From 27c0ea4b35bcd108b0977d4a9da716bd75170ee1 Mon Sep 17 00:00:00 2001
From: Pascal <pascal@pdev.dev>
Date: Wed, 29 Jan 2020 01:19:11 -0600
Subject: [PATCH] [fix] fixed simulation to pass proper results

---
 .../scala/scim/components/Simulation.scala    | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/src/main/scala/scim/components/Simulation.scala b/src/main/scala/scim/components/Simulation.scala
index 56f1a5f..78bf136 100644
--- a/src/main/scala/scim/components/Simulation.scala
+++ b/src/main/scala/scim/components/Simulation.scala
@@ -1,7 +1,9 @@
 package scim.components
 
 import scim.datastruct.{Behaviour, BehaviourVector, Cell, Configuration, FunctionArgs, GroundTruth, Group, Sensor, SensorCount, SensorResult, Time, Truth}
+import scim.lib.ConcurrentBroadcast.BroadcastObject
 import scim.lib.simulation.SimulationBehaviour
+import scim.lib.debugUtil.{DebugType, debug, debugf}
 
 class Simulation(config: Configuration) {
   private val sharedMemory = config.sharedMemory
@@ -14,9 +16,10 @@ class Simulation(config: Configuration) {
     val duration = sharedConfig.duration
     val timeVector = Vector.tabulate(duration)(t => Time(t, duration))
     def simTime(time: Time): Unit = {
-      val prevTruths = if(time.start) sharedMemory.groundTruth(time) else sharedMemory.groundTruth(time.prev)
-      val resultTruths = sharedMemory.groundTruth(time)
-      val sensorResults = sharedMemory.sensor(time)
+      // FIXME: really shouldn't have to .map(kv => kv._1 -> kv._2) to get an immutable map, in fact it shouldn't even be mutable in the first place...
+      val prevTruths: scala.collection.immutable.Map[Cell, Map[Group, Truth]] = if(time.start) sharedMemory.groundTruth(time).map(kv => kv._1 -> kv._2) else sharedMemory.groundTruth(time.prev).map(kv => kv._1 -> kv._2)
+      val resultTruths = sharedMemory.groundTruth(time).map(kv => kv._1 -> kv._2)
+      val sensorResults = sharedMemory.sensor(time).map(kv => kv._1 -> kv._2)
       simCells(time, prevTruths, resultTruths, sensorResults)
     }
     timeVector.foreach(simTime)
@@ -54,13 +57,22 @@ class Simulation(config: Configuration) {
     // this would require sharedConfig.cellThreadPool * 2 additional threads
     // :
     // another option would be to calculate all ground truths within a list first and than parellize the sensor list
+
     def simGroup(input: (Group, List[(Group, Sensor, Option[GroundTruth])])): Unit = {
       val group = input._1
       val truthGroup = group.getParentOrGroup // make sure the correct ground truth gets passed
       val groupList = input._2
       // overwrite truth with value from configuration if set for this time and group
       val prevTruth = if(!configTruths.isEmpty && configTruths.get.contains(truthGroup)) configTruths.get(truthGroup) else PrevTruths(truthGroup)
-      groupList.foreach(element => simulate(time, cell, prevTruth, resultTruths(group), resultSensors(group), element))
+      groupList.foreach(element => {
+        val subGroup = element._1
+        debugf(DebugType.DEBUG, "simGroups: Time: %s | Cell: %s | Group: %s | Groupelement: %s", time.toString, cell.toString, group.toString, element._1.name)
+        // pass either subGroup truth, if truth is available for subGroup, or the sensor parents truth
+        val resTruth = if(subGroup.sensorParent.isEmpty) resultTruths(subGroup) else resultTruths(sharedMemory.groups(subGroup.parent.getOrElse(subGroup.name)))
+        // construct dummy result for sensors with count 0
+        val restSens = if(resultSensors.contains(subGroup)) resultSensors(subGroup) else Vector(SensorResult(new BroadcastObject()))
+        simulate(time, cell, prevTruth, resTruth, restSens, element)
+      })
     }
     if(sharedConfig.parGroup != 0 && cells.size >= sharedConfig.parGroup ) {
       val groupList = groups.par
@@ -84,6 +96,7 @@ class Simulation(config: Configuration) {
       val v: Vector[Option[(SimulationBehaviour, Option[FunctionArgs])]] = Vector.fill(time.duration)(None)
       GroundTruth(group, Some(Behaviour(BehaviourVector(v)))).simulate(cell, time, prevTruth, resultTruth)
     }
+    debugf(DebugType.DEBUG, "simulate: Time: %s | Cell: %s | Group: %s | Truth: %s", time.toString, cell.toString, group.toString, resultTruth.value.peak())
     // simulate the sensor
     sensor.simulate(time, resultTruth, resultSensors)
   }