60 lines
1.9 KiB
Python
60 lines
1.9 KiB
Python
import random
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import logging
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from mathema.actors.actor import Actor
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log = logging.getLogger(__name__)
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class Sensor(Actor):
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def __init__(self, sid, cx_pid, name, vector_length, fanout_pids, scape=None):
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super().__init__(f"Sensor-{sid}")
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self.sid = sid
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self.cx_pid = cx_pid
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self.sname = name
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self.vl = vector_length
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self.fanout = fanout_pids
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self.scape = scape
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async def run(self):
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while True:
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msg = await self.inbox.get()
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tag = msg[0]
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log.debug(f"sensor {self.sid} got sensor message: %s", msg)
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if tag == "sync":
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vec = await self._sense()
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log.debug(f"sensor {self.sid} sensed vec: %s", vec)
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for pid in self.fanout:
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await pid.send(("forward", self.sid, vec))
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elif tag == "terminate":
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return
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async def _sense(self):
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if self.sname == "rng":
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return [random.random() for _ in range(self.vl)]
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elif self.sname == "xor_GetInput" and self.scape:
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await self.scape.send(("sense", self.sid, self))
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msg = await self.inbox.get()
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if msg[0] == "percept":
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return msg[1]
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else:
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return [0.0] * self.vl
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elif self.sname == "car_GetFeatures" and self.scape:
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await self.scape.send(("sense", self.sid, self))
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msg = await self.inbox.get()
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if msg[0] == "percept":
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vec = msg[1]
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out = [max(-1.0, min(1.0, float(x))) for x in vec]
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if len(out) < self.vl:
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out = out + [0.0] * (self.vl - len(out))
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elif len(out) > self.vl:
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out = out[:self.vl]
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return out
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else:
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return [0.0] * self.vl
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else:
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return [0.0] * self.vl
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