feat(BNNBot): 10-tick sliding window of enemy data + self state — 870 bits total

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

BNNBot_garage/src/BNNBot.nim

@@ -1,5 +1,5 @@
 # BNNBot — binary encoding data collector.
-# Radar lock on enemy, converts each scan to a 44-bit BinaryVector, prints it.
+# Radar lock on enemy, encodes a 10-tick sliding window (870 bits), prints it.
 # No aiming, no firing — pure scan visualization for BNN research.
 
 import std/[math, os, strutils]
@@ -11,56 +11,73 @@ const botJsonPath = currentSourcePath().parentDir / "BNNBot.json"
 
 type
   BNNBot = ref object of Bot
-    hasContact:  bool
+    hasContact:   bool
     enemyBearing: float
-    lastEnemyX:  float
-    lastEnemyY:  float
-    hasLastPos:  bool
-    velocity:    float   # signed velocity (from heading + speed)
-    heading:     float   # enemy heading (degrees)
-    distance:    float
-    tick:        int
-    prevVec:     BinaryVector
-    hasPrev:     bool
+    lastEnemyX:   float
+    lastEnemyY:   float
+    hasLastPos:   bool
+    velocity:     float
+    heading:      float
+    distance:     float
+    tick:         int
+    prevVec:      BinaryVector
+    hasPrev:      bool
+    frameBuffer:  array[WINDOW_SIZE, array[FRAME_BITS, uint8]]
+    bufferCount:  int
 
 method onScannedBot*(bot: BNNBot, e: ScannedBotEvent) =
   let bx = getX(); let by = getY()
   bot.enemyBearing = directionTo(bx, by, e.x, e.y)
   bot.distance     = distanceTo(bx, by, e.x, e.y)
   bot.heading      = e.direction
-  bot.velocity     = e.speed   # signed: positive = forward, negative = reverse
-  if bot.hasLastPos:
-    discard  # velocity from e.speed is more accurate; position delta kept for future use
-  bot.lastEnemyX = e.x
-  bot.lastEnemyY = e.y
-  bot.hasLastPos = true
-  bot.hasContact = true
+  bot.velocity     = e.speed
+  bot.lastEnemyX   = e.x
+  bot.lastEnemyY   = e.y
+  bot.hasLastPos   = true
+  bot.hasContact   = true
 
-  let arenaW = getArenaWidth().float
-  let arenaH = getArenaHeight().float
-  let enemyX = e.x
-  let enemyY = e.y
-  let scan = ScanData(
-    bearing:      bot.enemyBearing,
-    distance:     bot.distance,
-    velocity:     bot.velocity,
-    heading:      bot.heading,
-    myWallN:      arenaH - by,
-    myWallS:      by,
-    myWallE:      arenaW - bx,
-    myWallW:      bx,
-    enemyWallN:   arenaH - enemyY,
-    enemyWallS:   enemyY,
-    enemyWallE:   arenaW - enemyX,
-    enemyWallW:   enemyX,
-    myEnergy:     getEnergy(),
-    enemyEnergy:  e.energy,
-    canFire:      getGunHeat() <= 0.0,
+  let arenaW  = getArenaWidth().float
+  let arenaH  = getArenaHeight().float
+  let enemyX  = e.x
+  let enemyY  = e.y
+
+  let frame = EnemyScanFrame(
+    bearing:     bot.enemyBearing,
+    distance:    bot.distance,
+    velocity:    bot.velocity,
+    heading:     bot.heading,
+    enemyWallN:  arenaH - enemyY,
+    enemyWallS:  enemyY,
+    enemyWallE:  arenaW - enemyX,
+    enemyWallW:  enemyX,
+    enemyEnergy: e.energy,
   )
-  let vec = encode(scan)
-  let hamming = if bot.hasPrev: hammingDistance(bot.prevVec, vec) else: 0
+  let encoded = encodeFrame(frame)
+
+  # Shift buffer: 0..8 → 1..9, newest at index 0
+  for i in countdown(WINDOW_SIZE - 1, 1):
+    bot.frameBuffer[i] = bot.frameBuffer[i - 1]
+  bot.frameBuffer[0] = encoded
+
+  if bot.bufferCount < WINDOW_SIZE:
+    inc bot.bufferCount
+  if bot.bufferCount < WINDOW_SIZE:
+    return  # still filling
+
+  let selfState = SelfState(
+    myWallN:  arenaH - by,
+    myWallS:  by,
+    myWallE:  arenaW - bx,
+    myWallW:  bx,
+    myEnergy: getEnergy(),
+    canFire:  getGunHeat() <= 0.0,
+  )
+  let selfEncoded = encodeSelf(selfState)
+  let vec = encodeFullVector(bot.frameBuffer, selfEncoded)
+
+  let hamming    = if bot.hasPrev: hammingDistance(bot.prevVec, vec) else: 0
   let similarity = if bot.hasPrev: TOTAL_BITS - hamming else: 0
-  let overlap = if bot.hasPrev: popcount(bitwiseAnd(bot.prevVec, vec)) else: 0
+  let overlap    = if bot.hasPrev: popcount(bitwiseAnd(bot.prevVec, vec)) else: 0
   echo align($bot.tick, 4), " ", formatBinary(vec), " ", hamming, " ", similarity, " ", overlap
   bot.prevVec = vec
   bot.hasPrev = true
@@ -74,6 +91,7 @@ method onRoundStarted*(bot: BNNBot, e: RoundStartedEvent) =
   bot.hasLastPos  = false
   bot.tick        = 0
   bot.hasPrev     = false
+  bot.bufferCount = 0
   setTargetSpeed(0.0)
   setTurnRate(0.0)