feagi_sensorimotor/caching/

sensor_device_cache.rs

use crate::configuration::jsonable::JSONInputOutputDefinition;
use crate::data_pipeline::per_channel_stream_caches::SensoryCorticalUnitCache;
use crate::data_pipeline::{PipelineStageProperties, PipelineStagePropertyIndex};
use crate::data_types::descriptors::PercentageChannelDimensionality;
use crate::data_types::descriptors::{
    ImageFrameProperties, MiscDataDimensions, SegmentedImageFrameProperties,
};
use crate::data_types::{
    GazeProperties, ImageFrame, MiscData, Percentage, Percentage3D, SegmentedImageFrame,
    SignedPercentage4D,
};
use crate::neuron_voxel_coding::xyzp::encoders::*;
use crate::neuron_voxel_coding::xyzp::NeuronVoxelXYZPEncoder;
use crate::wrapped_io_data::{WrappedIOData, WrappedIOType};
use feagi_serialization::FeagiByteContainer;
use feagi_structures::genomic::cortical_area::descriptors::{
    CorticalChannelCount, CorticalChannelIndex, CorticalUnitIndex, NeuronDepth,
};
use feagi_structures::genomic::cortical_area::io_cortical_area_configuration_flag::{
    FrameChangeHandling, PercentageNeuronPositioning,
};
use feagi_structures::genomic::cortical_area::CorticalID;
use feagi_structures::genomic::SensoryCorticalUnit;
use feagi_structures::neuron_voxels::xyzp::CorticalMappedXYZPNeuronVoxels;
use feagi_structures::{sensor_cortical_units, FeagiDataError, FeagiSignal};
use serde_json::json;
use std::collections::HashMap;
use std::fmt;
use std::time::Instant;
// InputOutputDefinition is used in commented-out code (lines 622, 645)
// Uncomment when implementing set_from_input_definition and export_to_input_definition
// use crate::configuration::jsonable::InputOutputDefinition;

#[allow(unused_macros)] // Macro may be used in future
macro_rules! sensor_unit_functions {
    (
        SensoryCorticalUnit {
            $(
                $(#[doc = $doc:expr])?
                $cortical_type_key_name:ident => {
                    friendly_name: $friendly_name:expr,
                    accepted_wrapped_io_data_type: $accepted_wrapped_io_data_type:ident,
                    cortical_id_unit_reference: $cortical_id_unit_reference:expr,
                    number_cortical_areas: $number_cortical_areas:expr,
                    cortical_type_parameters: {
                        $($param_name:ident: $param_type:ty),* $(,)?
                    },
                    $(allowed_frame_change_handling: [$($allowed_frame:ident),* $(,)?],)?
                    cortical_area_properties: {
                        $($area_index:tt => ($cortical_area_type_expr:expr, relative_position: [$rel_x:expr, $rel_y:expr, $rel_z:expr], channel_dimensions_default: [$dim_default_x:expr, $dim_default_y:expr, $dim_default_z:expr], channel_dimensions_min: [$dim_min_x:expr, $dim_min_y:expr, $dim_min_z:expr], channel_dimensions_max: [$dim_max_x:expr, $dim_max_y:expr, $dim_max_z:expr])),* $(,)?
                    }
                }
            ),* $(,)?
        }
    ) =>
    {
        $(
            sensor_unit_functions!(@generate_functions
            $cortical_type_key_name,
            $accepted_wrapped_io_data_type
            );
        )*
    };

    //region Similar Functions
    // Helper macro to generate stage and other similar functions
    (@generate_similar_functions
        $cortical_type_key_name:ident,
        $wrapped_data_type:ident
    ) => {
        ::paste::paste! {

            pub fn [<$cortical_type_key_name:snake _write>](
                &mut self,
                unit: CorticalUnitIndex,
                channel: CorticalChannelIndex,
                data: WrappedIOData,
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                let instant = Instant::now();

                self.try_update_value(SENSOR_TYPE, unit, channel, data, instant)?;
                Ok(())
            }

            pub fn [<$cortical_type_key_name:snake _read_postprocessed_cache_value>](
                &mut self,
                unit: CorticalUnitIndex,
                channel: CorticalChannelIndex,
            ) -> Result< $wrapped_data_type, FeagiDataError> {

                const SENSOR_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                let wrapped = self.try_read_postprocessed_cached_value(SENSOR_TYPE, unit, channel)?;
                let val: $wrapped_data_type = wrapped.try_into()?;
                Ok(val)
            }

            pub fn [<$cortical_type_key_name:snake _get_single_stage_properties>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex,
                stage_index: PipelineStagePropertyIndex
            ) -> Result<PipelineStageProperties, FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                let stage = self.try_get_single_stage_properties(SENSOR_UNIT_TYPE, unit, channel_index, stage_index)?;
                Ok(stage)
            }

            pub fn [<$cortical_type_key_name:snake _get_all_stage_properties>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex
            ) -> Result<Vec<PipelineStageProperties>, FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                let stages = self.try_get_all_stage_properties(SENSOR_UNIT_TYPE, unit, channel_index)?;
                Ok(stages)
            }

            pub fn [<$cortical_type_key_name:snake _update_single_stage_properties>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex,
                pipeline_stage_property_index: PipelineStagePropertyIndex,
                updating_property: PipelineStageProperties
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                self.try_update_single_stage_properties(SENSOR_UNIT_TYPE, unit, channel_index, pipeline_stage_property_index, updating_property)?;
                Ok(())
            }

            pub fn [<$cortical_type_key_name:snake _update_all_stage_properties>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex,
                updated_pipeline_stage_properties: Vec<PipelineStageProperties>
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                self.try_update_all_stage_properties(SENSOR_UNIT_TYPE, unit, channel_index, updated_pipeline_stage_properties)?;
                Ok(())
            }

            pub fn [<$cortical_type_key_name:snake _replace_single_stage>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex,
                pipeline_stage_property_index: PipelineStagePropertyIndex,
                replacing_property: PipelineStageProperties
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                self.try_replace_single_stage(SENSOR_UNIT_TYPE, unit, channel_index, pipeline_stage_property_index, replacing_property)?;
                Ok(())
            }

            pub fn [<$cortical_type_key_name:snake _replace_all_stages>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex,
                new_pipeline_stage_properties: Vec<PipelineStageProperties>
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                self.try_replace_all_stages(SENSOR_UNIT_TYPE, unit, channel_index, new_pipeline_stage_properties)?;
                Ok(())
            }

            pub fn [<$cortical_type_key_name:snake _removing_all_stages>](
                &mut self,
                unit: CorticalUnitIndex,
                channel_index: CorticalChannelIndex
            ) -> Result<(), FeagiDataError>
            {
                const SENSOR_UNIT_TYPE: SensoryCorticalUnit = SensoryCorticalUnit::$cortical_type_key_name;
                self.try_removing_all_stages(SENSOR_UNIT_TYPE, unit, channel_index)?;
                Ok(())
            }
        }
    };
    //endregion


    // Arm for WrappedIOType::Boolean
    (@generate_functions
        $sensory_unit:ident,
        Boolean
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = BooleanNeuronVoxelXYZPEncoder::new_box(cortical_id, number_channels)?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({}).as_object().unwrap().clone();

                let initial_val: WrappedIOData = false.into();
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, bool);
    };

    // Arm for WrappedIOType::Percentage
    (@generate_functions
        $sensory_unit:ident,
        Percentage
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                z_neuron_resolution: NeuronDepth,
                percentage_neuron_positioning: PercentageNeuronPositioning
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, percentage_neuron_positioning, unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = PercentageNeuronVoxelXYZPEncoder::new_box(
                    cortical_id,
                    z_neuron_resolution,
                    number_channels,
                    percentage_neuron_positioning,
                    false,
                    PercentageChannelDimensionality::D1
                )?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling,
                    "percentage_neuron_positioning": percentage_neuron_positioning
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOData::Percentage(Percentage::new_zero());
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, Percentage);
    };

    // Arm for WrappedIOType::Percentage_3D
    (@generate_functions
        $sensory_unit:ident,
        Percentage_3D
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                z_neuron_resolution: NeuronDepth,
                percentage_neuron_positioning: PercentageNeuronPositioning
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, percentage_neuron_positioning, unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = PercentageNeuronVoxelXYZPEncoder::new_box(
                    cortical_id,
                    z_neuron_resolution,
                    number_channels,
                    percentage_neuron_positioning,
                    false,
                    PercentageChannelDimensionality::D3
                )?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling,
                    "percentage_neuron_positioning": percentage_neuron_positioning
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOData::Percentage(Percentage::new_zero());
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, Percentage3D);
    };

    // Arm for WrappedIOType::SignedPercentage_4D
    (@generate_functions
        $sensory_unit:ident,
        SignedPercentage_4D
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                z_neuron_resolution: NeuronDepth,
                percentage_neuron_positioning: PercentageNeuronPositioning
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, percentage_neuron_positioning, unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = PercentageNeuronVoxelXYZPEncoder::new_box(
                    cortical_id,
                    z_neuron_resolution,
                    number_channels,
                    percentage_neuron_positioning,
                    true,
                    PercentageChannelDimensionality::D4
                )?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling,
                    "percentage_neuron_positioning": percentage_neuron_positioning
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOData::Percentage(Percentage::new_zero());
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, SignedPercentage4D);
    };

    // Arm for WrappedIOType::SegmentedImageFrame
    (@generate_functions
        $sensory_unit:ident,
        SegmentedImageFrame
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                input_image_properties: ImageFrameProperties,
                segmented_image_properties: SegmentedImageFrameProperties,
                initial_gaze: GazeProperties
                ) -> Result<(), FeagiDataError>
            {
                // Bit more unique, we define a custom stage for all channels for segmentation by default
                let cortical_ids: [CorticalID; 9] = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, unit);
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = SegmentedImageFrameNeuronVoxelXYZPEncoder::new_box(cortical_ids, segmented_image_properties, number_channels)?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOType::SegmentedImageFrame(Some(segmented_image_properties)).create_blank_data_of_type()?;
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;

                let stage_properties = PipelineStageProperties::new_image_frame_segmentator(input_image_properties.clone(), segmented_image_properties.clone(), initial_gaze.clone());

                for channel_index in 0..*number_channels {
                    let segmentator_pipeline = vec![stage_properties.clone()];
                    self.[<$sensory_unit:snake _replace_all_stages>](unit, channel_index.into(), segmentator_pipeline);
                }
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, SegmentedImageFrame);
    };

    // Arm for WrappedIOType::MiscData
    (@generate_functions
        $sensory_unit:ident,
        MiscData
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                misc_data_dimensions: MiscDataDimensions
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = MiscDataNeuronVoxelXYZPEncoder::new_box(cortical_id, misc_data_dimensions, number_channels)?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOType::MiscData(Some(misc_data_dimensions)).create_blank_data_of_type()?;
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, MiscData);
    };


    // Arm for WrappedIOType::ImageFrame
    (@generate_functions
        $sensory_unit:ident,
        ImageFrame
    ) => {
        ::paste::paste! {
            pub fn [<$sensory_unit:snake _register>](
                &mut self,
                unit: CorticalUnitIndex,
                number_channels: CorticalChannelCount,
                frame_change_handling: FrameChangeHandling,
                image_properties: ImageFrameProperties,
                ) -> Result<(), FeagiDataError>
            {
                let cortical_id: CorticalID = SensoryCorticalUnit::[<get_cortical_ids_array_for_ $sensory_unit:snake _with_parameters>](frame_change_handling, unit)[0];
                let encoder: Box<dyn NeuronVoxelXYZPEncoder + Sync + Send> = CartesianPlaneNeuronVoxelXYZPEncoder::new_box(cortical_id, &image_properties, number_channels)?;

                let io_props: serde_json::Map<String, serde_json::Value> = json!({
                    "frame_change_handling": frame_change_handling
                }).as_object().unwrap().clone();

                let initial_val: WrappedIOData = WrappedIOType::ImageFrame(Some(image_properties)).create_blank_data_of_type()?;
                self.register(SensoryCorticalUnit::$sensory_unit, unit, encoder, io_props, number_channels, initial_val)?;
                Ok(())
            }
        }

        sensor_unit_functions!(@generate_similar_functions $sensory_unit, ImageFrame);
    };
}

pub struct SensorDeviceCache {
    sensor_cortical_unit_caches:
        HashMap<(SensoryCorticalUnit, CorticalUnitIndex), SensoryCorticalUnitCache>,
    neuron_data: CorticalMappedXYZPNeuronVoxels,
    byte_data: FeagiByteContainer,
    previous_burst: Instant,
    neurons_encoded_signal: FeagiSignal<CorticalMappedXYZPNeuronVoxels>,
    bytes_encoded_signal: FeagiSignal<FeagiByteContainer>,
}

impl fmt::Debug for SensorDeviceCache {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        f.debug_struct("SensorDeviceCache")
            .field(
                "stream_caches_count",
                &self.sensor_cortical_unit_caches.len(),
            )
            .field("neuron_data", &self.neuron_data)
            .field("byte_data", &self.byte_data)
            .field("previous_burst", &self.previous_burst)
            .finish()
    }
}

impl Default for SensorDeviceCache {
    fn default() -> Self {
        Self::new()
    }
}

#[allow(unused_must_use)]
impl SensorDeviceCache {
    pub fn new() -> Self {
        SensorDeviceCache {
            sensor_cortical_unit_caches: HashMap::new(),
            neuron_data: CorticalMappedXYZPNeuronVoxels::new(),
            byte_data: FeagiByteContainer::new_empty(),
            previous_burst: Instant::now(),
            neurons_encoded_signal: FeagiSignal::new(),
            bytes_encoded_signal: FeagiSignal::new(),
        }
    }

    // Clears all registered devices and cache, to allow setting up again
    pub fn reset(&mut self) {
        self.sensor_cortical_unit_caches.clear();
        self.neuron_data = CorticalMappedXYZPNeuronVoxels::new();
        self.byte_data = FeagiByteContainer::new_empty();
        self.previous_burst = Instant::now();
        self.neurons_encoded_signal = FeagiSignal::new();
        self.bytes_encoded_signal = FeagiSignal::new();
    }
    sensor_cortical_units!(sensor_unit_functions);

    pub fn verify_existence(
        &self,
        sensory_cortical_unit: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        cortical_channel_index: CorticalChannelIndex,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensory_cortical_unit, unit_index)?;
        sensor_stream_caches.verify_channel_exists(cortical_channel_index)
    }

    pub fn try_get_index_of_first_stage_property_type_of(
        &self,
        sensory_cortical_unit: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        cortical_channel_index: CorticalChannelIndex,
        property_example: &PipelineStageProperties,
    ) -> Result<PipelineStagePropertyIndex, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensory_cortical_unit, unit_index)?;
        sensor_stream_caches
            .try_get_first_index_of_stage_property_type(cortical_channel_index, property_example)
    }

    //region Data IO

    pub fn get_feagi_byte_container(&self) -> &FeagiByteContainer {
        &self.byte_data
    }

    pub fn get_feagi_byte_container_mut(&mut self) -> &mut FeagiByteContainer {
        &mut self.byte_data
    }

    pub fn get_neurons(&self) -> &CorticalMappedXYZPNeuronVoxels {
        &self.neuron_data
    }

    /// Encode all cached sensor data to neuron voxel format
    ///
    /// Iterates over all registered sensor stream caches and encodes their
    /// processed data into neuron voxel representations. This populates
    /// the internal neuron_data field.
    ///
    /// # Arguments
    /// * `time_of_burst` - Timestamp for this encoding burst
    ///
    /// # Returns
    /// * `Ok(())` - If encoding succeeded
    /// * `Err(FeagiDataError)` - If encoding fails
    pub fn encode_all_sensors_to_neurons(
        &mut self,
        time_of_burst: Instant,
    ) -> Result<(), FeagiDataError> {
        // Clear neuron data before encoding
        self.neuron_data.clear_neurons_only();

        let previous_burst = self.previous_burst;

        // TODO see if we can parallelize this to work on multiple cortical areas at once
        // Iterate over all registered sensor stream caches and encode them
        // CRITICAL: Pass previous_burst (not time_of_burst) so encoder can check if channels were updated since last encoding
        for ((_sensor_type, _unit_index), stream_cache) in
            self.sensor_cortical_unit_caches.iter_mut()
        {
            stream_cache.update_neuron_data_with_recently_updated_cached_sensor_data(
                &mut self.neuron_data,
                previous_burst,
            )?;
        }

        // Update previous_burst for next time
        self.previous_burst = time_of_burst;

        Ok(())
    }

    /// Encode neuron voxel data to byte container format
    ///
    /// Serializes the internal neuron_data into FeagiByteContainer format.
    /// This populates the internal byte_data field.
    ///
    /// # Returns
    /// * `Ok(())` - If encoding succeeded
    /// * `Err(FeagiDataError)` - If encoding fails
    pub fn encode_neurons_to_bytes(&mut self) -> Result<(), FeagiDataError> {
        self.byte_data
            .overwrite_byte_data_with_single_struct_data(&self.neuron_data, 0)
            .map_err(|e| {
                FeagiDataError::BadParameters(format!(
                    "Failed to encode neuron data to bytes: {:?}",
                    e
                ))
            })?;
        Ok(())
    }

    //endregion

    //region  JSON import / export

    pub fn import_from_input_definition(
        &mut self,
        replacing_definition: &JSONInputOutputDefinition,
    ) -> Result<(), FeagiDataError> {
        self.reset();
        let input_units_and_encoder_properties =
            replacing_definition.get_input_units_and_encoder_properties();
        for (sensory_unit, unit_and_encoder_definitions) in input_units_and_encoder_properties {
            for unit_and_encoder_definition in unit_and_encoder_definitions {
                let unit_definition = &unit_and_encoder_definition.0;
                let encoder_definition = &unit_and_encoder_definition.1;

                if self
                    .sensor_cortical_unit_caches
                    .contains_key(&(*sensory_unit, unit_definition.cortical_unit_index))
                {
                    return Err(FeagiDataError::DeserializationError(format!(
                        "Already registered sensor {} of unit index {}!",
                        *sensory_unit, unit_definition.cortical_unit_index
                    )));
                }

                let new_unit = SensoryCorticalUnitCache::new_from_json(
                    sensory_unit,
                    unit_definition,
                    encoder_definition,
                )?;
                self.sensor_cortical_unit_caches.insert(
                    (*sensory_unit, unit_definition.cortical_unit_index),
                    new_unit,
                );
            }
        }
        Ok(())
    }

    pub fn export_to_input_definition(
        &self,
        filling_definition: &mut JSONInputOutputDefinition,
    ) -> Result<(), FeagiDataError> {
        for ((sensory_cortical_unit, cortical_unit_index), sensory_channel_stream_caches) in
            self.sensor_cortical_unit_caches.iter()
        {
            let unit_and_encoder =
                sensory_channel_stream_caches.export_as_jsons(*cortical_unit_index);
            filling_definition.insert_sensor(
                *sensory_cortical_unit,
                unit_and_encoder.0,
                unit_and_encoder.1,
            );
        }
        Ok(())
    }

    //endregion

    //region Internal

    //region Cache Abstractions

    fn register(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        neuron_encoder: Box<dyn NeuronVoxelXYZPEncoder>,
        io_configuration_flags: serde_json::Map<String, serde_json::Value>,
        number_channels: CorticalChannelCount,
        initial_cached_value: WrappedIOData,
    ) -> Result<(), FeagiDataError> {
        if self
            .sensor_cortical_unit_caches
            .contains_key(&(sensor_type, unit_index))
        {
            return Err(FeagiDataError::BadParameters(format!(
                "Already registered sensor {} of unit index {}!",
                sensor_type, unit_index
            )));
        }

        self.sensor_cortical_unit_caches.insert(
            (sensor_type, unit_index),
            SensoryCorticalUnitCache::new(
                neuron_encoder,
                io_configuration_flags,
                number_channels,
                initial_cached_value,
            )?,
        );

        Ok(())
    }

    //region Data

    fn try_update_value(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        value: WrappedIOData,
        time_of_update: Instant,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.try_replace_input_channel_cache_value_and_run_pipeline(
            channel_index,
            value,
            time_of_update,
        )?; // Handles checking channel, value type
        Ok(())
    }

    #[allow(dead_code)]
    fn try_read_preprocessed_cached_value(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
    ) -> Result<&WrappedIOData, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensor_type, unit_index)?;
        let value = sensor_stream_caches.try_get_channel_preprocessed_value(channel_index)?;
        Ok(value)
    }

    fn try_read_postprocessed_cached_value(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
    ) -> Result<&WrappedIOData, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensor_type, unit_index)?;
        let value =
            sensor_stream_caches.try_get_channel_recent_postprocessed_value(channel_index)?;
        Ok(value)
    }

    //endregion

    //region Metadata

    #[allow(dead_code)]
    fn get_unit_friendly_name(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
    ) -> Result<&Option<String>, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensor_type, unit_index)?;
        Ok(sensor_stream_caches.get_friendly_name())
    }

    #[allow(dead_code)]
    fn set_unit_friendly_name(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        friendly_name: Option<String>,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.set_friendly_name(friendly_name);
        Ok(())
    }

    //endregion

    //region Stages

    fn try_get_single_stage_properties(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        pipeline_stage_property_index: PipelineStagePropertyIndex,
    ) -> Result<PipelineStageProperties, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensor_type, unit_index)?;
        sensor_stream_caches
            .try_get_single_stage_properties(channel_index, pipeline_stage_property_index)
    }

    fn try_get_all_stage_properties(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
    ) -> Result<Vec<PipelineStageProperties>, FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches(sensor_type, unit_index)?;
        sensor_stream_caches.get_all_stage_properties(channel_index)
    }

    fn try_update_single_stage_properties(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        pipeline_stage_property_index: PipelineStagePropertyIndex,
        replacing_property: PipelineStageProperties,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.try_update_single_stage_properties(
            channel_index,
            pipeline_stage_property_index,
            replacing_property,
        )
    }

    fn try_update_all_stage_properties(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        new_pipeline_stage_properties: Vec<PipelineStageProperties>,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches
            .try_update_all_stage_properties(channel_index, new_pipeline_stage_properties)
    }

    fn try_replace_single_stage(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        replacing_at_index: PipelineStagePropertyIndex,
        new_pipeline_stage_properties: PipelineStageProperties,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.try_replace_single_stage(
            channel_index,
            replacing_at_index,
            new_pipeline_stage_properties,
        )
    }

    fn try_replace_all_stages(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
        new_pipeline_stage_properties: Vec<PipelineStageProperties>,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.try_replace_all_stages(channel_index, new_pipeline_stage_properties)
    }

    fn try_removing_all_stages(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
        channel_index: CorticalChannelIndex,
    ) -> Result<(), FeagiDataError> {
        let sensor_stream_caches =
            self.try_get_sensory_channel_stream_caches_mut(sensor_type, unit_index)?;
        sensor_stream_caches.try_removing_all_stages(channel_index)?;
        Ok(())
    }

    //endregion

    //endregion

    //region Hashmap Interactions

    fn try_get_sensory_channel_stream_caches(
        &self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
    ) -> Result<&SensoryCorticalUnitCache, FeagiDataError> {
        let check = self
            .sensor_cortical_unit_caches
            .get(&(sensor_type, unit_index));
        if check.is_none() {
            return Err(FeagiDataError::BadParameters(format!(
                "Unable to find {} of cortical unit index {} in registered sensor's list!",
                sensor_type, unit_index
            )));
        }
        let check = check.unwrap();
        Ok(check)
    }

    fn try_get_sensory_channel_stream_caches_mut(
        &mut self,
        sensor_type: SensoryCorticalUnit,
        unit_index: CorticalUnitIndex,
    ) -> Result<&mut SensoryCorticalUnitCache, FeagiDataError> {
        let check = self
            .sensor_cortical_unit_caches
            .get_mut(&(sensor_type, unit_index));
        if check.is_none() {
            return Err(FeagiDataError::BadParameters(format!(
                "Unable to find {} of cortical unit index {} in registered sensor's list!",
                sensor_type, unit_index
            )));
        }
        let check = check.unwrap();
        Ok(check)
    }

    //endregion

    //endregion
}

impl fmt::Display for SensorDeviceCache {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> std::fmt::Result {
        Ok(writeln!(f, "Motor Device Cache:")?)
    }
}