

    if (eq(Body[13], "True")) b.visionMode = VisionMode.distanceToWall;

    if (eq(Body[14], "1")) b.wheels.add("MoveForward");

    if (eq(Body[15], "1")) b.wheels.add("MoveLeft");

    if (eq(Body[16], "1")) b.wheels.add("MoveRight");

    if (eq(Body[17], "1")) b.wheels.add("MoveBackward");

    if (eq(Body[18], "1")) b.wheels.add("TurnRight");

    if (eq(Body[19], "1")) b.wheels.add("TurnLeft");

    if (eq(Body[20], "1")) b.wheels.add("TurnAround");

    if (eq(Body[21], "True")) b.visionMode = VisionMode.wallOrNot;

    cset(b, changed := false);

    b.change();

    updateTabs();

    infoBox("Body loaded: " + fileName(f));

    addRecentBodyFile(f);

    finishBodySetup();

  }

}

svoid saveBodyDialog(Runnable whenDone default null) {

  swing {

    new JFileChooser fileChooser;

    fileChooser.setSelectedFile(newFile(mainDir(), sanitizeFileName(state.body->name)));

    fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty Body files (*.\*bodyFileExtension*/)", bodyFileExtension));

    if (fileChooser.showSaveDialog(mainFrame) == JFileChooser.APPROVE_OPTION) {

      File f = defaultExtension(bodyFileExtension, fileChooser.getSelectedFile());

      cset(state.body, name := fileNameWithoutExtension(f));

      updateTabs();

      saveBody(f);

      infoBox("Body saved as " + f.getName());

    }

    callF(whenDone);

  }

}

svoid loadBodyDialog {

  withBodySave(r loadBodyDialogWithoutConfirmation);

}

svoid loadBodyDialogWithoutConfirmation swing {

  JFileChooser fileChooser = new(mainDir());

  fileChooser.setFileFilter(new FileNameExtensionFilter("Smarty Body files (*.\*bodyFileExtension*/)", bodyFileExtension));

  if (fileChooser.showOpenDialog(mainFrame) == JFileChooser.APPROVE_OPTION)

    loadBody(fileChooser.getSelectedFile());

}

sS infosForWindowTitle() {

  ret " - World= " + state.worldName + ", Body= " + state.body->name

    + ", Run done on " + simpleDateFormat_defaultTZ_now("MM-dd-YYYY") + " (mm-dd-yyyy) "

    + simpleDateFormat_defaultTZ_now("HH:mm:ss");

}

svoid updateFrameTitles {

  frameTitle(mainFrame, "Smarty's World" + infosForWindowTitle());

  frameTitle(historyFrame, "Stimulus/Response, Percept/Action History" + infosForWindowTitle());

  frameTitle(memoryFrame, "Smarty's Memory" + infosForWindowTitle());

}

// Make the dynamic menus

svoid makeMenus {

  addMenu(mainFrame, "Worlds",

    "New... (Ctrl+N)", r newWorld,

    "Retrieve... (Ctrl+R)", r loadWorldDialog,

    "Save... (Ctrl+S)", r saveWorldDialog,

    "---",

    mapWithIndexStartingAt1(reversed(keys(state.recentWorldFiles)), (idx, f)

      -> jMenuItem(idx + " " + fileName(f), r { withWorldSave(r { loadWorld(f) }) })),

    empty(state.recentWorldFiles) ? null : "---",

    "Exit", rThread killVM);

  addMenu(mainFrame, "Bodies",

    "New... (Ctrl+N)", r newBody,

    "Retrieve... (Ctrl+R)", r loadBodyDialog,

    "Save... (Ctrl+S)", r saveBodyDialog,

    "---",

    mapWithIndexStartingAt1(reversed(keys(state.recentBodyFiles)), (idx, f)

      -> jMenuItem(idx + " " + fileName(f), r { withBodySave(r { loadBody(f) }) })),

    empty(state.recentBodyFiles) ? null : "---",

    "Exit", rThread killVM);   

}

svoid goCmd { smartyQ.add(r goCmd_impl); }

svoid goCmd_impl {

  pcall-messagebox {

    evalWithTimeout(10.0, r {

      print("goCmd");

      if (!state.body->used) {

        finishBodySetup();

        cset(state.body, used := true);

        enableBodyControls(false);

      }

      smarty.bodies.BodyFunction2();

    });

  }

}

static int Indx(int row, int col) {

  // C is the across / column location - 0 based

  // R is the down / row location - 0 based

  // the function gives the index into NG and CWP linear arrays - 0 based

  // can not be greater than 199 because 200+ used for wall letters

  ret state.gridCols * row + col;

}

// NG(I).Caption is contents of cell x/y

// with I = WallNo(x, y, direction)

// NG Caption is either "" or smarty.Smarty

// or Chr$(64 + InNG - 200) [location letter?]

// WP$ seems to hold the playing field

// WP$(R, C) can be ABlock$

/* From Brett:

WP$ contains either a space, a block or the smarty symbol.

The smarty symbol may be an S,   >,   <,   ^,  v or  + depending on which way smarty is pointing.

NG().captions contain the letter for each location. The LookUnder$() routine returns the letter

for the camera that looks down at the current square. LookNorth$() etc. and other Look routines

return the cell letter that is one cell away.

The higher index values into NG() can contain letter for the walls set by the IDWalls() routine.

But this feature is not in use and the higher index entries of NG are invisible so a mouse down

cannot be done on them.

Note also that ScopeLeft$() and other Scope routines that would return wall letters are not in use.

*/

static int InRow() { ret state.smartyY; }

static int InCol() { ret state.smartyX; }

svoid setSmartyDirection(S smartyDirection) {

  if (cset_trueIfChanged(state, +smartyDirection))

    repaintGrid();

}

// query cell for Smarty's brain

sS WP(int y, int x) {

  if (x == InCol() && y == InRow()) 

    ret state.smartyDirection;

  else

    ret getCell(x, y).obstacle() ? smarty.ABlock : smarty.ASpace;

}

// put more static functions here

sclass TheWorld extends Smarty.TheWorld {

  // find what letter we are standing on

  public String LookUnder() {

     ret str(smartyCell().letter);

  }

  void moveRelative(int x, int y) {

    x += state.smartyX; y += state.smartyY;

    if (!inGrid(x, y) || getCell(x, y).obstacle())

      smarty.Motion = smarty.NoMove;

    else {

      smarty.Motion = "Y";

      state.moveSmarty(x, y);

    }

  }

  public void MoveWest() {

    moveRelative(-1, 0);

  }

  public void MoveSouth() {

    moveRelative(0, 1);

  }

  public void MoveEast() {

    moveRelative(1, 0);

  }

  public void MoveNorth() {

    moveRelative(0, -1);

  }

  public void DisplayStimuliAndResponse(int[][][] inputValues, char response) {

    new L<JComponent> leftStack;

    new L<JComponent> rightStack;

    for (int Sens = 1; Sens <= smarty.NumSenses; Sens++) {

      int NumSensors = smarty.Senses[Sens][smarty.NumberOfSensors];

      if (NumSensors == 0) continue;

      if (NumSensors != 1) warn("More than one sensor in sense");

      S label = smarty.Sense[Sens] + ":";

      var inputValue = inputValues[Sens][smarty.Valu][smarty.Fired];

      S text;

      if (smarty.Senses[Sens][smarty.SymbolicOrMagnitude] == smarty.Magnitude)

        text = str(charPlus(inputValue , '0'))

          + (debugValues ? " [magn " + inputValue + "]" : "");

      else

        text = lookupOrKeep(winToUnicode, str((char) inputValue))

          + (debugValues ? " [char " + inputValue + "]" : ""); // A, B, C etc

      leftStack.add(withLabel(withTypeWriterFont(jlabel(label)), jlabel(text)));

    }

    for (int Devs = 1; Devs <= smarty.NumDevices; Devs++) {

      S label = smarty.Device[Devs] + ":";

      rightStack.add(withLabel(withTypeWriterFont(jlabel(label)), jlabel(winToUnicode(response))));

    }

    scpStimuliAndResponse.set(jhgridWithSpacing(

      vstack(leftStack),

      vstack(rightStack)));

  }

  public void Update_View() {           // called by World.LookInside_Click() to SeeHistory and Bodies.BodyFunction2()

                           // refreshes all the subwindows

    historyDisplay();

    dumpLTM();

  }

  public void setBinonDisplayObjList(S text) {

    cset(state, memory1 := text);

    setText(memoryTextArea1, winToUnicode(text));

  }

  public void setBinonDisplayChngResults(S text) {

    cset(state, binonDisplayChngResults := text);

    rstUpdateChngResults.trigger();

  }

  public void appendBinonDisplayChngResults(S text) {

    cset(state, binonDisplayChngResults := state.binonDisplayChngResults+text);

    rstUpdateChngResults.trigger();

  }

  S lookDirection(int dx, int dy) {

    int x = InCol()+dx, y = InRow()+dy;

    // If off top of board or next one is a block

    if (inGrid(x, y)) // must be on board

      if (eq(WP(y, x), smarty.ABlock))

        ret smarty.Wall; // looking at a wall

      else // valid square to move into

        ret str(getCell(x, y).letter);

    else // looking beyond grid

      ret smarty.Wall;

  }

  public S LookNorth() { ret lookDirection(0, -1); }

  public S LookSouth() { ret lookDirection(0,  1); }

  public S LookWest()  { ret lookDirection(-1, 0); }

  public S LookEast()  { ret lookDirection( 1, 0); }

  public void PointUnder() {

    setSmartyDirection(smarty.Smarty);

  }

  public void PointNorth() {

    setSmartyDirection(smarty.UpArrow);

  }

  public void PointSouth() {

    setSmartyDirection(smarty.DownArrow);

  }

  public void PointWest() {

    setSmartyDirection(smarty.LeftArrow);

  }

  public void PointEast() {

    setSmartyDirection(smarty.RightArrow);

  }

  public int RangeNorth() { ret rangeDirection(0, -1); }

  public int RangeSouth() { ret rangeDirection(0,  1); }

  public int RangeWest()  { ret rangeDirection(-1, 0); }

  public int RangeEast()  { ret rangeDirection( 1, 0); }

  public int rangeDirection(int dx, int dy) { // Distance to wall

    int x = InCol(), y = InRow();

    int i = 0;

    do {

      ++i;

      x += dx;

      y += dy;

      // End if off rightside of board or next one is a block

    } while (inGrid(x, y) && !getCell(x, y).obstacle());

    ret i;

  }

  public void showSensorValues(S text) {

    cset(state, sensorValuesText := text);

    setText(taSensorValues, winToUnicode(text));

  }

  public void showDeviceValues(S text) {

    cset(state, deviceValuesText := text);

    setText(taDeviceValues, winToUnicode(text));

  }

} // end of TheWorld

svoid initSmarty {

  smarty.World = new TheWorld;

  smarty.Initialize_Adaptron();

}

svoid resetSmarty aka finishBodySetup() {

  print("Finishing body setup");

  ResetSmartyLocation();

  smarty.Reset_Adaptron(); // set all memory, S-List, Habit stack

  cset(state, history1 := "", history2 := "", memory1 := "");

  setText(historyTextArea1, "");

  setText(historyTextArea2, "");

  setText(memoryTextArea1, "");

  setText(memoryTextArea2, "");

  bodyToArray(state.body!, smarty.BodySetting);

  //pnl("BodySetting", smarty.BodySetting);

  /*if (Vision.Value = 1)*/ smarty.SetupVision();

  //if (Touch.Value = 1) smarty.SetupTouch();

  /*if (Wheels.Value = 1)*/ smarty.SetupWheels();

  //if (Arms.Value = 1) smarty.SetupArms();

  SetupStimulusResponseDisplay(); //Setup display of stimuli at bottom of World screen

  updateTabs();