NanoBrain-unitypackage/ClusterReceptor.cs

using System;
using System.Collections.Generic;
using UnityEngine;
using Unity.Mathematics;
using static Unity.Mathematics.math;
using System.Linq;

[Serializable]
public class ClusterReceptor : Cluster, IReceptor {
    public ClusterReceptor(ClusterPrefab prefab, Cluster parent, string name) : base(prefab, parent) {
        this.name = name;
        this.array = new NucleusArray(this);
        if (this.name.IndexOf(":") < 0)
            this.name += ": 0";

    }
    public ClusterReceptor(ClusterPrefab prefab, ClusterPrefab parent, string name) : base(prefab, parent) {
        this.name = name;
        this.array = new NucleusArray(this);
    }

    public string GetName() {
        return this.name;
    }

    public override Nucleus ShallowCloneTo(Cluster parent) {
        ClusterReceptor clone = new(this.prefab, parent, this.name) {
            clusterPrefab = this.clusterPrefab,
        };

        return clone;
    }

    public override Nucleus Clone(ClusterPrefab parent) {
        ClusterReceptor clone = new(prefab, parent, this.name) {
            array = this._array
        };

        foreach (Synapse synapse in this.synapses) {
            Synapse clonedSynapse = clone.AddSynapse(synapse.neuron);
            clonedSynapse.weight = synapse.weight;
        }

        this._outputs = null; // Make sure the output are regenerated
        foreach (Neuron output in this.outputs) {
            int ix = GetNucleusIndex(this.clusterNuclei, output);
            if (ix < 0 || clone.clusterNuclei[ix] is not Neuron clonedOutput)
                continue;

            foreach (Nucleus receiver in output.receivers)
                clonedOutput.AddReceiver(receiver);
        }
        return clone;
    }

    public override List<Nucleus> CollectReceivers() {
        List<Nucleus> receivers = new();
        foreach (Nucleus element in this.nucleiArray) {
            if (element is not Cluster clusterElement)
                continue;

            foreach (Nucleus outputNucleus in clusterElement.clusterNuclei) {
                if (outputNucleus is not Neuron output)
                    continue;

                // this should be clusterElement.outputs,
                // but outputs is not updated when correctly and may contain old data...
                foreach (Nucleus receiver in output.receivers) {
                    // Only add receivers outside clusterElement cluster
                    if (receiver.clusterPrefab != clusterElement.prefab &&
                        receivers.Contains(receiver) == false)
                        receivers.Add(receiver);
                }
            }
        }
        return receivers;
    }

    [SerializeReference]
    private NucleusArray _array;
    public NucleusArray array {
        set { _array = value; }
    }

    public Nucleus[] nucleiArray {
        get { return _array.nuclei; }
        set { _array.nuclei = value; }
    }

    public void AddReceptorElement(ClusterPrefab prefab) {
        IReceptorHelpers.AddReceptorElement(this, prefab);
    }

    public void RemoveReceptorElement() {
        IReceptorHelpers.RemoveReceptorElement(this);
    }

    public void AddArrayReceiver(Nucleus receiverToAdd, float weight = 1) {
        IReceptorHelpers.AddArrayReceiver(this, receiverToAdd, weight);
    }

    public override void UpdateStateIsolated() {
        // Clusters don't do anything,
        // The nuclei in them do the work
        // and should be called directly, not from the cluster
    }

    public override void UpdateNuclei() {
        foreach (Nucleus nucleus in this.clusterNuclei)
            nucleus.UpdateNuclei();
    }

    public override void ProcessStimulus(Vector3 inputValue, int thingId = 0, string thingName = null) {
        Debug.LogError("Process Stimulus was called on clusterreceptor without a neuron specified");
    }

    private readonly Dictionary<int, ClusterReceptor> thingReceivers = new();

    public virtual void ProcessStimulus(Neuron input, Vector3 inputValue, int thingId = 0, string thingName = null) {
        CleanupReceivers();

        if (!thingReceivers.TryGetValue(thingId, out ClusterReceptor selectedReceiver))
            selectedReceiver = FindReceiver2(thingId, inputValue, input);
        if (selectedReceiver == null)
            return;

        if (thingName != null) {
            string baseName = selectedReceiver.name;
            int colonPos = selectedReceiver.name.IndexOf(":");
            if (colonPos > 0)
                baseName = selectedReceiver.name[..colonPos];
            selectedReceiver.name = baseName + ": " + thingName;
        }

        int inputIx = GetNucleusIndex(this.clusterNuclei, input);
        if (inputIx < 0)
            return;

        if (selectedReceiver.clusterNuclei[inputIx] is Neuron selectedNeuron)
            selectedNeuron.ProcessStimulusDirect(inputValue);
    }

    private ClusterReceptor FindReceiver2(int thingId, float3 inputValue, Neuron input) {
        // No existing nucleus for this thing
        ClusterReceptor selectedReceiver = null;
        float selectedMagnitude = 0;
        foreach (ClusterReceptor receiver in this.nucleiArray.Cast<ClusterReceptor>()) {
            if (thingReceivers.ContainsValue(receiver) == false) {
                // We found an unusued receiver
                thingReceivers.Add(thingId, receiver);
                return receiver;
            }
            else if (receiver.defaultOutput.isSleeping) {
                // A sleeping receiver is not active and can therefore always be used
                thingReceivers.Add(thingId, receiver);
                receiver.bias = float3(0, 0, 0);
                return receiver;
            }
            else if (selectedReceiver == null) {
                // If we haven't found a receiver yet, just start by taking the first
                selectedReceiver = receiver;
                selectedMagnitude = length(selectedReceiver.defaultOutput.outputValue);
            }
            // Look for the receiver with the lowest output magnitude
            else {
                float magnitude = length(receiver.defaultOutput.outputValue);

                if (length(receiver.defaultOutput.outputValue) < selectedMagnitude) {
                    selectedReceiver = receiver;
                    selectedMagnitude = length(selectedReceiver.defaultOutput.outputValue);
                }
            }
        }
        if (selectedReceiver != null) {
            // To re-initialize the cluster (esp. memory cells)
            // we update the cluster neuron twice.
            // Bit of a hack.....
            int inputIx = GetNucleusIndex(this.clusterNuclei, input);
            if (inputIx >= 0) {
                if (selectedReceiver.clusterNuclei[inputIx] is Neuron selectedNeuron)
                    selectedNeuron.ProcessStimulusDirect(inputValue);
            }

            // Replace the receiver
            // Find the thingId current associated with the receiver
            int keyToRemove = thingReceivers.FirstOrDefault(r => r.Value.Equals(selectedReceiver)).Key;
            if (keyToRemove != 0 || thingReceivers.ContainsKey(keyToRemove))
                thingReceivers.Remove(keyToRemove);
            // And add the new association
            thingReceivers.Add(thingId, selectedReceiver);
        }
        return selectedReceiver;
    }


    private void CleanupReceivers() {
        // Remove a thing-receiver connection when the nucleus is inactive
        List<int> receiversToRemove = new();
        foreach (KeyValuePair<int, ClusterReceptor> item in thingReceivers) {
            if (item.Value != null && item.Value.defaultOutput.isSleeping)
                receiversToRemove.Add(item.Key);
        }
        foreach (int thingId in receiversToRemove) {
            Nucleus selectedReceiver = thingReceivers[thingId];

            thingReceivers.Remove(thingId);

            int colonPos = selectedReceiver.name.IndexOf(":");
            if (colonPos > 0)
                selectedReceiver.name = selectedReceiver.name[..colonPos];

        }
    }
}