last workig state.

2025-12-13 14:12:35 +01:00
parent 1761de8acb
commit 841bc7c805
227 changed files with 694550 additions and 251 deletions
--- a/mathema/smoke_test_car.py
+++ b/mathema/smoke_test_car.py
@@ -0,0 +1,145 @@
+import asyncio
+import logging
+import numpy as np
+
+from mathema.actors.actor import Actor
+from mathema.actors.sensor import Sensor
+from mathema.actors.actuator import Actuator
+from mathema.scape.car_racing import CarRacingScape
+from mathema.envs.openai_car_racing import CarRacing
+
+logging.basicConfig(level=logging.INFO)
+log = logging.getLogger("smoke")
+
+FEATURE_LEN = 10 + 6
+
+
+class DummyCortex(Actor):
+    """Minimaler Cortex: zählt Fitness und Episoden. Erwartet Actuator->('sync', aid, fitness, halt_flag)."""
+
+    def __init__(self, stop_after_episodes: int = 3):
+        super().__init__("DummyCortex")
+        self.total_fitness = 0.0
+        self.episodes = 0
+        self.stop_after = int(stop_after_episodes)
+        self.sensors = []
+        self.neurons = []
+        self.actuators = []
+
+    async def run(self):
+        log.info("[Cortex] started. stop_after=%d", self.stop_after)
+        try:
+            while True:
+                msg = await self.inbox.get()
+                tag = msg[0]
+                if tag == "sync":
+                    _, aid, fitness_delta, halt_flag = msg
+                    self.total_fitness += float(fitness_delta)
+                    if halt_flag == 1:
+                        self.episodes += 1
+                        log.info("[Cortex] EPISODE done: %d  cum_fitness=%.3f",
+                                 self.episodes, self.total_fitness)
+                        if self.episodes >= self.stop_after:
+                            log.info("[Cortex] stopping smoke test...")
+
+                            for a in (self.sensors + self.neurons + self.actuators):
+                                try:
+                                    await a.send(("terminate",))
+                                except Exception:
+                                    pass
+                            return
+                elif tag == "reactivate":
+
+                    pass
+                elif tag == "terminate":
+                    return
+        finally:
+            log.info("[Cortex] terminated.")
+
+
+class RelayNeuron(Actor):
+    """
+    Minimal-Neuron: nimmt Sensor-Features entgegen ("forward", sid, vec)
+    und sendet eine 3-dimensionale Aktor-Action ("forward", nid, [steer,gas,brake]) weiter.
+    """
+
+    def __init__(self, nid: str, out_actuator: Actuator):
+        super().__init__(f"RelayNeuron-{nid}")
+        self.nid = nid
+        self.out = out_actuator
+
+    async def run(self):
+        try:
+            while True:
+                msg = await self.inbox.get()
+                tag = msg[0]
+                if tag == "forward":
+                    _, _sid, features = msg
+
+                    action_vec = [0.0, 0.2, -1.0]
+                    await self.out.send(("forward", self.nid, action_vec))
+                elif tag == "terminate":
+                    return
+        finally:
+            pass
+
+
+async def main():
+    env = CarRacing(seed_value=5, render_mode=None)
+    scape = CarRacingScape(env)
+
+    cx = DummyCortex(stop_after_episodes=3)
+
+    actuator = Actuator(
+        aid="A1",
+        cx_pid=cx,
+        name="car_ApplyAction",
+        fanin_ids=["N1"],
+        expect_count=1,
+        scape=scape
+    )
+
+    neuron = RelayNeuron("N1", actuator)
+
+    sensor = Sensor(
+        sid="S1",
+        cx_pid=cx,
+        name="car_GetFeatures",
+        vector_length=FEATURE_LEN,
+        fanout_pids=[neuron],
+        scape=scape
+    )
+
+    cx.sensors = [sensor]
+    cx.neurons = [neuron]
+    cx.actuators = [actuator]
+
+    tasks = [
+        asyncio.create_task(scape.run(), name="CarScape"),
+        asyncio.create_task(cx.run(), name="Cortex"),
+        asyncio.create_task(sensor.run(), name="Sensor"),
+        asyncio.create_task(neuron.run(), name="Neuron"),
+        asyncio.create_task(actuator.run(), name="Actuator"),
+    ]
+
+    steps = 0
+    try:
+        while not tasks[1].done():
+            await sensor.send(("sync",))
+            steps += 1
+
+            await asyncio.sleep(0.0)
+        log.info("[SMOKE] finished after %d steps. ✅", steps)
+    finally:
+
+        try:
+            await scape.send(("terminate",))
+        except Exception:
+            pass
+        for t in tasks:
+            if not t.done():
+                t.cancel()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())