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* #:actions #:procs #:sensors
            #:send #:send-message
            #:neuron #:synapse #:std-proc
            #:make-neuron #:update-neuron #:create-sensor
@@ -19,23 +19,13 @@
 ;;;; environment: common information, with list of globally available actions
 
 (defclass environment ()
-  ((actions :reader actions :initarg :actions 
+  ((actions :reader actions :initarg :actions :initform (make-hash-table))
-            :initform (make-hash-table :test #'equal))
    (sensors :reader sensors :initarg :sensors 
             :initform (make-hash-table :test #'equal))
    (procs :reader procs :initarg :procs
           :initform (make-hash-table :test #'equal))))
 
-;(defvar *environment* (make-instance 'environment))
+(defvar *environment* (make-instance 'environment))
-(defvar *environment* nil)
-
-(defun add-action (key fn &optional (env *environment*))
-  ;(util:lgi key fn env)
-  (setf (gethash key (actions env)) fn))
-
-(defun add-sensors (key sns &optional (env *environment*))
-  ;(util:lgi key sns env)
-  (setf (gethash key (sensors env)) sns))
 
 ;;;; neurons (= behavior factories) and synapses (connection factories)
 
@@ -57,7 +47,7 @@
   (actor:become (neuron proc state syns env)))
 
 (defun std-proc (msg state syns env)
-  ;(util:lgi msg state syns env)
+  ;(util:lgi msg state)
   (destructuring-bind (nmsg nst nsyns) 
         (handle-action msg state syns env :default #'remember)
     (forward nmsg nsyns)
@@ -83,7 +73,7 @@
 (defun find-sensors (msg)
   (let* ((key (cddr (shape:head msg)))
          (sns (gethash key (sensors *environment*))))
-    ;(util:lgi key sns *environment*)
+    ;(util:lgi key sns)
     sns))
 
 ;;;; effector procs for pseudo-neurons embedded in environment
@@ -113,10 +103,9 @@
  
 (defun create-sensor (msg state syns env)
   (let* ((key (shape:data msg))
-         (sensor (make-neuron actor:*self* :state key :env env))
+         (sensor (make-neuron actor:*self* :state key))
          (nmsg (message:create (list :csys :created (car key) (cadr key)))))
-    ;(setf (gethash key (sensors env)) (list sensor))
+    (setf (gethash key (sensors env)) (list sensor))
-    (add-sensors key (list sensor) env)
     (list nmsg state syns)))
 
 (defun add (msg state syns env)

test/test-csys.lisp

@@ -54,17 +54,18 @@
 
 ;;;; test: initialization
 
-(defun setup-test-init ()
+(defun init ()
-  (setup-config)
+  (setf (gethash :sensor (csys:actions csys:*environment*)) #'csys:create-sensor)
-  (core:setup-services)
-  (setf (tc:receiver t:*test-suite*) (core:find-service :test-receiver))
-  (csys:add-action :sensor #'csys:create-sensor)
   (let ((zero (csys:make-neuron nil :proc #'eff-proc))) 
-    (csys:add-sensors '(:init :zero) (list zero))))
+    (setf (gethash '(:init :zero) (csys:sensors csys:*environment*)) (list zero))))
 
 (deftest test-init ()
   (let ((csys:*environment* (make-instance 'test-env :test-suite t:*test-suite*)))
-    (setup-test-init)
+    ;(setup-xxx)
+    (setup-config)
+    (core:setup-services)
+    (setf (tc:receiver t:*test-suite*) (core:find-service :test-receiver))
+    (init) ; end of setup
     (csys:send-message '(:csys :sensor :init :zero) '(:std :s1))
     (csys:send-message '(:csys :sensor :init :zero) '(:std :s2))
     (sleep 0.1)