From 90fad032683a55c3c4fa3b8c23dc67c74010c998 Mon Sep 17 00:00:00 2001
From: Helmut Merz <helmutm@cy55.de>
Date: Mon, 6 Apr 2026 14:07:44 +0200
Subject: [PATCH] csys: add-sensor; action id = domain + action; sensor id =
 domain + class + item

---
 csys/csys.lisp      | 20 +++++++++++---------
 test/test-csys.lisp |  4 ++--
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/csys/csys.lisp b/csys/csys.lisp
index 0a20a1a..7b9bafc 100644
--- a/csys/csys.lisp
+++ b/csys/csys.lisp
@@ -8,7 +8,7 @@
                     (:shape :scopes/shape)
                     (:util :scopes/util)
                     (:alx :alexandria))
-  (:export #:environment #:*environment* #:add-action #:add-sensors
+  (:export #:environment #:*environment* #:add-action #:add-sensor
            #:send #:send-message
            #:neuron #:synapse #:std-proc
            #:make-neuron #:update-neuron #:create-sensor
@@ -22,7 +22,7 @@
   ((actions :reader actions :initarg :actions 
             :initform (make-hash-table :test #'equal))
    (sensors :reader sensors :initarg :sensors 
-            :initform (make-hash-table :test #'equal))
+            :initform (make-hash-table :test #'equal :synchronized t))
    (procs :reader procs :initarg :procs
           :initform (make-hash-table :test #'equal))))
 
@@ -33,9 +33,9 @@
   ;(util:lgi key fn *environment*)
   (setf (gethash key (actions *environment*)) fn))
 
-(defun add-sensors (key sns)
-  ;(util:lgi key sns *environment*)
-  (setf (gethash key (sensors *environment*)) sns))
+(defun add-sensor (key sn)
+  (let ((sns (sensors *environment*)))
+    (setf (gethash key sns) (adjoin sn (gethash key sns)))))
 
 ;;;; neurons (= behavior factories) and synapses (connection factories)
 
@@ -81,7 +81,8 @@
     (actor:send sn msg)))
 
 (defun find-sensors (msg)
-  (let* ((key (cddr (shape:head msg)))
+  (let* ((head (shape:head msg))
+         (key (cons (car head) (cddr head)))
          (sns (gethash key (sensors *environment*))))
     ;(util:lgi key sns *environment*)
     sns))
@@ -98,7 +99,8 @@
     (funcall s msg)))
 
 (defun handle-action (msg state syns &key (default #'no-op))
-  (let* ((key (shape:head-value msg :action))
+  (let* ((head (shape:head msg))
+         (key (list (car head) (cadr head)))
          (act (gethash key (actions *environment*) default)))
     (funcall act msg state syns)))
 
@@ -112,10 +114,10 @@
   (list msg (shape:data msg) syns))
  
 (defun create-sensor (msg state syns)
-  (let* ((key (shape:data msg))
+  (let* ((key (cons (car (shape:head msg)) (shape:data msg)))
          (sensor (make-neuron actor:*self* :state key))
          (nmsg (message:create (list :csys :created (car key) (cadr key)))))
-    (add-sensors key (list sensor))
+    (add-sensor key sensor)
     (list nmsg state syns)))
 
 (defun add (msg state syns)
diff --git a/test/test-csys.lisp b/test/test-csys.lisp
index 22fde32..855a8a1 100644
--- a/test/test-csys.lisp
+++ b/test/test-csys.lisp
@@ -58,9 +58,9 @@
   (setup-config)
   (core:setup-services)
   (setf (tc:receiver t:*test-suite*) (core:find-service :test-receiver))
-  (csys:add-action :sensor #'csys:create-sensor)
+  (csys:add-action '(:csys :sensor) #'csys:create-sensor)
   (let ((zero (csys:make-neuron nil :proc #'eff-proc))) 
-    (csys:add-sensors '(:init :zero) (list zero))))
+    (csys:add-sensor '(:csys :init :zero) zero)))
 
 (deftest test-init ()
   (let ((csys:*environment* (make-instance 'test-env :test-suite t:*test-suite*)))