Update TI branch.

README.md

@@ -268,7 +268,7 @@ missclasification issue in the GDELT data analysis.
 --> 
 
 ## Citations
-For citations, see our list of [Logica publications](https://logica-web.github.io/publications/).
+For citations, see our list of [Logica publications](https://logica-lang.github.io/publications/).
 
 ## Feedback
 

docs/index.html

@@ -167,7 +167,7 @@
       </div>
     </div>
   </a>
-  <a href="https://logica-web.github.io/" style="text-decoration: none; color: inherit;">
+  <a href="https://logica-lang.github.io/" style="text-decoration: none; color: inherit;">
     <div class="github_button" style="float: none; margin-top: 0px; padding: 5px;" onclick="openBook()">
       <div style="float: none; text-align: center; display: flex; flex-direction: row;">
         <div id="closed_book" style="font-size: 4em; display:flex; margin: 0px; width: 80px; text-align: center; justify-content: center;"><span>📘</span></div>

docs/robots/charger.l

@@ -0,0 +1,98 @@
+# NEW PREDICATE: Creates a table of all robots with an empty battery.
+DeadBot(robot_name:) :-
+  # Find the sensor data for every robot in the simulation.
+  Sensor(robot_name: , sensor:),
+  # Check if that robot has a battery and its level is zero.
+  sensor.self.has_battery == true,
+  sensor.self.battery_level == 0;
+
+# HELPER FUNCTION: Returns true if a radar ping 'r' is a charging station.
+IsChargingStation(r) = (
+  r.object == "beacon" && EndsWith(r.label, "_ChargingStation")
+);
+
+# HELPER FUNCTION: Finds the ANGLE of the closest DEAD BOT.
+ClosestDeadBotAngle(radar) = ArgMin{
+  r.angle -> r.distance :-
+    r in radar,
+    r.object == "robot",
+    # We check if the name of the robot we see (r.label)
+    # exists in our table of dead bots.
+    DeadBot(robot_name: r.label)
+};
+
+# HELPER FUNCTION: Finds the ANGLE of the closest CHARGING STATION.
+ClosestChargingStationAngle(radar) = ArgMin{
+  r.angle -> r.distance :-
+    r in radar,
+    IsChargingStation(r)==true
+};
+
+# A helper function to steer towards a target angle.
+SteerTo(target_angle, speed) = {
+  left_engine: speed - target_angle,
+  right_engine: speed + target_angle
+};
+
+# Standard obstacle avoidance logic.
+WeightedAverage(k->v) = Sum(k * v) / Sum(k);
+FreedomMotion(radar) = WeightedAverage{
+  x.distance -> x.angle :- x in radar
+};
+
+# Returns true if the robot should be helping a dead bot.
+ShouldHelpDeadBot(sensor) = (
+  sensor.self.can_charge == true &&
+  sensor.self.battery_level > 0 &&
+  # We count how many of the robots we see in our radar
+  # have a name that is in the DeadBot table.
+  Count{ 1 :-
+    r in sensor.radar,
+    r.object == "robot",
+    DeadBot(robot_name: r.label)
+  } > 0
+);
+
+# Returns true if the robot should be seeking a charging station.
+ShouldSeekCharger(sensor) = (
+  sensor.self.can_charge == true &&
+  sensor.self.battery_level == 0 &&
+  Count{1 :- r in sensor.radar, IsChargingStation(r)==true} > 0
+);
+
+# --- Main Logic Starts Here (Now Explicit) ---
+
+# PRIORITY 1: A robot that can_charge will go help a dead robot it sees.
+Robot(robot_name:, desire:, memory:) :-
+  Sensor(robot_name:, sensor:),
+  # Check if the conditions for this priority are met.
+  ShouldHelpDeadBot(sensor)==true, 
+  # Find the angle to the closest one.
+  dead_bot_angle = ClosestDeadBotAngle(sensor.radar),
+  desire = SteerTo(dead_bot_angle, 1),
+  memory = "Going to help a robot in need!";
+
+
+# PRIORITY 2: If a robot that can_charge has no battery, it seeks a station.
+Robot(robot_name:, desire:, memory:) :-
+  Sensor(robot_name:, sensor:),
+  # Check if the conditions for this priority are met.
+  ShouldSeekCharger(sensor)==true,
+  # Find the angle to the closest one.
+  station_angle = ClosestChargingStationAngle(sensor.radar),
+  desire = SteerTo(station_angle, 1),
+  memory = "My battery is empty! Seeking a charging station.";
+
+
+# PRIORITY 3 (DEFAULT): All other robots will just wander around avoiding walls.
+Robot(robot_name:, desire:, memory:) :-
+  Sensor(robot_name:, sensor:),
+  ShouldHelpDeadBot(sensor)==false,
+  ShouldSeekCharger(sensor)==false,
+  freedom = FreedomMotion(sensor.radar),
+  speed = 0.5,
+  desire = {
+    left_engine: speed - freedom+0.1,
+    right_engine: speed + freedom
+  },
+  memory = "Exploring the labyrinth.";

docs/robots/editor5.html

@@ -150,7 +150,70 @@
             border-radius: 50%;
             cursor: pointer;
         }
-
+        /* The switch container */
+        .switch {
+        position: relative;
+        display: inline-block;
+        width: 50px;  /* Smaller width */
+        height: 28px; /* Smaller height */
+        margin-left: auto; /* Aligns it to the right */
+        }
+
+        /* Hide the default HTML checkbox */
+        .switch input {
+        opacity: 0;
+        width: 0;
+        height: 0;
+        }
+
+        /* The slider track */
+        .slider {
+        position: absolute;
+        cursor: pointer;
+        top: 0;
+        left: 0;
+        right: 0;
+        bottom: 0;
+        background-color: #555; /* Off color to match your theme */
+        -webkit-transition: .4s;
+        transition: .4s;
+        }
+
+        /* The slider handle (the circle) */
+        .slider:before {
+        position: absolute;
+        content: "";
+        height: 20px; /* Adjusted size */
+        width: 20px;  /* Adjusted size */
+        left: 4px;
+        bottom: 4px;
+        background-color: white;
+        -webkit-transition: .4s;
+        transition: .4s;
+        }
+
+        /* --- The Magic: What happens when the checkbox is checked --- */
+
+        /* Change the background of the track to green */
+        input:checked + .slider {
+        background-color: #34c759; /* Green to match your 'Download' button */
+        }
+
+        /* Move the handle to the right */
+        input:checked + .slider:before {
+        -webkit-transform: translateX(22px); /* Adjusted distance */
+        -ms-transform: translateX(22px);
+        transform: translateX(22px);
+        }
+
+        /* Rounded sliders */
+        .slider.round {
+        border-radius: 28px;
+        }
+
+        .slider.round:before {
+        border-radius: 50%;
+        }
         /* Modal styles for alerts and editing */
         .modal-backdrop {
             position: fixed;
@@ -352,6 +415,36 @@ <h3 id="editTitle">Edit Object</h3>
                 <label for="editOffBeacon">Off Beacon:</label>
                 <select id="editOffBeacon"></select>
             </div>
+            <div class="edit-row" id="editChargingStationRow" style="display: none;">
+                <label for="editChargingStation">Charging Station:</label>
+                <label class="switch">
+                <input type="checkbox" id="editChargingStation">
+                <span class="slider round"></span>
+                </label>
+            </div>
+            <div class="edit-row" id="hasBatteryRow" style="display: none;">
+                <label for="hasBatteryToggle">Has Battery:</label>
+                <label class="switch">
+                  <input type="checkbox" id="hasBatteryToggle">
+                  <span class="slider round"></span>
+                </label>
+            </div>
+            <div class="edit-row" id="canChargeRow" style="display: none;">
+                <label for="canChargeToggle">Can Charge:</label>
+                <label class="switch">
+                  <input type="checkbox" id="canChargeToggle">
+                  <span class="slider round"></span>
+                </label>
+            </div>
+            <div class="edit-row" id="batteryConsumptionRow" style="display: none;">
+                <label for="batteryConsumptionSlider">Consumption Rate:</label>
+                <input type="range" id="batteryConsumptionSlider" min="0" max="1" step="0.01" value="1">
+                <span id="batteryConsumptionValue" style="width: 40px; text-align: right;">1.00</span>
+            </div>
+            <div class="edit-row" id="batteryCapacityRow" style="display: none;">
+                <label for="batteryCapacityInput">Battery Capacity:</label>
+                <input type="number" id="batteryCapacityInput" value="100" min="0">
+            </div>
             <div class="edit-row" id="editStickySwitchRow" style="display: none;">
                 <label for="editStickySwitch">Sticky Switch:</label>
                 <input type="checkbox" id="editStickySwitch">