bardo

defmodule Bardo.Examples.Applications.Flatland.Prey do
  @moduledoc """
  Prey morphology for the Flatland simulation.
  
  This module defines the neural architecture and sensors/actuators
  for prey agents in the Flatland environment.
  """
  
  alias Bardo.PopulationManager.Morphology
  alias Bardo.PopulationManager.ExtendedMorphology
  alias Bardo.Examples.Applications.Flatland.FlatlandSensor
  alias Bardo.Examples.Applications.Flatland.FlatlandActuator
  
  @behaviour Morphology
  @behaviour ExtendedMorphology
  
  @doc """
  Returns a list of sensors for the prey agents.
  
  Required by the Morphology behaviour.
  """
  @impl Morphology
  def sensors do
    [
      %{
        id: :distance_scanner,
        type: :flatland_sensor,
        vl: 5,
        parameters: %{sensor_type: :distance, rays: 5}
      },
      %{
        id: :color_scanner,
        type: :flatland_sensor,
        vl: 5,
        parameters: %{sensor_type: :color, rays: 5}
      }
    ]
  end

  @doc """
  Returns a list of actuators for the prey agents.
  
  Required by the Morphology behaviour.
  """
  @impl Morphology
  def actuators do
    [
      %{
        id: :wheels,
        type: :flatland_actuator,
        vl: 2,
        parameters: %{actuator_type: :two_wheels}
      }
    ]
  end
  
  @doc """
  Initialize the prey morphology.
  
  Returns the sensor and actuator configuration for prey agents.
  """
  @impl ExtendedMorphology
  def get_phys_config(_owner, cortex_id, scape_name) do
    # Define sensor configurations
    sensors = [
      # Distance scanner with 5 rays
      FlatlandSensor.distance_scanner(1, 5, 5, cortex_id, scape_name),
      
      # Color scanner with 5 rays
      FlatlandSensor.color_scanner(2, 5, 5, cortex_id, scape_name)
    ]
    
    # Define actuator configuration (two-wheel movement)
    actuators = [
      FlatlandActuator.two_wheels(3, 2, cortex_id, scape_name)
    ]
    
    # Return the complete physical configuration
    %{
      sensors: sensors,
      actuators: actuators
    }
  end
  
  @doc """
  Get the parameters required to enter the scape.
  
  For prey agents, we specify the type as :prey.
  """
  @impl ExtendedMorphology
  def get_scape_params(_owner, _agent_id, _cortex_id, _scape_name) do
    %{
      type: :prey
    }
  end
  
  @doc """
  Generate the initial neuron patterns for the prey.
  
  Returns a template for the neural network architecture.
  """
  @impl ExtendedMorphology
  def neuron_pattern(_owner, _agent_id, _cortex_id, _neural_interface) do
    # Define the basic features for constructing the neural network
    # These can be expanded based on the needs of the prey's behavior
    %{
      sensor_id_to_idx_map: %{
        1 => {0, 5},    # Distance scanner: neurons 0-4
        2 => {5, 10}    # Color scanner: neurons 5-9
      },
      actuator_id_to_idx_map: %{
        3 => {0, 2}     # Two-wheel actuator: output neurons 0-1
      },
      total_neuron_count: 10, # Total neurons in the network
      output_neuron_count: 2, # Number of output neurons
      bias_as_neuron: true    # Whether to use a bias neuron
    }
  end
end