feat(BNNBot): scaffold binary neural network bot with scan data collection and binary encoding visualization

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-09-17 22:15:51 +02:00
parent 85005c1c27
commit 808ae44703
7 changed files with 254 additions and 0 deletions
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+## binary_encoding — scan data → binary vector for BNNBot.
+## Encoding scheme:
+##   bearing/heading: population code (2 adjacent bits, triangular interpolation)
+##   distance/speed:  thermometer (all bits below threshold active)
+##   velocity:        signed thermometer (first half = negative, second half = positive)
+
+import std/math
+
+const
+  BEARING_BITS*  = 36      # 360° / 10° per bit
+  DISTANCE_BITS* = 16      # 0-2000 units, ~125 per bit (thermometer)
+  VELOCITY_BITS* = 16      # -8 to +8, signed thermometer
+  HEADING_BITS*  = 36      # 360° / 10° per bit
+  SPEED_BITS*    = 8       # 0-8, 1 per bit (thermometer)
+  TOTAL_BITS*    = BEARING_BITS + DISTANCE_BITS + VELOCITY_BITS + HEADING_BITS + SPEED_BITS  # 112
+
+type
+  BinaryVector* = array[TOTAL_BITS, uint8]  # 0 or 1
+
+  ScanData* = object
+    bearing*:  float   # absolute bearing to enemy (degrees)
+    distance*: float   # distance to enemy
+    velocity*: float   # enemy velocity (negative = moving backward)
+    heading*:  float   # enemy heading (degrees)
+    speed*:    float   # enemy speed (always positive)
+
+proc encodeBearing*(degrees: float, bits: int): seq[uint8] =
+  ## Population code: 2 adjacent bits active via triangular interpolation.
+  result = newSeq[uint8](bits)
+  let norm = ((degrees mod 360.0) + 360.0) mod 360.0
+  let bandWidth = 360.0 / float(bits)
+  let idx = norm / bandWidth
+  let lo = int(idx) mod bits
+  let hi = (lo + 1) mod bits
+  result[lo] = 1
+  result[hi] = 1
+
+proc encodeThermometer*(value, minVal, maxVal: float, bits: int): seq[uint8] =
+  ## Thermometer code: all bits below threshold are 1.
+  result = newSeq[uint8](bits)
+  let clamped = clamp(value, minVal, maxVal)
+  let norm = (clamped - minVal) / (maxVal - minVal)
+  let active = int(norm * float(bits))
+  for i in 0..<active:
+    result[i] = 1
+
+proc encodeSignedThermometer*(value, maxAbs: float, bits: int): seq[uint8] =
+  ## Signed thermometer: first half = negative magnitude, second half = positive magnitude.
+  result = newSeq[uint8](bits)
+  let halfBits = bits div 2
+  let clamped = clamp(value, -maxAbs, maxAbs)
+  if clamped >= 0:
+    let norm = clamped / maxAbs
+    let active = int(norm * float(halfBits))
+    for i in 0..<active:
+      result[halfBits + i] = 1
+  else:
+    let norm = -clamped / maxAbs
+    let active = int(norm * float(halfBits))
+    for i in countdown(halfBits - 1, halfBits - active):
+      result[i] = 1
+
+proc encode*(scan: ScanData): BinaryVector =
+  ## Encode full scan data into a 112-bit binary vector.
+  var offset = 0
+
+  let bearBits = encodeBearing(scan.bearing, BEARING_BITS)
+  for i in 0..<BEARING_BITS:
+    result[offset + i] = bearBits[i]
+  offset += BEARING_BITS
+
+  let distBits = encodeThermometer(scan.distance, 0.0, 2000.0, DISTANCE_BITS)
+  for i in 0..<DISTANCE_BITS:
+    result[offset + i] = distBits[i]
+  offset += DISTANCE_BITS
+
+  let velBits = encodeSignedThermometer(scan.velocity, 8.0, VELOCITY_BITS)
+  for i in 0..<VELOCITY_BITS:
+    result[offset + i] = velBits[i]
+  offset += VELOCITY_BITS
+
+  let headBits = encodeBearing(scan.heading, HEADING_BITS)
+  for i in 0..<HEADING_BITS:
+    result[offset + i] = headBits[i]
+  offset += HEADING_BITS
+
+  let spdBits = encodeThermometer(scan.speed, 0.0, 8.0, SPEED_BITS)
+  for i in 0..<SPEED_BITS:
+    result[offset + i] = spdBits[i]
+
+proc formatBinary*(vec: BinaryVector): string =
+  ## Pretty-print binary vector with labeled sections.
+  result = "BIN ["
+  result &= "B:"
+  for i in 0..<BEARING_BITS:
+    result &= (if vec[i] == 1: "█" else: "░")
+  result &= "|"
+  var offset = BEARING_BITS
+  result &= "D:"
+  for i in 0..<DISTANCE_BITS:
+    result &= (if vec[offset + i] == 1: "█" else: "░")
+  result &= "|"
+  offset += DISTANCE_BITS
+  result &= "V:"
+  for i in 0..<VELOCITY_BITS:
+    result &= (if vec[offset + i] == 1: "█" else: "░")
+  result &= "|"
+  offset += VELOCITY_BITS
+  result &= "H:"
+  for i in 0..<HEADING_BITS:
+    result &= (if vec[offset + i] == 1: "█" else: "░")
+  result &= "|"
+  offset += HEADING_BITS
+  result &= "S:"
+  for i in 0..<SPEED_BITS:
+    result &= (if vec[offset + i] == 1: "█" else: "░")
+  result &= "]"
+
+proc popcount*(vec: BinaryVector): int =
+  ## Count active bits.
+  for b in vec:
+    result += int(b)
+
+proc hammingDistance*(a, b: BinaryVector): int =
+  ## XOR + popcount.
+  for i in 0..<TOTAL_BITS:
+    result += int(a[i] xor b[i])