From 938c259260daa7005c75c7e6a78de364d2e6c9a5 Mon Sep 17 00:00:00 2001
From: Davide Cappellini <signorsasso@gmail.com>
Date: Thu, 17 Sep 2026 23:17:26 +0200
Subject: [PATCH] feat(BNNBot): add wall distances for both bots to binary
 encoding (100 bits total)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

8 new fields in ScanData (myWallN/S/E/W, enemyWallN/S/E/W), 7 bits each via Gray code,
appended after existing 44 bits. TOTAL_BITS 44 → 100.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
---
 BNNBot_garage/src/BNNBot.nim          | 20 ++++++++++++++++----
 BNNBot_garage/src/binary_encoding.nim | 25 ++++++++++++++++++++++++-
 2 files changed, 40 insertions(+), 5 deletions(-)

diff --git a/BNNBot_garage/src/BNNBot.nim b/BNNBot_garage/src/BNNBot.nim
index 413e728..e5c5b71 100644
--- a/BNNBot_garage/src/BNNBot.nim
+++ b/BNNBot_garage/src/BNNBot.nim
@@ -36,11 +36,23 @@ method onScannedBot*(bot: BNNBot, e: ScannedBotEvent) =
   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,
+    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,
   )
   let vec = encode(scan)
   let hamming = if bot.hasPrev: hammingDistance(bot.prevVec, vec) else: 0
diff --git a/BNNBot_garage/src/binary_encoding.nim b/BNNBot_garage/src/binary_encoding.nim
index 2acce7e..708e950 100644
--- a/BNNBot_garage/src/binary_encoding.nim
+++ b/BNNBot_garage/src/binary_encoding.nim
@@ -1,7 +1,7 @@
 import std/math
 
 const
-  TOTAL_BITS* = 44
+  TOTAL_BITS* = 100
 
 type
   BinaryVector* = array[TOTAL_BITS, uint8]
@@ -11,6 +11,14 @@ type
     distance*: float     # 0-1414 pixels (will be converted to 0-100%)
     velocity*: float     # -8 to +8 integer steps
     heading*: float      # 0-360 degrees
+    myWallN*: float      # our distance to north wall
+    myWallS*: float      # our distance to south wall
+    myWallE*: float      # our distance to east wall
+    myWallW*: float      # our distance to west wall
+    enemyWallN*: float   # enemy distance to north wall
+    enemyWallS*: float   # enemy distance to south wall
+    enemyWallE*: float   # enemy distance to east wall
+    enemyWallW*: float   # enemy distance to west wall
 
 const MAX_DISTANCE = 1414.0  # diagonal of 1000x1000 arena
 
@@ -60,6 +68,21 @@ proc encode*(scan: ScanData): BinaryVector =
   let hCos = int((cos(degToRad(scan.heading)) + 1.0) / 2.0 * 199.0)
   let hCosBits = toBits(clamp(hCos, 0, 199), 8)
   for i in 0..<8: result[offset + i] = hCosBits[i]
+  offset += 8
+
+  # 7. My wall distances (7 bits each, 0-100% of arena dimension)
+  for wall in [scan.myWallN, scan.myWallS, scan.myWallE, scan.myWallW]:
+    let pct = int(clamp(wall / 1000.0 * 99.0, 0.0, 99.0))
+    let bits = toBits(pct, 7)
+    for i in 0..<7: result[offset + i] = bits[i]
+    offset += 7
+
+  # 8. Enemy wall distances (7 bits each)
+  for wall in [scan.enemyWallN, scan.enemyWallS, scan.enemyWallE, scan.enemyWallW]:
+    let pct = int(clamp(wall / 1000.0 * 99.0, 0.0, 99.0))
+    let bits = toBits(pct, 7)
+    for i in 0..<7: result[offset + i] = bits[i]
+    offset += 7
 
 proc formatBinary*(vec: BinaryVector): string =
   for b in vec: