"""
TensorNodes allow parts of a model to be defined using TensorFlow and smoothly
integrated with the rest of a Nengo model.
"""
from nengo import Node, Connection, Ensemble, builder
from nengo.base import NengoObject
from nengo.builder.operator import Reset
from nengo.exceptions import ValidationError, SimulationError
from nengo.neurons import NeuronType
from nengo.params import Default, IntParam, Parameter
import numpy as np
import tensorflow as tf
from nengo_dl.builder import Builder, OpBuilder, NengoBuilder
def validate_output(output, minibatch_size=None, output_d=None, dtype=None):
"""
Performs validation on the output of a TensorNode ``tensor_func``.
Parameters
----------
output : ``tf.Tensor``
Output from the ``tensor_func``.
minibatch_size : int
Expected minibatch size for the simulation.
output_d
Expected output dimensionality for the function.
dtype
Expected dtype of the function output.
"""
if not isinstance(output, tf.Tensor):
raise ValidationError("TensorNode function must return a Tensor "
"(got %s)" % type(output), attr="tensor_func")
shape = output.get_shape()
if (shape.ndims != 2 or
(minibatch_size is not None and shape[0] != minibatch_size) or
(output_d is not None and shape[1] != output_d)):
raise ValidationError("TensorNode output should have shape (%s, %s) "
"(got shape %s)" % (minibatch_size, output_d,
output.get_shape()),
attr="tensor_func")
if dtype is not None and output.dtype != dtype:
raise ValidationError("TensorNode output should have dtype %s "
"(got %s)" % (dtype, output.dtype),
attr="tensor_func")
class TensorFuncParam(Parameter):
"""Performs validation on the function passed to TensorNode, and sets
``size_out`` if necessary."""
def __init__(self, name, readonly=False):
super(TensorFuncParam, self).__init__(
name, optional=False, readonly=readonly)
def coerce(self, node, func):
output = super(TensorFuncParam, self).coerce(node, func)
if node.size_out is None:
if not callable(func):
raise ValidationError("TensorNode output must be a function",
attr=self.name, obj=node)
with tf.Graph().as_default():
t, x = tf.constant(0.0), tf.zeros((1, node.size_in))
args = (t, x) if node.size_in > 0 else (t,)
try:
result = func(*args)
except Exception as e:
raise ValidationError(
"Calling TensorNode function with arguments %s "
"produced an error:\n%s" % (args, e),
attr=self.name, obj=node)
validate_output(result)
node.size_out = result.get_shape()[1].value
return output
[docs]class TensorNode(Node):
"""
Inserts TensorFlow code into a Nengo model.
Parameters
----------
tensor_func : callable
A function that maps node inputs to outputs
size_in : int (Default: 0)
The number of elements in the input vector
size_out : int (Default: None)
The number of elements in the output vector (if None, value will be
inferred by calling ``tensor_func``)
label : str (Default: None)
A name for the node, used for debugging and visualization
"""
tensor_func = TensorFuncParam('tensor_func')
size_in = IntParam('size_in', default=0, low=0, optional=True)
size_out = IntParam('size_out', default=None, low=1, optional=True)
def __init__(self, tensor_func, size_in=Default, size_out=Default,
label=Default):
# pylint: disable=non-parent-init-called,super-init-not-called
# note: we bypass the Node constructor, because we don't want to
# perform validation on `output`
NengoObject.__init__(self, label=label, seed=None)
self.size_in = size_in
self.size_out = size_out
self.tensor_func = tensor_func
@property
def output(self):
"""
Ensure that nothing tries to evaluate the `output` attribute
(indicating that something is trying to simulate this as a regular
`nengo.Node` rather than a TensorNode.
"""
def output_func(*_):
raise SimulationError(
"Cannot call TensorNode output function (this probably means "
"you are trying to use a TensorNode inside a Simulator other "
"than NengoDL)")
return output_func
[docs]@NengoBuilder.register(TensorNode)
def build_tensor_node(model, node):
"""This is the Nengo build function, so that Nengo knows what to do with
TensorNodes."""
# input signal
if node.size_in > 0:
sig_in = builder.Signal(np.zeros(node.size_in), name="%s.in" % node)
model.add_op(Reset(sig_in))
else:
sig_in = None
sig_out = builder.Signal(np.zeros(node.size_out), name="%s.out" % node)
model.sig[node]['in'] = sig_in
model.sig[node]['out'] = sig_out
model.params[node] = None
model.operators.append(SimTensorNode(node.tensor_func, model.time, sig_in,
sig_out))
[docs]class SimTensorNode(builder.Operator): # pylint: disable=abstract-method
"""Operator for TensorNodes (constructed by `.build_tensor_node`).
Parameters
----------
func : callable
The TensorNode function (``tensor_func``)
time : `~nengo.builder.Signal`
Signal representing the current simulation time
input : `~nengo.builder.Signal` or None
Input Signal for the TensorNode (or None if size_in==0)
output : `~nengo.builder.Signal`
Output Signal for the TensorNode
tag : str
A label associated with the operator, for debugging
Notes
-----
1. sets ``[output]``
2. incs ``[]``
3. reads ``[time] if input is None else [time, input]``
4. updates ``[]``
"""
def __init__(self, func, time, input, output, tag=None):
super(SimTensorNode, self).__init__(tag=tag)
self.func = func
self.input = input
self.output = output
self.sets = [output]
self.incs = []
self.reads = [time] if input is None else [time, input]
self.updates = []
[docs]@Builder.register(SimTensorNode)
class SimTensorNodeBuilder(OpBuilder):
"""Builds a `~.tensor_node.SimTensorNode` operator into a NengoDL
model."""
def __init__(self, ops, signals, config):
super(SimTensorNodeBuilder, self).__init__(ops, signals, config)
# SimTensorNodes should never be merged
assert len(ops) == 1
op = ops[0]
if op.input is None:
self.src_data = None
else:
self.src_data = signals[op.input]
assert self.src_data.ndim == 1
self.dst_data = signals[op.output]
self.func = op.func
if hasattr(self.func, "pre_build"):
self.func.pre_build(
None if self.src_data is None else ((signals.minibatch_size,) +
self.src_data.shape),
(signals.minibatch_size,) + self.dst_data.shape)
[docs] def build_step(self, signals):
if self.src_data is None:
output = self.func(signals.time)
else:
input = signals.gather(self.src_data)
# move minibatch dimension to front
input = tf.transpose(input, (1, 0))
output = self.func(signals.time, input)
validate_output(output, minibatch_size=signals.minibatch_size,
output_d=self.dst_data.shape[0], dtype=signals.dtype)
# move minibatch dimension back to end
output = tf.transpose(output, (1, 0))
signals.scatter(self.dst_data, output)
[docs] def build_post(self, ops, signals, sess, rng):
if hasattr(self.func, "post_build"):
self.func.post_build(sess, rng)
def reshaped(shape_in):
"""A decorator to reshape the inputs to a function into non-vector shapes.
The output of the function will be flatten back into (batched) vectors.
Parameters
----------
shape_in : tuple of int
The desired shape for inputs to the function (not including the first
dimension, which corresponds to the batch axis)
Returns
-------
reshaper : callable
The decorated function
"""
def reshape_dec(func):
def reshaped_func(t, x):
batch_size = x.get_shape()[0].value
x = tf.reshape(x, (batch_size,) + shape_in)
x = func(t, x)
x = tf.reshape(x, (batch_size, -1))
return x
return reshaped_func
return reshape_dec
[docs]def tensor_layer(input, layer_func, shape_in=None, synapse=None,
transform=1, return_conn=False, **layer_args):
"""A utility function to construct TensorNodes that apply some function
to their input (analogous to the ``tf.layers`` syntax).
Parameters
----------
input : ``NengoObject``
Object providing input to the layer
layer_func : callable or `~nengo.neurons.NeuronType`
A function that takes the value from ``input`` (represented as a
``tf.Tensor``) and maps it to some output value, or a Nengo neuron
type, defining a nonlinearity that will be applied to ``input``.
shape_in : tuple of int
If not None, reshape the input to the given shape
synapse : float or `~nengo.synapses.Synapse`
Synapse to apply on connection from ``input`` to this layer
transform : `~numpy.ndarray`
Transform matrix to apply on connection from ``input`` to this layer
return_conn : bool
If True, also return the connection linking this layer to ``input``
layer_args : dict
These arguments will be passed to ``layer_func`` if it is callable, or
`~nengo.Ensemble` if ``layer_func`` is a `~nengo.neurons.NeuronType`
Returns
-------
node : `.TensorNode` or `~nengo.ensemble.Neurons`
A TensorNode that implements the given layer function (if
``layer_func`` was a callable), or a Neuron object with the given
neuron type, connected to ``input``
conn : `~nengo.Connection`
If ``return_conn`` is True, also returns the connection object linking
``input`` and ``node``.
"""
if isinstance(transform, np.ndarray) and transform.ndim == 2:
size_in = transform.shape[0]
elif shape_in is not None:
size_in = np.prod(shape_in)
else:
size_in = input.size_out
if isinstance(layer_func, NeuronType):
node = Ensemble(size_in, 1, neuron_type=layer_func,
**layer_args).neurons
else:
# add (ignored) time input and pass kwargs
def node_func(_, x):
return layer_func(x, **layer_args)
# reshape input if necessary
if shape_in is not None:
node_func = reshaped(shape_in)(node_func)
node = TensorNode(node_func, size_in=size_in)
conn = Connection(input, node, synapse=synapse, transform=transform)
return (node, conn) if return_conn else node
