934 lines
39 KiB
C#
934 lines
39 KiB
C#
using System;
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using System.Collections.Generic;
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using UnityEngine;
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#if UNITY_MATHEMATICS
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using Unity.Mathematics;
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using static Unity.Mathematics.math;
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#endif
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namespace NanoBrain {
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/// <summary>
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/// A Cluster combines a collection of Nuclei to implement reusable behaviour
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/// </summary>
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/// A Cluster is an instantiation of a ClusterPrefab.
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/// Clusters can be nested inside other clusters.
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[Serializable]
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public class Cluster : Nucleus {
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// It may be that clusters will not be nuclei anymore in the future....
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public ClusterPrefab prefab;
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/// <summary>
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/// The base name of the cluster. I don't think this is actively used at this moment
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/// </summary>
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public string baseName {
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get {
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int colonPositon = this.name.IndexOf(':');
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if (colonPositon < 0)
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return this.name;
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return this.name[..colonPositon];
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}
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}
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// This should not be serialized
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//[SerializeReference]
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[NonSerialized]
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public Cluster[] siblingClusters;
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// This serialization should be enough
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[SerializeField]
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public int instanceCount = 1;
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public Dictionary<int, Cluster> thingClusters = new();
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[SerializeReference]
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public List<Nucleus> nuclei = new();
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// the nuclei sorted using topological sorting
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// to ensure that the cluster is computer in the right order
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public List<Nucleus> sortedNuclei;
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#region Init
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/// <summary>
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/// Instantiate a new copy of a ClusterPrefab in the given parent
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/// </summary>
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/// <param name="prefab">The prefab to use</param>
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/// <param name="parent">The cluster in which this new cluster will be placed</param>
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public Cluster(ClusterPrefab prefab, Cluster parent) {
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this.prefab = prefab;
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this.name = prefab.name;
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this.parent = parent;
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this.parent?.nuclei.Add(this);
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ClonePrefab();
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_ = this.inputs;
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this.sortedNuclei = TopologicalSort(this.nuclei);
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}
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/// <summary>
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/// Add a new cluster to a ClusterPrefab
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/// </summary>
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/// <param name="prefab">The prefab to copy</param>
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/// <param name="parent">The prefab in which the new copy is placed</param>
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public Cluster(ClusterPrefab prefab, ClusterPrefab parent = null) {
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this.prefab = prefab;
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this.name = prefab.name;
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if (parent != null)
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this.parent = parent.cluster;
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// if (this.parent.prefab != null)
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// this.parent.prefab.cluster.nuclei.Add(this);
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ClonePrefab();
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_ = this.inputs;
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this.sortedNuclei = TopologicalSort(this.nuclei);
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}
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/// <summary>
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/// Clone a prefab.
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/// </summary>
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/// Strange that this does not take any parameters or return values.
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/// Where which the clone be found???
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private void ClonePrefab() {
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Nucleus[] prefabNuclei = this.prefab.cluster.nuclei.ToArray();
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// first clone the nuclei without their connections
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foreach (Nucleus nucleus in prefabNuclei) {
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nucleus.ShallowCloneTo(this);
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}
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Nucleus[] clonedNuclei = this.nuclei.ToArray();
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// Now clone the connections
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for (int nucleusIx = 0; nucleusIx < prefabNuclei.Length; nucleusIx++) {
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Nucleus prefabNucleus = prefabNuclei[nucleusIx];
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if (prefabNucleus is not Neuron prefabNeuron)
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continue;
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Nucleus clonedNucleus = clonedNuclei[nucleusIx];
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if (clonedNucleus == null || clonedNucleus is not Neuron clonedNeuron)
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continue;
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foreach (Synapse prefabSynapse in prefabNeuron.synapses) {
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Neuron synapseNeuron = prefabSynapse.neuron;
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if (synapseNeuron.parent.prefab != null && synapseNeuron.parent.prefab != this.prefab) {
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// Neuron is in another cluster, find the cloned cluster first
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ClusterPrefab prefabCluster = synapseNeuron.parent.prefab;
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Cluster clonedCluster = this.nuclei.Find(n => n.name == prefabCluster.name) as Cluster;
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if (clonedCluster == null)
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continue;
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// Now find the neuron in that cloned cluster
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int neuronIx = GetNucleusIndex(prefabCluster.cluster.nuclei, prefabSynapse.neuron.name);
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if (neuronIx < 0)
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// Could not find the neuron in the prefab cluster
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continue;
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if (clonedCluster.nuclei[neuronIx] is not Neuron clonedSender)
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// Could not find the neuron in the cloned cluster
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continue;
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clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight);
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//Debug.Log($"Add synapse {clonedCluster.name}.{clonedSender.name} -> {clonedNeuron.name} [{clonedSender.receivers.Count}]");
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}
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else {
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int ix = GetNucleusIndex(prefabNuclei, prefabSynapse.neuron);
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if (ix < 0)
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continue;
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if (clonedNuclei[ix] is not Neuron clonedSender)
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continue;
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// Copy the receivers which will also create the synapse
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clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight);
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// Debug.Log($"Add synapse {clonedSender.name} -> {clonedNeuron.name}");
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}
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}
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// // Copy the receivers, which will also create the synapses
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// foreach (Nucleus receiver in prefabNeuron.receivers.ToArray()) {
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// int ix = GetNucleusIndex(prefabNuclei, receiver);
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// if (ix < 0)
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// continue;
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// if (clonedNuclei[ix] is not Nucleus clonedReceiver)
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// continue;
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// // Find the synapse for the weight
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// float weight = 1;
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// foreach (Synapse synapse in receiver.synapses) {
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// // Find the weight for this synapse
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// if (synapse.neuron == prefabNucleus) {
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// weight = synapse.weight;
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// break;
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// }
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// }
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// clonedNeuron.AddReceiver(clonedReceiver, weight);
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// }
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}
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if (Application.isPlaying) {
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// Only create cluster siblings at runtime
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foreach (Nucleus clonedNucleus in clonedNuclei) {
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if (clonedNucleus is not Cluster clonedCluster)
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continue;
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List<Cluster> siblings = new() {
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clonedCluster
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};
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for (int instanceIx = 1; instanceIx < clonedCluster.instanceCount; instanceIx++) {
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// Create another sibling
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Debug.Log($"create {clonedCluster.prefab.name} sibling");
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Cluster sibling = new(clonedCluster.prefab, this) {
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name = $"{clonedCluster.baseName}: {instanceIx}",
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parent = this.parent,
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instanceCount = this.instanceCount,
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};
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siblings.Add(sibling);
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CopyAllExternalReceivers(clonedCluster, sibling, clonedCluster.prefab, this);
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}
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Cluster[] siblingClusters = siblings.ToArray();
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foreach (Cluster sibling in siblings)
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sibling.siblingClusters = siblingClusters;
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}
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// Ensure that all neurons are computed to initialize bias
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foreach (Nucleus clonedNucleus in clonedNuclei) {
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clonedNucleus.UpdateStateIsolated();
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}
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}
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/*
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for (int nucleusIx = 0; nucleusIx < clonedNuclei.Length; nucleusIx++) {
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Nucleus prefabNucleus = prefabNuclei[nucleusIx];
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if (prefabNucleus is not Cluster prefabCluster)
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continue;
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if (prefabCluster.instanceCount <= 1)
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continue;
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Cluster clonedNucleus = clonedNuclei[nucleusIx] as Cluster;
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if (prefabCluster == prefabCluster.siblingClusters[0]) {
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// We clone the array only for the first entry
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//NucleusArray clonedArray = new(prefabReceptor.nucleiArray.Length);
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Cluster[] clonedArray = new Cluster[prefabCluster.siblingClusters.Length];
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int arrayIx = 0;
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foreach (Cluster prefabArrayNucleus in prefabCluster.siblingClusters) {
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int arrayNucleusIx = GetNucleusIndex(prefabNuclei, prefabArrayNucleus);
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if (arrayNucleusIx >= 0) {
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Cluster clonedArrayNucleus = clonedNuclei[arrayNucleusIx] as Cluster;
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clonedArray[arrayIx] = clonedArrayNucleus;
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}
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else {
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Debug.LogError($" Could not find prefab nucleus {prefabNucleus.name} in the clones");
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}
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arrayIx++;
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}
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clonedNucleus.siblingClusters = clonedArray;
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}
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else {
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// The others will refer to the array created for the first nucleus in the array
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int firstNucleusIx = GetNucleusIndex(prefabNuclei, prefabCluster.siblingClusters[0]);
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Cluster clonedFirstNucleus = clonedNuclei[firstNucleusIx] as Cluster;
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clonedNucleus.siblingClusters = clonedFirstNucleus.siblingClusters;
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}
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}
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}
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/*
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// Collect the subclusters
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List<Cluster> subClusters = new();
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foreach (Nucleus nucleus in prefabNuclei) {
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foreach (Synapse synapse in nucleus.synapses) {
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Nucleus synapseNucleus = synapse.neuron;
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Cluster subCluster = synapseNucleus.parent;
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if (subCluster is null ||
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synapseNucleus.clusterPrefab == this.clusterPrefab) {
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continue;
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}
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// if (synapseNucleus is not Cluster subCluster)
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// continue;
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if (subClusters.Contains(subCluster))
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continue;
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subClusters.Add(subCluster);
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}
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}
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// Create the subcluster instances
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foreach (Cluster subCluster in subClusters) {
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for (int ix = 0; ix < subCluster.instanceCount; ix++) {
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// create the new instance
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Cluster clusterInstance = new(subCluster.prefab);
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// connect it
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foreach ((Neuron sender, Nucleus receiver) in subCluster.CollectConnections()) {
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int receiverIx = GetNucleusIndex(prefabNuclei, receiver);
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if (receiverIx < 0)
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continue;
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if (clonedNuclei[receiverIx] is not Nucleus clonedReceiver)
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continue;
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// Find the synapse for the weight
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float weight = 1;
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foreach (Synapse synapse in receiver.synapses) {
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// Find the weight for this synapse
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if (synapse.neuron == sender) {
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weight = synapse.weight;
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break;
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}
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}
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if (clusterInstance.GetNucleus(sender.name) is not Neuron clonedSender)
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continue;
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clonedSender.AddReceiver(clonedReceiver, weight);
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}
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}
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}
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*/
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// foreach (Nucleus nucleus in this.clusterNuclei) {
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// if (nucleus is Cluster clonedSubCluster)
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// RestoreAllExternalReceivers(clonedSubCluster, this.prefab, this);
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// }
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}
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private void CloneSynapses(Neuron prefabNeuron, Neuron clonedNeuron) {
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foreach (Synapse prefabSynapse in prefabNeuron.synapses) {
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Neuron synapseNeuron = prefabSynapse.neuron;
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if (synapseNeuron.parent.prefab != null && synapseNeuron.parent.prefab != this.prefab) {
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// Neuron is in another cluster, find the cloned cluster first
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ClusterPrefab prefabCluster = synapseNeuron.parent.prefab;
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Cluster clonedCluster = this.nuclei.Find(n => n.name == prefabCluster.name) as Cluster;
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if (clonedCluster == null)
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continue;
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// Now find the neuron in that cloned cluster
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int neuronIx = GetNucleusIndex(prefabCluster.cluster.nuclei, prefabSynapse.neuron.name);
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if (neuronIx < 0)
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// Could not find the neuron in the prefab cluster
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continue;
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if (clonedCluster.nuclei[neuronIx] is not Neuron clonedSender)
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// Could not find the neuron in the cloned cluster
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continue;
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clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight);
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//Debug.Log($"Add synapse {clonedCluster.name}.{clonedSender.name} -> {clonedNeuron.name} [{clonedSender.receivers.Count}]");
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}
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else {
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Neuron clonedSender = this.nuclei.Find(n => n.name == prefabSynapse.neuron.name) as Neuron;
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// Copy the receivers which will also create the synapse
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clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight);
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// Debug.Log($"Add synapse {clonedSender.name} -> {clonedNeuron.name}");
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}
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}
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}
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/// <summary>
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/// Sort the nuclei in a correct evaluation order
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/// </summary>
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/// <param name="nodes"></param>
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/// <returns></returns>
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/// <exception cref="InvalidOperationException"></exception>
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private List<Nucleus> TopologicalSort(List<Nucleus> nodes) {
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Dictionary<Nucleus, int> inDegree = new();
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foreach (Nucleus node in nodes)
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inDegree[node] = 0; // Initialize in-degree to zero
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// Calculate in-degrees
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foreach (Nucleus node in nodes) {
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if (node is Cluster cluster) {
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foreach (Nucleus receiver in cluster.CollectReceivers())
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inDegree[receiver]++;
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}
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else if (node is Neuron neuron) {
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foreach (Nucleus receiver in neuron.receivers)
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inDegree[receiver]++;
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}
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}
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Queue<Nucleus> queue = new();
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foreach (Nucleus node in nodes) {
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if (inDegree[node] == 0) // Nodes with no dependencies
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queue.Enqueue(node);
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}
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// The queue basically stores all input nuclei?
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List<Nucleus> sortedOrder = new();
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while (queue.Count > 0) {
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Nucleus current = queue.Dequeue();
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sortedOrder.Add(current); // Process the node
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if (current is Neuron neuron) {
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foreach (Nucleus receiver in neuron.receivers) {
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inDegree[receiver]--;
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if (inDegree[receiver] == 0) // If all dependencies resolved
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queue.Enqueue(receiver);
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}
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}
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else if (current is Cluster cluster) {
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foreach (Nucleus receiver in cluster.CollectReceivers()) {
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inDegree[receiver]--;
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if (inDegree[receiver] == 0) // If all dependencies resolved
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queue.Enqueue(receiver);
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}
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}
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}
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// Check for cycles in the graph
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if (sortedOrder.Count != nodes.Count)
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throw new InvalidOperationException("Graph is not a DAG; a cycle exists.");
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return sortedOrder;
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}
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public override Nucleus Clone(ClusterPrefab parent) {
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Cluster clone = new(this.prefab, parent);
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// foreach (Synapse synapse in this.synapses) {
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// Synapse clonedSynapse = clone.AddSynapse(synapse.neuron);
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// clonedSynapse.weight = synapse.weight;
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// }
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foreach (Nucleus nucleus in this.nuclei) {
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if (nucleus is Neuron output) {
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foreach (Nucleus receiver in output.receivers) {
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int ix = GetNucleusIndex(this.nuclei, output);
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Debug.Log($"{output.name} -> {receiver.name}: {ix}");
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if (ix < 0)
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continue;
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if (clone.nuclei[ix] is not Neuron clonedOutput)
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continue;
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clonedOutput.AddReceiver(receiver);
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}
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}
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}
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return clone;
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}
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public override Nucleus ShallowCloneTo(Cluster parent) {
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// Clusters should not be cloned, but instantiated from the prefab....
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Cluster clone = new(this.prefab, parent) {
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name = this.name,
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parent = this.parent,
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instanceCount = this.instanceCount,
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};
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// Somehow siblingClusters should be cloned too. Believe I do this in ClonePrefab right now.
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return clone;
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}
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private static void CopyAllExternalReceivers(Cluster sourceCluster, Cluster sibling, ClusterPrefab prefabParent, Cluster clonedParent) {
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for (int nucleusIx = 0; nucleusIx < sourceCluster.nuclei.Count; nucleusIx++) {
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Nucleus sourceNucleus = sourceCluster.nuclei[nucleusIx];
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if (sourceNucleus is not Neuron sourceNeuron)
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continue;
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if (sibling.nuclei[nucleusIx] is not Neuron clonedNeuron)
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continue;
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// copy the receivers (and thus synapses) from the source to the sibling
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foreach (Nucleus receiver in sourceNeuron.receivers) {
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if (receiver is not Neuron receiverNeuron)
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continue;
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int ix = GetNucleusIndex(clonedParent.nuclei, receiver);
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if (ix < 0 || ix >= clonedParent.nuclei.Count)
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continue;
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// Find the synapse for the weight
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float weight = 1;
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foreach (Synapse synapse in receiverNeuron.synapses) {
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// Find the weight for this synapse
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if (synapse.neuron == sourceNucleus) {
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weight = synapse.weight;
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break;
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}
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}
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clonedNeuron.AddReceiver(receiver, weight);
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Debug.Log($"external: {receiver.name} receives from {clonedNeuron.name} {clonedNeuron.GetHashCode()}");
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}
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}
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}
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protected int GetNucleusIndex(Nucleus[] nuclei, Nucleus nucleus) {
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for (int i = 0; i < nuclei.Length; i++) {
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if (nucleus == nuclei[i])
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return i;
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}
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return -1;
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}
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public static int GetNucleusIndex(List<Nucleus> nuclei, Nucleus nucleus) {
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int i = 0;
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foreach (Nucleus nucleiElement in nuclei) {
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//for (int i = 0; i < nuclei.Length; i++) {
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if (nucleiElement == nucleus)
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return i;
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i++;
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}
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return -1;
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}
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public static int GetNucleusIndex(List<Nucleus> nuclei, string nucleusName) {
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int i = 0;
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foreach (Nucleus nucleiElement in nuclei) {
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//for (int i = 0; i < nuclei.Length; i++) {
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if (nucleiElement.name == nucleusName)
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return i;
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i++;
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}
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return -1;
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}
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#endregion Init
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#region Cluster Array
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public void AddInstance() {
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this.instanceCount++;
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}
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public void AddInstance(ClusterPrefab prefab) {
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// Ensure siblingClusters exists
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if (this.siblingClusters == null || this.siblingClusters.Length == 0)
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this.siblingClusters = new Cluster[1] { this };
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// Prepare the new array
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int newLength = this.siblingClusters.Length + 1;
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Cluster[] newSiblings = new Cluster[newLength];
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for (int i = 0; i < newSiblings.Length - 1; i++)
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newSiblings[i] = this.siblingClusters[i];
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|
|
Cluster newCluster = this.Clone(prefab) as Cluster;
|
|
string baseName = this.name;
|
|
int colonPos = baseName.IndexOf(":");
|
|
if (colonPos > 0)
|
|
baseName = baseName[..colonPos];
|
|
newCluster.name = $"{baseName}: {newLength - 1}";
|
|
newSiblings[newLength - 1] = newCluster;
|
|
|
|
// All siblingClusters need to user this array!
|
|
foreach (Cluster sibling in newSiblings)
|
|
sibling.siblingClusters = newSiblings;
|
|
}
|
|
|
|
public void RemoveInstance() {
|
|
if (instanceCount > 1)
|
|
instanceCount--;
|
|
else {
|
|
if (this.siblingClusters == null || this.siblingClusters.Length <= 1)
|
|
return;
|
|
|
|
// Prepare the new array
|
|
int newLength = this.siblingClusters.Length - 1;
|
|
Cluster[] newClusters = new Cluster[newLength];
|
|
|
|
for (int i = 0; i < newLength; i++)
|
|
newClusters[i] = this.siblingClusters[i];
|
|
|
|
Neuron.Delete(this.siblingClusters[^1]);
|
|
this.siblingClusters = newClusters;
|
|
}
|
|
}
|
|
|
|
public virtual Cluster GetThingCluster() {
|
|
Cluster selectedCluster = SelectCluster();
|
|
return selectedCluster;
|
|
}
|
|
public virtual Cluster GetThingCluster(int thingId, string thingName = null) {
|
|
if (thingClusters.TryGetValue(thingId, out Cluster cluster))
|
|
return cluster;
|
|
|
|
Cluster selectedCluster = SelectCluster();
|
|
selectedCluster.name = baseName + ": " + thingName;
|
|
thingClusters[thingId] = selectedCluster;
|
|
return selectedCluster;
|
|
}
|
|
|
|
private Cluster SelectCluster() {
|
|
if (this.siblingClusters == null)
|
|
return this;
|
|
|
|
// Find a sleeping cluster
|
|
// foreach (Cluster cluster in this.siblingClusters) {
|
|
// if (cluster.defaultOutput.isSleeping) {
|
|
// RemoveThingCluster(cluster);
|
|
// return cluster;
|
|
// }
|
|
// }
|
|
|
|
// Find longest unused cluster
|
|
// Note this uses the default output...
|
|
Cluster unusedCluster = this.siblingClusters[0];
|
|
for (int ix = 1; ix < this.siblingClusters.Length; ix++) {
|
|
if (this.siblingClusters[ix].defaultOutput.lastUpdate < unusedCluster.defaultOutput.lastUpdate)
|
|
unusedCluster = this.siblingClusters[ix];
|
|
}
|
|
|
|
RemoveThingCluster(unusedCluster);
|
|
return unusedCluster;
|
|
}
|
|
|
|
private void RemoveThingCluster(Cluster cluster) {
|
|
List<int> keysToRemove = new();
|
|
foreach (KeyValuePair<int, Cluster> kvp in thingClusters) {
|
|
if (kvp.Value == cluster)
|
|
keysToRemove.Add(kvp.Key);
|
|
}
|
|
|
|
foreach (int thingId in keysToRemove)
|
|
thingClusters.Remove(thingId);
|
|
}
|
|
|
|
public bool SameSiblingsAs(Cluster[] otherSiblingClusters) {
|
|
if (this.siblingClusters == null)
|
|
return false;
|
|
for (int ix = 0; ix < this.siblingClusters.Length; ix++) {
|
|
if (this.siblingClusters[ix] != otherSiblingClusters[ix])
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
public void AddArrayReceiver(Nucleus receiverToAdd, float weight = 1) {
|
|
this.defaultOutput.AddReceiver(receiverToAdd, weight);
|
|
// foreach (Cluster cluster in this.siblingClusters) {
|
|
// cluster.defaultOutput.AddReceiver(receiverToAdd, weight);
|
|
// }
|
|
|
|
}
|
|
|
|
#endregion ClusterArray
|
|
|
|
public List<Nucleus> _inputs = null;
|
|
public virtual List<Nucleus> inputs {
|
|
get {
|
|
if (this._inputs == null) {
|
|
this._inputs = new();
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is not Neuron neuron)
|
|
continue;
|
|
|
|
// inputs have no synapses
|
|
if (neuron.synapses.Count == 0)
|
|
this._inputs.Add(nucleus);
|
|
}
|
|
RefreshComputeOrders();
|
|
}
|
|
return this._inputs;
|
|
}
|
|
}
|
|
|
|
private Dictionary<Nucleus, List<Nucleus>> _computeOrders;
|
|
public Dictionary<Nucleus, List<Nucleus>> computeOrders {
|
|
get {
|
|
if (_computeOrders == null || _computeOrders.Count == 0) {
|
|
_computeOrders = new();
|
|
foreach (Nucleus nucleus in this.nuclei)
|
|
_computeOrders[nucleus] = TopologicalSort2(nucleus);
|
|
}
|
|
return _computeOrders;
|
|
}
|
|
}
|
|
public void RefreshComputeOrders() {
|
|
this._computeOrders = null;
|
|
}
|
|
|
|
private List<Nucleus> TopologicalSort2(Nucleus startNode) {
|
|
Dictionary<Nucleus, int> inDegree = new();
|
|
//HashSet<Nucleus> visited = new();
|
|
|
|
// Calculate in-degrees for all nodes reachable from the start node
|
|
Queue<Nucleus> queue = new();
|
|
queue.Enqueue(startNode);
|
|
//visited.Add(startNode);
|
|
inDegree[startNode] = 0;
|
|
|
|
while (queue.Count > 0) {
|
|
Nucleus current = queue.Dequeue();
|
|
List<Nucleus> receivers = null;
|
|
if (current is Neuron neuron)
|
|
receivers = neuron.receivers;
|
|
else if (current is Cluster cluster)
|
|
receivers = cluster.CollectReceivers();
|
|
|
|
foreach (Nucleus receiver in receivers) {
|
|
if (!inDegree.ContainsKey(receiver)) {
|
|
//visited.Add(receiver);
|
|
inDegree[receiver] = 0;
|
|
queue.Enqueue(receiver);
|
|
}
|
|
inDegree[receiver]++;
|
|
}
|
|
}
|
|
|
|
// Perform topological sort on all reachable nodes
|
|
queue.Clear();
|
|
foreach (Nucleus node in inDegree.Keys) {
|
|
if (inDegree[node] == 0)
|
|
queue.Enqueue(node);
|
|
}
|
|
|
|
List<Nucleus> sortedOrder = new();
|
|
while (queue.Count > 0) {
|
|
Nucleus current = queue.Dequeue();
|
|
sortedOrder.Add(current); // Process the node
|
|
|
|
List<Nucleus> receivers = null;
|
|
if (current is Neuron neuron)
|
|
receivers = neuron.receivers;
|
|
else if (current is Cluster cluster)
|
|
receivers = cluster.CollectReceivers();
|
|
|
|
foreach (Nucleus receiver in receivers) {
|
|
if (inDegree.ContainsKey(receiver)) {
|
|
inDegree[receiver]--;
|
|
if (inDegree[receiver] == 0) // If all dependencies resolved
|
|
queue.Enqueue(receiver);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Check for cycles in the graph
|
|
// if (sortedOrder.Count != visited.Count)
|
|
// throw new InvalidOperationException("Graph is not a DAG; a cycle exists.");
|
|
|
|
return sortedOrder;
|
|
}
|
|
|
|
public virtual Neuron defaultOutput {//=> this.nuclei[0] as Nucleus;
|
|
get {
|
|
if (this.nuclei.Count > 0)
|
|
return this.nuclei[0] as Neuron;
|
|
return null;
|
|
}
|
|
}
|
|
protected List<Neuron> _outputs = null;
|
|
public List<Neuron> outputs {
|
|
get {
|
|
if (this._outputs == null || this._outputs.Count == 0) {
|
|
this._outputs = new();
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is Neuron neuron && neuron.receivers.Count == 0)
|
|
this._outputs.Add(neuron);
|
|
}
|
|
}
|
|
return this._outputs;
|
|
}
|
|
}
|
|
public void RefreshOutputs() {
|
|
this._outputs = null;
|
|
}
|
|
|
|
public bool TryGetNucleus(string nucleusName, out Nucleus foundNucleus) {
|
|
foreach (Nucleus receptor in this.nuclei) {
|
|
if (receptor is Nucleus nucleus)
|
|
if (nucleus.name == nucleusName) {
|
|
foundNucleus = nucleus;
|
|
return true;
|
|
}
|
|
}
|
|
foundNucleus = null;
|
|
return false;
|
|
}
|
|
|
|
public Nucleus GetNucleus(string nucleusName) {
|
|
int dotPosition = nucleusName.IndexOf('.');
|
|
if (dotPosition >= 0) {
|
|
string clusterName = nucleusName[..dotPosition];
|
|
string clusterName0 = clusterName + ": 0";
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is Cluster cluster) {
|
|
if (cluster.name == clusterName || cluster.name == clusterName0) {
|
|
string subNucleusName = nucleusName[(dotPosition + 1)..];
|
|
return cluster.GetNucleus(subNucleusName);
|
|
}
|
|
}
|
|
}
|
|
return null;
|
|
}
|
|
else {
|
|
string nucleusName0 = nucleusName + ": 0";
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is Cluster) { //IReceptor receptor) {
|
|
if (nucleus.name == nucleusName | nucleus.name == nucleusName0)
|
|
return nucleus;
|
|
}
|
|
else if (nucleus.name == nucleusName)
|
|
return nucleus;
|
|
}
|
|
return null;
|
|
}
|
|
}
|
|
|
|
public Neuron GetNeuron(string neuronName) {
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is Neuron neuron && neuron.name == neuronName)
|
|
return neuron;
|
|
}
|
|
return null;
|
|
}
|
|
|
|
public bool DeleteNucleus(Nucleus nucleus) {
|
|
if (this.nuclei.Contains(nucleus) == false) {
|
|
// Try to find the nucleus by name
|
|
if (TryGetNucleus(nucleus.name, out nucleus) == false)
|
|
return false;
|
|
}
|
|
|
|
Neuron.Delete(nucleus);
|
|
//int nucleusIx = this.nuclei.IndexOf(nucleus);
|
|
this.nuclei.Remove(nucleus);
|
|
//this.prefab.cluster.nuclei.RemoveAt(nucleusIx);
|
|
RefreshOutputs();
|
|
|
|
return true;
|
|
}
|
|
|
|
#region Receivers
|
|
|
|
public virtual List<Nucleus> CollectReceivers(bool removeDuplicates = false) {
|
|
List<Nucleus> receivers = new();
|
|
foreach (Nucleus outputNucleus in this.nuclei) {
|
|
if (outputNucleus is not Neuron output)
|
|
continue;
|
|
|
|
// Debug.Log($"output {this.name} {outputNucleus.name}");
|
|
foreach (Nucleus receiver in output.receivers) {
|
|
// Debug.Log($"output {receiver.name}");
|
|
// Only add receivers outside this cluster
|
|
if (receiver.parent.prefab != this.prefab) {
|
|
if (removeDuplicates == false || receivers.Contains(receiver) == false)
|
|
// Debug.Log($" YES");
|
|
receivers.Add(receiver);
|
|
}
|
|
}
|
|
}
|
|
return receivers;
|
|
}
|
|
|
|
public List<(Neuron, Nucleus)> CollectConnections() {
|
|
List<(Neuron, Nucleus)> connections = new();
|
|
|
|
foreach (Nucleus outputNucleus in this.nuclei) {
|
|
if (outputNucleus is not Neuron output)
|
|
continue;
|
|
|
|
foreach (Nucleus receiver in output.receivers) {
|
|
// Only add receivers outside this cluster
|
|
if (receiver.parent.prefab != this.prefab)
|
|
connections.Add((output, receiver));
|
|
}
|
|
}
|
|
return connections;
|
|
}
|
|
public List<Synapse> CollectSynapsesTo(Cluster otherCluster) {
|
|
List<Synapse> collectedSynapses = new();
|
|
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is not Neuron neuron)
|
|
continue;
|
|
foreach (Synapse synapse in neuron.synapses) {
|
|
if (synapse.neuron.parent == otherCluster)
|
|
collectedSynapses.Add(synapse);
|
|
}
|
|
}
|
|
return collectedSynapses;
|
|
}
|
|
|
|
public void MoveReceivers(Cluster newCluster) {
|
|
Debug.Log($"Move receivers for {this.name} to {newCluster.name}");
|
|
foreach (Nucleus outputNucleus in this.nuclei) {
|
|
if (outputNucleus is not Neuron output)
|
|
continue;
|
|
|
|
// Find the existing output in the new cluster
|
|
if (newCluster.GetNucleus(output.name) is not Neuron newOutput) {
|
|
Debug.LogWarning($"Could not find output {this.name}.{output.name} in {newCluster.name}");
|
|
continue;
|
|
}
|
|
Debug.Log($"Check {this.name}.{output.name} receivers");
|
|
Nucleus[] receivers = output.receivers.ToArray();
|
|
foreach (Nucleus receiver in receivers) {
|
|
if (receiver.parent.prefab != this.prefab) {
|
|
// Replace synapse with new synapse
|
|
// to the new cluster
|
|
Debug.Log($"move {receiver.name} from {this.name}.{output.name} to {newCluster.name}.{newOutput.name}");
|
|
if (receiver is not Neuron receiverNeuron)
|
|
continue;
|
|
Synapse synapse = receiverNeuron.GetSynapse(output);
|
|
newOutput.AddReceiver(receiver, synapse.weight);
|
|
output.RemoveReceiver(receiver);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endregion Receivers
|
|
|
|
#region Update
|
|
|
|
public void UpdateFromNucleus(Nucleus startNucleus) {
|
|
// no bias+synapse input state calculation for now...
|
|
|
|
if (this.computeOrders.ContainsKey(startNucleus) == false) {
|
|
Debug.LogError($"{this.name} compute orders does not contain an order for {startNucleus.name}");
|
|
return;
|
|
}
|
|
|
|
List<Nucleus> computeOrder = this.computeOrders[startNucleus];
|
|
//if (startNucleus.trace)
|
|
// Debug.Log($"Update from {startNucleus.name}");
|
|
foreach (Nucleus nucleus in computeOrder) {
|
|
if (nucleus is not Cluster) {
|
|
nucleus.UpdateStateIsolated();
|
|
//if (startNucleus.trace && nucleus is Neuron neuron)
|
|
// Debug.Log($" {nucleus.name}");
|
|
if (nucleus is Neuron neuron) {
|
|
foreach (Nucleus receiver in neuron.receivers) {
|
|
if (receiver.parent != this) {
|
|
Debug.Log($" External: {receiver.parent.name}.{receiver.name}");
|
|
receiver.parent.UpdateFromNucleus(receiver);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// continue in parent
|
|
//this.parent?.UpdateFromNucleus(this);
|
|
|
|
UpdateNuclei();
|
|
}
|
|
|
|
public override void UpdateStateIsolated() {
|
|
throw new Exception("Cluster should not be updated!");
|
|
}
|
|
|
|
public override void UpdateNuclei() {
|
|
foreach (Nucleus nucleus in this.nuclei)
|
|
nucleus.UpdateNuclei();
|
|
}
|
|
|
|
#endregion Update
|
|
|
|
public void Refresh() {
|
|
// This should not be needed, but somehow somewhere the parent is changed...
|
|
foreach (Nucleus nucleus in this.nuclei) {
|
|
if (nucleus is not Neuron neuron)
|
|
continue;
|
|
neuron.parent = this;
|
|
}
|
|
RefreshOutputs();
|
|
RefreshComputeOrders();
|
|
}
|
|
|
|
}
|
|
|
|
} |