add basic structure.

mathema/cortex.py

@@ -0,0 +1,103 @@
+import time
+from actor import Actor
+
+
+class Cortex(Actor):
+    def __init__(self, cid, exoself_pid, sensor_pids, neuron_pids, actuator_pids):
+        super().__init__(f"Cortex-{cid}")
+        self.cid = cid
+        self.sensors = sensor_pids
+        self.neurons = neuron_pids
+        self.actuators = actuator_pids
+        self.exoself_pid = exoself_pid
+
+        self.awaiting_sync = set()
+        self.fitness_acc = 0.0
+        self.ef_acc = 0
+        self.cycle_acc = 0
+        self.active = False
+        self._t0 = None
+
+    async def _kick_sensors(self):
+        for s in self.sensors:
+            await s.send(("sync",))
+
+    def _reset_for_new_cycle(self):
+        self.awaiting_sync = set(a.aid for a in self.actuators)
+
+    def _reset_for_new_episode(self):
+        self.fitness_acc = 0.0
+        self.ef_acc = 0
+        self.cycle_acc = 0
+        self._reset_for_new_cycle()
+        self._t0 = time.perf_counter()
+        self.active = True
+
+    async def run(self):
+        if self.actuators:
+            self._reset_for_new_episode()
+            await self._kick_sensors()
+
+        while True:
+            msg = await self.inbox.get()
+            tag = msg[0]
+
+            if tag == "register_actuators":
+                _, aids = msg
+                self.awaiting_sync = set(aids)
+                if not self.active:
+                    self._reset_for_new_episode()
+                    await self._kick_sensors()
+                continue
+
+            if tag == "sync" and self.active:
+                print("CORTEX: got sync message: ", msg)
+                _t, aid, fitness, halt_flag = msg
+
+                print("----------------")
+                print("_t:", _t)
+                print("aid:", aid)
+                print("fitness:", fitness)
+                print("halt_flag:", halt_flag)
+                print("----------------")
+
+                self.fitness_acc += float(fitness)
+                self.ef_acc += int(halt_flag)
+
+                if aid in self.awaiting_sync:
+                    self.awaiting_sync.remove(aid)
+
+                print("CORTEX: awaiting sync: ", self.awaiting_sync)
+
+                if not self.awaiting_sync:
+                    print("CORTEX: cycle completed.")
+                    self.cycle_acc += 1
+
+                    if self.ef_acc > 0:
+                        elapsed = time.perf_counter() - self._t0
+                        await self.exoself_pid.send((
+                            "evaluation_completed",
+                            self.fitness_acc,
+                            self.cycle_acc,
+                            elapsed
+                        ))
+                        self.active = False
+                    else:
+                        self.ef_acc = 0
+                        self._reset_for_new_cycle()
+                        await self._kick_sensors()
+
+                continue
+
+            if tag == "reactivate":
+                self._reset_for_new_episode()
+                await self._kick_sensors()
+                continue
+
+            if tag == "terminate":
+                for a in (self.sensors + self.actuators + self.neurons):
+                    await a.send(("terminate",))
+                return
+
+            elif tag == "backup_from_neuron":
+                await self.exoself_pid.send(msg)