last workig state.

mathema/actors/actuator.py

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+import asyncio
+import logging
+
+from mathema.actors.actor import Actor
+
+log = logging.getLogger(__name__)
+
+
+class Actuator(Actor):
+    def __init__(self, aid, cx_pid, name, fanin_ids, expect_count, scape=None):
+        super().__init__(f"Actuator-{aid}")
+        self.aid = aid
+        self.cx_pid = cx_pid
+        self.aname = name
+        self.fanin_ids = fanin_ids
+        self.expect = expect_count
+        self.received = {}
+        self.scape = scape
+        self.scape_inbox = asyncio.Queue()
+
+    async def run(self):
+
+        while True:
+            msg = await self.inbox.get()
+            tag = msg[0]
+
+            if tag == "forward":
+                _, from_id, vec = msg
+                self.received[from_id] = vec
+
+                if len(self.received) == self.expect:
+                    log.debug("ACTUATOR: collected all signals...")
+                    output = []
+                    for fid in self.fanin_ids:
+                        output.extend(self.received[fid])
+
+                    if self.aname == "pts":
+                        print(f"Actuator output: {output}")
+                        fitness, halt_flag = 1.0, 0
+                    elif self.aname == "xor_SendOutput" and self.scape:
+                        log.debug("ACTUATOR: sending action to scape...")
+                        await self.scape.send(("action", output, self))
+                        while True:
+                            resp = await self.inbox.get()
+                            if resp[0] == "result":
+                                log.debug("ACTUATOR: got scape response: %s", resp)
+                                fitness, halt_flag = resp[1], resp[2]
+                                break
+                    elif self.aname == "car_ApplyAction" and self.scape:
+                        y0 = float(output[0]) if len(output) > 0 else 0.0
+                        y1 = float(output[1]) if len(output) > 1 else 0.0
+                        y2 = float(output[2]) if len(output) > 2 else 0.0
+
+                        steer = max(-1.0, min(1.0, y0))
+                        gas = max(0.0, min(1.0, 0.5 * (y1 + 1.0)))
+                        brake = max(0.0, min(1.0, 0.5 * (y2 + 1.0)))
+
+                        action = [steer, gas, brake]
+
+                        log.debug("ACTUATOR: sending action to car scape: %s", action)
+                        await self.scape.send(("action", action, self))
+                        while True:
+                            resp = await self.inbox.get()
+                            if resp[0] == "result":
+                                log.debug("ACTUATOR: got scape response: %s", resp)
+                                fitness, halt_flag = resp[1], resp[2]
+                                break
+                    else:
+                        fitness, halt_flag = 0.0, 0
+
+                    await self.cx_pid.send(("sync", self.aid, fitness, halt_flag))
+                    log.debug("ACTUATOR: sent sync message to cortex.")
+                    self.received.clear()
+
+            elif tag == "terminate":
+                return